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Merge pull request #7386 from DonLakeFlyer/SmartRTLEsc 

ArduPilot: Smart RTL and ESC Calibration support
QGC4.4
Don Gagne 6 years ago committed by GitHub
parent
a32d84f8e0 6a92cbc411
commit
28b58527ec
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GPG Key ID: 4AEE18F83AFDEB23
14 changed files with 132 additions and 38 deletions
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  1. 57
      src/AutoPilotPlugins/APM/APMPowerComponent.qml
  2. 4
      src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
  3. 3
      src/FirmwarePlugin/APM/APMFirmwarePlugin.h
  4. 39
      src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
  5. 5
      src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
  6. 5
      src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
  7. 3
      src/FirmwarePlugin/FirmwarePlugin.cc
  8. 7
      src/FirmwarePlugin/FirmwarePlugin.h
  9. 3
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  10. 2
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
  11. 11
      src/FlightDisplay/GuidedActionConfirm.qml
  12. 11
      src/FlightDisplay/GuidedActionsController.qml
  13. 14
      src/Vehicle/Vehicle.cc
  14. 6
      src/Vehicle/Vehicle.h

57
src/AutoPilotPlugins/APM/APMPowerComponent.qml
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@ -45,6 +45,8 @@ SetupPage { @@ -45,6 +45,8 @@ SetupPage {
property bool _batt2ParamsAvailable: controller.parameterExists(-1, "BATT2_CAPACITY")
property bool _showBatt1Reboot: _batt1MonitorEnabled && !_batt1ParamsAvailable
property bool _showBatt2Reboot: _batt2MonitorEnabled && !_batt2ParamsAvailable
property bool _escCalibrationAvailable: controller.parameterExists(-1, "ESC_CALIBRATION")
property Fact _escCalibration: controller.getParameterFact(-1, "ESC_CALIBRATION", false /* reportMissing */)
property string _restartRequired: qsTr("Requires vehicle reboot")
@ -217,6 +219,61 @@ SetupPage { @@ -217,6 +219,61 @@ SetupPage {
}
}
}
Column {
spacing: _margins / 2
visible: _escCalibrationAvailable
QGCLabel {
text: qsTr("ESC Calibration")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
width: escCalibrationHolder.x + escCalibrationHolder.width + _margins
height: escCalibrationHolder.y + escCalibrationHolder.height + _margins
color: ggcPal.windowShade
Column {
id: escCalibrationHolder
x: _margins
y: _margins
spacing: _margins
Column {
spacing: _margins
QGCLabel {
text: qsTr("WARNING: Remove props prior to calibration!")
color: qgcPal.warningText
}
Row {
spacing: _margins
QGCButton {
text: qsTr("Calibrate")
enabled: _escCalibration.rawValue === 0
onClicked: _escCalibration.rawValue = 3
}
Column {
enabled: _escCalibration.rawValue === 3
QGCLabel { text: _escCalibration.rawValue === 3 ? qsTr("Now perform these steps:") : qsTr("Click Calibrate to start, then:") }
QGCLabel { text: qsTr("- Disconnect USB and battery so flight controller powers down") }
QGCLabel { text: qsTr("- Connect the battery") }
QGCLabel { text: qsTr("- The arming tone will be played (if the vehicle has a buzzer attached)") }
QGCLabel { text: qsTr("- If using a flight controller with a safety button press it until it displays solid red") }
QGCLabel { text: qsTr("- You will hear a musical tone then two beeps") }
QGCLabel { text: qsTr("- A few seconds later you should hear a number of beeps (one for each battery cell you’re using)") }
QGCLabel { text: qsTr("- And finally a single long beep indicating the end points have been set and the ESC is calibrated") }
QGCLabel { text: qsTr("- Disconnect the battery and power up again normally") }
}
}
}
}
}
}
} // Flow
} // Component - powerPageComponent

4
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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@ -897,9 +897,9 @@ void APMFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord @@ -897,9 +897,9 @@ void APMFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
vehicle->missionManager()->writeArduPilotGuidedMissionItem(coordWithAltitude, false /* altChangeOnly */);
}
void APMFirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
void APMFirmwarePlugin::guidedModeRTL(Vehicle* vehicle, bool smartRTL)
{
_setFlightModeAndValidate(vehicle, rtlFlightMode());
_setFlightModeAndValidate(vehicle, smartRTL ? smartRTLFlightMode() : rtlFlightMode());
}
void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)

