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Support for Vehicle and Firmware classes

QGC4.4
DonLakeFlyer 5 years ago
parent
ddf99734b9
commit
2debdad37a
33 changed files with 361 additions and 414 deletions
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  1. 18
      src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
  2. 2
      src/FirmwarePlugin/APM/APMFirmwarePlugin.h
  3. 6
      src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc
  4. 9
      src/FirmwarePlugin/APM/APMFirmwarePluginFactory.h
  5. 40
      src/FirmwarePlugin/FirmwarePlugin.cc
  6. 15
      src/FirmwarePlugin/FirmwarePlugin.h
  7. 34
      src/FirmwarePlugin/FirmwarePluginManager.cc
  8. 19
      src/FirmwarePlugin/FirmwarePluginManager.h
  9. 18
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  10. 2
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
  11. 10
      src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.cc
  12. 9
      src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.h
  13. 8
      src/FirstRunPromptDialogs/OfflineVehicleFirstRunPrompt.qml
  14. 3
      src/MissionManager/MissionCommandList.h
  15. 162
      src/MissionManager/MissionCommandTree.cc
  16. 29
      src/MissionManager/MissionCommandTree.h
  17. 6
      src/MissionManager/MissionController.cc
  18. 2
      src/MissionManager/MissionControllerTest.cc
  19. 4
      src/MissionManager/PlanMasterController.cc
  20. 4
      src/PlanView/MissionItemEditor.qml
  21. 8
      src/PlanView/MissionSettingsEditor.qml
  22. 7
      src/QmlControls/MissionCommandDialog.qml
  23. 21
      src/QmlControls/QGroundControlQmlGlobal.cc
  24. 90
      src/QmlControls/QGroundControlQmlGlobal.h
  25. 12
      src/Settings/App.SettingsGroup.json
  26. 50
      src/Settings/AppSettings.cc
  27. 7
      src/Settings/AppSettings.h
  28. 2
      src/Vehicle/CompInfoParam.cc
  29. 24
      src/Vehicle/Vehicle.cc
  30. 4
      src/Vehicle/Vehicle.h
  31. 107
      src/comm/QGCMAVLink.cc
  32. 39
      src/comm/QGCMAVLink.h
  33. 4
      src/qgcunittest/UnitTest.cc

18
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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@ -752,23 +752,23 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void) @@ -752,23 +752,23 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
};
}
QString APMFirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
QString APMFirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const
{
switch (vehicleType) {
case MAV_TYPE_GENERIC:
switch (vehicleClass) {
case QGCMAVLink::VehicleClassGeneric:
return QStringLiteral(":/json/APM-MavCmdInfoCommon.json");
case MAV_TYPE_FIXED_WING:
case QGCMAVLink::VehicleClassFixedWing:
return QStringLiteral(":/json/APM-MavCmdInfoFixedWing.json");
case MAV_TYPE_QUADROTOR:
case QGCMAVLink::VehicleClassMultiRotor:
return QStringLiteral(":/json/APM-MavCmdInfoMultiRotor.json");
case MAV_TYPE_VTOL_QUADROTOR:
case QGCMAVLink::VehicleClassVTOL:
return QStringLiteral(":/json/APM-MavCmdInfoVTOL.json");
case MAV_TYPE_SUBMARINE:
case QGCMAVLink::VehicleClassSub:
return QStringLiteral(":/json/APM-MavCmdInfoSub.json");
case MAV_TYPE_GROUND_ROVER:
case QGCMAVLink::VehicleClassRoverBoat:
return QStringLiteral(":/json/APM-MavCmdInfoRover.json");
default:
qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
return QString();
}
}

2
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
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@ -97,7 +97,7 @@ public: @@ -97,7 +97,7 @@ public:
virtual void initializeStreamRates (Vehicle* vehicle);
void initializeVehicle (Vehicle* vehicle) override;
bool sendHomePositionToVehicle (void) override;
QString missionCommandOverrides (MAV_TYPE vehicleType) const override;
QString missionCommandOverrides (QGCMAVLink::VehicleClass_t vehicleClass) const override;
QString getVersionParam (void) override { return QStringLiteral("SYSID_SW_MREV"); }
QString _internalParameterMetaDataFile (Vehicle* vehicle) override;
FactMetaData* _getMetaDataForFact (QObject* parameterMetaData, const QString& name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) override;

6
src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc
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@ -24,11 +24,11 @@ APMFirmwarePluginFactory::APMFirmwarePluginFactory(void) @@ -24,11 +24,11 @@ APMFirmwarePluginFactory::APMFirmwarePluginFactory(void)
}
QList<MAV_AUTOPILOT> APMFirmwarePluginFactory::supportedFirmwareTypes(void) const
QList<QGCMAVLink::FirmwareClass_t> APMFirmwarePluginFactory::supportedFirmwareClasses(void) const
{
QList<MAV_AUTOPILOT> list;
QList<QGCMAVLink::FirmwareClass_t> list;
list.append(MAV_AUTOPILOT_ARDUPILOTMEGA);
list.append(QGCMAVLink::FirmwareClassArduPilot);
return list;
}

9
src/FirmwarePlugin/APM/APMFirmwarePluginFactory.h
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@ -7,8 +7,7 @@ @@ -7,8 +7,7 @@
*
****************************************************************************/
#ifndef APMFirmwarePluginFactory_H
#define APMFirmwarePluginFactory_H
#pragma once
#include "FirmwarePlugin.h"
@ -24,8 +23,8 @@ class APMFirmwarePluginFactory : public FirmwarePluginFactory @@ -24,8 +23,8 @@ class APMFirmwarePluginFactory : public FirmwarePluginFactory
public:
APMFirmwarePluginFactory(void);
QList<MAV_AUTOPILOT> supportedFirmwareTypes (void) const final;
FirmwarePlugin* firmwarePluginForAutopilot (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses(void) const final;
FirmwarePlugin* firmwarePluginForAutopilot (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
private:
ArduCopterFirmwarePlugin* _arduCopterPluginInstance;
@ -33,5 +32,3 @@ private: @@ -33,5 +32,3 @@ private:
ArduRoverFirmwarePlugin* _arduRoverPluginInstance;
ArduSubFirmwarePlugin* _arduSubPluginInstance;
};
#endif

40
src/FirmwarePlugin/FirmwarePlugin.cc
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@ -34,11 +34,9 @@ FirmwarePluginFactory::FirmwarePluginFactory(void) @@ -34,11 +34,9 @@ FirmwarePluginFactory::FirmwarePluginFactory(void)
FirmwarePluginFactoryRegister::instance()->registerPluginFactory(this);
}
QList<MAV_TYPE> FirmwarePluginFactory::supportedVehicleTypes(void) const
QList<QGCMAVLink::VehicleClass_t> FirmwarePluginFactory::supportedVehicleClasses(void) const
{
QList<MAV_TYPE> vehicleTypes;
vehicleTypes << MAV_TYPE_FIXED_WING << MAV_TYPE_QUADROTOR << MAV_TYPE_VTOL_QUADROTOR << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE;
return vehicleTypes;
return QGCMAVLink::allVehicleClasses();
}
FirmwarePluginFactoryRegister* FirmwarePluginFactoryRegister::instance(void)
@ -182,23 +180,23 @@ QList<MAV_CMD> FirmwarePlugin::supportedMissionCommands(void) @@ -182,23 +180,23 @@ QList<MAV_CMD> FirmwarePlugin::supportedMissionCommands(void)
return QList<MAV_CMD>();
}
QString FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
QString FirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const
{
switch (vehicleType) {
case MAV_TYPE_GENERIC:
switch (vehicleClass) {
case QGCMAVLink::VehicleClassGeneric:
return QStringLiteral(":/json/MavCmdInfoCommon.json");
case MAV_TYPE_FIXED_WING:
case QGCMAVLink::VehicleClassFixedWing:
return QStringLiteral(":/json/MavCmdInfoFixedWing.json");
case MAV_TYPE_QUADROTOR:
case QGCMAVLink::VehicleClassMultiRotor:
return QStringLiteral(":/json/MavCmdInfoMultiRotor.json");
case MAV_TYPE_VTOL_QUADROTOR:
case QGCMAVLink::VehicleClassVTOL:
return QStringLiteral(":/json/MavCmdInfoVTOL.json");
case MAV_TYPE_SUBMARINE:
case QGCMAVLink::VehicleClassSub:
return QStringLiteral(":/json/MavCmdInfoSub.json");
case MAV_TYPE_GROUND_ROVER:
case QGCMAVLink::VehicleClassRoverBoat:
return QStringLiteral(":/json/MavCmdInfoRover.json");
default:
qWarning() << "FirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
qWarning() << "FirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
return QString();
}
}
@ -787,22 +785,6 @@ bool FirmwarePlugin::hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitc @@ -787,22 +785,6 @@ bool FirmwarePlugin::hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitc
return false;
}
bool FirmwarePlugin::isVtol(const Vehicle* vehicle) const
{
switch (vehicle->vehicleType()) {
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
case MAV_TYPE_VTOL_RESERVED2:
case MAV_TYPE_VTOL_RESERVED3:
case MAV_TYPE_VTOL_RESERVED4:
case MAV_TYPE_VTOL_RESERVED5:
return true;
default:
return false;
}
}
QGCCameraManager* FirmwarePlugin::createCameraManager(Vehicle* vehicle)
{
return new QGCCameraManager(vehicle);

