Don Gagne
10 years ago
11 changed files with 623 additions and 14 deletions
@ -0,0 +1,102 @@ |
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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|
the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#include "APMFlightModesComponent.h" |
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#include "APMAutoPilotPlugin.h" |
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APMFlightModesComponent::APMFlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) : |
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APMComponent(vehicle, autopilot, parent), |
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_name(tr("Flight Modes")) |
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{ |
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} |
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QString APMFlightModesComponent::name(void) const |
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{ |
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return _name; |
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} |
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QString APMFlightModesComponent::description(void) const |
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{ |
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return QString("The Flight Modes Component is used to assign FLight Modes to Channel 5."); |
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} |
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QString APMFlightModesComponent::iconResource(void) const |
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{ |
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return "/qmlimages/FlightModesComponentIcon.png"; |
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} |
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bool APMFlightModesComponent::requiresSetup(void) const |
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{ |
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return true; |
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} |
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bool APMFlightModesComponent::setupComplete(void) const |
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{ |
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return true; |
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} |
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QString APMFlightModesComponent::setupStateDescription(void) const |
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{ |
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const char* stateDescription; |
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if (requiresSetup()) { |
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stateDescription = "Requires calibration"; |
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} else { |
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stateDescription = "Calibrated"; |
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} |
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return QString(stateDescription); |
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} |
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QStringList APMFlightModesComponent::setupCompleteChangedTriggerList(void) const |
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{ |
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return QStringList(); |
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} |
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QStringList APMFlightModesComponent::paramFilterList(void) const |
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{ |
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return QStringList(); |
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} |
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QUrl APMFlightModesComponent::setupSource(void) const |
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{ |
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return QUrl::fromUserInput("qrc:/qml/APMFlightModesComponent.qml"); |
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} |
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QUrl APMFlightModesComponent::summaryQmlSource(void) const |
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{ |
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return QUrl::fromUserInput("qrc:/qml/APMFlightModesComponentSummary.qml"); |
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} |
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QString APMFlightModesComponent::prerequisiteSetup(void) const |
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{ |
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APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot); |
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Q_ASSERT(plugin); |
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if (!plugin->airframeComponent()->setupComplete()) { |
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return plugin->airframeComponent()->name(); |
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} else if (!plugin->radioComponent()->setupComplete()) { |
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return plugin->radioComponent()->name(); |
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} |
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return QString(); |
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} |
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@ -0,0 +1,55 @@ |
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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|
it under the terms of the GNU General Public License as published by |
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|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
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|
|
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|
QGROUNDCONTROL is distributed in the hope that it will be useful, |
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|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
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|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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|
GNU General Public License for more details. |
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|
|
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You should have received a copy of the GNU General Public License |
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|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#ifndef APMFlightModesComponent_H |
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#define APMFlightModesComponent_H |
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#include "APMComponent.h" |
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class APMFlightModesComponent : public APMComponent |
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{ |
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Q_OBJECT |
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public: |
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APMFlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL); |
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// Virtuals from PX4Component
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virtual QStringList setupCompleteChangedTriggerList(void) const; |
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// Virtuals from VehicleComponent
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virtual QString name(void) const; |
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virtual QString description(void) const; |
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virtual QString iconResource(void) const; |
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virtual bool requiresSetup(void) const; |
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virtual bool setupComplete(void) const; |
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virtual QString setupStateDescription(void) const; |
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virtual QUrl setupSource(void) const; |
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virtual QStringList paramFilterList(void) const; |
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virtual QUrl summaryQmlSource(void) const; |
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virtual QString prerequisiteSetup(void) const; |
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private: |
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const QString _name; |
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}; |
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#endif |
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@ -0,0 +1,194 @@ |
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/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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|
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This file is part of the QGROUNDCONTROL project |
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|
|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
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|
|
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|
QGROUNDCONTROL is distributed in the hope that it will be useful, |
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|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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|
GNU General Public License for more details. |
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|
|
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|
You should have received a copy of the GNU General Public License |
||||||
|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. |
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======================================================================*/ |
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import QtQuick 2.5 |
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import QtQuick.Controls 1.2 |
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import QGroundControl.FactSystem 1.0 |
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import QGroundControl.FactControls 1.0 |
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import QGroundControl.Palette 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.Controllers 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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QGCView { |
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id: rootQGCView |
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viewPanel: panel |
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QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled } |
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APMFlightModesComponentController { |
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id: controller |
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factPanel: panel |
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} |
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QGCViewPanel { |
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id: panel |
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anchors.fill: parent |
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Flickable { |
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anchors.fill: parent |
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Column { |
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width: parent.width |
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spacing: ScreenTools.defaultFontPixelHeight |
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QGCLabel { |
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text: "Channel 5 Flight Mode Settings" |
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font.weight: Font.DemiBold |
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} |
