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Add support for board/firmware detection using ArduPilot port naming scheme.

QGC4.4
Don Gagne 7 years ago
parent
c34a1a20f0
commit
20a5d6ac61
2 changed files with 115 additions and 44 deletions
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  1. 143
      src/VehicleSetup/FirmwareUpgradeController.cc
  2. 16
      src/VehicleSetup/FirmwareUpgradeController.h

143
src/VehicleSetup/FirmwareUpgradeController.cc
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@ -43,13 +43,14 @@ uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId) @@ -43,13 +43,14 @@ uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId)
/// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens.
FirmwareUpgradeController::FirmwareUpgradeController(void)
: _singleFirmwareURL(qgcApp()->toolbox()->corePlugin()->options()->firmwareUpgradeSingleURL())
, _singleFirmwareMode(!_singleFirmwareURL.isEmpty())
, _downloadManager(nullptr)
, _downloadNetworkReply(nullptr)
, _statusLog(nullptr)
, _selectedFirmwareType(StableFirmware)
, _image(nullptr)
: _singleFirmwareURL (qgcApp()->toolbox()->corePlugin()->options()->firmwareUpgradeSingleURL())
, _singleFirmwareMode (!_singleFirmwareURL.isEmpty())
, _downloadManager (nullptr)
, _downloadNetworkReply (nullptr)
, _statusLog (nullptr)
, _selectedFirmwareType (StableFirmware)
, _image (nullptr)
, _apmBoardDescriptionReplaceText ("<APMBoardDescription>")
{
_threadController = new PX4FirmwareUpgradeThreadController(this);
Q_CHECK_PTR(_threadController);
@ -356,10 +357,10 @@ void FirmwareUpgradeController::_initFirmwareHash() @@ -356,10 +357,10 @@ void FirmwareUpgradeController::_initFirmwareHash()
// PX4 Firmwares
for (const FirmwareType_t& firmwareType: px4MapFirmwareTypeToDir.keys()) {
QString dir = px4MapFirmwareTypeToDir[firmwareType];
_rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5"));
_rgPX4FMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro"));
_rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4"));
_rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3"));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5"));
_rgFMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2"));
}
@ -371,30 +372,45 @@ void FirmwareUpgradeController::_initFirmwareHash() @@ -371,30 +372,45 @@ void FirmwareUpgradeController::_initFirmwareHash()
QString vehicleTypeDir = apmMapVehicleTypeToDir[vehicleType];
QString px4Dir = apmMapVehicleTypeToPX4Dir[vehicleType];
QString filename = apmMapVehicleTypeToFilename[vehicleType];
_rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5"));
_rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4"));
_rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3"));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5"));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4"));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3"));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("2"));
}
}
#endif
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot ChibiOS Firmwares
// ArduPilot ChibiOS Firmwares when board id is is a known type. These are added directly into the various board type hashes.
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) {
QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType];
QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType];
QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType];
_rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename));
_rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename));
_rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").arg(fmuDir).arg(filename));
_rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename));
_rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename));
_rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").arg(fmuDir).arg(filename));
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename));
}
}
#endif
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot ChibiOS Firmwares when board id is an unknown type but follows ArduPilot port info naming conventions.
// This is only used if the board using the ArduPilot port naming scheme.
for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) {
QString namedURL("http://firmware.ardupilot.org/%1/%2/%3%4/%5.apj");
QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType];
QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType];
QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType];
_rgAPMChibiosReplaceNamedBoardFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), namedURL.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(_apmBoardDescriptionReplaceText).arg(fmuDir).arg(filename));
}
}
#endif
int size = sizeof(rgAeroCoreFirmwareArray)/sizeof(rgAeroCoreFirmwareArray[0]);
for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rgAeroCoreFirmwareArray[i];
@ -459,38 +475,86 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void) @@ -459,38 +475,86 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void)
QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeController::_firmwareHashForBoardId(int boardId)
{
QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* rgFirmware;
switch (boardId) {
case Bootloader::boardIDPX4Flow:
return &_rgPX4FLowFirmware;
rgFirmware = &_rgPX4FLowFirmware;
break;
case Bootloader::boardIDPX4FMUV2:
return &_rgPX4FMUV2Firmware;
rgFirmware = &_rgPX4FMUV2Firmware;
break;
case Bootloader::boardIDPX4FMUV3:
return &_rgPX4FMUV3Firmware;
rgFirmware = &_rgFMUV3Firmware;
break;
case Bootloader::boardIDPX4FMUV4:
return &_rgPX4FMUV4Firmware;
rgFirmware = &_rgFMUV4Firmware;
break;
case Bootloader::boardIDPX4FMUV4PRO:
return &_rgPX4FMUV4PROFirmware;
rgFirmware = &_rgFMUV4PROFirmware;
break;
case Bootloader::boardIDPX4FMUV5:
return &_rgPX4FMUV5Firmware;
rgFirmware = &_rgFMUV5Firmware;
break;
case Bootloader::boardIDAeroCore:
return &_rgAeroCoreFirmware;
rgFirmware = &_rgAeroCoreFirmware;
break;
case Bootloader::boardIDAUAVX2_1:
return &_rgAUAVX2_1Firmware;
rgFirmware = &_rgAUAVX2_1Firmware;
break;
case Bootloader::boardIDMINDPXFMUV2:
return &_rgMindPXFMUV2Firmware;
rgFirmware = &_rgMindPXFMUV2Firmware;
break;
case Bootloader::boardIDTAPV1:
return &_rgTAPV1Firmware;
rgFirmware = &_rgTAPV1Firmware;
break;
case Bootloader::boardIDASCV1:
return &_rgASCV1Firmware;
rgFirmware = &_rgASCV1Firmware;
break;
case Bootloader::boardIDCrazyflie2:
return &_rgCrazyflie2Firmware;
rgFirmware = &_rgCrazyflie2Firmware;
break;
case Bootloader::boardIDNXPHliteV3:
return &_rgNXPHliteV3Firmware;
rgFirmware = &_rgNXPHliteV3Firmware;
break;
case Bootloader::boardID3DRRadio:
return &_rg3DRRadioFirmware;
rgFirmware = &_rg3DRRadioFirmware;
break;
default:
return nullptr;
rgFirmware = Q_NULLPTR;
}
if (rgFirmware) {
_rgFirmwareDynamic = *rgFirmware;
} else {
_rgFirmwareDynamic.clear();
}
// Special case handling for ArduPilot named ChibiOS board
if (_foundBoardInfo.manufacturer() == QStringLiteral("ArduPilot") || _foundBoardInfo.manufacturer() == QStringLiteral("Hex/ProfiCNC")) {
// Remove the ChibiOS by board id entries from the list
for (const FirmwareIdentifier& firmwareId: _rgFirmwareDynamic.keys()) {
switch (firmwareId.firmwareVehicleType) {
case CopterChibiOSFirmware:
case HeliChibiOSFirmware:
case PlaneChibiOSFirmware:
case RoverChibiOSFirmware:
case SubChibiOSFirmware:
_rgAPMChibiosReplaceNamedBoardFirmware.remove(firmwareId);
break;
default:
break;
}
}
// Add the ChibiOS by board description entries to the list
for (const FirmwareIdentifier& firmwareId: _rgAPMChibiosReplaceNamedBoardFirmware.keys()) {
QString namedUrl = _rgAPMChibiosReplaceNamedBoardFirmware[firmwareId];
_rgFirmwareDynamic.insert(firmwareId, namedUrl.replace(_apmBoardDescriptionReplaceText, _foundBoardInfo.description().left(_foundBoardInfo.description().length() - 3)));
}
}
return &_rgFirmwareDynamic;
}
/// @brief Prompts the user to select a firmware file if needed and moves the state machine to the next state.
@ -754,8 +818,8 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void) @@ -754,8 +818,8 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void)
QStringList list;
QList<FirmwareVehicleType_t> vehicleTypes;
// This allows up to force the order of the combo box display
vehicleTypes << CopterFirmware << HeliFirmware << PlaneFirmware << RoverFirmware << SubFirmware << CopterChibiOSFirmware << HeliChibiOSFirmware << PlaneChibiOSFirmware << RoverChibiOSFirmware << SubChibiOSFirmware;
// This allows us to force the order of the combo box display
vehicleTypes << CopterChibiOSFirmware << HeliChibiOSFirmware << PlaneChibiOSFirmware << RoverChibiOSFirmware << SubChibiOSFirmware << CopterFirmware << HeliFirmware << PlaneFirmware << RoverFirmware << SubFirmware;
_apmVehicleTypeFromCurrentVersionList.clear();
@ -765,16 +829,16 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void) @@ -765,16 +829,16 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void)
switch (vehicleType) {
case CopterFirmware:
version = tr("MultiRotor - ");
version = tr("NuttX - MultiRotor:");
break;
case HeliFirmware:
version = tr("Heli - ");
version = tr("NuttX - Heli:");
break;
case CopterChibiOSFirmware:
version = tr("ChibiOS:MultiRotor - ");
version = tr("ChibiOS- MultiRotor:");
break;
case HeliChibiOSFirmware:
version = tr("ChibiOS:Heli - ");
version = tr("ChibiOS - Heli:");
break;
case PlaneChibiOSFirmware:
case RoverChibiOSFirmware:
@ -782,6 +846,7 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void) @@ -782,6 +846,7 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void)
version = tr("ChibiOS - ");
break;
default:
version = tr("NuttX - ");
break;
}

