Merge pull request #7785 from DonLakeFlyer/APMMotorTest

Enable ArduPilot motor testing

ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* ArduPilot: Add Motor Test vehicle setup page
 * Compass Instrument: Add indicators for Home, COG and Next Waypoint headings.
 * Log Replay: Support changing speed of playback
 * Basic object avoidance added to vehicles.

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -91,7 +91,7 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _powerComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
 
-            if (_vehicle->sub() && _vehicle->versionCompare(3, 5, 3) >= 0) {
+            if (!_vehicle->sub() || (_vehicle->sub() && _vehicle->versionCompare(3, 5, 3) >= 0)) {
                 _motorComponent = new APMMotorComponent(_vehicle, this);
                 _motorComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));

src/AutoPilotPlugins/APM/APMMotorComponent.cc

@@ -22,6 +22,13 @@ QUrl APMMotorComponent::setupSource(void) const
     case MAV_TYPE_SUBMARINE:
         return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMSubMotorComponent.qml"));
     default:
-        return QUrl::fromUserInput(QStringLiteral("qrc:/qml/MotorComponent.qml"));
+        return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMMotorComponent.qml"));
     }
 }
+
+QString APMMotorComponent::motorIndexToLetter(int index)
+{
+    char letter = 'A';
+
+    return QString(letter + index);
+}

src/AutoPilotPlugins/APM/APMMotorComponent.h

@@ -20,7 +20,11 @@ class APMMotorComponent : public MotorComponent
 public:
     APMMotorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = nullptr);
 
-    QUrl setupSource(void) const final;
+    // VehicleComponent overrides
+    QUrl setupSource            (void) const override;
+    bool allowSetupWhileArmed   (void) const override { return true; }
+
+    Q_INVOKABLE QString motorIndexToLetter(int index);
 
 private:
     const QString   _name;

src/AutoPilotPlugins/APM/APMMotorComponent.qml

@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Dialogs  1.2
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.ScreenTools   1.0
+
+SetupPage {
+    id:             motorPage
+    pageComponent:  pageComponent
+
+    readonly property int _barHeight:           10
+    readonly property int _barWidth:            5
+    readonly property int _sliderHeight:        10
+    readonly property int _motorTimeoutSecs:    3
+
+    FactPanelController {
+        id:             controller
+    }
+
+    Component {
+        id: pageComponent
+
+        Column {
+            spacing: ScreenTools.defaultFontPixelHeight
+
+            QGCLabel {
+                text:       qsTr("Warning: Unable to determine motor count")
+                color:      qgcPal.warningText
+                visible:    controller.vehicle.motorCount == -1
+            }
+
+            Row {
+                id:         motorSliders
+                enabled:    safetySwitch.checked
+                spacing:    ScreenTools.defaultFontPixelWidth * 4
+
+                Repeater {
+                    id:         sliderRepeater
+                    model:      controller.vehicle.motorCount == -1 ? 8 : controller.vehicle.motorCount
+
+                    Column {
+                        property alias motorSlider: slider
+
+                        QGCLabel {
+                            anchors.horizontalCenter:   parent.horizontalCenter
+                            text:                       vehicleComponent.motorIndexToLetter(index)
+                        }
+
+                        QGCSlider {
+                            id:                         slider
+                            height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
+                            orientation:                Qt.Vertical
+                            minimumValue:               0
+                            maximumValue:               100
+                            stepSize:                   1
+                            value:                      0
+                            updateValueWhileDragging:   false
+
+                            onValueChanged: {
+                                controller.vehicle.motorTest(index + 1, value, value == 0 ? 0 : _motorTimeoutSecs)
+                                if (value != 0) {
+                                    motorTimer.restart()
+                                }
+                            }
+
+                            Timer {
+                                id:             motorTimer
+                                interval:       _motorTimeoutSecs * 1000
+                                repeat:         false
+                                running:        false
+
+                                onTriggered: {
+                                    allSlider.value = 0
+                                    slider.value = 0
+                                }
+                            }
+                        }
+                    } // Column
+                } // Repeater
+
+                Column {
+                    QGCLabel {
+                        anchors.horizontalCenter:   parent.horizontalCenter
+                        text:                       qsTr("All")
+                    }
+
+                    QGCSlider {
+                        id:                         allSlider
+                        height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
+                        orientation:                Qt.Vertical
+                        minimumValue:               0
+                        maximumValue:               100
+                        stepSize:                   1
+                        value:                      0
+                        updateValueWhileDragging:   false
+
+                        onValueChanged: {
+                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
+                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = allSlider.value
+                            }
+                        }
+                    }
+                } // Column
+            } // Row
+
+            QGCLabel {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                wrapMode:       Text.WordWrap
+                text:           qsTr("Moving the sliders will causes the motors to spin. Make sure you remove all props.")
+            }
+
+            Row {
+                spacing: ScreenTools.defaultFontPixelWidth
+
+                Switch {
+                    id: safetySwitch
+                    onClicked: {
+                        if (!checked) {
+                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
+                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = 0
+                            }
+                            allSlider.value = 0
+                        }
+                    }
+                }
+
+                QGCLabel {
+                    color:  qgcPal.warningText
+                    text:   safetySwitch.checked ? qsTr("Careful: Motor sliders are enabled") : qsTr("Propellers are removed - Enable motor sliders")
+                }
+            } // Row
+        } // Column
+    } // Component
+} // SetupPahe