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Rectangle { |
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width: parent.width |
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height: flightModeColumn.height + ScreenTools.defaultFontPixelHeight |
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color: qgcPal.windowShade |
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Column { |
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id: flightModeColumn |
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anchors.margins: ScreenTools.defaultFontPixelWidth |
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anchors.left: parent.left |
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anchors.right: parent.right |
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anchors.top: parent.top |
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spacing: ScreenTools.defaultFontPixelHeight |
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Repeater { |
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model: 6 |
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Row { |
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spacing: ScreenTools.defaultFontPixelWidth |
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property int index: modelData + 1 |
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QGCLabel { |
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anchors.baseline: modeCombo.baseline |
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text: "Flight Mode " + index + ":" |
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} |
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FactComboBox { |
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id: modeCombo |
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width: ScreenTools.defaultFontPixelWidth * 15 |
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fact: controller.getParameterFact(-1, "FLTMODE" + index) |
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indexModel: false |
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} |
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QGCCheckBox { |
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id: simple |
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anchors.baseline: modeCombo.baseline |
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text: "Simple Mode" |
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visible: !controller.fixedWing |
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checked: isChecked() |
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onClicked: { |
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var simpleFact = controller.getParameterFact(-1, "SIMPLE") |
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if (checked) { |
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simpleFact.value |= 1 << modelData |
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} else { |
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simpleFact.value &= ~modelData |
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} |
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} |
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function isChecked() { |
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if (simple.visible) { |
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var simpleFact = controller.getParameterFact(-1, "SIMPLE") |
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return simpleFact.value & (1 << modelData) |
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} else { |
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return false; |
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} |
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} |
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} |
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QGCCheckBox { |
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id: superSimple |
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anchors.baseline: modeCombo.baseline |
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text: "Super Simple Mode" |
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visible: !controller.fixedWing |
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checked: isChecked() |
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onClicked: { |
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var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE") |
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if (checked) { |
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simpleFact.value |= 1 << modelData |
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} else { |
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simpleFact.value &= ~modelData |
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} |
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} |
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function isChecked() { |
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if (superSimple.visible) { |
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var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE") |
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return simpleFact.value & (1 << modelData) |
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} else { |
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return false; |
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} |
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} |
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} |
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} |
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} // Repeater - Flight Modes |
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} // Column - Flight Modes |
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} // Rectangle - Flight Modes |
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QGCLabel { |
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text: "Channel Options" |
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font.weight: Font.DemiBold |
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} |
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Rectangle { |
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width: parent.width |
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height: channelOptColumn.height + ScreenTools.defaultFontPixelHeight |
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color: qgcPal.windowShade |
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Column { |
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id: channelOptColumn |
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anchors.margins: ScreenTools.defaultFontPixelWidth |
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anchors.left: parent.left |
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anchors.right: parent.right |
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anchors.top: parent.top |
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spacing: ScreenTools.defaultFontPixelHeight |
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Repeater { |
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model: 6 |
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Row { |
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spacing: ScreenTools.defaultFontPixelWidth |
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property int index: modelData + 7 |
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QGCLabel { |
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anchors.baseline: optCombo.baseline |
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text: "Channel option " + index + ":" |
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} |
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FactComboBox { |
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id: optCombo |
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width: ScreenTools.defaultFontPixelWidth * 15 |
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fact: controller.getParameterFact(-1, "CH" + index + "_OPT") |
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indexModel: false |
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} |
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} |
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} // Repeater -- Channel options |
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} // Column - Channel options |
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} // Rectangle - Channel options |
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} // Column |
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} // FLickable |
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} // QGCViewPanel |
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} // QGCView |
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@ -0,0 +1,114 @@ |
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/*=====================================================================
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|
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QGroundControl Open Source Ground Control Station |
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|
|
||||||
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(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||||
|
|
||||||
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This file is part of the QGROUNDCONTROL project |
||||||
|
|
||||||
|
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||||
|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
||||||
|
|
||||||
|
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||||
|
GNU General Public License for more details. |
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License |
||||||
|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
======================================================================*/ |
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#include "APMFlightModesComponentController.h" |
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#include "QGCMAVLink.h" |
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#include "AutoPilotPluginManager.h" |
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#include <QVariant> |
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#include <QQmlProperty> |
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APMFlightModesComponentController::APMFlightModesComponentController(void) |
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: _channelCount(Vehicle::cMaxRcChannels) |
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{ |
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QStringList usedParams; |
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usedParams << "FLTMODE1" << "FLTMODE2" << "FLTMODE3" << "FLTMODE4" << "FLTMODE5" << "FLTMODE6"; |
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if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) { |
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return; |
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} |
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_init(); |
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_validateConfiguration(); |
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connect(_vehicle, &Vehicle::rcChannelsChanged, this, &APMFlightModesComponentController::_rcChannelsChanged); |
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} |
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void APMFlightModesComponentController::_init(void) |
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{ |
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_fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING; |
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} |
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/// This will look for parameter settings which would cause the config to not run correctly.