15
src/FirmwarePlugin/FirmwarePlugin.h
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@ -241,8 +241,8 @@ public: @@ -241,8 +241,8 @@ public:
virtual QList<MAV_CMD> supportedMissionCommands(void);
/// Returns the name of the mission command json override file for the specified vehicle type.
/// @param vehicleType Vehicle type to return file for, MAV_TYPE_GENERIC is a request for overrides for all vehicle types
virtual QString missionCommandOverrides(MAV_TYPE vehicleType) const;
/// @param vehicleClass Vehicle class to return file for, VehicleClassGeneric is a request for overrides for all vehicle types
virtual QString missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const;
/// Returns the mapping structure which is used to map from one parameter name to another based on firmware version.
virtual const remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const;
@ -316,9 +316,6 @@ public: @@ -316,9 +316,6 @@ public:
/// @return true: vehicle has gimbal, false: gimbal support unknown
virtual bool hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitchSupported, bool& yawSupported);
/// Returns true if the vehicle is a VTOL
virtual bool isVtol(const Vehicle* vehicle) const;
/// Convert from HIGH_LATENCY2.custom_mode value to correct 32 bit value.
virtual uint32_t highLatencyCustomModeTo32Bits(uint16_t hlCustomMode);
@ -383,11 +380,11 @@ public: @@ -383,11 +380,11 @@ public:
/// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT.
virtual FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) = 0;
/// @return List of firmware types this plugin supports.
virtual QList<MAV_AUTOPILOT> supportedFirmwareTypes(void) const = 0;
/// @return List of firmware classes this plugin supports.
virtual QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses(void) const = 0;
/// @return List of vehicle types this plugin supports.
virtual QList<MAV_TYPE> supportedVehicleTypes(void) const;
/// @return List of vehicle classes this plugin supports.
virtual QList<QGCMAVLink::VehicleClass_t> supportedVehicleClasses(void) const;
};
class FirmwarePluginFactoryRegister : public QObject

34
src/FirmwarePlugin/FirmwarePluginManager.cc
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@ -26,33 +26,35 @@ FirmwarePluginManager::~FirmwarePluginManager() @@ -26,33 +26,35 @@ FirmwarePluginManager::~FirmwarePluginManager()
delete _genericFirmwarePlugin;
}
QList<MAV_AUTOPILOT> FirmwarePluginManager::supportedFirmwareTypes(void)
QList<QGCMAVLink::FirmwareClass_t> FirmwarePluginManager::supportedFirmwareClasses(void)
{
if (_supportedFirmwareTypes.isEmpty()) {
if (_supportedFirmwareClasses.isEmpty()) {
QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
for (int i = 0; i < factoryList.count(); i++) {
_supportedFirmwareTypes.append(factoryList[i]->supportedFirmwareTypes());
_supportedFirmwareClasses.append(factoryList[i]->supportedFirmwareClasses());
}
_supportedFirmwareTypes.append(MAV_AUTOPILOT_GENERIC);
_supportedFirmwareClasses.append(QGCMAVLink::FirmwareClassGeneric);
}
return _supportedFirmwareTypes;
return _supportedFirmwareClasses;
}
QList<MAV_TYPE> FirmwarePluginManager::supportedVehicleTypes(MAV_AUTOPILOT firmwareType)
QList<QGCMAVLink::VehicleClass_t> FirmwarePluginManager::supportedVehicleClasses(QGCMAVLink::FirmwareClass_t firmwareClass)
{
QList<MAV_TYPE> vehicleTypes;
QList<QGCMAVLink::VehicleClass_t> vehicleClasses;
FirmwarePluginFactory* factory = _findPluginFactory(firmwareType);
FirmwarePluginFactory* factory = _findPluginFactory(firmwareClass);
if (factory) {
vehicleTypes = factory->supportedVehicleTypes();
} else if (firmwareType == MAV_AUTOPILOT_GENERIC) {
vehicleTypes << MAV_TYPE_FIXED_WING << MAV_TYPE_QUADROTOR << MAV_TYPE_VTOL_QUADROTOR << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE;
vehicleClasses = factory->supportedVehicleClasses();
} else if (firmwareClass == QGCMAVLink::FirmwareClassGeneric) {
// Generic supports all specific vehicle class
vehicleClasses = QGCMAVLink::allVehicleClasses();
vehicleClasses.removeOne(QGCMAVLink::VehicleClassGeneric);
} else {
qWarning() << "Request for unknown firmware plugin factory" << firmwareType;
qWarning() << "Request for unknown firmware plugin factory" << firmwareClass;
}
return vehicleTypes;
return vehicleClasses;
}
FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType)
@ -62,8 +64,6 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT @@ -62,8 +64,6 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
if (factory) {
plugin = factory->firmwarePluginForAutopilot(firmwareType, vehicleType);
} else if (firmwareType != MAV_AUTOPILOT_GENERIC) {
qWarning() << "Request for unknown firmware plugin factory" << firmwareType;
}
if (!plugin) {
@ -77,14 +77,14 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT @@ -77,14 +77,14 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
return plugin;
}
FirmwarePluginFactory* FirmwarePluginManager::_findPluginFactory(MAV_AUTOPILOT firmwareType)
FirmwarePluginFactory* FirmwarePluginManager::_findPluginFactory(QGCMAVLink::FirmwareClass_t firmwareClass)
{
QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
// Find the plugin which supports this vehicle
for (int i=0; i<factoryList.count(); i++) {
FirmwarePluginFactory* factory = factoryList[i];
if (factory->supportedFirmwareTypes().contains(firmwareType)) {
if (factory->supportedFirmwareClasses().contains(firmwareClass)) {
return factory;
}
}

19
src/FirmwarePlugin/FirmwarePluginManager.h
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@ -7,12 +7,7 @@ @@ -7,12 +7,7 @@
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef FirmwarePluginManager_H
#define FirmwarePluginManager_H
#pragma once
#include <QObject>
@ -33,10 +28,10 @@ public: @@ -33,10 +28,10 @@ public:
~FirmwarePluginManager();
/// Returns list of firmwares which are supported by the system
QList<MAV_AUTOPILOT> supportedFirmwareTypes(void);
QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses(void);
/// Returns the list of supported vehicle types for the specified firmware
QList<MAV_TYPE> supportedVehicleTypes(MAV_AUTOPILOT firmwareType);
QList<QGCMAVLink::VehicleClass_t> supportedVehicleClasses(QGCMAVLink::FirmwareClass_t firmwareClass);
/// Returns appropriate plugin for autopilot type.
/// @param firmwareType Type of firmwware to return plugin for.
@ -45,10 +40,8 @@ public: @@ -45,10 +40,8 @@ public:
FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType);
private:
FirmwarePluginFactory* _findPluginFactory(MAV_AUTOPILOT firmwareType);
FirmwarePluginFactory* _findPluginFactory(QGCMAVLink::FirmwareClass_t firmwareClass);
FirmwarePlugin* _genericFirmwarePlugin;
QList<MAV_AUTOPILOT> _supportedFirmwareTypes;
FirmwarePlugin* _genericFirmwarePlugin;
QList<QGCMAVLink::FirmwareClass_t> _supportedFirmwareClasses;
};
#endif

18
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -297,23 +297,23 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void) @@ -297,23 +297,23 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
return cmds;
}
QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
QString PX4FirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const
{
switch (vehicleType) {
case MAV_TYPE_GENERIC:
switch (vehicleClass) {
case QGCMAVLink::VehicleClassGeneric:
return QStringLiteral(":/json/PX4-MavCmdInfoCommon.json");
case MAV_TYPE_FIXED_WING:
case QGCMAVLink::VehicleClassFixedWing:
return QStringLiteral(":/json/PX4-MavCmdInfoFixedWing.json");
case MAV_TYPE_QUADROTOR:
case QGCMAVLink::VehicleClassMultiRotor:
return QStringLiteral(":/json/PX4-MavCmdInfoMultiRotor.json");
case MAV_TYPE_VTOL_QUADROTOR:
case QGCMAVLink::VehicleClassVTOL:
return QStringLiteral(":/json/PX4-MavCmdInfoVTOL.json");
case MAV_TYPE_SUBMARINE:
case QGCMAVLink::VehicleClassSub:
return QStringLiteral(":/json/PX4-MavCmdInfoSub.json");
case MAV_TYPE_GROUND_ROVER:
case QGCMAVLink::VehicleClassRoverBoat:
return QStringLiteral(":/json/PX4-MavCmdInfoRover.json");
default:
qWarning() << "PX4FirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
qWarning() << "PX4FirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
return QString();
}
}

2
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
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@ -55,7 +55,7 @@ public: @@ -55,7 +55,7 @@ public:
bool isGuidedMode (const Vehicle* vehicle) const override;
void initializeVehicle (Vehicle* vehicle) override;
bool sendHomePositionToVehicle (void) override;
QString missionCommandOverrides (MAV_TYPE vehicleType) const override;
QString missionCommandOverrides (QGCMAVLink::VehicleClass_t vehicleClass) const override;
QString getVersionParam (void) override { return QString("SYS_PARAM_VER"); }
FactMetaData* _getMetaDataForFact (QObject* parameterMetaData, const QString& name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) override;
QString _internalParameterMetaDataFile (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }

10
src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.cc
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@ -7,10 +7,6 @@ @@ -7,10 +7,6 @@
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "PX4FirmwarePluginFactory.h"
#include "PX4/PX4FirmwarePlugin.h"
@ -22,10 +18,10 @@ PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void) @@ -22,10 +18,10 @@ PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void)
}
QList<MAV_AUTOPILOT> PX4FirmwarePluginFactory::supportedFirmwareTypes(void) const
QList<QGCMAVLink::FirmwareClass_t> PX4FirmwarePluginFactory::supportedFirmwareClasses(void) const
{
QList<MAV_AUTOPILOT> list;
list.append(MAV_AUTOPILOT_PX4);
QList<QGCMAVLink::FirmwareClass_t> list;
list.append(QGCMAVLink::FirmwareClassPX4);
return list;
}

9
src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.h
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@ -7,8 +7,7 @@ @@ -7,8 +7,7 @@
*
****************************************************************************/
#ifndef PX4FirmwarePluginFactory_H
#define PX4FirmwarePluginFactory_H
#pragma once
#include "FirmwarePlugin.h"
@ -21,11 +20,9 @@ class PX4FirmwarePluginFactory : public FirmwarePluginFactory @@ -21,11 +20,9 @@ class PX4FirmwarePluginFactory : public FirmwarePluginFactory
public:
PX4FirmwarePluginFactory(void);
QList<MAV_AUTOPILOT> supportedFirmwareTypes (void) const final;
FirmwarePlugin* firmwarePluginForAutopilot (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses(void) const final;
FirmwarePlugin* firmwarePluginForAutopilot (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
private:
PX4FirmwarePlugin* _pluginInstance;
};
#endif