3
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
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@ -86,9 +86,10 @@ public: @@ -86,9 +86,10 @@ public:
bool isGuidedMode (const Vehicle* vehicle) const override;
QString gotoFlightMode (void) const override { return QStringLiteral("Guided"); }
QString rtlFlightMode (void) const override { return QString("RTL"); }
QString smartRTLFlightMode (void) const override { return QString("Smart RTL"); }
QString missionFlightMode (void) const override { return QString("Auto"); }
void pauseVehicle (Vehicle* vehicle) override;
void guidedModeRTL (Vehicle* vehicle) override;
void guidedModeRTL (Vehicle* vehicle, bool smartRTL) override;
void guidedModeChangeAltitude (Vehicle* vehicle, double altitudeChange) override;
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) override;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) override;

39
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
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@ -23,26 +23,25 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) : @@ -23,26 +23,25 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
APMCustomMode(mode, settable)
{
QMap<uint32_t,QString> enumToString;
enumToString.insert(STABILIZE, "Stabilize");
enumToString.insert(ACRO, "Acro");
enumToString.insert(ALT_HOLD, "Altitude Hold");
enumToString.insert(AUTO, "Auto");
enumToString.insert(GUIDED, "Guided");
enumToString.insert(LOITER, "Loiter");
enumToString.insert(RTL, "RTL");
enumToString.insert(CIRCLE, "Circle");
enumToString.insert(LAND, "Land");
enumToString.insert(DRIFT, "Drift");
enumToString.insert(SPORT, "Sport");
enumToString.insert(FLIP, "Flip");
enumToString.insert(AUTOTUNE, "Autotune");
enumToString.insert(POS_HOLD, "Position Hold");
enumToString.insert(BRAKE, "Brake");
enumToString.insert(THROW, "Throw");
enumToString.insert(AVOID_ADSB,"Avoid ADSB");
enumToString.insert(GUIDED_NOGPS,"Guided No GPS");
enumToString.insert(SAFE_RTL,"Smart RTL");
enumToString.insert(STABILIZE, "Stabilize");
enumToString.insert(ACRO, "Acro");
enumToString.insert(ALT_HOLD, "Altitude Hold");
enumToString.insert(AUTO, "Auto");
enumToString.insert(GUIDED, "Guided");
enumToString.insert(LOITER, "Loiter");
enumToString.insert(RTL, "RTL");
enumToString.insert(CIRCLE, "Circle");
enumToString.insert(LAND, "Land");
enumToString.insert(DRIFT, "Drift");
enumToString.insert(SPORT, "Sport");
enumToString.insert(FLIP, "Flip");
enumToString.insert(AUTOTUNE, "Autotune");
enumToString.insert(POS_HOLD, "Position Hold");
enumToString.insert(BRAKE, "Brake");
enumToString.insert(THROW, "Throw");
enumToString.insert(AVOID_ADSB, "Avoid ADSB");
enumToString.insert(GUIDED_NOGPS, "Guided No GPS");
enumToString.insert(SAFE_RTL, "Smart RTL");
setEnumToStringMapping(enumToString);
}

5
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
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@ -65,8 +65,9 @@ public: @@ -65,8 +65,9 @@ public:
QString pauseFlightMode (void) const override { return QString("Brake"); }
QString landFlightMode (void) const override { return QString("Land"); }
QString takeControlFlightMode (void) const override { return QString("Loiter"); }
bool vehicleYawsToNextWaypointInMission (const Vehicle* vehicle) const final;
QString autoDisarmParameter (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
bool vehicleYawsToNextWaypointInMission (const Vehicle* vehicle) const override;
QString autoDisarmParameter (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
bool supportsSmartRTL (void) const override { return true; }
private:
static bool _remapParamNameIntialized;

5
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
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@ -49,8 +49,9 @@ public: @@ -49,8 +49,9 @@ public:
QString pauseFlightMode (void) const override { return QString("Hold"); }
void guidedModeChangeAltitude (Vehicle* vehicle, double altitudeChange) final;
int remapParamNameHigestMinorVersionNumber (int majorVersionNumber) const final;
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
bool supportsNegativeThrust(void) final;
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
bool supportsNegativeThrust (void) final;
bool supportsSmartRTL (void) const override { return true; }
private:
static bool _remapParamNameIntialized;

