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Merge remote-tracking branch 'mavlink/master' into videoWork 

* mavlink/master:
  Missed qDebug. Sorry for the commit deluge...
  Reducing PIP size on Android a bit. It was kind of big...
  Revert "Start logging on heartbeat instead of connect"
  Doc fix for getting gstreamer in to android build
  Adjustments to Telemetry Data
  Remove removed Widget
  Fixed Style for switch
  Fix opening DockWidget views
  Do not use the text() of the Action to show a DockWidget
  Translate the names of the Views
  Declare the Static Const Char on the .cpp file
  Do not let the Fullscreen/Normal be completely unselected
  Do not dynamic_cast QObject, use qobject_cast, it's faster.
  Support correct parameter set for APM
QGC4.4
dogmaphobic 10 years ago
parent
0818cfe4e7 b2471b001a
commit
3a37fd2526
17 changed files with 1953 additions and 747 deletions
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  1. 4
      qgroundcontrol.qrc
  2. 6
      src/FlightDisplay/FlightDisplayView.qml
  3. 3
      src/FlightDisplay/FlightDisplayViewWidgets.qml
  4. 128
      src/FlightMap/Widgets/QGCInstrumentWidget.qml
  5. 11
      src/VideoStreaming/README.md
  6. 506
      src/comm/APMArduCopterMockLink.params
  7. 587
      src/comm/APMArduPlaneMockLink.params
  8. 36
      src/comm/MAVLinkProtocol.cc
  9. 167
      src/comm/MockLink.cc
  10. 10
      src/comm/MockLink.h
  11. 0
      src/comm/PX4MockLink.params
  12. 106
      src/ui/MainWindow.cc
  13. 11
      src/ui/MainWindow.h
  14. 26
      src/ui/MockLinkConfiguration.cc
  15. 2
      src/ui/MockLinkConfiguration.h
  16. 27
      src/ui/MockLinkConfiguration.ui

4
qgroundcontrol.qrc
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@ -1,6 +1,8 @@ @@ -1,6 +1,8 @@
<RCC>
<qresource prefix="/unittest">
<file alias="MockLink.params">src/comm/MockLink.params</file>
<file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
<file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
<file alias="FactSystemTest.qml">src/FactSystem/FactSystemTest.qml</file>
</qresource>
<qresource prefix="/qml">

6
src/FlightDisplay/FlightDisplayView.qml
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@ -75,6 +75,8 @@ Item { @@ -75,6 +75,8 @@ Item {
property var _flightVideo: null
property var _savedZoomLevel: 0
property real _pipSize: ScreenTools.isAndroid ? ScreenTools.defaultFontPixelSize * (8) : ScreenTools.defaultFontPixelSize * (9)
FlightDisplayViewController { id: _controller }
MissionController {
@ -125,8 +127,8 @@ Item { @@ -125,8 +127,8 @@ Item {
anchors.margins: ScreenTools.defaultFontPixelHeight
anchors.left: parent.left
anchors.bottom: parent.bottom
height: ScreenTools.defaultFontPixelSize * (9)
width: ScreenTools.defaultFontPixelSize * (9) * (16/9)
height: _pipSize
width: _pipSize * (16/9)
color: "#000010"
border.width: 4
radius: 4

3
src/FlightDisplay/FlightDisplayViewWidgets.qml
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@ -87,7 +87,6 @@ Item { @@ -87,7 +87,6 @@ Item {
altitude: _altitudeWGS84
groundSpeed: _groundSpeed
airSpeed: _airSpeed
climbRate: _climbRate
isSatellite: _mainIsMap ? _flightMap ? _flightMap.isSatelliteMap : true : true
z: QGroundControl.zOrderWidgets
}
@ -97,7 +96,7 @@ Item { @@ -97,7 +96,7 @@ Item {
id: toolColumn
anchors.margins: ScreenTools.defaultFontPixelHeight
anchors.left: parent.left
anchors.verticalCenter: parent.verticalCenter
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelHeight
//-- Map Center Control

128
src/FlightMap/Widgets/QGCInstrumentWidget.qml
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@ -42,7 +42,6 @@ Item { @@ -42,7 +42,6 @@ Item {
property real altitude: 0
property real groundSpeed: 0
property real airSpeed: 0
property real climbRate: 0
property real size: ScreenTools.defaultFontPixelSize * (10)
property bool isSatellite: false
property bool active: false
@ -78,24 +77,21 @@ Item { @@ -78,24 +77,21 @@ Item {
color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25)
anchors.horizontalCenter: parent.horizontalCenter
}
Row {
width: root.size * 0.8
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
text: "H"
font.pixelSize: ScreenTools.defaultFontPixelSize * 1.25
width: parent.width * 0.45
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
QGCLabel {
text: altitude.toFixed(1)
font.pixelSize: ScreenTools.defaultFontPixelSize * 1.25
font.weight: Font.DemiBold
width: parent.width * 0.549
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
QGCLabel {
text: "Altitude"
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
width: parent.width
height: ScreenTools.defaultFontPixelHeight * 0.5
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
QGCLabel {
text: altitude < 10000 ? altitude.toFixed(1) : altitude.toFixed(0)
font.pixelSize: ScreenTools.defaultFontPixelSize * 2.5
font.weight: Font.DemiBold
width: parent.width
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
//-- Ground Speed
Rectangle {
@ -103,25 +99,25 @@ Item { @@ -103,25 +99,25 @@ Item {
width: parent.width * 0.9
color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25)
anchors.horizontalCenter: parent.horizontalCenter
visible: airSpeed <= 0
}
Row {
width: root.size * 0.8
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
text: "GS"
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
width: parent.width * 0.45
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
QGCLabel {
text: groundSpeed.toFixed(1)
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
font.weight: Font.DemiBold
width: parent.width * 0.549
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
QGCLabel {
text: "Ground Speed"
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
width: parent.width
height: ScreenTools.defaultFontPixelHeight * 0.75
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
visible: airSpeed <= 0
}
QGCLabel {
text: groundSpeed.toFixed(1)
font.pixelSize: ScreenTools.defaultFontPixelSize * 1.25
font.weight: Font.DemiBold
width: parent.width
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
visible: airSpeed <= 0
}
//-- Air Speed
Rectangle {
@ -131,51 +127,23 @@ Item { @@ -131,51 +127,23 @@ Item {
anchors.horizontalCenter: parent.horizontalCenter
visible: airSpeed > 0
}
Row {
width: root.size * 0.8
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
text: "Air Speed"
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
width: parent.width
height: ScreenTools.defaultFontPixelHeight * 0.75
color: isSatellite ? "black" : "white"
visible: airSpeed > 0
QGCLabel {
text: "AS"
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
width: parent.width * 0.45
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
QGCLabel {
text: airSpeed.toFixed(1)
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
font.weight: Font.DemiBold
width: parent.width * 0.549
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
horizontalAlignment: TextEdit.AlignHCenter
}
//-- Climb Rate
Rectangle {
height: 1
width: parent.width * 0.9
color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25)
anchors.horizontalCenter: parent.horizontalCenter
}
Row {
width: root.size * 0.8
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
text: "VS"
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
width: parent.width * 0.45
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
QGCLabel {
text: climbRate.toFixed(1)
font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
font.weight: Font.DemiBold
width: parent.width * 0.549
color: isSatellite ? "black" : "white"
horizontalAlignment: TextEdit.AlignHCenter
}
QGCLabel {
text: airSpeed.toFixed(1)
font.pixelSize: ScreenTools.defaultFontPixelSize * 1.25
font.weight: Font.DemiBold
width: parent.width
color: isSatellite ? "black" : "white"
visible: airSpeed > 0
horizontalAlignment: TextEdit.AlignHCenter
}
//-- Compass
Rectangle {

11
src/VideoStreaming/README.md
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@ -60,7 +60,16 @@ TODO: Binaries found in http://gstreamer.freedesktop.org/data/pkg/ios @@ -60,7 +60,16 @@ TODO: Binaries found in http://gstreamer.freedesktop.org/data/pkg/ios
### Android
Binaries found in http://gstreamer.freedesktop.org/data/pkg/android
Download the [gstreamer-1.0-android-armv7-1.5.2.tar.bz2](http://gstreamer.freedesktop.org/data/pkg/android/1.5.2/gstreamer-1.0-android-armv7-1.5.2.tar.bz2) archive (assuming you want the ARM V7 platform) and extract it to the root qgroundcontrol directory (the same directory qgroundcontrol.pro is located). That's where the build system will look for it.
Download the [gstreamer-1.0-android-armv7-1.5.2.tar.bz2](http://gstreamer.freedesktop.org/data/pkg/android/1.5.2/gstreamer-1.0-android-armv7-1.5.2.tar.bz2) archive (assuming you want the ARM V7 platform).
Create a directory named "gstreamer-1.0-android-armv7-1.5.2" under the root qgroundcontrol directory (the same directory qgroundcontrol.pro is located). Extract the gstreamer tar file under this directory. That's where the build system will look for it. Make sure your archive tool doesn't create any additional top level directories. The structure after extracting the archive should look like this:
qgroundcontrol
├── gstreamer-1.0-android-armv7-1.5.2
│   ├── etc
│   ├── include
│   ├── lib
│   └── share
### Windows