8
src/FirstRunPromptDialogs/OfflineVehicleFirstRunPrompt.qml
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@ -26,8 +26,8 @@ FirstRunPrompt { @@ -26,8 +26,8 @@ FirstRunPrompt {
property var _offlineVehicle: QGroundControl.multiVehicleManager.offlineEditingVehicle
property bool _showCruiseSpeed: !_offlineVehicle.multiRotor
property bool _showHoverSpeed: _offlineVehicle.multiRotor || _offlineVehicle.vtol
property bool _multipleFirmware: QGroundControl.supportedFirmwareCount > 2
property bool _multipleVehicleTypes: QGroundControl.supportedVehicleCount > 1
property bool _multipleFirmware: !QGroundControl.singleFirmwareSupport
property bool _multipleVehicleTypes: !QGroundControl.singleVehicleSupport
property real _fieldWidth: ScreenTools.defaultFontPixelWidth * 16
ColumnLayout {
@ -61,7 +61,7 @@ FirstRunPrompt { @@ -61,7 +61,7 @@ FirstRunPrompt {
}
FactComboBox {
Layout.preferredWidth: _fieldWidth
fact: QGroundControl.settingsManager.appSettings.offlineEditingFirmwareType
fact: QGroundControl.settingsManager.appSettings.offlineEditingFirmwareClass
indexModel: false
visible: _multipleFirmware
}
@ -73,7 +73,7 @@ FirstRunPrompt { @@ -73,7 +73,7 @@ FirstRunPrompt {
}
FactComboBox {
Layout.preferredWidth: _fieldWidth
fact: QGroundControl.settingsManager.appSettings.offlineEditingVehicleType
fact: QGroundControl.settingsManager.appSettings.offlineEditingVehicleClass
indexModel: false
visible: _multipleVehicleTypes
}

3
src/MissionManager/MissionCommandList.h
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@ -27,8 +27,7 @@ class MissionCommandList : public QObject @@ -27,8 +27,7 @@ class MissionCommandList : public QObject
Q_OBJECT
public:
/// @param jsonFilename Json file which contains commands
/// @param baseCommandList true: bottomost level of mission command hierarchy (partial not allowed), false: mid-level of command hierarchy
/// @param baseCommandList true: bottomost level of mission command hierarchy (partial spec allowed), false: override level of hierarchy
MissionCommandList(const QString& jsonFilename, bool baseCommandList, QObject* parent = nullptr);
/// Returns list of categories in this list

162
src/MissionManager/MissionCommandTree.cc
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@ -1,4 +1,3 @@ @@ -1,4 +1,3 @@
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
@ -8,7 +7,6 @@ @@ -8,7 +7,6 @@
*
****************************************************************************/
#include "MissionCommandTree.h"
#include "FactMetaData.h"
#include "Vehicle.h"
@ -21,10 +19,10 @@ @@ -21,10 +19,10 @@
#include <QQmlEngine>
MissionCommandTree::MissionCommandTree(QGCApplication* app, QGCToolbox* toolbox, bool unitTest)
: QGCTool(app, toolbox)
, _allCommandsCategory(tr("All commands"))
, _settingsManager(nullptr)
, _unitTest(unitTest)
: QGCTool (app, toolbox)
, _allCommandsCategory (tr("All commands"))
, _settingsManager (nullptr)
, _unitTest (unitTest)
{
}
@ -37,25 +35,22 @@ void MissionCommandTree::setToolbox(QGCToolbox* toolbox) @@ -37,25 +35,22 @@ void MissionCommandTree::setToolbox(QGCToolbox* toolbox)
#ifdef UNITTEST_BUILD
if (_unitTest) {
// Load unit testing tree
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC] = new MissionCommandList(":/unittest/UT-MavCmdInfoCommon.json", true, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_FIXED_WING] = new MissionCommandList(":/unittest/UT-MavCmdInfoFixedWing.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_QUADROTOR] = new MissionCommandList(":/unittest/UT-MavCmdInfoMultiRotor.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_VTOL_QUADROTOR] = new MissionCommandList(":/unittest/UT-MavCmdInfoVTOL.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_SUBMARINE] = new MissionCommandList(":/unittest/UT-MavCmdInfoSub.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GROUND_ROVER] = new MissionCommandList(":/unittest/UT-MavCmdInfoRover.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][QGCMAVLink::VehicleClassGeneric] = new MissionCommandList(":/unittest/UT-MavCmdInfoCommon.json", true, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][QGCMAVLink::VehicleClassFixedWing] = new MissionCommandList(":/unittest/UT-MavCmdInfoFixedWing.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][QGCMAVLink::VehicleClassMultiRotor] = new MissionCommandList(":/unittest/UT-MavCmdInfoMultiRotor.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][QGCMAVLink::VehicleClassVTOL] = new MissionCommandList(":/unittest/UT-MavCmdInfoVTOL.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][QGCMAVLink::VehicleClassSub] = new MissionCommandList(":/unittest/UT-MavCmdInfoSub.json", false, this);
_staticCommandTree[MAV_AUTOPILOT_GENERIC][QGCMAVLink::VehicleClassRoverBoat] = new MissionCommandList(":/unittest/UT-MavCmdInfoRover.json", false, this);
} else {
#endif
// Load all levels of hierarchy
for (MAV_AUTOPILOT firmwareType: _toolbox->firmwarePluginManager()->supportedFirmwareTypes()) {
FirmwarePlugin* plugin = _toolbox->firmwarePluginManager()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_QUADROTOR);
QList<MAV_TYPE> vehicleTypes;
vehicleTypes << MAV_TYPE_GENERIC << MAV_TYPE_FIXED_WING << MAV_TYPE_QUADROTOR << MAV_TYPE_VTOL_QUADROTOR << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE;
for (const QGCMAVLink::FirmwareClass_t firmwareClass: _toolbox->firmwarePluginManager()->supportedFirmwareClasses()) {
FirmwarePlugin* plugin = _toolbox->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), MAV_TYPE_QUADROTOR);
for(MAV_TYPE vehicleType: vehicleTypes) {
QString overrideFile = plugin->missionCommandOverrides(vehicleType);
for (const QGCMAVLink::VehicleClass_t vehicleClass: QGCMAVLink::allVehicleClasses()) {
QString overrideFile = plugin->missionCommandOverrides(vehicleClass);
if (!overrideFile.isEmpty()) {
_staticCommandTree[firmwareType][vehicleType] = new MissionCommandList(overrideFile, firmwareType == MAV_AUTOPILOT_GENERIC && vehicleType == MAV_TYPE_GENERIC /* baseCommandList */, this);
_staticCommandTree[firmwareClass][vehicleClass] = new MissionCommandList(overrideFile, firmwareClass == QGCMAVLink::FirmwareClassGeneric && vehicleClass == QGCMAVLink::VehicleClassGeneric /* baseCommandList */, this);
}
}
}
@ -64,45 +59,15 @@ void MissionCommandTree::setToolbox(QGCToolbox* toolbox) @@ -64,45 +59,15 @@ void MissionCommandTree::setToolbox(QGCToolbox* toolbox)
#endif
}
MAV_AUTOPILOT MissionCommandTree::_baseFirmwareType(MAV_AUTOPILOT firmwareType) const
{
if (qgcApp()->toolbox()->firmwarePluginManager()->supportedFirmwareTypes().contains(firmwareType)) {
return firmwareType;
} else {
return MAV_AUTOPILOT_GENERIC;
}
}
MAV_TYPE MissionCommandTree::_baseVehicleType(MAV_TYPE mavType) const
{
if (QGCMAVLink::isFixedWing(mavType)) {
return MAV_TYPE_FIXED_WING;
} else if (QGCMAVLink::isMultiRotor(mavType)) {
return MAV_TYPE_QUADROTOR;
} else if (QGCMAVLink::isVTOL(mavType)) {
return MAV_TYPE_VTOL_QUADROTOR;
} else if (QGCMAVLink::isRover(mavType)) {
return MAV_TYPE_GROUND_ROVER;
} else if (QGCMAVLink::isSub(mavType)) {
return MAV_TYPE_SUBMARINE;
} else {
return MAV_TYPE_GENERIC;
}
}
/// Add the next level of the hierarchy to a collapsed tree.
/// @param vehicle Collapsed tree is for this vehicle
/// @param cmdList List of mission commands to collapse into ui info
/// @param collapsedTree Tree we are collapsing into
void MissionCommandTree::_collapseHierarchy(Vehicle* vehicle,
const MissionCommandList* cmdList,
/// @param cmdList List of mission commands to collapse into ui info
/// @param collapsedTree Tree we are collapsing into
void MissionCommandTree::_collapseHierarchy(const MissionCommandList* cmdList,
QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
if (!cmdList) {
return;
}
for (MAV_CMD command: cmdList->commandIds()) {
MissionCommandUIInfo* uiInfo = cmdList->getUIInfo(command);
@ -118,34 +83,33 @@ void MissionCommandTree::_collapseHierarchy(Vehicle* @@ -118,34 +83,33 @@ void MissionCommandTree::_collapseHierarchy(Vehicle*
void MissionCommandTree::_buildAllCommands(Vehicle* vehicle)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
QGCMAVLink::FirmwareClass_t firmwareClass;
QGCMAVLink::VehicleClass_t vehicleClass;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
_firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
if (_allCommands.contains(baseFirmwareType) &&
_allCommands[baseFirmwareType].contains(baseVehicleType)) {
if (_allCommands.contains(firmwareClass) && _allCommands[firmwareClass].contains(vehicleClass)) {
// Already built
return;
}
QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree = _allCommands[baseFirmwareType][baseVehicleType];
QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree = _allCommands[firmwareClass][vehicleClass];
// Any Firmware, Any Vehicle
_collapseHierarchy(vehicle, _staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC], collapsedTree);
// Base of the tree is all commands
_collapseHierarchy(_staticCommandTree[MAV_AUTOPILOT_GENERIC][QGCMAVLink::VehicleClassGeneric], collapsedTree);
// Any Firmware, Specific Vehicle
if (baseVehicleType != MAV_TYPE_GENERIC) {
_collapseHierarchy(vehicle, _staticCommandTree[MAV_AUTOPILOT_GENERIC][baseVehicleType], collapsedTree);
// Add the overrides for specific vehicle types
if (vehicleClass != QGCMAVLink::VehicleClassGeneric) {
_collapseHierarchy(_staticCommandTree[QGCMAVLink::FirmwareClassGeneric][vehicleClass], collapsedTree);
}
// Known Firmware, Any Vehicle
if (baseFirmwareType != MAV_AUTOPILOT_GENERIC) {
_collapseHierarchy(vehicle, _staticCommandTree[baseFirmwareType][MAV_TYPE_GENERIC], collapsedTree);
// Add the overrides for specific firmware class, all vehicles
if (firmwareClass != QGCMAVLink::FirmwareClassGeneric) {
_collapseHierarchy(_staticCommandTree[firmwareClass][QGCMAVLink::VehicleClassGeneric], collapsedTree);
// Known Firmware, Specific Vehicle
if (baseVehicleType != MAV_TYPE_GENERIC) {
_collapseHierarchy(vehicle, _staticCommandTree[baseFirmwareType][baseVehicleType], collapsedTree);
// Add overrides for specific vehicle class
if (vehicleClass != QGCMAVLink::VehicleClassGeneric) {
_collapseHierarchy(_staticCommandTree[firmwareClass][vehicleClass], collapsedTree);
}
}
@ -154,28 +118,28 @@ void MissionCommandTree::_buildAllCommands(Vehicle* vehicle) @@ -154,28 +118,28 @@ void MissionCommandTree::_buildAllCommands(Vehicle* vehicle)
for (MAV_CMD cmd: collapsedTree.keys()) {
if (supportedCommands.contains(cmd)) {
QString newCategory = collapsedTree[cmd]->category();
if (!_supportedCategories[baseFirmwareType][baseVehicleType].contains(newCategory)) {
_supportedCategories[baseFirmwareType][baseVehicleType].append(newCategory);
if (!_supportedCategories[firmwareClass][vehicleClass].contains(newCategory)) {
_supportedCategories[firmwareClass][vehicleClass].append(newCategory);
}
}
}
_supportedCategories[baseFirmwareType][baseVehicleType].append(_allCommandsCategory);
_supportedCategories[firmwareClass][vehicleClass].append(_allCommandsCategory);
}
QStringList MissionCommandTree::_availableCategoriesForVehicle(Vehicle* vehicle)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
QGCMAVLink::FirmwareClass_t firmwareClass;
QGCMAVLink::VehicleClass_t vehicleClass;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
_firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
_buildAllCommands(vehicle);
return _supportedCategories[baseFirmwareType][baseVehicleType];
return _supportedCategories[firmwareClass][vehicleClass];
}
QString MissionCommandTree::friendlyName(MAV_CMD command)
{
MissionCommandList * commandList = _staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC];
MissionCommandList * commandList = _staticCommandTree[QGCMAVLink::FirmwareClassGeneric][QGCMAVLink::VehicleClassGeneric];
MissionCommandUIInfo* uiInfo = commandList->getUIInfo(command);
if (uiInfo) {
@ -187,7 +151,7 @@ QString MissionCommandTree::friendlyName(MAV_CMD command) @@ -187,7 +151,7 @@ QString MissionCommandTree::friendlyName(MAV_CMD command)
QString MissionCommandTree::rawName(MAV_CMD command)
{
MissionCommandList * commandList = _staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC];
MissionCommandList * commandList = _staticCommandTree[QGCMAVLink::FirmwareClassGeneric][QGCMAVLink::VehicleClassGeneric];
MissionCommandUIInfo* uiInfo = commandList->getUIInfo(command);
if (uiInfo) {
@ -199,18 +163,18 @@ QString MissionCommandTree::rawName(MAV_CMD command) @@ -199,18 +163,18 @@ QString MissionCommandTree::rawName(MAV_CMD command)
const QList<MAV_CMD>& MissionCommandTree::allCommandIds(void) const
{
return _staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC]->commandIds();
return _staticCommandTree[QGCMAVLink::FirmwareClassGeneric][QGCMAVLink::VehicleClassGeneric]->commandIds();
}
const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_CMD command)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
QGCMAVLink::FirmwareClass_t firmwareClass;
QGCMAVLink::VehicleClass_t vehicleClass;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
_firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
_buildAllCommands(vehicle);
const QMap<MAV_CMD, MissionCommandUIInfo*>& infoMap = _allCommands[baseFirmwareType][baseVehicleType];
const QMap<MAV_CMD, MissionCommandUIInfo*>& infoMap = _allCommands[firmwareClass][vehicleClass];
if (infoMap.contains(command)) {
return infoMap[command];
} else {
@ -220,19 +184,19 @@ const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_ @@ -220,19 +184,19 @@ const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_
QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands)
{
MAV_AUTOPILOT baseFirmwareType;
MAV_TYPE baseVehicleType;
QGCMAVLink::FirmwareClass_t firmwareClass;
QGCMAVLink::VehicleClass_t vehicleClass;
_baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
_firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
_buildAllCommands(vehicle);
// vehicle can be null in which case _baseVehicleInfo will tell of the firmware/vehicle type for the offline editing vehicle.
// vehicle can be null in which case _firmwareAndVehicleClassInfo will tell of the firmware/vehicle type for the offline editing vehicle.
// We then use that to get a firmware plugin so we can get the list of supported commands.
FirmwarePlugin* firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(baseFirmwareType, baseVehicleType);
FirmwarePlugin* firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), QGCMAVLink::vehicleClassToMavType(vehicleClass));
QList<MAV_CMD> supportedCommands = firmwarePlugin->supportedMissionCommands();
QVariantList list;
QMap<MAV_CMD, MissionCommandUIInfo*> commandMap = _allCommands[baseFirmwareType][baseVehicleType];
QMap<MAV_CMD, MissionCommandUIInfo*> commandMap = _allCommands[firmwareClass][vehicleClass];
for (MAV_CMD command: commandMap.keys()) {
if (supportedCommands.contains(command)) {
MissionCommandUIInfo* uiInfo = commandMap[command];
@ -246,14 +210,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const @@ -246,14 +210,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
return list;
}
void MissionCommandTree::_baseVehicleInfo(Vehicle* vehicle, MAV_AUTOPILOT& baseFirmwareType, MAV_TYPE& baseVehicleType) const
void MissionCommandTree::_firmwareAndVehicleClassInfo(Vehicle* vehicle, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const
{
if (vehicle) {
baseFirmwareType = _baseFirmwareType(vehicle->firmwareType());
baseVehicleType = _baseVehicleType(vehicle->vehicleType());
} else {
// No Vehicle means offline editing
baseFirmwareType = _baseFirmwareType((MAV_AUTOPILOT)_settingsManager->appSettings()->offlineEditingFirmwareType()->rawValue().toInt());
baseVehicleType = _baseVehicleType((MAV_TYPE)_settingsManager->appSettings()->offlineEditingVehicleType()->rawValue().toInt());
}
firmwareClass = QGCMAVLink::firmwareClass(vehicle->firmwareType());
vehicleClass = QGCMAVLink::vehicleClass(vehicle->vehicleType());
}