16
src/VehicleSetup/FirmwareUpgradeController.h
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@ -199,11 +199,11 @@ private: @@ -199,11 +199,11 @@ private:
QString _portName;
QString _portDescription;
// firmware hashes
QHash<FirmwareIdentifier, QString> _rgPX4FMUV5Firmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV4PROFirmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV4Firmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV3Firmware;
// Firmware hashes
QHash<FirmwareIdentifier, QString> _rgFMUV5Firmware;
QHash<FirmwareIdentifier, QString> _rgFMUV4PROFirmware;
QHash<FirmwareIdentifier, QString> _rgFMUV4Firmware;
QHash<FirmwareIdentifier, QString> _rgFMUV3Firmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware;
QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware;
QHash<FirmwareIdentifier, QString> _rgAUAVX2_1Firmware;
@ -215,6 +215,10 @@ private: @@ -215,6 +215,10 @@ private:
QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware;
QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware;
// Hash map for ArduPilot ChibiOS lookup by board name
QHash<FirmwareIdentifier, QString> _rgAPMChibiosReplaceNamedBoardFirmware;
QHash<FirmwareIdentifier, QString> _rgFirmwareDynamic;
QMap<FirmwareType_t, QMap<FirmwareVehicleType_t, QString> > _apmVersionMap;
QList<FirmwareVehicleType_t> _apmVehicleTypeFromCurrentVersionList;
@ -260,6 +264,8 @@ private: @@ -260,6 +264,8 @@ private:
QString _px4StableVersion; // Version strange for latest PX4 stable
QString _px4BetaVersion; // Version strange for latest PX4 beta
const QString _apmBoardDescriptionReplaceText;
};
// global hashing function

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