506
src/comm/APMArduCopterMockLink.params
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@ -0,0 +1,506 @@ @@ -0,0 +1,506 @@
# Onboard parameters for system MAV 001
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
1 1 ACCEL_Z_D 0 9
1 1 ACCEL_Z_FILT_HZ 20 9
1 1 ACCEL_Z_I 1 9
1 1 ACCEL_Z_IMAX 800 9
1 1 ACCEL_Z_P 0.5 9
1 1 ACRO_BAL_PITCH 1 9
1 1 ACRO_BAL_ROLL 1 9
1 1 ACRO_EXPO 0.3 9
1 1 ACRO_RP_P 4.5 9
1 1 ACRO_TRAINER 2 2
1 1 ACRO_YAW_P 4.5 9
1 1 AHRS_COMP_BETA 0.1 9
1 1 AHRS_GPS_GAIN 1 9
1 1 AHRS_GPS_MINSATS 6 2
1 1 AHRS_GPS_USE 1 2
1 1 AHRS_ORIENTATION 0 2
1 1 AHRS_RP_P 0.2 9
1 1 AHRS_TRIM_X 0 9
1 1 AHRS_TRIM_Y 0 9
1 1 AHRS_TRIM_Z 0 9
1 1 AHRS_WIND_MAX 0 2
1 1 AHRS_YAW_P 0.2 9
1 1 ANGLE_MAX 4500 4
1 1 ARMING_CHECK 1 2
1 1 ATC_ACCEL_P_MAX 1.1e+05 9
1 1 ATC_ACCEL_R_MAX 1.1e+05 9
1 1 ATC_ACCEL_Y_MAX 2.7e+04 9
1 1 ATC_RATE_FF_ENAB 1 2
1 1 ATC_SLEW_YAW 1e+03 9
1 1 AUTOTUNE_AGGR 0.1 9
1 1 AUTOTUNE_AXES 7 2
1 1 AUTOTUNE_MIN_D 0.004 9
1 1 BATT2_AMP_OFFSET 0 9
1 1 BATT2_AMP_PERVOL 17 9
1 1 BATT2_CAPACITY 3300 6
1 1 BATT2_CURR_PIN 3 2
1 1 BATT2_MONITOR 0 2
1 1 BATT2_VOLT_MULT 10.1 9
1 1 BATT2_VOLT_PIN 2 2
1 1 BATT_AMP_OFFSET 0 9
1 1 BATT_AMP_PERVOLT 17 9
1 1 BATT_CAPACITY 3300 6
1 1 BATT_CURR_PIN 3 2
1 1 BATT_MONITOR 0 2
1 1 BATT_VOLT_MULT 10.1 9
1 1 BATT_VOLT_PIN 2 2
1 1 BRD_PWM_COUNT 4 2
1 1 BRD_SAFETYENABLE 1 2
1 1 BRD_SBUS_OUT 0 2
1 1 BRD_SER1_RTSCTS 2 2
1 1 BRD_SER2_RTSCTS 2 2
1 1 BRD_SERIAL_NUM 0 4
1 1 CAM_DURATION 10 2
1 1 CAM_SERVO_OFF 1100 4
1 1 CAM_SERVO_ON 1300 4
1 1 CAM_TRIGG_DIST 0 9
1 1 CAM_TRIGG_TYPE 0 2
1 1 CH10_OPT 0 2
1 1 CH11_OPT 0 2
1 1 CH12_OPT 0 2
1 1 CH7_OPT 0 2
1 1 CH8_OPT 0 2
1 1 CH9_OPT 0 2
1 1 CHUTE_ALT_MIN 10 4
1 1 CHUTE_ENABLED 0 2
1 1 CHUTE_SERVO_OFF 1100 4
1 1 CHUTE_SERVO_ON 1300 4
1 1 CHUTE_TYPE 0 2
1 1 CIRCLE_RADIUS 1e+03 9
1 1 CIRCLE_RATE 20 9
1 1 CLI_ENABLED 0 2
1 1 COMPASS_AUTODEC 1 2
1 1 COMPASS_DEC 0 9
1 1 COMPASS_DEV_ID 131594 6
1 1 COMPASS_DEV_ID2 0 6
1 1 COMPASS_DEV_ID3 0 6
1 1 COMPASS_EXTERN2 0 2
1 1 COMPASS_EXTERN3 0 2
1 1 COMPASS_EXTERNAL 0 2
1 1 COMPASS_LEARN 0 2
1 1 COMPASS_MOT2_X 0 9
1 1 COMPASS_MOT2_Y 0 9
1 1 COMPASS_MOT2_Z 0 9
1 1 COMPASS_MOT3_X 0 9
1 1 COMPASS_MOT3_Y 0 9
1 1 COMPASS_MOT3_Z 0 9
1 1 COMPASS_MOTCT 0 2
1 1 COMPASS_MOT_X 0 9
1 1 COMPASS_MOT_Y 0 9
1 1 COMPASS_MOT_Z 0 9
1 1 COMPASS_OFS2_X 0 9
1 1 COMPASS_OFS2_Y 0 9
1 1 COMPASS_OFS2_Z 0 9
1 1 COMPASS_OFS3_X 0 9
1 1 COMPASS_OFS3_Y 0 9
1 1 COMPASS_OFS3_Z 0 9
1 1 COMPASS_OFS_X 0 9
1 1 COMPASS_OFS_Y 0 9
1 1 COMPASS_OFS_Z 0 9
1 1 COMPASS_ORIENT 0 2
1 1 COMPASS_ORIENT2 0 2
1 1 COMPASS_ORIENT3 0 2
1 1 COMPASS_PRIMARY 0 2
1 1 COMPASS_USE 1 2
1 1 COMPASS_USE2 1 2
1 1 COMPASS_USE3 1 2
1 1 EKF_ABIAS_PNOISE 5e-05 9
1 1 EKF_ACC_PNOISE 0.25 9
1 1 EKF_ALT_NOISE 1 9
1 1 EKF_ALT_SOURCE 1 2
1 1 EKF_EAS_GATE 10 2
1 1 EKF_EAS_NOISE 1.4 9
1 1 EKF_FALLBACK 1 2
1 1 EKF_FLOW_DELAY 10 2
1 1 EKF_FLOW_GATE 3 2
1 1 EKF_FLOW_NOISE 0.25 9
1 1 EKF_GBIAS_PNOISE 1e-06 9
1 1 EKF_GLITCH_ACCEL 100 4
1 1 EKF_GLITCH_RAD 25 2
1 1 EKF_GND_GRADIENT 2 2
1 1 EKF_GPS_TYPE 0 2
1 1 EKF_GYRO_PNOISE 0.015 9
1 1 EKF_HGT_GATE 10 2
1 1 EKF_MAGB_PNOISE 0.0003 9
1 1 EKF_MAGE_PNOISE 0.0003 9
1 1 EKF_MAG_CAL 1 2
1 1 EKF_MAG_GATE 3 2
1 1 EKF_MAG_NOISE 0.05 9
1 1 EKF_MAX_FLOW 2.5 9
1 1 EKF_POSNE_NOISE 0.5 9
1 1 EKF_POS_DELAY 220 4
1 1 EKF_POS_GATE 10 2
1 1 EKF_RNG_GATE 5 2
1 1 EKF_VELD_NOISE 0.7 9
1 1 EKF_VELNE_NOISE 0.5 9
1 1 EKF_VEL_DELAY 220 4
1 1 EKF_VEL_GATE 5 2
1 1 EKF_WIND_PNOISE 0.1 9
1 1 EKF_WIND_PSCALE 0.5 9
1 1 EPM_ENABLE 0 2
1 1 EPM_GRAB 1900 4
1 1 EPM_NEUTRAL 1500 4
1 1 EPM_REGRAB 0 2
1 1 EPM_RELEASE 1100 4
1 1 ESC_CALIBRATION 0 2
1 1 FENCE_ACTION 1 2
1 1 FENCE_ALT_MAX 100 9
1 1 FENCE_ENABLE 0 2
1 1 FENCE_MARGIN 2 9
1 1 FENCE_RADIUS 300 9
1 1 FENCE_TYPE 3 2
1 1 FLOW_ENABLE 0 2
1 1 FLOW_FXSCALER 0 4
1 1 FLOW_FYSCALER 0 4
1 1 FLOW_ORIENT_YAW 0 4
1 1 FLTMODE1 0 2
1 1 FLTMODE2 0 2
1 1 FLTMODE3 0 2
1 1 FLTMODE4 0 2
1 1 FLTMODE5 0 2
1 1 FLTMODE6 0 2
1 1 FRAME 1 2
1 1 FS_BATT_ENABLE 0 2
1 1 FS_BATT_MAH 0 9
1 1 FS_BATT_VOLTAGE 10.5 9
1 1 FS_EKF_ACTION 1 2
1 1 FS_EKF_THRESH 0.8 9
1 1 FS_GCS_ENABLE 1 2
1 1 FS_THR_ENABLE 0 2
1 1 FS_THR_VALUE 975 4
1 1 GCS_PID_MASK 0 4
1 1 GND_ABS_PRESS 1.01e+05 9
1 1 GND_ALT_OFFSET 0 2
1 1 GND_TEMP 29.5 9
1 1 GPS_AUTO_SWITCH 1 2
1 1 GPS_GNSS_MODE 0 2
1 1 GPS_HDOP_GOOD 140 4
1 1 GPS_INJECT_TO 127 2
1 1 GPS_MIN_DGPS 100 2
1 1 GPS_MIN_ELEV -100 2
1 1 GPS_NAVFILTER 8 2
1 1 GPS_RAW_DATA 0 2
1 1 GPS_SBAS_MODE 2 2
1 1 GPS_SBP_LOGMASK -256 4
1 1 GPS_TYPE 1 2
1 1 GPS_TYPE2 0 2
1 1 INS_ACC2OFFS_X 0 9
1 1 INS_ACC2OFFS_Y 0 9
1 1 INS_ACC2OFFS_Z 0 9
1 1 INS_ACC2SCAL_X 1 9
1 1 INS_ACC2SCAL_Y 1 9
1 1 INS_ACC2SCAL_Z 1 9
1 1 INS_ACC3OFFS_X 0 9
1 1 INS_ACC3OFFS_Y 0 9
1 1 INS_ACC3OFFS_Z 0 9
1 1 INS_ACC3SCAL_X 0 9
1 1 INS_ACC3SCAL_Y 0 9
1 1 INS_ACC3SCAL_Z 0 9
1 1 INS_ACCEL_FILTER 20 2
1 1 INS_ACCOFFS_X 0 9
1 1 INS_ACCOFFS_Y 0 9
1 1 INS_ACCOFFS_Z 0 9
1 1 INS_ACCSCAL_X 1 9
1 1 INS_ACCSCAL_Y 1 9
1 1 INS_ACCSCAL_Z 1 9
1 1 INS_GYR2OFFS_X 0.0184 9
1 1 INS_GYR2OFFS_Y 0.00255 9
1 1 INS_GYR2OFFS_Z -0.0246 9
1 1 INS_GYR3OFFS_X 0 9
1 1 INS_GYR3OFFS_Y 0 9
1 1 INS_GYR3OFFS_Z 0 9
1 1 INS_GYROFFS_X 0.0225 9
1 1 INS_GYROFFS_Y 0.0483 9
1 1 INS_GYROFFS_Z -0.00417 9
1 1 INS_GYRO_FILTER 20 2
1 1 INS_PRODUCT_ID 5 4
1 1 INS_USE 1 2
1 1 INS_USE2 1 2
1 1 INS_USE3 0 2
1 1 LAND_REPOSITION 1 2
1 1 LAND_SPEED 50 4
1 1 LGR_SERVO_DEPLOY 1750 4
1 1 LGR_SERVO_RTRACT 1250 4
1 1 LOG_BITMASK 176126 6
1 1 MAG_ENABLE 1 2
1 1 MIS_RESTART 0 2
1 1 MIS_TOTAL 0 4
1 1 MNT_ANGMAX_PAN 4500 4
1 1 MNT_ANGMAX_ROL 4500 4
1 1 MNT_ANGMAX_TIL 4500 4
1 1 MNT_ANGMIN_PAN -4500 4
1 1 MNT_ANGMIN_ROL -4500 4
1 1 MNT_ANGMIN_TIL -4500 4
1 1 MNT_DEFLT_MODE 3 2
1 1 MNT_JSTICK_SPD 0 2