29
src/MissionManager/MissionCommandTree.h
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@ -7,8 +7,7 @@ @@ -7,8 +7,7 @@
*
****************************************************************************/
#ifndef MissionCommandTree_H
#define MissionCommandTree_H
#pragma once
#include "QGCToolbox.h"
#include "QGCMAVLink.h"
@ -26,9 +25,9 @@ class MissionCommandTreeTest; @@ -26,9 +25,9 @@ class MissionCommandTreeTest;
/// Manages a hierarchy of MissionCommandUIInfo.
///
/// The static hierarchy allows for overriding mission command ui info based on MAV_AUTOPILOT and MAV_TYPE. The hierarchy of the tree is:
/// Any Firmware, Any Vehicle - Base set of all command definitions for any firmware, any vehicle, essentially ui defined to mavlink spec
/// Any Firmware, Fixed Wing
/// The static hierarchy allows for overriding mission command ui info based on firmware and vehicle class. The hierarchy of the tree is:
/// FirmwareClassGeneric - VehicleClassGeneric - Base set of all command definitions for any firmware, any vehicle, ui defined by mavlink spec
/// FirmwareClassGeneric - VehicleClassFixedWing
/// Known Firmware, Fixed Wing
/// Any Firmware, Multi Rotor (all types)
/// Known Firmware, Multi Rotor (all types)
@ -62,19 +61,17 @@ public: @@ -62,19 +61,17 @@ public:
const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, MAV_CMD command);
/// @param showFlyThroughCommands - true: al commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
/// @param showFlyThroughCommands - true: all commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands);
// Overrides from QGCTool
virtual void setToolbox(QGCToolbox* toolbox);
private:
void _collapseHierarchy(Vehicle* vehicle, const MissionCommandList* cmdList, QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree);
MAV_TYPE _baseVehicleType(MAV_TYPE mavType) const;
MAV_AUTOPILOT _baseFirmwareType(MAV_AUTOPILOT firmwareType) const;
void _buildAllCommands(Vehicle* vehicle);
QStringList _availableCategoriesForVehicle(Vehicle* vehicle);
void _baseVehicleInfo(Vehicle* vehicle, MAV_AUTOPILOT& baseFirmwareType, MAV_TYPE& baseVehicleType) const;
void _collapseHierarchy (const MissionCommandList* cmdList, QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree);
void _buildAllCommands (Vehicle* vehicle);
QStringList _availableCategoriesForVehicle (Vehicle* vehicle);
void _firmwareAndVehicleClassInfo (Vehicle* vehicle, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const;
private:
QString _allCommandsCategory; ///< Category which contains all available commands
@ -83,18 +80,16 @@ private: @@ -83,18 +80,16 @@ private:
bool _unitTest; ///< true: running in unit test mode
/// Full hierarchy
QMap<MAV_AUTOPILOT, QMap<MAV_TYPE, MissionCommandList*>> _staticCommandTree;
QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, MissionCommandList*>> _staticCommandTree;
/// Collapsed hierarchy for specific vehicle type
QMap<MAV_AUTOPILOT, QMap<MAV_TYPE, QMap<MAV_CMD, MissionCommandUIInfo*>>> _allCommands;
QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, QMap<MAV_CMD, MissionCommandUIInfo*>>> _allCommands;
/// Collapsed hierarchy for specific vehicle type
QMap<MAV_AUTOPILOT, QMap<MAV_TYPE, QStringList /* category */>> _supportedCategories;
QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, QStringList /* category */>> _supportedCategories;
#ifdef UNITTEST_BUILD
friend class MissionCommandTreeTest;
#endif
};
#endif