3
src/FirmwarePlugin/FirmwarePlugin.cc
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@ -240,10 +240,11 @@ void FirmwarePlugin::pauseVehicle(Vehicle* vehicle) @@ -240,10 +240,11 @@ void FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
}
void FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
void FirmwarePlugin::guidedModeRTL(Vehicle* vehicle, bool smartRTL)
{
// Not supported by generic vehicle
Q_UNUSED(vehicle);
Q_UNUSED(smartRTL);
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
}

7
src/FirmwarePlugin/FirmwarePlugin.h
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@ -105,6 +105,11 @@ public: @@ -105,6 +105,11 @@ public:
/// Returns the flight mode for RTL
virtual QString rtlFlightMode(void) const { return QString(); }
/// Returns the flight mode for Smart RTL
virtual QString smartRTLFlightMode(void) const { return QString(); }
virtual bool supportsSmartRTL(void) const { return false; }
/// Returns the flight mode for Land
virtual QString landFlightMode(void) const { return QString(); }
@ -125,7 +130,7 @@ public: @@ -125,7 +130,7 @@ public:
virtual void pauseVehicle(Vehicle* vehicle);
/// Command vehicle to return to launch
virtual void guidedModeRTL(Vehicle* vehicle);
virtual void guidedModeRTL(Vehicle* vehicle, bool smartRTL);
/// Command vehicle to land at current location
virtual void guidedModeLand(Vehicle* vehicle);

3
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -351,8 +351,9 @@ void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle) @@ -351,8 +351,9 @@ void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
NAN);
}
void PX4FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
void PX4FirmwarePlugin::guidedModeRTL(Vehicle* vehicle, bool smartRTL)
{
Q_UNUSED(smartRTL);
_setFlightModeAndValidate(vehicle, _rtlFlightMode);
}

2
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
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@ -44,7 +44,7 @@ public: @@ -44,7 +44,7 @@ public:
QString takeControlFlightMode (void) const override { return _manualFlightMode; }
QString gotoFlightMode (void) const override { return _holdFlightMode; }
void pauseVehicle (Vehicle* vehicle) override;
void guidedModeRTL (Vehicle* vehicle) override;
void guidedModeRTL (Vehicle* vehicle, bool smartRTL) override;
void guidedModeLand (Vehicle* vehicle) override;
void guidedModeTakeoff (Vehicle* vehicle, double takeoffAltRel) override;
void guidedModeGotoLocation (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;

11
src/FlightDisplay/GuidedActionConfirm.qml
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@ -35,6 +35,8 @@ Rectangle { @@ -35,6 +35,8 @@ Rectangle {
property var actionData
property bool hideTrigger: false
property var mapIndicator
property alias optionText: optionCheckBox.text
property alias optionChecked: optionCheckBox.checked
property real _margins: ScreenTools.defaultFontPixelWidth
property bool _emergencyAction: action === guidedController.actionEmergencyStop
@ -101,6 +103,13 @@ Rectangle { @@ -101,6 +103,13 @@ Rectangle {
wrapMode: Text.WordWrap
}
QGCCheckBox {
id: optionCheckBox
anchors.horizontalCenter: parent.horizontalCenter
text: ""
visible: text !== ""
}
// Action confirmation control
SliderSwitch {
id: slider
@ -115,7 +124,7 @@ Rectangle { @@ -115,7 +124,7 @@ Rectangle {
altitudeSlider.visible = false
}
hideTrigger = false
guidedController.executeAction(_root.action, _root.actionData, altitudeChange)
guidedController.executeAction(_root.action, _root.actionData, altitudeChange, _root.optionChecked)
if (mapIndicator) {
mapIndicator.actionConfirmed()
mapIndicator = undefined