1 1 MNT_K_RATE 5 9
1 1 MNT_LEAD_PTCH 0 9
1 1 MNT_LEAD_RLL 0 9
1 1 MNT_NEUTRAL_X 0 9
1 1 MNT_NEUTRAL_Y 0 9
1 1 MNT_NEUTRAL_Z 0 9
1 1 MNT_OFF_ACC_X 0 9
1 1 MNT_OFF_ACC_Y 0 9
1 1 MNT_OFF_ACC_Z 0 9
1 1 MNT_OFF_GYRO_X 0 9
1 1 MNT_OFF_GYRO_Y 0 9
1 1 MNT_OFF_GYRO_Z 0 9
1 1 MNT_OFF_JNT_X 0 9
1 1 MNT_OFF_JNT_Y 0 9
1 1 MNT_OFF_JNT_Z 0 9
1 1 MNT_RC_IN_PAN 0 2
1 1 MNT_RC_IN_ROLL 0 2
1 1 MNT_RC_IN_TILT 0 2
1 1 MNT_RETRACT_X 0 9
1 1 MNT_RETRACT_Y 0 9
1 1 MNT_RETRACT_Z 0 9
1 1 MNT_STAB_PAN 0 2
1 1 MNT_STAB_ROLL 0 2
1 1 MNT_STAB_TILT 0 2
1 1 MNT_TYPE 0 2
1 1 MOT_CURR_MAX 0 9
1 1 MOT_SPIN_ARMED 70 4
1 1 MOT_THR_MIX_MAX 0.5 9
1 1 MOT_THR_MIX_MIN 0.1 9
1 1 MOT_THST_BAT_MAX 0 9
1 1 MOT_THST_BAT_MIN 0 9
1 1 MOT_THST_EXPO 0.65 9
1 1 MOT_THST_MAX 0.95 9
1 1 MOT_YAW_HEADROOM 200 4
1 1 PHLD_BRAKE_ANGLE 3000 4
1 1 PHLD_BRAKE_RATE 8 4
1 1 PILOT_ACCEL_Z 250 4
1 1 PILOT_THR_BHV 0 4
1 1 PILOT_THR_FILT 0 9
1 1 PILOT_TKOFF_ALT 0 9
1 1 PILOT_TKOFF_DZ 100 4
1 1 PILOT_VELZ_MAX 250 4
1 1 POS_XY_P 1 9
1 1 POS_Z_P 1 9
1 1 PSC_ACC_XY_FILT 2 9
1 1 RALLY_INCL_HOME 1 2
1 1 RALLY_LIMIT_KM 0.3 9
1 1 RALLY_TOTAL 0 2
1 1 RATE_PIT_D 0.004 9
1 1 RATE_PIT_FILT_HZ 20 9
1 1 RATE_PIT_I 0.1 9
1 1 RATE_PIT_IMAX 2e+03 9
1 1 RATE_PIT_P 0.15 9
1 1 RATE_RLL_D 0.004 9
1 1 RATE_RLL_FILT_HZ 20 9
1 1 RATE_RLL_I 0.1 9
1 1 RATE_RLL_IMAX 2e+03 9
1 1 RATE_RLL_P 0.15 9
1 1 RATE_YAW_D 0 9
1 1 RATE_YAW_FILT_HZ 5 9
1 1 RATE_YAW_I 0.02 9
1 1 RATE_YAW_IMAX 1e+03 9
1 1 RATE_YAW_P 0.2 9
1 1 RC10_DZ 0 4
1 1 RC10_FUNCTION 0 2
1 1 RC10_MAX 1900 4
1 1 RC10_MIN 1100 4
1 1 RC10_REV 1 2
1 1 RC10_TRIM 1500 4
1 1 RC11_DZ 0 4
1 1 RC11_FUNCTION 0 2
1 1 RC11_MAX 1900 4
1 1 RC11_MIN 1100 4
1 1 RC11_REV 1 2
1 1 RC11_TRIM 1500 4
1 1 RC12_DZ 0 4
1 1 RC12_FUNCTION 0 2
1 1 RC12_MAX 1900 4
1 1 RC12_MIN 1100 4
1 1 RC12_REV 1 2
1 1 RC12_TRIM 1500 4
1 1 RC13_DZ 0 4
1 1 RC13_FUNCTION 0 2
1 1 RC13_MAX 1900 4
1 1 RC13_MIN 1100 4
1 1 RC13_REV 1 2
1 1 RC13_TRIM 1500 4
1 1 RC14_DZ 0 4
1 1 RC14_FUNCTION 0 2
1 1 RC14_MAX 1900 4
1 1 RC14_MIN 1100 4
1 1 RC14_REV 1 2
1 1 RC14_TRIM 1500 4
1 1 RC1_DZ 30 4
1 1 RC1_MAX 1900 4
1 1 RC1_MIN 1100 4
1 1 RC1_REV 1 2
1 1 RC1_TRIM 1500 4
1 1 RC2_DZ 30 4
1 1 RC2_MAX 1900 4
1 1 RC2_MIN 1100 4
1 1 RC2_REV 1 2
1 1 RC2_TRIM 1500 4
1 1 RC3_DZ 30 4
1 1 RC3_MAX 1900 4
1 1 RC3_MIN 1100 4
1 1 RC3_REV 1 2
1 1 RC3_TRIM 1500 4
1 1 RC4_DZ 40 4
1 1 RC4_MAX 1900 4
1 1 RC4_MIN 1100 4
1 1 RC4_REV 1 2
1 1 RC4_TRIM 1500 4
1 1 RC5_DZ 0 4
1 1 RC5_FUNCTION 0 2
1 1 RC5_MAX 1900 4
1 1 RC5_MIN 1100 4
1 1 RC5_REV 1 2
1 1 RC5_TRIM 1500 4
1 1 RC6_DZ 0 4
1 1 RC6_FUNCTION 0 2
1 1 RC6_MAX 1900 4
1 1 RC6_MIN 1100 4
1 1 RC6_REV 1 2
1 1 RC6_TRIM 1500 4
1 1 RC7_DZ 0 4
1 1 RC7_FUNCTION 0 2
1 1 RC7_MAX 1900 4
1 1 RC7_MIN 1100 4
1 1 RC7_REV 1 2
1 1 RC7_TRIM 1500 4
1 1 RC8_DZ 0 4
1 1 RC8_FUNCTION 0 2
1 1 RC8_MAX 1900 4
1 1 RC8_MIN 1100 4
1 1 RC8_REV 1 2
1 1 RC8_TRIM 1500 4
1 1 RC9_DZ 0 4
1 1 RC9_FUNCTION 0 2
1 1 RC9_MAX 1900 4
1 1 RC9_MIN 1100 4
1 1 RC9_REV 1 2
1 1 RC9_TRIM 1500 4
1 1 RCMAP_PITCH 2 2
1 1 RCMAP_ROLL 1 2
1 1 RCMAP_THROTTLE 3 2
1 1 RCMAP_YAW 4 2
1 1 RC_FEEL_RP 50 2
1 1 RC_SPEED 490 4
1 1 RELAY_DEFAULT 0 2
1 1 RELAY_PIN 54 2
1 1 RELAY_PIN2 55 2
1 1 RELAY_PIN3 -1 2
1 1 RELAY_PIN4 -1 2
1 1 RNGFND2_FUNCTION 0 2
1 1 RNGFND2_GNDCLEAR 10 2
1 1 RNGFND2_MAX_CM 700 4
1 1 RNGFND2_MIN_CM 20 4
1 1 RNGFND2_OFFSET 0 9
1 1 RNGFND2_PIN -1 2
1 1 RNGFND2_RMETRIC 1 2
1 1 RNGFND2_SCALING 3 9
1 1 RNGFND2_SETTLE 0 4
1 1 RNGFND2_STOP_PIN -1 2
1 1 RNGFND2_TYPE 0 2
1 1 RNGFND_FUNCTION 0 2
1 1 RNGFND_GAIN 0.8 9
1 1 RNGFND_GNDCLEAR 10 2
1 1 RNGFND_MAX_CM 700 4
1 1 RNGFND_MIN_CM 20 4
1 1 RNGFND_OFFSET 0 9
1 1 RNGFND_PIN -1 2
1 1 RNGFND_PWRRNG 0 4
1 1 RNGFND_RMETRIC 1 2
1 1 RNGFND_SCALING 3 9
1 1 RNGFND_SETTLE 0 4
1 1 RNGFND_STOP_PIN -1 2
1 1 RNGFND_TYPE 0 2
1 1 RPM2_SCALING 1 9
1 1 RPM2_TYPE 0 2
1 1 RPM_SCALING 1 9
1 1 RPM_TYPE 0 2
1 1 RSSI_PIN -1 2
1 1 RSSI_RANGE 5 9
1 1 RTL_ALT 1500 4
1 1 RTL_ALT_FINAL 0 4
1 1 RTL_CLIMB_MIN 0 4
1 1 RTL_LOIT_TIME 5000 6
1 1 SCHED_DEBUG 0 2
1 1 SERIAL0_BAUD 115 6
1 1 SERIAL1_BAUD 57 6
1 1 SERIAL1_PROTOCOL 1 2
1 1 SERIAL2_BAUD 57 6
1 1 SERIAL2_PROTOCOL 1 2
1 1 SERIAL3_BAUD 38 6
1 1 SERIAL3_PROTOCOL 5 2
1 1 SERIAL4_BAUD 38 6
1 1 SERIAL4_PROTOCOL 5 2
1 1 SIMPLE 0 2
1 1 SR0_EXTRA1 10 4
1 1 SR0_EXTRA2 0 4
1 1 SR0_EXTRA3 0 4
1 1 SR0_EXT_STAT 2 4
1 1 SR0_PARAMS 10 4
1 1 SR0_POSITION 3 4
1 1 SR0_RAW_CTRL 0 4
1 1 SR0_RAW_SENS 2 4
1 1 SR0_RC_CHAN 2 4
1 1 SR1_EXTRA1 0 4
1 1 SR1_EXTRA2 0 4
1 1 SR1_EXTRA3 0 4
1 1 SR1_EXT_STAT 0 4
1 1 SR1_PARAMS 0 4
1 1 SR1_POSITION 0 4
1 1 SR1_RAW_CTRL 0 4
1 1 SR1_RAW_SENS 0 4
1 1 SR1_RC_CHAN 0 4
1 1 SR2_EXTRA1 0 4
1 1 SR2_EXTRA2 0 4
1 1 SR2_EXTRA3 0 4
1 1 SR2_EXT_STAT 0 4
1 1 SR2_PARAMS 0 4
1 1 SR2_POSITION 0 4
1 1 SR2_RAW_CTRL 0 4
1 1 SR2_RAW_SENS 0 4
1 1 SR2_RC_CHAN 0 4
1 1 SR3_EXTRA1 0 4
1 1 SR3_EXTRA2 0 4
1 1 SR3_EXTRA3 0 4
1 1 SR3_EXT_STAT 0 4
1 1 SR3_PARAMS 0 4
1 1 SR3_POSITION 0 4
1 1 SR3_RAW_CTRL 0 4
1 1 SR3_RAW_SENS 0 4
1 1 SR3_RC_CHAN 0 4
1 1 STB_PIT_P 4.5 9
1 1 STB_RLL_P 4.5 9
1 1 STB_YAW_P 4.5 9
1 1 SUPER_SIMPLE 0 2
1 1 SYSID_MYGCS 255 4
1 1 SYSID_SW_MREV 120 4
1 1 SYSID_SW_TYPE 10 2
1 1 SYSID_THISMAV 1 4
1 1 TELEM_DELAY 0 2
1 1 TERRAIN_ENABLE 1 2
1 1 TERRAIN_SPACING 100 4
1 1 THR_DZ 100 4
1 1 THR_MID 500 4
1 1 THR_MIN 130 4
1 1 TUNE 0 2
1 1 TUNE_HIGH 1000 4
1 1 TUNE_LOW 0 4
1 1 VEL_XY_FILT_HZ 5 9
1 1 VEL_XY_I 0.5 9
1 1 VEL_XY_IMAX 1e+03 9
1 1 VEL_XY_P 1 9
1 1 VEL_Z_P 5 9
1 1 WPNAV_ACCEL 100 9
1 1 WPNAV_ACCEL_Z 100 9
1 1 WPNAV_LOIT_JERK 1e+03 9
1 1 WPNAV_LOIT_MAXA 250 9
1 1 WPNAV_LOIT_MINA 25 9
1 1 WPNAV_LOIT_SPEED 500 9
1 1 WPNAV_RADIUS 200 9
1 1 WPNAV_SPEED 500 9
1 1 WPNAV_SPEED_DN 150 9
1 1 WPNAV_SPEED_UP 250 9
1 1 WP_YAW_BEHAVIOR 2 2