6
src/MissionManager/MissionController.cc
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@ -725,16 +725,16 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec @@ -725,16 +725,16 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
// Get the firmware/vehicle type from the plan file
MAV_AUTOPILOT planFileFirmwareType = static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt());
MAV_TYPE planFileVehicleType = static_cast<MAV_TYPE> (appSettings->offlineEditingVehicleType()->rawValue().toInt());
MAV_TYPE planFileVehicleType = static_cast<MAV_TYPE> (QGCMAVLink::vehicleClassToMavType(appSettings->offlineEditingVehicleClass()->rawValue().toInt()));
if (json.contains(_jsonVehicleTypeKey)) {
planFileVehicleType = static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt());
}
// Update firmware/vehicle offline settings if we aren't connect to a vehicle
if (_masterController->offline()) {
appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType(static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
appSettings->offlineEditingFirmwareClass()->setRawValue(QGCMAVLink::firmwareClass(static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
if (json.contains(_jsonVehicleTypeKey)) {
appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType(static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt())));
appSettings->offlineEditingVehicleClass()->setRawValue(QGCMAVLink::vehicleClass(planFileVehicleType));
}
}

2
src/MissionManager/MissionControllerTest.cc
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@ -50,7 +50,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) @@ -50,7 +50,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
_rgMissionControllerSignals[visualItemsChangedSignalIndex] = SIGNAL(visualItemsChanged());
// Master controller pulls offline vehicle info from settings
qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareType()->setRawValue(firmwareType);
qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareClass()->setRawValue(QGCMAVLink::firmwareClass(firmwareType));
_masterController = new PlanMasterController(this);
_masterController->setFlyView(false);
_missionController = _masterController->missionController();

4
src/MissionManager/PlanMasterController.cc
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@ -143,8 +143,8 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle) @@ -143,8 +143,8 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
// Update controllerVehicle to the currently connected vehicle
AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType(_managerVehicle->firmwareType()));
appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType(_managerVehicle->vehicleType()));
appSettings->offlineEditingFirmwareClass()->setRawValue(QGCMAVLink::firmwareClass(_managerVehicle->firmwareType()));
appSettings->offlineEditingVehicleClass()->setRawValue(QGCMAVLink::vehicleClass(_managerVehicle->vehicleType()));
// We use these signals to sequence upload and download to the multiple controller/managers
connect(_managerVehicle->missionManager(), &MissionManager::newMissionItemsAvailable, this, &PlanMasterController::_loadMissionComplete);

4
src/PlanView/MissionItemEditor.qml
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@ -40,7 +40,6 @@ Rectangle { @@ -40,7 +40,6 @@ Rectangle {
property real _sectionSpacer: ScreenTools.defaultFontPixelWidth / 2 // spacing between section headings
property bool _singleComplexItem: _missionController.complexMissionItemNames.length === 1
property bool _readyForSave: missionItem.readyForSaveState === VisualMissionItem.ReadyForSave
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
readonly property real _editFieldWidth: Math.min(width - _innerMargin * 2, ScreenTools.defaultFontPixelWidth * 12)
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
@ -160,6 +159,7 @@ Rectangle { @@ -160,6 +159,7 @@ Rectangle {
id: commandDialog
MissionCommandDialog {
vehicle: masterController.controllerVehicle
missionItem: _root.missionItem
map: _root.map
// FIXME: Disabling fly through commands doesn't work since you may need to change from an RTL to something else
@ -207,6 +207,8 @@ Rectangle { @@ -207,6 +207,8 @@ Rectangle {
visible: missionItem.specifiesCoordinate
enabled: _activeVehicle
onTriggered: missionItem.coordinate = _activeVehicle.coordinate
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
}
QGCMenuItem {

8
src/PlanView/MissionSettingsEditor.qml
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@ -26,8 +26,8 @@ Rectangle { @@ -26,8 +26,8 @@ Rectangle {
property bool _vehicleHasHomePosition: _controllerVehicle.homePosition.isValid
property bool _showCruiseSpeed: !_controllerVehicle.multiRotor
property bool _showHoverSpeed: _controllerVehicle.multiRotor || _controllerVehicle.vtol
property bool _multipleFirmware: QGroundControl.supportedFirmwareCount > 2
property bool _multipleVehicleTypes: QGroundControl.supportedVehicleCount > 1
property bool _multipleFirmware: !QGroundControl.singleFirmwareSupport
property bool _multipleVehicleTypes: !QGroundControl.singleVehicleSupport
property real _fieldWidth: ScreenTools.defaultFontPixelWidth * 16
property bool _mobile: ScreenTools.isMobile
property var _savePath: QGroundControl.settingsManager.appSettings.missionSavePath
@ -194,7 +194,7 @@ Rectangle { @@ -194,7 +194,7 @@ Rectangle {
visible: _multipleFirmware
}
FactComboBox {
fact: QGroundControl.settingsManager.appSettings.offlineEditingFirmwareType
fact: QGroundControl.settingsManager.appSettings.offlineEditingFirmwareClass
indexModel: false
Layout.preferredWidth: _fieldWidth
visible: _multipleFirmware && _noMissionItemsAdded
@ -210,7 +210,7 @@ Rectangle { @@ -210,7 +210,7 @@ Rectangle {
visible: _multipleVehicleTypes
}
FactComboBox {
fact: QGroundControl.settingsManager.appSettings.offlineEditingVehicleType
fact: QGroundControl.settingsManager.appSettings.offlineEditingVehicleClass
indexModel: false
Layout.preferredWidth: _fieldWidth
visible: _multipleVehicleTypes && _noMissionItemsAdded

7
src/QmlControls/MissionCommandDialog.qml
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@ -19,12 +19,11 @@ import QGroundControl.Palette 1.0 @@ -19,12 +19,11 @@ import QGroundControl.Palette 1.0
QGCViewDialog {
id: root
property var vehicle
property var missionItem
property var map
property bool flyThroughCommandsAllowed
property var _vehicle: QGroundControl.multiVehicleManager.activeVehicle
QGCPalette { id: qgcPal }
QGCLabel {
@ -38,10 +37,10 @@ QGCViewDialog { @@ -38,10 +37,10 @@ QGCViewDialog {
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: categoryLabel.right
anchors.right: parent.right
model: QGroundControl.missionCommandTree.categoriesForVehicle(_vehicle)
model: QGroundControl.missionCommandTree.categoriesForVehicle(vehicle)
function categorySelected(category) {
commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(_vehicle, category, flyThroughCommandsAllowed)
commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(vehicle, category, flyThroughCommandsAllowed)
}
Component.onCompleted: {

21
src/QmlControls/QGroundControlQmlGlobal.cc
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@ -190,31 +190,28 @@ void QGroundControlQmlGlobal::setMavlinkSystemID(int id) @@ -190,31 +190,28 @@ void QGroundControlQmlGlobal::setMavlinkSystemID(int id)
emit mavlinkSystemIDChanged(id);
}
int QGroundControlQmlGlobal::supportedFirmwareCount()
bool QGroundControlQmlGlobal::singleFirmwareSupport(void)
{
return _firmwarePluginManager->supportedFirmwareTypes().count();
return _firmwarePluginManager->supportedFirmwareClasses().count() == 1;
}
int QGroundControlQmlGlobal::supportedVehicleCount()
bool QGroundControlQmlGlobal::singleVehicleSupport(void)
{
int count = 0;
QList<MAV_AUTOPILOT> list = _firmwarePluginManager->supportedFirmwareTypes();
foreach(auto firmware, list) {
if(firmware != MAV_AUTOPILOT_GENERIC) {
count += _firmwarePluginManager->supportedVehicleTypes(firmware).count();
}
if (singleFirmwareSupport()) {
return _firmwarePluginManager->supportedVehicleClasses(_firmwarePluginManager->supportedFirmwareClasses()[0]).count() == 1;
}
return count;
return false;
}
bool QGroundControlQmlGlobal::px4ProFirmwareSupported()
{
return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_PX4);
return _firmwarePluginManager->supportedFirmwareClasses().contains(QGCMAVLink::FirmwareClassPX4);
}
bool QGroundControlQmlGlobal::apmFirmwareSupported()
{
return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_ARDUPILOTMEGA);
return _firmwarePluginManager->supportedFirmwareClasses().contains(QGCMAVLink::FirmwareClassArduPilot);
}
bool QGroundControlQmlGlobal::linesIntersect(QPointF line1A, QPointF line1B, QPointF line2A, QPointF line2B)