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/// It will set _validConfiguration and _configurationErrors as needed.
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void APMFlightModesComponentController::_validateConfiguration(void) |
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{ |
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_validConfiguration = true; |
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#if 0 |
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// Make sure switches are valid and within channel range
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QStringList switchParams; |
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QList<int> switchMappings; |
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switchParams << "RC_MAP_MODE_SW" << "RC_MAP_ACRO_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW"; |
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for(int i=0; i<switchParams.count(); i++) { |
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int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->rawValue().toInt(); |
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switchMappings << map; |
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if (map < 0 || map > _channelCount) { |
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_validConfiguration = false; |
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_configurationErrors += QString("%1 is set to %2. Mapping must between 0 and %3 (inclusive).\n").arg(switchParams[i]).arg(map).arg(_channelCount); |
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} |
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} |
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// Make sure mode switches are not double-mapped
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QStringList attitudeParams; |
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attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2"; |
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for (int i=0; i<attitudeParams.count(); i++) { |
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int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->rawValue().toInt(); |
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for (int j=0; j<switchParams.count(); j++) { |
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if (map != 0 && map == switchMappings[j]) { |
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_validConfiguration = false; |
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_configurationErrors += QString("%1 is set to same channel as %2.\n").arg(switchParams[j]).arg(attitudeParams[i]); |
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} |
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} |
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} |
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// Validate thresholds within range
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QStringList thresholdParams; |
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thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH"; |
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foreach(QString thresholdParam, thresholdParams) { |
||||||
|
float threshold = getParameterFact(-1, thresholdParam)->rawValue().toFloat(); |
||||||
|
if (threshold < 0.0f || threshold > 1.0f) { |
||||||
|
_validConfiguration = false; |
||||||
|
_configurationErrors += QString("%1 is set to %2. Threshold must between 0.0 and 1.0 (inclusive).\n").arg(thresholdParam).arg(threshold); |
||||||
|
} |
||||||
|
} |
||||||
|
#endif |
||||||
|
} |
||||||
|
|
||||||
|
/// Connected to Vehicle::rcChannelsChanged signal
|
||||||
|
void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]) |
||||||
|
{ |
||||||
|
for (int channel=0; channel<channelCount; channel++) { |
||||||
|
_rcValues[channel] = pwmValues[channel]; |
||||||
|
} |
||||||
|
} |
||||||
@ -0,0 +1,66 @@ |
|||||||
|
/*=====================================================================
|
||||||
|
|
||||||
|
QGroundControl Open Source Ground Control Station |
||||||
|
|
||||||
|
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||||
|
|
||||||
|
This file is part of the QGROUNDCONTROL project |
||||||
|
|
||||||
|
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||||
|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
||||||
|
|
||||||
|
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||||
|
GNU General Public License for more details. |
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License |
||||||
|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
======================================================================*/ |
||||||
|
|
||||||
|
#ifndef APMFlightModesComponentController_H |
||||||
|
#define APMFlightModesComponentController_H |
||||||
|
|
||||||
|
#include <QObject> |
||||||
|
#include <QQuickItem> |
||||||
|
#include <QList> |
||||||
|
#include <QStringList> |
||||||
|
|
||||||
|
#include "UASInterface.h" |
||||||
|
#include "AutoPilotPlugin.h" |
||||||
|
#include "FactPanelController.h" |
||||||
|
#include "Vehicle.h" |
||||||
|
|
||||||
|
/// MVC Controller for FlightModesComponent.qml.