587
src/comm/APMArduPlaneMockLink.params
Unescape View File

@ -0,0 +1,587 @@ @@ -0,0 +1,587 @@
# Onboard parameters for system MAV 001
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
1 1 ACRO_LOCKING 0 2
1 1 ACRO_PITCH_RATE 180 4
1 1 ACRO_ROLL_RATE 180 4
1 1 AFS_AMSL_ERR_GPS -1 6
1 1 AFS_AMSL_LIMIT 0 6
1 1 AFS_ENABLE 0 2
1 1 AFS_HB_PIN -1 2
1 1 AFS_MAN_PIN -1 2
1 1 AFS_MAX_COM_LOSS 0 2
1 1 AFS_MAX_GPS_LOSS 0 2
1 1 AFS_QNH_PRESSURE 0 9
1 1 AFS_RC_FAIL_MS 0 4
1 1 AFS_TERMINATE 0 2
1 1 AFS_TERM_ACTION 0 2
1 1 AFS_TERM_PIN -1 2
1 1 AFS_WP_COMMS 0 2
1 1 AFS_WP_GPS_LOSS 0 2
1 1 AHRS_COMP_BETA 0.1 9
1 1 AHRS_EKF_USE 1 2
1 1 AHRS_GPS_GAIN 1 9
1 1 AHRS_GPS_MINSATS 6 2
1 1 AHRS_GPS_USE 1 2
1 1 AHRS_ORIENTATION 0 2
1 1 AHRS_RP_P 0.2 9
1 1 AHRS_TRIM_X 0 9
1 1 AHRS_TRIM_Y 0 9
1 1 AHRS_TRIM_Z 0 9
1 1 AHRS_WIND_MAX 0 2
1 1 AHRS_YAW_P 0.2 9
1 1 ALT_CTRL_ALG 0 2
1 1 ALT_HOLD_FBWCM 0 4
1 1 ALT_HOLD_RTL 10000 6
1 1 ALT_MIX 1 9
1 1 ALT_OFFSET 0 4
1 1 ARMING_CHECK 1 4
1 1 ARMING_REQUIRE 1 2
1 1 ARMING_RUDDER 1 2
1 1 ARSPD_AUTOCAL 0 2
1 1 ARSPD_ENABLE 1 2
1 1 ARSPD_FBW_MAX 22 4
1 1 ARSPD_FBW_MIN 9 4
1 1 ARSPD_OFFSET 0 9
1 1 ARSPD_PIN 15 2
1 1 ARSPD_RATIO 1.99 9
1 1 ARSPD_SKIP_CAL 0 2
1 1 ARSPD_TUBE_ORDER 2 2
1 1 ARSPD_USE 0 2
1 1 AUTOTUNE_LEVEL 6 2
1 1 AUTO_FBW_STEER 0 2
1 1 BATT2_AMP_OFFSET 0 9
1 1 BATT2_AMP_PERVOL 17 9
1 1 BATT2_CAPACITY 3300 6
1 1 BATT2_CURR_PIN 3 2
1 1 BATT2_MONITOR 0 2
1 1 BATT2_VOLT_MULT 10.1 9
1 1 BATT2_VOLT_PIN 2 2
1 1 BATT_AMP_OFFSET 0 9
1 1 BATT_AMP_PERVOLT 17 9
1 1 BATT_CAPACITY 3300 6
1 1 BATT_CURR_PIN 3 2
1 1 BATT_MONITOR 0 2
1 1 BATT_VOLT_MULT 10.1 9
1 1 BATT_VOLT_PIN 2 2
1 1 BRD_PWM_COUNT 4 2
1 1 BRD_SAFETYENABLE 1 2
1 1 BRD_SBUS_OUT 0 2
1 1 BRD_SER1_RTSCTS 2 2
1 1 BRD_SER2_RTSCTS 2 2
1 1 BRD_SERIAL_NUM 0 4
1 1 CAM_DURATION 10 2
1 1 CAM_RELAY_ON 1 2
1 1 CAM_SERVO_OFF 1100 4
1 1 CAM_SERVO_ON 1300 4
1 1 CAM_TRIGG_DIST 0 9
1 1 CAM_TRIGG_TYPE 0 2
1 1 CLI_ENABLED 0 2
1 1 COMPASS_AUTODEC 1 2
1 1 COMPASS_CAL_FIT 8 9
1 1 COMPASS_DEC 0 9
1 1 COMPASS_DEV_ID 131594 6
1 1 COMPASS_DEV_ID2 0 6
1 1 COMPASS_DEV_ID3 0 6
1 1 COMPASS_DIA2_X 0 9
1 1 COMPASS_DIA2_Y 0 9
1 1 COMPASS_DIA2_Z 0 9
1 1 COMPASS_DIA3_X 0 9
1 1 COMPASS_DIA3_Y 0 9
1 1 COMPASS_DIA3_Z 0 9
1 1 COMPASS_DIA_X 1 9
1 1 COMPASS_DIA_Y 1 9
1 1 COMPASS_DIA_Z 1 9
1 1 COMPASS_EXTERN2 0 2
1 1 COMPASS_EXTERN3 0 2
1 1 COMPASS_EXTERNAL 0 2
1 1 COMPASS_LEARN 1 2
1 1 COMPASS_MOT2_X 0 9
1 1 COMPASS_MOT2_Y 0 9
1 1 COMPASS_MOT2_Z 0 9
1 1 COMPASS_MOT3_X 0 9
1 1 COMPASS_MOT3_Y 0 9
1 1 COMPASS_MOT3_Z 0 9
1 1 COMPASS_MOTCT 0 2
1 1 COMPASS_MOT_X 0 9
1 1 COMPASS_MOT_Y 0 9
1 1 COMPASS_MOT_Z 0 9
1 1 COMPASS_ODI2_X 0 9
1 1 COMPASS_ODI2_Y 0 9
1 1 COMPASS_ODI2_Z 0 9
1 1 COMPASS_ODI3_X 0 9
1 1 COMPASS_ODI3_Y 0 9
1 1 COMPASS_ODI3_Z 0 9
1 1 COMPASS_ODI_X 0 9
1 1 COMPASS_ODI_Y 0 9
1 1 COMPASS_ODI_Z 0 9
1 1 COMPASS_OFS2_X 0 9
1 1 COMPASS_OFS2_Y 0 9
1 1 COMPASS_OFS2_Z 0 9
1 1 COMPASS_OFS3_X 0 9
1 1 COMPASS_OFS3_Y 0 9
1 1 COMPASS_OFS3_Z 0 9
1 1 COMPASS_OFS_X 0 9
1 1 COMPASS_OFS_Y 0 9
1 1 COMPASS_OFS_Z 0 9
1 1 COMPASS_ORIENT 0 2
1 1 COMPASS_ORIENT2 0 2
1 1 COMPASS_ORIENT3 0 2
1 1 COMPASS_PRIMARY 0 2
1 1 COMPASS_USE 1 2
1 1 COMPASS_USE2 1 2
1 1 COMPASS_USE3 1 2
1 1 CRASH_DETECT 0 2
1 1 EKF_ABIAS_PNOISE 5e-05 9
1 1 EKF_ACC_PNOISE 0.5 9
1 1 EKF_ALT_NOISE 0.5 9
1 1 EKF_ALT_SOURCE 1 2
1 1 EKF_EAS_GATE 10 2
1 1 EKF_EAS_NOISE 1.4 9
1 1 EKF_FALLBACK 1 2
1 1 EKF_FLOW_DELAY 25 2
1 1 EKF_FLOW_GATE 3 2
1 1 EKF_FLOW_NOISE 0.3 9
1 1 EKF_GBIAS_PNOISE 8e-06 9
1 1 EKF_GLITCH_ACCEL 150 4
1 1 EKF_GLITCH_RAD 20 2
1 1 EKF_GND_GRADIENT 2 2
1 1 EKF_GPS_TYPE 0 2
1 1 EKF_GYRO_PNOISE 0.015 9
1 1 EKF_HGT_GATE 20 2
1 1 EKF_MAGB_PNOISE 0.0003 9
1 1 EKF_MAGE_PNOISE 0.0003 9
1 1 EKF_MAG_CAL 0 2
1 1 EKF_MAG_GATE 3 2
1 1 EKF_MAG_NOISE 0.05 9
1 1 EKF_MAX_FLOW 2.5 9
1 1 EKF_POSNE_NOISE 0.5 9
1 1 EKF_POS_DELAY 220 4
1 1 EKF_POS_GATE 30 2
1 1 EKF_RNG_GATE 5 2
1 1 EKF_VELD_NOISE 0.7 9
1 1 EKF_VELNE_NOISE 0.5 9
1 1 EKF_VEL_DELAY 220 4
1 1 EKF_VEL_GATE 6 2
1 1 EKF_WIND_PNOISE 0.1 9
1 1 EKF_WIND_PSCALE 0.5 9
1 1 ELEVON_CH1_REV 0 2
1 1 ELEVON_CH2_REV 0 2
1 1 ELEVON_MIXING 0 2
1 1 ELEVON_OUTPUT 0 2
1 1 ELEVON_REVERSE 0 2
1 1 FBWA_TDRAG_CHAN 0 2
1 1 FBWB_CLIMB_RATE 2 2
1 1 FBWB_ELEV_REV 0 2
1 1 FENCE_ACTION 0 2
1 1 FENCE_AUTOENABLE 0 2
1 1 FENCE_CHANNEL 0 2
1 1 FENCE_MAXALT 0 4
1 1 FENCE_MINALT 0 4
1 1 FENCE_RETALT 0 4
1 1 FENCE_RET_RALLY 0 2
1 1 FENCE_TOTAL 0 2
1 1 FLAPERON_OUTPUT 0 2
1 1 FLAP_1_PERCNT 0 2
1 1 FLAP_1_SPEED 0 2
1 1 FLAP_2_PERCNT 0 2
1 1 FLAP_2_SPEED 0 2
1 1 FLAP_IN_CHANNEL 0 2
1 1 FLAP_SLEWRATE 75 2
1 1 FLOW_ENABLE 0 2
1 1 FLOW_FXSCALER 0 4
1 1 FLOW_FYSCALER 0 4
1 1 FLOW_ORIENT_YAW 0 4
1 1 FLTMODE1 11 2
1 1 FLTMODE2 11 2
1 1 FLTMODE3 5 2
1 1 FLTMODE4 5 2
1 1 FLTMODE5 0 2
1 1 FLTMODE6 0 2
1 1 FLTMODE_CH 8 2
1 1 FORMAT_VERSION 13 4
1 1 FS_BATT_MAH 0 9
1 1 FS_BATT_VOLTAGE 0 9
1 1 FS_GCS_ENABL 0 2
1 1 FS_LONG_ACTN 0 2
1 1 FS_LONG_TIMEOUT 5 9
1 1 FS_SHORT_ACTN 0 2
1 1 FS_SHORT_TIMEOUT 1.5 9
1 1 GCS_PID_MASK 0 4
1 1 GLIDE_SLOPE_MIN 15 4
1 1 GLIDE_SLOPE_THR 5 9
1 1 GND_ABS_PRESS 1.01e+05 9
1 1 GND_ALT_OFFSET 0 9
1 1 GND_PRIMARY 0 2
1 1 GND_TEMP 0 9
1 1 GPS_AUTO_SWITCH 1 2
1 1 GPS_GNSS_MODE 0 2
1 1 GPS_INJECT_TO 127 2
1 1 GPS_MIN_DGPS 100 2
1 1 GPS_MIN_ELEV -100 2
1 1 GPS_NAVFILTER 8 2
1 1 GPS_RAW_DATA 0 2
1 1 GPS_SBAS_MODE 2 2
1 1 GPS_SBP_LOGMASK -256 4
1 1 GPS_TYPE 1 2
1 1 GPS_TYPE2 0 2
1 1 GROUND_STEER_ALT 0 9
1 1 GROUND_STEER_DPS 90 4
1 1 HIL_ERR_LIMIT 5 9
1 1 HIL_MODE 0 2
1 1 HIL_SERVOS 0 2
1 1 INITIAL_MODE 0 2
1 1 INS_ACC2OFFS_X 0 9
1 1 INS_ACC2OFFS_Y 0 9
1 1 INS_ACC2OFFS_Z 0 9
1 1 INS_ACC2SCAL_X 1 9
1 1 INS_ACC2SCAL_Y 1 9
1 1 INS_ACC2SCAL_Z 1 9
1 1 INS_ACC3OFFS_X 0 9
1 1 INS_ACC3OFFS_Y 0 9
1 1 INS_ACC3OFFS_Z 0 9
1 1 INS_ACC3SCAL_X 0 9
1 1 INS_ACC3SCAL_Y 0 9
1 1 INS_ACC3SCAL_Z 0 9
1 1 INS_ACCEL_FILTER 20 2
1 1 INS_ACCOFFS_X 0 9
1 1 INS_ACCOFFS_Y 0 9
1 1 INS_ACCOFFS_Z 0 9
1 1 INS_ACCSCAL_X 1 9
1 1 INS_ACCSCAL_Y 1 9
1 1 INS_ACCSCAL_Z 1 9
1 1 INS_GYR2OFFS_X 0.0165 9
1 1 INS_GYR2OFFS_Y 0.00344 9
1 1 INS_GYR2OFFS_Z -0.0258 9
1 1 INS_GYR3OFFS_X 0 9
1 1 INS_GYR3OFFS_Y 0 9
1 1 INS_GYR3OFFS_Z 0 9
1 1 INS_GYROFFS_X 0.0234 9
1 1 INS_GYROFFS_Y 0.0507 9
1 1 INS_GYROFFS_Z -0.00498 9
1 1 INS_GYRO_FILTER 20 2
1 1 INS_GYR_CAL 1 2
1 1 INS_PRODUCT_ID 5 4
1 1 INS_STILL_THRESH 0.1 9
1 1 INS_USE 1 2
1 1 INS_USE2 1 2
1 1 INS_USE3 0 2
1 1 INVERTEDFLT_CH 0 2
1 1 KFF_RDDRMIX 0.5 9
1 1 KFF_THR2PTCH 0 9
1 1 LAND_ABORT_THR 0 2
1 1 LAND_DISARMDELAY 20 2
1 1 LAND_FLAP_PERCNT 0 2
1 1 LAND_FLARE_ALT 3 9
1 1 LAND_FLARE_SEC 2 9
1 1 LAND_PITCH_CD 0 4
1 1 LEVEL_ROLL_LIMIT 5 2
1 1 LIM_PITCH_MAX 2000 4
1 1 LIM_PITCH_MIN -2500 4