90
src/QmlControls/QGroundControlQmlGlobal.h
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@ -7,12 +7,7 @@ @@ -7,12 +7,7 @@
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef QGroundControlQmlGlobal_H
#define QGroundControlQmlGlobal_H
#pragma once
#include "QGCToolbox.h"
#include "QGCApplication.h"
@ -62,35 +57,41 @@ public: @@ -62,35 +57,41 @@ public:
};
Q_ENUM(AltitudeMode)
Q_PROPERTY(QString appName READ appName CONSTANT)
Q_PROPERTY(LinkManager* linkManager READ linkManager CONSTANT)
Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager CONSTANT)
Q_PROPERTY(QGCMapEngineManager* mapEngineManager READ mapEngineManager CONSTANT)
Q_PROPERTY(QGCPositionManager* qgcPositionManger READ qgcPositionManger CONSTANT)
Q_PROPERTY(MissionCommandTree* missionCommandTree READ missionCommandTree CONSTANT)
Q_PROPERTY(VideoManager* videoManager READ videoManager CONSTANT)
Q_PROPERTY(MAVLinkLogManager* mavlinkLogManager READ mavlinkLogManager CONSTANT)
Q_PROPERTY(QGCCorePlugin* corePlugin READ corePlugin CONSTANT)
Q_PROPERTY(SettingsManager* settingsManager READ settingsManager CONSTANT)
Q_PROPERTY(FactGroup* gpsRtk READ gpsRtkFactGroup CONSTANT)
Q_PROPERTY(AirspaceManager* airspaceManager READ airspaceManager CONSTANT)
Q_PROPERTY(ADSBVehicleManager* adsbVehicleManager READ adsbVehicleManager CONSTANT)
Q_PROPERTY(bool airmapSupported READ airmapSupported CONSTANT)
Q_PROPERTY(TaisyncManager* taisyncManager READ taisyncManager CONSTANT)
Q_PROPERTY(bool taisyncSupported READ taisyncSupported CONSTANT)
Q_PROPERTY(MicrohardManager* microhardManager READ microhardManager CONSTANT)
Q_PROPERTY(bool microhardSupported READ microhardSupported CONSTANT)
Q_PROPERTY(bool supportsPairing READ supportsPairing CONSTANT)
Q_PROPERTY(QGCPalette* globalPalette MEMBER _globalPalette CONSTANT) // This palette will always return enabled colors
Q_PROPERTY(QmlUnitsConversion* unitsConversion READ unitsConversion CONSTANT)
#if defined(QGC_ENABLE_PAIRING)
Q_PROPERTY(PairingManager* pairingManager READ pairingManager CONSTANT)
#endif
Q_PROPERTY(int supportedFirmwareCount READ supportedFirmwareCount CONSTANT)
Q_PROPERTY(int supportedVehicleCount READ supportedVehicleCount CONSTANT)
Q_PROPERTY(bool px4ProFirmwareSupported READ px4ProFirmwareSupported CONSTANT)
Q_PROPERTY(int apmFirmwareSupported READ apmFirmwareSupported CONSTANT)
Q_PROPERTY(QString appName READ appName CONSTANT)
Q_PROPERTY(LinkManager* linkManager READ linkManager CONSTANT)
Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager CONSTANT)
Q_PROPERTY(QGCMapEngineManager* mapEngineManager READ mapEngineManager CONSTANT)
Q_PROPERTY(QGCPositionManager* qgcPositionManger READ qgcPositionManger CONSTANT)
Q_PROPERTY(VideoManager* videoManager READ videoManager CONSTANT)
Q_PROPERTY(MAVLinkLogManager* mavlinkLogManager READ mavlinkLogManager CONSTANT)
Q_PROPERTY(SettingsManager* settingsManager READ settingsManager CONSTANT)
Q_PROPERTY(AirspaceManager* airspaceManager READ airspaceManager CONSTANT)
Q_PROPERTY(ADSBVehicleManager* adsbVehicleManager READ adsbVehicleManager CONSTANT)
Q_PROPERTY(QGCCorePlugin* corePlugin READ corePlugin CONSTANT)
Q_PROPERTY(MissionCommandTree* missionCommandTree READ missionCommandTree CONSTANT)
Q_PROPERTY(FactGroup* gpsRtk READ gpsRtkFactGroup CONSTANT)
Q_PROPERTY(bool airmapSupported READ airmapSupported CONSTANT)
Q_PROPERTY(TaisyncManager* taisyncManager READ taisyncManager CONSTANT)
Q_PROPERTY(bool taisyncSupported READ taisyncSupported CONSTANT)
Q_PROPERTY(MicrohardManager* microhardManager READ microhardManager CONSTANT)
Q_PROPERTY(bool microhardSupported READ microhardSupported CONSTANT)
Q_PROPERTY(bool supportsPairing READ supportsPairing CONSTANT)
Q_PROPERTY(QGCPalette* globalPalette MEMBER _globalPalette CONSTANT) ///< This palette will always return enabled colors
Q_PROPERTY(QmlUnitsConversion* unitsConversion READ unitsConversion CONSTANT)
Q_PROPERTY(bool singleFirmwareSupport READ singleFirmwareSupport CONSTANT)
Q_PROPERTY(bool singleVehicleSupport READ singleVehicleSupport CONSTANT)
Q_PROPERTY(bool px4ProFirmwareSupported READ px4ProFirmwareSupported CONSTANT)
Q_PROPERTY(int apmFirmwareSupported READ apmFirmwareSupported CONSTANT)
Q_PROPERTY(QGeoCoordinate flightMapPosition READ flightMapPosition WRITE setFlightMapPosition NOTIFY flightMapPositionChanged)
Q_PROPERTY(double flightMapZoom READ flightMapZoom WRITE setFlightMapZoom NOTIFY flightMapZoomChanged)
Q_PROPERTY(double flightMapInitialZoom MEMBER _flightMapInitialZoom CONSTANT) ///< Zoom level to use when either gcs or vehicle shows up for first time
Q_PROPERTY(QString parameterFileExtension READ parameterFileExtension CONSTANT)
Q_PROPERTY(QString missionFileExtension READ missionFileExtension CONSTANT)
Q_PROPERTY(QString telemetryFileExtension READ telemetryFileExtension CONSTANT)
Q_PROPERTY(QString qgcVersion READ qgcVersion CONSTANT)
Q_PROPERTY(bool skipSetupPage READ skipSetupPage WRITE setSkipSetupPage NOTIFY skipSetupPageChanged)
Q_PROPERTY(qreal zOrderTopMost READ zOrderTopMost CONSTANT) ///< z order for top most items, toolbar, main window sub view
Q_PROPERTY(qreal zOrderWidgets READ zOrderWidgets CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
@ -99,7 +100,6 @@ public: @@ -99,7 +100,6 @@ public:
Q_PROPERTY(qreal zOrderWaypointIndicators READ zOrderWaypointIndicators CONSTANT)
Q_PROPERTY(qreal zOrderTrajectoryLines READ zOrderTrajectoryLines CONSTANT)
Q_PROPERTY(qreal zOrderWaypointLines READ zOrderWaypointLines CONSTANT)
//-------------------------------------------------------------------------
// MavLink Protocol
Q_PROPERTY(bool isVersionCheckEnabled READ isVersionCheckEnabled WRITE setIsVersionCheckEnabled NOTIFY isVersionCheckEnabledChanged)
@ -107,16 +107,10 @@ public: @@ -107,16 +107,10 @@ public:
Q_PROPERTY(bool hasAPMSupport READ hasAPMSupport CONSTANT)
Q_PROPERTY(bool hasMAVLinkInspector READ hasMAVLinkInspector CONSTANT)
Q_PROPERTY(QGeoCoordinate flightMapPosition READ flightMapPosition WRITE setFlightMapPosition NOTIFY flightMapPositionChanged)
Q_PROPERTY(double flightMapZoom READ flightMapZoom WRITE setFlightMapZoom NOTIFY flightMapZoomChanged)
Q_PROPERTY(double flightMapInitialZoom MEMBER _flightMapInitialZoom CONSTANT) ///< Zoom level to use when either gcs or vehicle shows up for first time
Q_PROPERTY(QString parameterFileExtension READ parameterFileExtension CONSTANT)
Q_PROPERTY(QString missionFileExtension READ missionFileExtension CONSTANT)
Q_PROPERTY(QString telemetryFileExtension READ telemetryFileExtension CONSTANT)
Q_PROPERTY(QString qgcVersion READ qgcVersion CONSTANT)
Q_PROPERTY(bool skipSetupPage READ skipSetupPage WRITE setSkipSetupPage NOTIFY skipSetupPageChanged)
#if defined(QGC_ENABLE_PAIRING)
Q_PROPERTY(PairingManager* pairingManager READ pairingManager CONSTANT)
#endif
Q_INVOKABLE void saveGlobalSetting (const QString& key, const QString& value);
Q_INVOKABLE QString loadGlobalSetting (const QString& key, const QString& defaultValue);
@ -212,8 +206,8 @@ public: @@ -212,8 +206,8 @@ public:
bool hasMAVLinkInspector () { return false; }
#endif
int supportedFirmwareCount ();
int supportedVehicleCount ();
bool singleFirmwareSupport ();
bool singleVehicleSupport ();
bool px4ProFirmwareSupported ();
bool apmFirmwareSupported ();
bool skipSetupPage () { return _skipSetupPage; }
@ -281,5 +275,3 @@ private: @@ -281,5 +275,3 @@ private:
static QGeoCoordinate _coord;
static double _zoom;
};
#endif

12
src/Settings/App.SettingsGroup.json
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@ -4,19 +4,19 @@ @@ -4,19 +4,19 @@
"QGC.MetaData.Facts":
[
{
"name": "offlineEditingFirmwareType",
"shortDescription": "Offline editing firmware type",
"name": "offlineEditingFirmwareClass",
"shortDescription": "Offline editing firmware class",
"type": "uint32",
"enumStrings": "ArduPilot,PX4 Pro,Mavlink Generic",
"enumValues": "3,12,0",
"defaultValue": 12
},
{
"name": "offlineEditingVehicleType",
"shortDescription": "Offline editing vehicle type",
"name": "offlineEditingVehicleClass",
"shortDescription": "Offline editing vehicle class",
"type": "uint32",
"enumStrings": "Fixed Wing,Multi-Rotor,VTOL,Rover,Sub",
"enumValues": "1,2,20,10,12",
"enumStrings": "Fixed Wing,Multi-Rotor,VTOL,Rover,Sub,Mavlink Generic",
"enumValues": "1,2,20,10,12,0",
"defaultValue": 2
},
{