src/FirmwarePlugin/APM/APMResources.qrc

@@ -10,6 +10,7 @@
         <file alias="APMHeliComponent.qml">../../AutoPilotPlugins/APM/APMHeliComponent.qml</file>
         <file alias="APMLightsComponent.qml">../../AutoPilotPlugins/APM/APMLightsComponent.qml</file>
         <file alias="APMLightsComponentSummary.qml">../../AutoPilotPlugins/APM/APMLightsComponentSummary.qml</file>
+		<file alias="APMMotorComponent.qml">../../AutoPilotPlugins/APM/APMMotorComponent.qml</file>
         <file alias="APMSubFrameComponent.qml">../../AutoPilotPlugins/APM/APMSubFrameComponent.qml</file>
         <file alias="APMSubFrameComponentSummary.qml">../../AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml</file>
         <file alias="APMSubMotorComponent.qml">../../AutoPilotPlugins/APM/APMSubMotorComponent.qml</file>

src/Vehicle/Vehicle.cc

@@ -3487,9 +3487,9 @@ void Vehicle::setSoloFirmware(bool soloFirmware)
     }
 }
 
-void Vehicle::motorTest(int motor, int percent)
+void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
 {
-    sendMavCommand(_defaultComponentId, MAV_CMD_DO_MOTOR_TEST, true, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, 0, 0, MOTOR_TEST_ORDER_BOARD);
+    sendMavCommand(_defaultComponentId, MAV_CMD_DO_MOTOR_TEST, true, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, timeoutSecs, 0, MOTOR_TEST_ORDER_BOARD);
 }
 
 QString Vehicle::brandImageIndoor(void) const

src/Vehicle/Vehicle.h

@@ -765,7 +765,8 @@ public:
     /// Test motor
     ///     @param motor Motor number, 1-based
     ///     @param percent 0-no power, 100-full power
-    Q_INVOKABLE void motorTest(int motor, int percent);
+    ///     @param timeoutSec Disabled motor after this amount of time
+    Q_INVOKABLE void motorTest(int motor, int percent, int timeoutSecs);
 
     Q_INVOKABLE void setPIDTuningTelemetryMode(bool pidTuning);
 

src/VehicleSetup/SetupView.qml

@@ -337,11 +337,13 @@ Rectangle {
         anchors.bottom:         parent.bottom
 
         function setSource(source, vehicleComponent) {
+            panelLoader.source = ""
             panelLoader.vehicleComponent = vehicleComponent
             panelLoader.source = source
         }
 
         function setSourceComponent(sourceComponent, vehicleComponent) {
+            panelLoader.sourceComponent = undefined
             panelLoader.vehicleComponent = vehicleComponent
             panelLoader.sourceComponent = sourceComponent
         }