1 1 LIM_ROLL_CD 4500 4
1 1 LOG_BITMASK 65535 6
1 1 MAG_ENABLE 1 2
1 1 MIN_GNDSPD_CM 0 6
1 1 MIS_RESTART 0 2
1 1 MIS_TOTAL 0 4
1 1 MIXING_GAIN 0.5 9
1 1 MNT_ANGMAX_PAN 4500 4
1 1 MNT_ANGMAX_ROL 4500 4
1 1 MNT_ANGMAX_TIL 4500 4
1 1 MNT_ANGMIN_PAN -4500 4
1 1 MNT_ANGMIN_ROL -4500 4
1 1 MNT_ANGMIN_TIL -4500 4
1 1 MNT_DEFLT_MODE 3 2
1 1 MNT_JSTICK_SPD 0 2
1 1 MNT_K_RATE 5 9
1 1 MNT_LEAD_PTCH 0 9
1 1 MNT_LEAD_RLL 0 9
1 1 MNT_NEUTRAL_X 0 9
1 1 MNT_NEUTRAL_Y 0 9
1 1 MNT_NEUTRAL_Z 0 9
1 1 MNT_OFF_ACC_X 0 9
1 1 MNT_OFF_ACC_Y 0 9
1 1 MNT_OFF_ACC_Z 0 9
1 1 MNT_OFF_GYRO_X 0 9
1 1 MNT_OFF_GYRO_Y 0 9
1 1 MNT_OFF_GYRO_Z 0 9
1 1 MNT_OFF_JNT_X 0 9
1 1 MNT_OFF_JNT_Y 0 9
1 1 MNT_OFF_JNT_Z 0 9
1 1 MNT_RC_IN_PAN 0 2
1 1 MNT_RC_IN_ROLL 0 2
1 1 MNT_RC_IN_TILT 0 2
1 1 MNT_RETRACT_X 0 9
1 1 MNT_RETRACT_Y 0 9
1 1 MNT_RETRACT_Z 0 9
1 1 MNT_STAB_PAN 0 2
1 1 MNT_STAB_ROLL 0 2
1 1 MNT_STAB_TILT 0 2
1 1 MNT_TYPE 0 2
1 1 NAVL1_DAMPING 0.75 9
1 1 NAVL1_PERIOD 20 9
1 1 NAV_CONTROLLER 1 2
1 1 OVERRIDE_CHAN 0 2
1 1 PTCH2SRV_D 0.02 9
1 1 PTCH2SRV_FF 0 9
1 1 PTCH2SRV_I 0.04 9
1 1 PTCH2SRV_IMAX 3000 4
1 1 PTCH2SRV_P 0.4 9
1 1 PTCH2SRV_RLL 1 9
1 1 PTCH2SRV_RMAX_DN 0 4
1 1 PTCH2SRV_RMAX_UP 0 4
1 1 PTCH2SRV_TCONST 0.5 9
1 1 RALLY_INCL_HOME 0 2
1 1 RALLY_LIMIT_KM 5 9
1 1 RALLY_TOTAL 0 2
1 1 RC10_DZ 0 4
1 1 RC10_FUNCTION 0 2
1 1 RC10_MAX 1900 4
1 1 RC10_MIN 1100 4
1 1 RC10_REV 1 2
1 1 RC10_TRIM 1500 4
1 1 RC11_DZ 0 4
1 1 RC11_FUNCTION 0 2
1 1 RC11_MAX 1900 4
1 1 RC11_MIN 1100 4
1 1 RC11_REV 1 2
1 1 RC11_TRIM 1500 4
1 1 RC12_DZ 0 4
1 1 RC12_FUNCTION 0 2
1 1 RC12_MAX 1900 4
1 1 RC12_MIN 1100 4
1 1 RC12_REV 1 2
1 1 RC12_TRIM 1500 4
1 1 RC13_DZ 0 4
1 1 RC13_FUNCTION 0 2
1 1 RC13_MAX 1900 4
1 1 RC13_MIN 1100 4
1 1 RC13_REV 1 2
1 1 RC13_TRIM 1500 4
1 1 RC14_DZ 0 4
1 1 RC14_FUNCTION 0 2
1 1 RC14_MAX 1900 4
1 1 RC14_MIN 1100 4
1 1 RC14_REV 1 2
1 1 RC14_TRIM 1500 4
1 1 RC1_DZ 30 4
1 1 RC1_MAX 1900 4
1 1 RC1_MIN 1100 4
1 1 RC1_REV 1 2
1 1 RC1_TRIM 1500 4
1 1 RC2_DZ 30 4
1 1 RC2_MAX 1900 4
1 1 RC2_MIN 1100 4
1 1 RC2_REV 1 2
1 1 RC2_TRIM 1500 4
1 1 RC3_DZ 30 4
1 1 RC3_MAX 1900 4
1 1 RC3_MIN 1100 4
1 1 RC3_REV 1 2
1 1 RC3_TRIM 1100 4
1 1 RC4_DZ 30 4
1 1 RC4_MAX 1900 4
1 1 RC4_MIN 1100 4
1 1 RC4_REV 1 2
1 1 RC4_TRIM 1500 4
1 1 RC5_DZ 0 4
1 1 RC5_FUNCTION 0 2
1 1 RC5_MAX 1900 4
1 1 RC5_MIN 1100 4
1 1 RC5_REV 1 2
1 1 RC5_TRIM 1500 4
1 1 RC6_DZ 0 4
1 1 RC6_FUNCTION 0 2
1 1 RC6_MAX 1900 4
1 1 RC6_MIN 1100 4
1 1 RC6_REV 1 2
1 1 RC6_TRIM 1500 4
1 1 RC7_DZ 0 4
1 1 RC7_FUNCTION 0 2
1 1 RC7_MAX 1900 4
1 1 RC7_MIN 1100 4
1 1 RC7_REV 1 2
1 1 RC7_TRIM 1500 4
1 1 RC8_DZ 0 4
1 1 RC8_FUNCTION 0 2
1 1 RC8_MAX 1900 4
1 1 RC8_MIN 1100 4
1 1 RC8_REV 1 2
1 1 RC8_TRIM 1500 4
1 1 RC9_DZ 0 4
1 1 RC9_FUNCTION 0 2
1 1 RC9_MAX 1900 4
1 1 RC9_MIN 1100 4
1 1 RC9_REV 1 2
1 1 RC9_TRIM 1500 4
1 1 RCMAP_PITCH 2 2
1 1 RCMAP_ROLL 1 2
1 1 RCMAP_THROTTLE 3 2
1 1 RCMAP_YAW 4 2
1 1 RELAY_DEFAULT 0 2
1 1 RELAY_PIN 54 2
1 1 RELAY_PIN2 55 2
1 1 RELAY_PIN3 -1 2
1 1 RELAY_PIN4 -1 2
1 1 RLL2SRV_D 0.02 9
1 1 RLL2SRV_FF 0 9
1 1 RLL2SRV_I 0.04 9
1 1 RLL2SRV_IMAX 3000 4
1 1 RLL2SRV_P 0.4 9
1 1 RLL2SRV_RMAX 0 4
1 1 RLL2SRV_TCONST 0.5 9
1 1 RNGFND2_ADDR 0 2
1 1 RNGFND2_FUNCTION 0 2
1 1 RNGFND2_GNDCLEAR 10 2
1 1 RNGFND2_MAX_CM 700 4
1 1 RNGFND2_MIN_CM 20 4
1 1 RNGFND2_OFFSET 0 9
1 1 RNGFND2_PIN -1 2
1 1 RNGFND2_RMETRIC 1 2
1 1 RNGFND2_SCALING 3 9
1 1 RNGFND2_SETTLE 0 4
1 1 RNGFND2_STOP_PIN -1 2
1 1 RNGFND2_TYPE 0 2
1 1 RNGFND_ADDR 0 2
1 1 RNGFND_FUNCTION 0 2
1 1 RNGFND_GNDCLEAR 10 2
1 1 RNGFND_LANDING 0 2
1 1 RNGFND_MAX_CM 700 4
1 1 RNGFND_MIN_CM 20 4
1 1 RNGFND_OFFSET 0 9
1 1 RNGFND_PIN -1 2
1 1 RNGFND_PWRRNG 0 4
1 1 RNGFND_RMETRIC 1 2
1 1 RNGFND_SCALING 3 9
1 1 RNGFND_SETTLE 0 4
1 1 RNGFND_STOP_PIN -1 2
1 1 RNGFND_TYPE 0 2
1 1 RSSI_ANA_PIN 0 2
1 1 RSSI_CHANNEL 0 2
1 1 RSSI_CHAN_HIGH 2000 4
1 1 RSSI_CHAN_LOW 1000 4
1 1 RSSI_PIN_HIGH 5 9
1 1 RSSI_PIN_LOW 0 9
1 1 RSSI_TYPE 0 2
1 1 RST_MISSION_CH 0 2
1 1 RST_SWITCH_CH 0 2
1 1 RTL_AUTOLAND 0 2
1 1 RUDDER_ONLY 0 2
1 1 SCALING_SPEED 15 9
1 1 SCHED_DEBUG 0 2
1 1 SERIAL0_BAUD 115 6
1 1 SERIAL1_BAUD 57 6
1 1 SERIAL1_PROTOCOL 1 2
1 1 SERIAL2_BAUD 57 6
1 1 SERIAL2_PROTOCOL 1 2
1 1 SERIAL3_BAUD 38 6
1 1 SERIAL3_PROTOCOL 5 2
1 1 SERIAL4_BAUD 38 6
1 1 SERIAL4_PROTOCOL 5 2
1 1 SR0_EXTRA1 10 4
1 1 SR0_EXTRA2 1 4
1 1 SR0_EXTRA3 1 4
1 1 SR0_EXT_STAT 2 4
1 1 SR0_PARAMS 10 4
1 1 SR0_POSITION 3 4
1 1 SR0_RAW_CTRL 1 4
1 1 SR0_RAW_SENS 2 4
1 1 SR0_RC_CHAN 2 4
1 1 SR1_EXTRA1 1 4
1 1 SR1_EXTRA2 1 4
1 1 SR1_EXTRA3 1 4
1 1 SR1_EXT_STAT 1 4
1 1 SR1_PARAMS 10 4
1 1 SR1_POSITION 1 4
1 1 SR1_RAW_CTRL 1 4
1 1 SR1_RAW_SENS 1 4
1 1 SR1_RC_CHAN 1 4
1 1 SR2_EXTRA1 1 4
1 1 SR2_EXTRA2 1 4
1 1 SR2_EXTRA3 1 4
1 1 SR2_EXT_STAT 1 4
1 1 SR2_PARAMS 10 4
1 1 SR2_POSITION 1 4
1 1 SR2_RAW_CTRL 1 4
1 1 SR2_RAW_SENS 1 4
1 1 SR2_RC_CHAN 1 4
1 1 SR3_EXTRA1 1 4
1 1 SR3_EXTRA2 1 4
1 1 SR3_EXTRA3 1 4
1 1 SR3_EXT_STAT 1 4
1 1 SR3_PARAMS 10 4
1 1 SR3_POSITION 1 4
1 1 SR3_RAW_CTRL 1 4
1 1 SR3_RAW_SENS 1 4
1 1 SR3_RC_CHAN 1 4
1 1 STAB_PITCH_DOWN 2 9
1 1 STALL_PREVENTION 1 2
1 1 STEER2SRV_D 0.005 9
1 1 STEER2SRV_FF 0 9
1 1 STEER2SRV_I 0.2 9
1 1 STEER2SRV_IMAX 1500 4
1 1 STEER2SRV_MINSPD 1 9
1 1 STEER2SRV_P 1.8 9
1 1 STEER2SRV_TCONST 0.75 9
1 1 STICK_MIXING 1 2
1 1 SYSID_MYGCS 255 4
1 1 SYSID_SW_TYPE 0 2
1 1 SYSID_THISMAV 1 4
1 1 SYS_NUM_RESETS 1 4
1 1 TECS_CLMB_MAX 5 9
1 1 TECS_HGT_OMEGA 3 9
1 1 TECS_INTEG_GAIN 0.1 9
1 1 TECS_LAND_ARSPD -1 9
1 1 TECS_LAND_DAMP 0.5 9
1 1 TECS_LAND_PMAX 10 2
1 1 TECS_LAND_SINK 0.25 9
1 1 TECS_LAND_SPDWGT 1 9
1 1 TECS_LAND_TCONST 2 9
1 1 TECS_LAND_THR -1 9
1 1 TECS_PITCH_MAX 0 2
1 1 TECS_PITCH_MIN 0 2
1 1 TECS_PTCH_DAMP 0 9
1 1 TECS_RLL2THR 10 9
1 1 TECS_SINK_MAX 5 9
1 1 TECS_SINK_MIN 2 9
1 1 TECS_SPDWEIGHT 1 9
1 1 TECS_SPD_OMEGA 2 9
1 1 TECS_THR_DAMP 0.5 9
1 1 TECS_TIME_CONST 5 9
1 1 TECS_VERT_ACC 7 9
1 1 TELEM_DELAY 0 2
1 1 TERRAIN_ENABLE 1 2
1 1 TERRAIN_FOLLOW 0 2
1 1 TERRAIN_LOOKAHD 2000 4
1 1 TERRAIN_SPACING 100 4
1 1 THROTTLE_NUDGE 1 2
1 1 THR_FAILSAFE 1 2
1 1 THR_FS_VALUE 950 4
1 1 THR_MAX 75 2
1 1 THR_MIN 0 2
1 1 THR_PASS_STAB 0 2
1 1 THR_SLEWRATE 100 2
1 1 THR_SUPP_MAN 0 2
1 1 TKOFF_FLAP_PCNT 0 2
1 1 TKOFF_ROTATE_SPD 0 9
1 1 TKOFF_TDRAG_ELEV 0 2
1 1 TKOFF_TDRAG_SPD1 0 9
1 1 TKOFF_THR_DELAY 2 2
1 1 TKOFF_THR_MAX 0 2
1 1 TKOFF_THR_MINACC 0 9
1 1 TKOFF_THR_MINSPD 0 9
1 1 TKOFF_THR_SLEW 0 2
1 1 TRIM_ARSPD_CM 1200 6
1 1 TRIM_AUTO 0 2
1 1 TRIM_PITCH_CD 0 4
1 1 TRIM_RC_AT_START 0 2
1 1 TRIM_THROTTLE 45 2
1 1 VTAIL_OUTPUT 0 2
1 1 WP_LOITER_RAD 60 4
1 1 WP_MAX_RADIUS 0 4
1 1 WP_RADIUS 90 4
1 1 YAW2SRV_DAMP 0 9
1 1 YAW2SRV_IMAX 1500 4
1 1 YAW2SRV_INT 0 9
1 1 YAW2SRV_RLL 1 9
1 1 YAW2SRV_SLIP 0 9