50
src/Settings/AppSettings.cc
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@ -39,13 +39,26 @@ DECLARE_SETTINGGROUP(App, "") @@ -39,13 +39,26 @@ DECLARE_SETTINGGROUP(App, "")
qmlRegisterUncreatableType<AppSettings>("QGroundControl.SettingsManager", 1, 0, "AppSettings", "Reference only");
QGCPalette::setGlobalTheme(indoorPalette()->rawValue().toBool() ? QGCPalette::Dark : QGCPalette::Light);
// virtualJoystickCentralized -> virtualJoystickAutoCenterThrottle
QSettings settings;
// These two "type" keys were changed to "class" values
static const char* deprecatedFirmwareTypeKey = "offlineEditingFirmwareType";
static const char* deprecatedVehicleTypeKey = "offlineEditingVehicleType";
if (settings.contains(deprecatedFirmwareTypeKey)) {
settings.setValue(deprecatedFirmwareTypeKey, QGCMAVLink::firmwareClass(static_cast<MAV_AUTOPILOT>(settings.value(deprecatedFirmwareTypeKey).toInt())));
}
if (settings.contains(deprecatedVehicleTypeKey)) {
settings.setValue(deprecatedVehicleTypeKey, QGCMAVLink::vehicleClass(static_cast<MAV_TYPE>(settings.value(deprecatedVehicleTypeKey).toInt())));
}
QStringList deprecatedKeyNames = { "virtualJoystickCentralized", "offlineEditingFirmwareType", "offlineEditingVehicleType" };
QStringList newKeyNames = { "virtualJoystickAutoCenterThrottle", "offlineEditingFirmwareClass", "offlineEditingVehicleClass" };
settings.beginGroup(_settingsGroup);
QString deprecatedVirtualJoystickCentralizedKey("virtualJoystickCentralized");
if (settings.contains(deprecatedVirtualJoystickCentralizedKey)) {
settings.setValue(virtualJoystickAutoCenterThrottleName, settings.value(deprecatedVirtualJoystickCentralizedKey));
settings.remove(deprecatedVirtualJoystickCentralizedKey);
for (int i=0; i<deprecatedKeyNames.count(); i++) {
if (settings.contains(deprecatedKeyNames[i])) {
settings.setValue(newKeyNames[i], settings.value(deprecatedKeyNames[i]));
settings.remove(deprecatedKeyNames[i]);
}
}
// Instantiate savePath so we can check for override and setup default path if needed
@ -85,8 +98,8 @@ DECLARE_SETTINGGROUP(App, "") @@ -85,8 +98,8 @@ DECLARE_SETTINGGROUP(App, "")
connect(languageFact, &Fact::rawValueChanged, this, &AppSettings::_languageChanged);
}
DECLARE_SETTINGSFACT(AppSettings, offlineEditingFirmwareType)
DECLARE_SETTINGSFACT(AppSettings, offlineEditingVehicleType)
DECLARE_SETTINGSFACT(AppSettings, offlineEditingFirmwareClass)
DECLARE_SETTINGSFACT(AppSettings, offlineEditingVehicleClass)
DECLARE_SETTINGSFACT(AppSettings, offlineEditingCruiseSpeed)
DECLARE_SETTINGSFACT(AppSettings, offlineEditingHoverSpeed)
DECLARE_SETTINGSFACT(AppSettings, offlineEditingAscentSpeed)
@ -216,29 +229,6 @@ QString AppSettings::crashSavePath(void) @@ -216,29 +229,6 @@ QString AppSettings::crashSavePath(void)
return QString();
}
MAV_AUTOPILOT AppSettings::offlineEditingFirmwareTypeFromFirmwareType(MAV_AUTOPILOT firmwareType)
{
if (firmwareType != MAV_AUTOPILOT_PX4 && firmwareType != MAV_AUTOPILOT_ARDUPILOTMEGA) {
firmwareType = MAV_AUTOPILOT_GENERIC;
}
return firmwareType;
}
MAV_TYPE AppSettings::offlineEditingVehicleTypeFromVehicleType(MAV_TYPE vehicleType)
{
if (QGCMAVLink::isRover(vehicleType)) {
return MAV_TYPE_GROUND_ROVER;
} else if (QGCMAVLink::isSub(vehicleType)) {
return MAV_TYPE_SUBMARINE;
} else if (QGCMAVLink::isVTOL(vehicleType)) {
return MAV_TYPE_VTOL_QUADROTOR;
} else if (QGCMAVLink::isFixedWing(vehicleType)) {
return MAV_TYPE_FIXED_WING;
} else {
return MAV_TYPE_QUADROTOR;
}
}
QList<int> AppSettings::firstRunPromptsIdsVariantToList(const QVariant& firstRunPromptIds)
{
QList<int> rgIds;

7
src/Settings/AppSettings.h
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@ -26,8 +26,8 @@ public: @@ -26,8 +26,8 @@ public:
DEFINE_SETTING_NAME_GROUP()
DEFINE_SETTINGFACT(offlineEditingFirmwareType)
DEFINE_SETTINGFACT(offlineEditingVehicleType)
DEFINE_SETTINGFACT(offlineEditingFirmwareClass)
DEFINE_SETTINGFACT(offlineEditingVehicleClass)
DEFINE_SETTINGFACT(offlineEditingCruiseSpeed)
DEFINE_SETTINGFACT(offlineEditingHoverSpeed)
DEFINE_SETTINGFACT(offlineEditingAscentSpeed)
@ -94,9 +94,6 @@ public: @@ -94,9 +94,6 @@ public:
static QVariant firstRunPromptsIdsListToVariant (const QList<int>& rgIds);
Q_INVOKABLE void firstRunPromptIdsMarkIdAsShown (int id);
static MAV_AUTOPILOT offlineEditingFirmwareTypeFromFirmwareType (MAV_AUTOPILOT firmwareType);
static MAV_TYPE offlineEditingVehicleTypeFromVehicleType (MAV_TYPE vehicleType);
// Application wide file extensions
static const char* parameterFileExtension;
static const char* planFileExtension;

2
src/Vehicle/CompInfoParam.cc
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@ -103,7 +103,7 @@ bool CompInfoParam::_isParameterVolatile(const QString& name) @@ -103,7 +103,7 @@ bool CompInfoParam::_isParameterVolatile(const QString& name)
FirmwarePlugin* CompInfoParam::_anyVehicleTypeFirmwarePlugin(MAV_AUTOPILOT firmwareType)
{
FirmwarePluginManager* pluginMgr = qgcApp()->toolbox()->firmwarePluginManager();
MAV_TYPE anySupportedVehicleType = pluginMgr->supportedVehicleTypes(firmwareType)[0];
MAV_TYPE anySupportedVehicleType = QGCMAVLink::vehicleClassToMavType(pluginMgr->supportedVehicleClasses(QGCMAVLink::firmwareClass(firmwareType))[0]);
return pluginMgr->firmwarePluginForAutopilot(firmwareType, anySupportedVehicleType);
}

24
src/Vehicle/Vehicle.cc
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@ -424,17 +424,17 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, @@ -424,17 +424,17 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
void Vehicle::trackFirmwareVehicleTypeChanges(void)
{
connect(_settingsManager->appSettings()->offlineEditingFirmwareType(), &Fact::rawValueChanged, this, &Vehicle::_offlineFirmwareTypeSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingVehicleType(), &Fact::rawValueChanged, this, &Vehicle::_offlineVehicleTypeSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingFirmwareClass(), &Fact::rawValueChanged, this, &Vehicle::_offlineFirmwareTypeSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingVehicleClass(), &Fact::rawValueChanged, this, &Vehicle::_offlineVehicleTypeSettingChanged);
_offlineFirmwareTypeSettingChanged(_settingsManager->appSettings()->offlineEditingFirmwareType()->rawValue());
_offlineVehicleTypeSettingChanged(_settingsManager->appSettings()->offlineEditingVehicleType()->rawValue());
_offlineFirmwareTypeSettingChanged(_settingsManager->appSettings()->offlineEditingFirmwareClass()->rawValue());
_offlineVehicleTypeSettingChanged(_settingsManager->appSettings()->offlineEditingVehicleClass()->rawValue());
}
void Vehicle::stopTrackingFirmwareVehicleTypeChanges(void)
{
disconnect(_settingsManager->appSettings()->offlineEditingFirmwareType(), &Fact::rawValueChanged, this, &Vehicle::_offlineFirmwareTypeSettingChanged);
disconnect(_settingsManager->appSettings()->offlineEditingVehicleType(), &Fact::rawValueChanged, this, &Vehicle::_offlineVehicleTypeSettingChanged);
disconnect(_settingsManager->appSettings()->offlineEditingFirmwareClass(), &Fact::rawValueChanged, this, &Vehicle::_offlineFirmwareTypeSettingChanged);
disconnect(_settingsManager->appSettings()->offlineEditingVehicleClass(), &Fact::rawValueChanged, this, &Vehicle::_offlineVehicleTypeSettingChanged);
}
void Vehicle::_commonInit()
@ -588,9 +588,9 @@ void Vehicle::prepareDelete() @@ -588,9 +588,9 @@ void Vehicle::prepareDelete()
}
}
void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value)
void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant varFirmwareType)
{
_firmwareType = static_cast<MAV_AUTOPILOT>(value.toInt());
_firmwareType = static_cast<MAV_AUTOPILOT>(varFirmwareType.toInt());
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
_capabilityBits |= MAV_PROTOCOL_CAPABILITY_TERRAIN;
@ -601,9 +601,9 @@ void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value) @@ -601,9 +601,9 @@ void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value)
emit capabilityBitsChanged(_capabilityBits);
}
void Vehicle::_offlineVehicleTypeSettingChanged(QVariant value)
void Vehicle::_offlineVehicleTypeSettingChanged(QVariant varVehicleType)
{
_vehicleType = static_cast<MAV_TYPE>(value.toInt());
_vehicleType = static_cast<MAV_TYPE>(varVehicleType.toInt());
emit vehicleTypeChanged();
}
@ -2721,7 +2721,7 @@ bool Vehicle::fixedWing() const @@ -2721,7 +2721,7 @@ bool Vehicle::fixedWing() const
bool Vehicle::rover() const
{
return QGCMAVLink::isRover(vehicleType());
return QGCMAVLink::isRoverBoat(vehicleType());
}
bool Vehicle::sub() const
@ -2736,7 +2736,7 @@ bool Vehicle::multiRotor() const @@ -2736,7 +2736,7 @@ bool Vehicle::multiRotor() const
bool Vehicle::vtol() const
{
return _firmwarePlugin->isVtol(this);
return QGCMAVLink::isVTOL(vehicleType());
}
bool Vehicle::supportsThrottleModeCenterZero() const