|
||||||
|
class APMFlightModesComponentController : public FactPanelController |
||||||
|
{ |
||||||
|
Q_OBJECT |
||||||
|
|
||||||
|
public: |
||||||
|
APMFlightModesComponentController(void); |
||||||
|
|
||||||
|
Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT) |
||||||
|
Q_PROPERTY(bool fixedWing MEMBER _fixedWing CONSTANT) |
||||||
|
Q_PROPERTY(QString reservedChannels MEMBER _reservedChannels CONSTANT) |
||||||
|
|
||||||
|
private slots: |
||||||
|
void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]); |
||||||
|
|
||||||
|
private: |
||||||
|
void _init(void); |
||||||
|
void _validateConfiguration(void); |
||||||
|
|
||||||
|
bool _fixedWing; |
||||||
|
|
||||||
|
int _rcValues[Vehicle::cMaxRcChannels]; |
||||||
|
|
||||||
|
bool _validConfiguration; |
||||||
|
QString _configurationErrors; |
||||||
|
int _channelCount; |
||||||
|
QString _reservedChannels; |
||||||
|
}; |
||||||
|
|
||||||
|
#endif |
||||||
@ -0,0 +1,58 @@ |
|||||||
|
import QtQuick 2.5 |
||||||
|
import QtQuick.Controls 1.2 |
||||||
|
|
||||||
|
import QGroundControl.FactSystem 1.0 |
||||||
|
import QGroundControl.FactControls 1.0 |
||||||
|
import QGroundControl.Controls 1.0 |
||||||
|
import QGroundControl.Palette 1.0 |
||||||
|
|
||||||
|
FactPanel { |
||||||
|
id: panel |
||||||
|
anchors.fill: parent |
||||||
|
color: qgcPal.windowShadeDark |
||||||
|
|
||||||
|
QGCPalette { id: qgcPal; colorGroupEnabled: enabled } |
||||||
|
FactPanelController { id: controller; factPanel: panel } |
||||||
|
|
||||||
|
property Fact flightMode1: controller.getParameterFact(-1, "FLTMODE1") |
||||||
|
property Fact flightMode2: controller.getParameterFact(-1, "FLTMODE2") |
||||||
|
property Fact flightMode3: controller.getParameterFact(-1, "FLTMODE3") |
||||||
|
property Fact flightMode4: controller.getParameterFact(-1, "FLTMODE4") |
||||||
|
property Fact flightMode5: controller.getParameterFact(-1, "FLTMODE5") |
||||||
|
property Fact flightMode6: controller.getParameterFact(-1, "FLTMODE6") |
||||||
|
|
||||||
|
Column { |
||||||
|
anchors.fill: parent |
||||||
|
anchors.margins: 8 |
||||||
|
|
||||||
|
VehicleSummaryRow { |
||||||
|
labelText: "Flight Mode 1:" |
||||||
|
valueText: flightMode1.enumStringValue |
||||||
|
} |
||||||
|
|
||||||
|
VehicleSummaryRow { |
||||||
|
labelText: "Flight Mode 2:" |
||||||
|
valueText: flightMode2.enumStringValue |
||||||
|
} |
||||||
|
|
||||||
|
VehicleSummaryRow { |
||||||
|
labelText: "Flight Mode 3:" |
||||||
|
valueText: flightMode3.enumStringValue |
||||||
|
} |
||||||
|
|
||||||
|
VehicleSummaryRow { |
||||||
|
labelText: "Flight Mode 4:" |
||||||
|
valueText: flightMode4.enumStringValue |
||||||
|
} |
||||||
|
|
||||||
|
VehicleSummaryRow { |
||||||
|
labelText: "Flight Mode 5:" |
||||||
|
valueText: flightMode5.enumStringValue |
||||||
|
} |
||||||
|
|
||||||
|
VehicleSummaryRow { |
||||||
|
labelText: "Flight Mode 6:" |
||||||
|
valueText: flightMode6.enumStringValue |
||||||
|
} |
||||||
|
} |
||||||
|
} |
||||||
Loading…
Reference in new issue