36
src/comm/MAVLinkProtocol.cc
Unescape View File

@ -187,6 +187,13 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected) @@ -187,6 +187,13 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
// Use the same shared pointer as LinkManager
_connectedLinks.append(LinkManager::instance()->sharedPointerForLink(link));
#ifndef __mobile__
if (_connectedLinks.count() == 1) {
// This is the first link, we need to start logging
_startLogging();
}
#endif
// Send command to start MAVLink
// XXX hacky but safe
// Start NSH
@ -346,11 +353,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) @@ -346,11 +353,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
#endif
if (message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
#ifndef __mobile__
// Start logging on first heartbeat
_startLogging();
#endif
// Notify the vehicle manager of the heartbeat. This will create/update vehicles as needed.
mavlink_heartbeat_t heartbeat;
mavlink_msg_heartbeat_decode(&message, &heartbeat);
@ -644,20 +646,20 @@ bool MAVLinkProtocol::_closeLogFile(void) @@ -644,20 +646,20 @@ bool MAVLinkProtocol::_closeLogFile(void)
void MAVLinkProtocol::_startLogging(void)
{
if (!_tempLogFile.isOpen()) {
if (!_logSuspendReplay) {
if (!_tempLogFile.open()) {
emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Opening Flight Data file for writing failed. "
"Unable to write to %1. Please choose a different file location.").arg(_tempLogFile.fileName()));
_closeLogFile();
_logSuspendError = true;
return;
}
qDebug() << "Temp log" << _tempLogFile.fileName();
Q_ASSERT(!_tempLogFile.isOpen());
_logSuspendError = false;
if (!_logSuspendReplay) {
if (!_tempLogFile.open()) {
emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Opening Flight Data file for writing failed. "
"Unable to write to %1. Please choose a different file location.").arg(_tempLogFile.fileName()));
_closeLogFile();
_logSuspendError = true;
return;
}
qDebug() << "Temp log" << _tempLogFile.fileName();
_logSuspendError = false;
}
}