11
src/FlightDisplay/GuidedActionsController.qml
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@ -203,7 +203,7 @@ Item { @@ -203,7 +203,7 @@ Item {
on_FlightModeChanged: {
_vehiclePaused = _activeVehicle ? _flightMode === _activeVehicle.pauseFlightMode : false
_vehicleInRTLMode = _activeVehicle ? _flightMode === _activeVehicle.rtlFlightMode : false
_vehicleInRTLMode = _activeVehicle ? _flightMode === _activeVehicle.rtlFlightMode || _flightMode === _activeVehicle.smartRTLFlightMode : false
_vehicleInLandMode = _activeVehicle ? _flightMode === _activeVehicle.landFlightMode : false
_vehicleInMissionMode = _activeVehicle ? _flightMode === _activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups
}
@ -216,6 +216,7 @@ Item { @@ -216,6 +216,7 @@ Item {
confirmDialog.actionData = actionData
confirmDialog.hideTrigger = true
confirmDialog.mapIndicator = mapIndicator
confirmDialog.optionText = ""
_actionData = actionData
switch (actionCode) {
case actionArm:
@ -279,6 +280,10 @@ Item { @@ -279,6 +280,10 @@ Item {
case actionRTL:
confirmDialog.title = rtlTitle
confirmDialog.message = rtlMessage
if (_activeVehicle.supportsSmartRTL) {
confirmDialog.optionText = qsTr("Smart RTL")
confirmDialog.optionChecked = false
}
confirmDialog.hideTrigger = Qt.binding(function() { return !showRTL })
break;
case actionChangeAlt:
@ -339,12 +344,12 @@ Item { @@ -339,12 +344,12 @@ Item {
}
// Executes the specified action
function executeAction(actionCode, actionData, actionAltitudeChange) {
function executeAction(actionCode, actionData, actionAltitudeChange, optionChecked) {
var i;
var rgVehicle;
switch (actionCode) {
case actionRTL:
_activeVehicle.guidedModeRTL()
_activeVehicle.guidedModeRTL(optionChecked)
break
case actionLand:
_activeVehicle.guidedModeLand()

14
src/Vehicle/Vehicle.cc
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@ -2975,13 +2975,13 @@ QString Vehicle::gotoFlightMode() const @@ -2975,13 +2975,13 @@ QString Vehicle::gotoFlightMode() const
return _firmwarePlugin->gotoFlightMode();
}
void Vehicle::guidedModeRTL(void)
void Vehicle::guidedModeRTL(bool smartRTL)
{
if (!guidedModeSupported()) {
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
return;
}
_firmwarePlugin->guidedModeRTL(this);
_firmwarePlugin->guidedModeRTL(this, smartRTL);
}
void Vehicle::guidedModeLand(void)
@ -3602,6 +3602,16 @@ QString Vehicle::rtlFlightMode(void) const @@ -3602,6 +3602,16 @@ QString Vehicle::rtlFlightMode(void) const
return _firmwarePlugin->rtlFlightMode();
}
QString Vehicle::smartRTLFlightMode(void) const
{
return _firmwarePlugin->smartRTLFlightMode();
}
bool Vehicle::supportsSmartRTL(void) const
{
return _firmwarePlugin->supportsSmartRTL();
}
QString Vehicle::landFlightMode(void) const
{
return _firmwarePlugin->landFlightMode();

6
src/Vehicle/Vehicle.h
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@ -600,6 +600,8 @@ public: @@ -600,6 +600,8 @@ public:
Q_PROPERTY(QString missionFlightMode READ missionFlightMode CONSTANT)
Q_PROPERTY(QString pauseFlightMode READ pauseFlightMode CONSTANT)
Q_PROPERTY(QString rtlFlightMode READ rtlFlightMode CONSTANT)
Q_PROPERTY(QString smartRTLFlightMode READ smartRTLFlightMode CONSTANT)
Q_PROPERTY(bool supportsSmartRTL READ supportsSmartRTL CONSTANT)
Q_PROPERTY(QString landFlightMode READ landFlightMode CONSTANT)
Q_PROPERTY(QString takeControlFlightMode READ takeControlFlightMode CONSTANT)
Q_PROPERTY(QString firmwareTypeString READ firmwareTypeString NOTIFY firmwareTypeChanged)
@ -698,7 +700,7 @@ public: @@ -698,7 +700,7 @@ public:
Q_INVOKABLE void disconnectInactiveVehicle(void);
/// Command vehicle to return to launch
Q_INVOKABLE void guidedModeRTL(void);
Q_INVOKABLE void guidedModeRTL(bool smartRTL);
/// Command vehicle to land at current location
Q_INVOKABLE void guidedModeLand(void);
@ -919,6 +921,8 @@ public: @@ -919,6 +921,8 @@ public:
QString missionFlightMode () const;
QString pauseFlightMode () const;
QString rtlFlightMode () const;
QString smartRTLFlightMode () const;
bool supportsSmartRTL () const;
QString landFlightMode () const;
QString takeControlFlightMode () const;
double defaultCruiseSpeed () const { return _defaultCruiseSpeed; }

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