4
src/Vehicle/Vehicle.h
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@ -1159,8 +1159,8 @@ public: @@ -1159,8 +1159,8 @@ public:
public slots:
void setVtolInFwdFlight (bool vtolInFwdFlight);
void _offlineFirmwareTypeSettingChanged (QVariant value); // Should only be used by MissionControler to set firmware from Plan file
void _offlineVehicleTypeSettingChanged (QVariant value); // Should only be used by MissionController to set vehicle type from Plan file
void _offlineFirmwareTypeSettingChanged (QVariant varFirmwareType); // Should only be used by MissionControler to set firmware from Plan file
void _offlineVehicleTypeSettingChanged (QVariant varVehicleType); // Should only be used by MissionController to set vehicle type from Plan file
signals:
void allLinksInactive (Vehicle* vehicle);

107
src/comm/QGCMAVLink.cc
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@ -9,45 +9,91 @@ @@ -9,45 +9,91 @@
#include "QGCMAVLink.h"
bool QGCMAVLink::isFixedWing(MAV_TYPE mavType)
constexpr QGCMAVLink::FirmwareClass_t QGCMAVLink::FirmwareClassPX4;
constexpr QGCMAVLink::FirmwareClass_t QGCMAVLink::FirmwareClassArduPilot;
constexpr QGCMAVLink::FirmwareClass_t QGCMAVLink::FirmwareClassGeneric;
constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassFixedWing;
constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassRoverBoat;
constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassSub;
constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassMultiRotor;
constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassVTOL;
constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassGeneric;
QList<QGCMAVLink::FirmwareClass_t> QGCMAVLink::allFirmwareClasses(void)
{
return mavType == MAV_TYPE_FIXED_WING;
static const QList<QGCMAVLink::FirmwareClass_t> classes = {
FirmwareClassPX4,
FirmwareClassArduPilot,
FirmwareClassGeneric
};
return classes;
}
bool QGCMAVLink::isRover(MAV_TYPE mavType)
QList<QGCMAVLink::VehicleClass_t> QGCMAVLink::allVehicleClasses(void)
{
switch (mavType) {
case MAV_TYPE_GROUND_ROVER:
case MAV_TYPE_SURFACE_BOAT:
return true;
default:
return false;
static const QList<QGCMAVLink::VehicleClass_t> classes = {
VehicleClassFixedWing,
VehicleClassRoverBoat,
VehicleClassSub,
VehicleClassMultiRotor,
VehicleClassVTOL,
VehicleClassGeneric,
};
return classes;
}
QGCMAVLink::FirmwareClass_t QGCMAVLink::firmwareClass(MAV_AUTOPILOT autopilot)
{
if (isPX4FirmwareClass(autopilot)) {
return FirmwareClassPX4;
} else if (isArduPilotFirmwareClass(autopilot)) {
return FirmwareClassArduPilot;
} else {
return FirmwareClassGeneric;
}
}
bool QGCMAVLink::isFixedWing(MAV_TYPE mavType)
{
return vehicleClass(mavType) == VehicleClassFixedWing;
}
bool QGCMAVLink::isRoverBoat(MAV_TYPE mavType)
{
return vehicleClass(mavType) == VehicleClassRoverBoat;
}
bool QGCMAVLink::isSub(MAV_TYPE mavType)
{
return mavType == MAV_TYPE_SUBMARINE;
return vehicleClass(mavType) == VehicleClassSub;
}
bool QGCMAVLink::isMultiRotor(MAV_TYPE mavType)
{
return vehicleClass(mavType) == VehicleClassMultiRotor;
}
bool QGCMAVLink::isVTOL(MAV_TYPE mavType)
{
return vehicleClass(mavType) == VehicleClassVTOL;
}
QGCMAVLink::VehicleClass_t QGCMAVLink::vehicleClass(MAV_TYPE mavType)
{
switch (mavType) {
case MAV_TYPE_GROUND_ROVER:
case MAV_TYPE_SURFACE_BOAT:
return VehicleClassRoverBoat;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_COAXIAL:
case MAV_TYPE_HELICOPTER:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
return true;
default:
return false;
}
}
bool QGCMAVLink::isVTOL(MAV_TYPE mavType)
{
switch (mavType) {
return VehicleClassMultiRotor;
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
@ -55,29 +101,14 @@ bool QGCMAVLink::isVTOL(MAV_TYPE mavType) @@ -55,29 +101,14 @@ bool QGCMAVLink::isVTOL(MAV_TYPE mavType)
case MAV_TYPE_VTOL_RESERVED3:
case MAV_TYPE_VTOL_RESERVED4:
case MAV_TYPE_VTOL_RESERVED5:
return true;
return VehicleClassVTOL;
case MAV_TYPE_FIXED_WING:
return VehicleClassFixedWing;
default:
return false;
return VehicleClassGeneric;
}
}
MAV_TYPE QGCMAVLink::vehicleClass(MAV_TYPE mavType)
{
if (isFixedWing(mavType)) {
return MAV_TYPE_FIXED_WING;
} else if (isRover(mavType)) {
return MAV_TYPE_GROUND_ROVER;
} else if (isSub(mavType)) {
return MAV_TYPE_SUBMARINE;
} else if (isMultiRotor(mavType)) {
return MAV_TYPE_QUADROTOR;
} else if (isVTOL(mavType)) {
return MAV_TYPE_VTOL_QUADROTOR;
}
return MAV_TYPE_GENERIC;
}
QString QGCMAVLink::mavResultToString(MAV_RESULT result)
{
switch (result) {

39
src/comm/QGCMAVLink.h
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@ -10,6 +10,7 @@ @@ -10,6 +10,7 @@
#pragma once
#include <QString>
#include <QList>
#define MAVLINK_USE_MESSAGE_INFO
#define MAVLINK_EXTERNAL_RX_STATUS // Single m_mavlink_status instance is in QGCApplication.cc
@ -48,13 +49,37 @@ extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; @@ -48,13 +49,37 @@ extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
class QGCMAVLink {
public:
static bool isFixedWing (MAV_TYPE mavType);
static bool isRover (MAV_TYPE mavType);
static bool isSub (MAV_TYPE mavType);
static bool isMultiRotor (MAV_TYPE mavType);
static bool isVTOL (MAV_TYPE mavType);
static MAV_TYPE vehicleClass (MAV_TYPE mavType);
static QString mavResultToString (MAV_RESULT result);
typedef int FirmwareClass_t;
typedef int VehicleClass_t;
static constexpr FirmwareClass_t FirmwareClassPX4 = MAV_AUTOPILOT_PX4;
static constexpr FirmwareClass_t FirmwareClassArduPilot = MAV_AUTOPILOT_ARDUPILOTMEGA;
static constexpr FirmwareClass_t FirmwareClassGeneric = MAV_AUTOPILOT_GENERIC;
static constexpr VehicleClass_t VehicleClassFixedWing = MAV_TYPE_FIXED_WING;
static constexpr VehicleClass_t VehicleClassRoverBoat = MAV_TYPE_GROUND_ROVER;
static constexpr VehicleClass_t VehicleClassSub = MAV_TYPE_SUBMARINE;
static constexpr VehicleClass_t VehicleClassMultiRotor = MAV_TYPE_QUADROTOR;
static constexpr VehicleClass_t VehicleClassVTOL = MAV_TYPE_VTOL_QUADROTOR;
static constexpr VehicleClass_t VehicleClassGeneric = MAV_TYPE_GENERIC;
static bool isPX4FirmwareClass (MAV_AUTOPILOT autopilot) { return autopilot == MAV_AUTOPILOT_PX4; }
static bool isArduPilotFirmwareClass(MAV_AUTOPILOT autopilot) { return autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA; }
static bool isGenericFirmwareClass (MAV_AUTOPILOT autopilot) { return !isPX4FirmwareClass(autopilot) && ! isArduPilotFirmwareClass(autopilot); }
static FirmwareClass_t firmwareClass (MAV_AUTOPILOT autopilot);
static MAV_AUTOPILOT firmwareClassToAutopilot(FirmwareClass_t firmwareClass) { return static_cast<MAV_AUTOPILOT>(firmwareClass); }
static QList<FirmwareClass_t> allFirmwareClasses (void);
static bool isFixedWing (MAV_TYPE mavType);
static bool isRoverBoat (MAV_TYPE mavType);
static bool isSub (MAV_TYPE mavType);
static bool isMultiRotor (MAV_TYPE mavType);
static bool isVTOL (MAV_TYPE mavType);
static VehicleClass_t vehicleClass (MAV_TYPE mavType);
static MAV_TYPE vehicleClassToMavType (VehicleClass_t vehicleClass) { return static_cast<MAV_TYPE>(vehicleClass); }
static QList<VehicleClass_t> allVehicleClasses (void);
static QString mavResultToString (MAV_RESULT result);
};
class MavlinkFTP {

4
src/qgcunittest/UnitTest.cc
Unescape View File

@ -110,8 +110,8 @@ void UnitTest::init(void) @@ -110,8 +110,8 @@ void UnitTest::init(void)
// Force offline vehicle back to defaults
AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
appSettings->offlineEditingFirmwareType()->setRawValue(appSettings->offlineEditingFirmwareType()->rawDefaultValue());
appSettings->offlineEditingVehicleType()->setRawValue(appSettings->offlineEditingVehicleType()->rawDefaultValue());
appSettings->offlineEditingFirmwareClass()->setRawValue(appSettings->offlineEditingFirmwareClass()->rawDefaultValue());
appSettings->offlineEditingVehicleClass()->setRawValue(appSettings->offlineEditingVehicleClass()->rawDefaultValue());
_messageBoxRespondedTo = false;
_missedMessageBoxCount = 0;

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