167
src/comm/MockLink.cc
Unescape View File

@ -72,6 +72,7 @@ float MockLink::_vehicleLongitude = -122.08794f; @@ -72,6 +72,7 @@ float MockLink::_vehicleLongitude = -122.08794f;
float MockLink::_vehicleAltitude = 2.5f;
const char* MockConfiguration::_firmwareTypeKey = "FirmwareType";
const char* MockConfiguration::_vehicleTypeKey = "VehicleType";
const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";
MockLink::MockLink(MockConfiguration* config)
@ -85,6 +86,7 @@ MockLink::MockLink(MockConfiguration* config) @@ -85,6 +86,7 @@ MockLink::MockLink(MockConfiguration* config)
, _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)
, _mavState(MAV_STATE_STANDBY)
, _firmwareType(MAV_AUTOPILOT_PX4)
, _vehicleType(MAV_TYPE_QUADROTOR)
, _fileServer(NULL)
, _sendStatusText(false)
, _apmSendHomePositionOnEmptyList(false)
@ -93,6 +95,7 @@ MockLink::MockLink(MockConfiguration* config) @@ -93,6 +95,7 @@ MockLink::MockLink(MockConfiguration* config)
_config = config;
if (_config) {
_firmwareType = config->firmwareType();
_vehicleType = config->vehicleType();
_sendStatusText = config->sendStatusText();
}
@ -113,7 +116,6 @@ MockLink::MockLink(MockConfiguration* config) @@ -113,7 +116,6 @@ MockLink::MockLink(MockConfiguration* config)
MockLink::~MockLink(void)
{
qDebug() << "MockLink destructor";
_disconnect();
}
@ -200,7 +202,18 @@ void MockLink::_run50HzTasks(void) @@ -200,7 +202,18 @@ void MockLink::_run50HzTasks(void)
void MockLink::_loadParams(void)
{
QFile paramFile(":/unittest/MockLink.params");
QFile paramFile;
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
if (_vehicleType == MAV_TYPE_FIXED_WING) {
paramFile.setFileName(":/unittest/APMArduPlaneMockLink.params");
} else {
paramFile.setFileName(":/unittest/APMArduCopterMockLink.params");
}
} else {
paramFile.setFileName(":/unittest/PX4MockLink.params");
}
bool success = paramFile.open(QFile::ReadOnly);
Q_UNUSED(success);
@ -234,11 +247,21 @@ void MockLink::_loadParams(void) @@ -234,11 +247,21 @@ void MockLink::_loadParams(void)
case MAV_PARAM_TYPE_INT32:
paramValue = QVariant(valStr.toInt());
break;
case MAV_PARAM_TYPE_UINT16:
paramValue = QVariant((quint16)valStr.toUInt());
break;
case MAV_PARAM_TYPE_INT16:
paramValue = QVariant((qint16)valStr.toInt());
break;
case MAV_PARAM_TYPE_UINT8:
paramValue = QVariant((quint8)valStr.toUInt());
break;
case MAV_PARAM_TYPE_INT8:
paramValue = QVariant((unsigned char)valStr.toUInt());
paramValue = QVariant((qint8)valStr.toUInt());
break;
default:
Q_ASSERT(false);
qCritical() << "Unknown type" << paramType;
paramValue = QVariant(valStr.toInt());
break;
}
@ -405,24 +428,38 @@ void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramN @@ -405,24 +428,38 @@ void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramN
QVariant paramVariant;
switch (paramType) {
case MAV_PARAM_TYPE_INT8:
paramVariant = QVariant::fromValue(valueUnion.param_int8);
break;
case MAV_PARAM_TYPE_INT32:
paramVariant = QVariant::fromValue(valueUnion.param_int32);
break;
case MAV_PARAM_TYPE_UINT32:
paramVariant = QVariant::fromValue(valueUnion.param_uint32);
break;
case MAV_PARAM_TYPE_REAL32:
paramVariant = QVariant::fromValue(valueUnion.param_float);
break;
default:
qCritical() << "Invalid parameter type" << paramType;
case MAV_PARAM_TYPE_REAL32:
paramVariant = QVariant::fromValue(valueUnion.param_float);
break;
case MAV_PARAM_TYPE_UINT32:
paramVariant = QVariant::fromValue(valueUnion.param_uint32);
break;
case MAV_PARAM_TYPE_INT32:
paramVariant = QVariant::fromValue(valueUnion.param_int32);
break;
case MAV_PARAM_TYPE_UINT16:
paramVariant = QVariant::fromValue(valueUnion.param_uint16);
break;
case MAV_PARAM_TYPE_INT16:
paramVariant = QVariant::fromValue(valueUnion.param_int16);
break;
case MAV_PARAM_TYPE_UINT8:
paramVariant = QVariant::fromValue(valueUnion.param_uint8);
break;
case MAV_PARAM_TYPE_INT8:
paramVariant = QVariant::fromValue(valueUnion.param_int8);
break;
default:
qCritical() << "Invalid parameter type" << paramType;
paramVariant = QVariant::fromValue(valueUnion.param_int32);
break;
}
qCDebug(MockLinkLog) << "_setParamFloatUnionIntoMap" << paramName << paramVariant;
@ -442,36 +479,65 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName) @@ -442,36 +479,65 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
QVariant paramVar = _mapParamName2Value[componentId][paramName];
switch (paramType) {
case MAV_PARAM_TYPE_INT8:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
} else {
valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
}
break;
case MAV_PARAM_TYPE_REAL32:
valueUnion.param_float = paramVar.toFloat();
break;
case MAV_PARAM_TYPE_INT32:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int32 = paramVar.toInt();
}
break;
case MAV_PARAM_TYPE_UINT32:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint32 = paramVar.toUInt();
}
break;
case MAV_PARAM_TYPE_UINT32:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint32 = paramVar.toUInt();
}
break;
case MAV_PARAM_TYPE_INT32:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int32 = paramVar.toInt();
}
break;
case MAV_PARAM_TYPE_REAL32:
valueUnion.param_float = paramVar.toFloat();
break;
case MAV_PARAM_TYPE_UINT16:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint16 = paramVar.toUInt();
}
break;
default:
qCritical() << "Invalid parameter type" << paramType;
case MAV_PARAM_TYPE_INT16:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int16 = paramVar.toInt();
}
break;
case MAV_PARAM_TYPE_UINT8:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint8 = paramVar.toUInt();
}
break;
case MAV_PARAM_TYPE_INT8:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
} else {
valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
}
break;
default:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int32 = paramVar.toInt();
}
qCritical() << "Invalid parameter type" << paramType;
}
return valueUnion.param_float;
@ -801,6 +867,7 @@ void MockLink::_sendStatusTextMessages(void) @@ -801,6 +867,7 @@ void MockLink::_sendStatusTextMessages(void)
MockConfiguration::MockConfiguration(const QString& name)
: LinkConfiguration(name)
, _firmwareType(MAV_AUTOPILOT_PX4)
, _vehicleType(MAV_TYPE_QUADROTOR)
, _sendStatusText(false)
{
@ -810,6 +877,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source) @@ -810,6 +877,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source)
: LinkConfiguration(source)
{
_firmwareType = source->_firmwareType;
_vehicleType = source->_vehicleType;
_sendStatusText = source->_sendStatusText;
}
@ -824,6 +892,7 @@ void MockConfiguration::copyFrom(LinkConfiguration *source) @@ -824,6 +892,7 @@ void MockConfiguration::copyFrom(LinkConfiguration *source)
}
_firmwareType = usource->_firmwareType;
_vehicleType = usource->_vehicleType;
_sendStatusText = usource->_sendStatusText;
}
@ -831,6 +900,7 @@ void MockConfiguration::saveSettings(QSettings& settings, const QString& root) @@ -831,6 +900,7 @@ void MockConfiguration::saveSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
settings.setValue(_firmwareTypeKey, (int)_firmwareType);
settings.setValue(_vehicleTypeKey, (int)_vehicleType);
settings.setValue(_sendStatusTextKey, _sendStatusText);
settings.sync();
settings.endGroup();
@ -840,6 +910,7 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root) @@ -840,6 +910,7 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
_firmwareType = (MAV_AUTOPILOT)settings.value(_firmwareTypeKey, (int)MAV_AUTOPILOT_PX4).toInt();
_vehicleType = (MAV_TYPE)settings.value(_vehicleTypeKey, (int)MAV_TYPE_QUADROTOR).toInt();
_sendStatusText = settings.value(_sendStatusTextKey, false).toBool();
settings.endGroup();
}

10
src/comm/MockLink.h
Unescape View File

@ -44,6 +44,9 @@ public: @@ -44,6 +44,9 @@ public:
MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; }
MAV_TYPE vehicleType(void) { return _vehicleType; }
void setVehicleType(MAV_TYPE vehicleType) { _vehicleType = vehicleType; }
/// @param sendStatusText true: mavlink status text messages will be sent for each severity, as well as voice output info message
void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
bool sendStatusText(void) { return _sendStatusText; }
@ -57,9 +60,11 @@ public: @@ -57,9 +60,11 @@ public:
private:
MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType;
bool _sendStatusText;
static const char* _firmwareTypeKey;
static const char* _vehicleTypeKey;
static const char* _sendStatusTextKey;
};
@ -183,8 +188,9 @@ private: @@ -183,8 +188,9 @@ private:
uint32_t _mavCustomMode;
uint8_t _mavState;
MockConfiguration* _config;
MAV_AUTOPILOT _firmwareType;
MockConfiguration* _config;
MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType;
MockLinkFileServer* _fileServer;

0
src/comm/MockLink.params → src/comm/PX4MockLink.params
Unescape View File

106
src/ui/MainWindow.cc
Unescape View File

@ -84,15 +84,29 @@ This file is part of the QGROUNDCONTROL project @@ -84,15 +84,29 @@ This file is part of the QGROUNDCONTROL project
const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW";
#ifndef __mobile__
const char* MainWindow::_mavlinkDockWidgetName = "MAVLink Inspector";
const char* MainWindow::_customCommandWidgetName = "Custom Command";
const char* MainWindow::_filesDockWidgetName = "Onboard Files";
const char* MainWindow::_uasStatusDetailsDockWidgetName = "Status Details";
const char* MainWindow::_uasInfoViewDockWidgetName = "Info View";
const char* MainWindow::_hilDockWidgetName = "HIL Config";
const char* MainWindow::_analyzeDockWidgetName = "Analyze";
const char* MainWindow::_visibleWidgetsKey = "VisibleWidgets";
enum DockWidgetTypes {
MAVLINK_INSPECTOR,
CUSTOM_COMMAND,
ONBOARD_FILES,
STATUS_DETAILS,
INFO_VIEW,
HIL_CONFIG,
ANALYZE
};
static const char *rgDockWidgetNames[] = {
"MAVLink Inspector",
"Custom Command",
"Onboard Files",
"Status Details",
"Info View",
"HIL Config",
"Analyze"
};
#define ARRAY_SIZE(ARRAY) (sizeof(ARRAY) / sizeof(ARRAY[0]))
static const char* _visibleWidgetsKey = "VisibleWidgets";
#endif
static MainWindow* _instance = NULL; ///< @brief MainWindow singleton
@ -318,27 +332,16 @@ void MainWindow::_buildCommonWidgets(void) @@ -318,27 +332,16 @@ void MainWindow::_buildCommonWidgets(void)
logPlayer = new QGCMAVLinkLogPlayer(statusBar());
statusBar()->addPermanentWidget(logPlayer);
static const char* rgDockWidgetNames[] = {
_mavlinkDockWidgetName,
_customCommandWidgetName,
_filesDockWidgetName,
_uasStatusDetailsDockWidgetName,
_uasInfoViewDockWidgetName,
_hilDockWidgetName,
_analyzeDockWidgetName,
};
static const size_t cDockWidgetNames = sizeof(rgDockWidgetNames) / sizeof(rgDockWidgetNames[0]);
for (size_t i=0; i<cDockWidgetNames; i++) {
for (int i = 0, end = ARRAY_SIZE(rgDockWidgetNames); i < end; i++) {
const char* pDockWidgetName = rgDockWidgetNames[i];
// Add to menu
QAction* action = new QAction(pDockWidgetName, NULL);
QAction* action = new QAction(tr(pDockWidgetName), NULL);
action->setCheckable(true);
action->setData(pDockWidgetName);
action->setData(i);
connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction);
_ui.menuWidgets->addAction(action);
_mapName2Action[pDockWidgetName] = action;
}
}
@ -365,28 +368,35 @@ void MainWindow::_showDockWidget(const QString& name, bool show) @@ -365,28 +368,35 @@ void MainWindow::_showDockWidget(const QString& name, bool show)
void MainWindow::_createInnerDockWidget(const QString& widgetName)
{
QGCDockWidget* widget = NULL;
if (widgetName == _mavlinkDockWidgetName) {
widget = new QGCMAVLinkInspector(widgetName, _mapName2Action[widgetName], MAVLinkProtocol::instance(),this);
} else if (widgetName == _customCommandWidgetName) {
widget = new CustomCommandWidget(widgetName, _mapName2Action[widgetName], this);
} else if (widgetName == _filesDockWidgetName) {
widget = new QGCUASFileViewMulti(widgetName, _mapName2Action[widgetName], this);
} else if (widgetName == _uasStatusDetailsDockWidgetName) {
widget = new UASInfoWidget(widgetName, _mapName2Action[widgetName], this);
} else if (widgetName == _hilDockWidgetName) {
widget = new HILDockWidget(widgetName, _mapName2Action[widgetName], this);
} else if (widgetName == _analyzeDockWidgetName) {
widget = new Linecharts(widgetName, _mapName2Action[widgetName], mavlinkDecoder, this);
} else if (widgetName == _uasInfoViewDockWidgetName) {
QGCTabbedInfoView* pInfoView = new QGCTabbedInfoView(widgetName, _mapName2Action[widgetName], this);
pInfoView->addSource(mavlinkDecoder);
widget = pInfoView;
} else {
qWarning() << "Attempt to create unknown Inner Dock Widget" << widgetName;
return;
QAction *action = _mapName2Action[widgetName];
switch(action->data().toInt()) {
case MAVLINK_INSPECTOR:
widget = new QGCMAVLinkInspector(widgetName, action, MAVLinkProtocol::instance(),this);
break;
case CUSTOM_COMMAND:
widget = new CustomCommandWidget(widgetName, action, this);
break;
case ONBOARD_FILES:
widget = new QGCUASFileViewMulti(widgetName, action, this);
break;
case STATUS_DETAILS:
widget = new UASInfoWidget(widgetName, action, this);
break;
case HIL_CONFIG:
widget = new HILDockWidget(widgetName, action, this);
break;
case ANALYZE:
widget = new Linecharts(widgetName, action, mavlinkDecoder, this);
break;
case INFO_VIEW:
widget= new QGCTabbedInfoView(widgetName, action, this);
break;
}
if(action->data().toInt() == INFO_VIEW) {
qobject_cast<QGCTabbedInfoView*>(widget)->addSource(mavlinkDecoder);
}
_mapName2DockWidget[widgetName] = widget;
}
@ -399,19 +409,23 @@ void MainWindow::_hideAllDockWidgets(void) @@ -399,19 +409,23 @@ void MainWindow::_hideAllDockWidgets(void)
void MainWindow::_showDockWidgetAction(bool show)
{
QAction* action = dynamic_cast<QAction*>(QObject::sender());
QAction* action = qobject_cast<QAction*>(QObject::sender());
Q_ASSERT(action);
_showDockWidget(action->text(), show);
_showDockWidget(rgDockWidgetNames[action->data().toInt()], show);
}
#endif
void MainWindow::fullScreenActionItemCallback(bool)
{
if (!_ui.actionFullscreen->isChecked())
_ui.actionFullscreen->setChecked(true);
_ui.actionNormal->setChecked(false);
}
void MainWindow::normalActionItemCallback(bool)
{
if (!_ui.actionNormal->isChecked())
_ui.actionNormal->setChecked(true);
_ui.actionFullscreen->setChecked(false);
}

11
src/ui/MainWindow.h
Unescape View File

@ -227,15 +227,6 @@ private: @@ -227,15 +227,6 @@ private:
QPointer<QWidget> _missionEditorView;
#ifndef __mobile__
// Dock widget names
static const char* _mavlinkDockWidgetName;
static const char* _customCommandWidgetName;
static const char* _filesDockWidgetName;
static const char* _uasStatusDetailsDockWidgetName;
static const char* _uasInfoViewDockWidgetName;
static const char* _hilDockWidgetName;
static const char* _analyzeDockWidgetName;
QMap<QString, QGCDockWidget*> _mapName2DockWidget;
QMap<QString, QAction*> _mapName2Action;
#endif
@ -250,8 +241,6 @@ private: @@ -250,8 +241,6 @@ private:
void _showDockWidget(const QString &name, bool show);
void _loadVisibleWidgetsSettings(void);
void _storeVisibleWidgetsSettings(void);
static const char* _visibleWidgetsKey;
#endif
bool _autoReconnect;

26
src/ui/MockLinkConfiguration.cc
Unescape View File

@ -43,11 +43,23 @@ MockLinkConfiguration::MockLinkConfiguration(MockConfiguration *config, QWidget @@ -43,11 +43,23 @@ MockLinkConfiguration::MockLinkConfiguration(MockConfiguration *config, QWidget
break;
}
switch (config->vehicleType()) {
case MAV_TYPE_FIXED_WING:
_ui->apmArduPlaneRadio->setChecked(true);
break;
default:
_ui->apmArduCopterRadio->setChecked(true);
break;
}
_ui->sendStatusTextCheckBox->setChecked(config->sendStatusText());
connect(_ui->px4Radio, &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
connect(_ui->apmRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
connect(_ui->genericRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
connect(_ui->apmArduCopterRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_apmArduCopterRadioClicked);
connect(_ui->apmArduPlaneRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_apmArduPlaneRadioClicked);
connect(_ui->genericRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
connect(_ui->sendStatusTextCheckBox, &QCheckBox::clicked, this, &MockLinkConfiguration::_sendStatusTextClicked);
}
@ -77,6 +89,20 @@ void MockLinkConfiguration::_genericRadioClicked(bool checked) @@ -77,6 +89,20 @@ void MockLinkConfiguration::_genericRadioClicked(bool checked)
}
}
void MockLinkConfiguration::_apmArduCopterRadioClicked(bool checked)
{
if (checked) {
_config->setVehicleType(MAV_TYPE_QUADROTOR);
}
}
void MockLinkConfiguration::_apmArduPlaneRadioClicked(bool checked)
{
if (checked) {
_config->setVehicleType(MAV_TYPE_FIXED_WING);
}
}
void MockLinkConfiguration::_sendStatusTextClicked(bool checked)
{
_config->setSendStatusText(checked);

2
src/ui/MockLinkConfiguration.h
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@ -44,6 +44,8 @@ private slots: @@ -44,6 +44,8 @@ private slots:
void _px4RadioClicked(bool checked);
void _apmRadioClicked(bool checked);
void _genericRadioClicked(bool checked);
void _apmArduCopterRadioClicked(bool checked);
void _apmArduPlaneRadioClicked(bool checked);
void _sendStatusTextClicked(bool checked);
private:

27
src/ui/MockLinkConfiguration.ui
Unescape View File

@ -6,8 +6,8 @@ @@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>187</width>
<height>116</height>
<width>238</width>
<height>188</height>
</rect>
</property>
<property name="windowTitle">
@ -42,6 +42,29 @@ @@ -42,6 +42,29 @@
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>APM vehicle type</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QRadioButton" name="apmArduCopterRadio">
<property name="text">
<string>ArduCopter</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="apmArduPlaneRadio">
<property name="text">
<string>ArduPlane</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>

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