Beat Küng
4 years ago
committed by
Lorenz Meier
9 changed files with 293 additions and 2 deletions
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/****************************************************************************
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* |
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "PX4FlightBehavior.h" |
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#include "PX4AutoPilotPlugin.h" |
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#include "AirframeComponent.h" |
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PX4FlightBehavior::PX4FlightBehavior(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) |
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: VehicleComponent(vehicle, autopilot, parent) |
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, _name(tr("Flight Behavior")) |
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{ |
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} |
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QString PX4FlightBehavior::name() const |
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{ |
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return _name; |
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} |
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QString PX4FlightBehavior::description() const |
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{ |
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return tr("Flight Behavior is used to configure flight characteristics."); |
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} |
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QString PX4FlightBehavior::iconResource() const |
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{ |
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return "/qmlimages/TuningComponentIcon.png"; |
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} |
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bool PX4FlightBehavior::requiresSetup() const |
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{ |
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return false; |
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} |
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bool PX4FlightBehavior::setupComplete() const |
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{ |
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return true; |
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} |
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QStringList PX4FlightBehavior::setupCompleteChangedTriggerList() const |
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{ |
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return QStringList(); |
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} |
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QUrl PX4FlightBehavior::setupSource() const |
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{ |
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QString qmlFile; |
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switch (_vehicle->vehicleType()) { |
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case MAV_TYPE_FIXED_WING: |
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qmlFile = ""; |
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break; |
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case MAV_TYPE_QUADROTOR: |
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case MAV_TYPE_COAXIAL: |
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case MAV_TYPE_HELICOPTER: |
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case MAV_TYPE_HEXAROTOR: |
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case MAV_TYPE_OCTOROTOR: |
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case MAV_TYPE_TRICOPTER: |
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qmlFile = "qrc:/qml/PX4FlightBehaviorCopter.qml"; |
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break; |
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case MAV_TYPE_VTOL_DUOROTOR: |
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case MAV_TYPE_VTOL_QUADROTOR: |
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case MAV_TYPE_VTOL_TILTROTOR: |
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case MAV_TYPE_VTOL_RESERVED2: |
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case MAV_TYPE_VTOL_RESERVED3: |
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case MAV_TYPE_VTOL_RESERVED4: |
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case MAV_TYPE_VTOL_RESERVED5: |
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qmlFile = ""; |
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break; |
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default: |
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break; |
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} |
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return QUrl::fromUserInput(qmlFile); |
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} |
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QUrl PX4FlightBehavior::summaryQmlSource() const |
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{ |
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return QUrl(); |
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} |
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/****************************************************************************
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* |
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* (c) 2021 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "VehicleComponent.h" |
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class PX4FlightBehavior : public VehicleComponent |
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{ |
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Q_OBJECT |
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public: |
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PX4FlightBehavior(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = nullptr); |
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// Virtuals from VehicleComponent
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QStringList setupCompleteChangedTriggerList() const final; |
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// Virtuals from VehicleComponent
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QString name() const final; |
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QString description() const final; |
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QString iconResource() const final; |
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bool requiresSetup() const final; |
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bool setupComplete() const final; |
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QUrl setupSource() const final; |
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QUrl summaryQmlSource() const final; |
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bool allowSetupWhileArmed() const final { return true; } |
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bool allowSetupWhileFlying() const final { return true; } |
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private: |
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const QString _name; |
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}; |
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/**************************************************************************** |
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* |
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* (c) 2021 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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import QtQuick 2.3 |
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import QtQuick.Controls 1.2 |
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import QtQuick.Layouts 1.2 |
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import QGroundControl 1.0 |
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import QGroundControl.FactSystem 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.Palette 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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SetupPage { |
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id: flightBehavior |
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pageComponent: pageComponent |
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property real _margins: ScreenTools.defaultFontPixelHeight |
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FactPanelController { |
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id: controller |
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} |
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QGCPalette { |
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id: qgcPal |
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} |
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property Fact _sys_vehicle_resp: controller.getParameterFact(-1, "SYS_VEHICLE_RESP", false) |
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property Fact _mpc_xy_vel_all: controller.getParameterFact(-1, "MPC_XY_VEL_ALL", false) |
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property Fact _mpc_z_vel_all: controller.getParameterFact(-1, "MPC_Z_VEL_ALL", false) |
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Component { |
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id: pageComponent |
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Column { |
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spacing: _margins |
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Column { |
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visible: _sys_vehicle_resp |
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QGCCheckBox { |
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id: responsivenessCheckbox |
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text: qsTr("Enable responsiveness slider (if enabled, acceleration limit parameters and others are automatically set)") |
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checked: _sys_vehicle_resp && _sys_vehicle_resp.value >= 0 |
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onClicked: { |
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if (checked) { |
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_sys_vehicle_resp.value = Math.abs(_sys_vehicle_resp.value) |
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} else { |
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_sys_vehicle_resp.value = -Math.abs(_sys_vehicle_resp.value) |
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} |
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} |
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} |
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FactSliderPanel { |
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width: availableWidth |
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enabled: responsivenessCheckbox.checked |
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sliderModel: ListModel { |
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id: responsivenessSlider |
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ListElement { |
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title: qsTr("Responsiveness") |
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description: qsTr("A higher value makes the vehicle react faster. Be aware that this affects braking as well, and a combination of slow responsiveness with high maximum velocity will lead to long braking distances.") |
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param: "SYS_VEHICLE_RESP" |
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min: 0.01 |
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max: 1 |
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step: 0.01 |
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} |
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} |
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} |
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QGCLabel { |
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visible: _sys_vehicle_resp && _sys_vehicle_resp.value > 0.8 |
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color: qgcPal.warningText |
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text: "Warning: a high responsiveness requires a vehicle with large thrust-to-weight ratio. The vehicle might lose altitude otherwise." |
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} |
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} |
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Column { |
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visible: _mpc_xy_vel_all |
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QGCCheckBox { |
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id: xyVelCheckbox |
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text: qsTr("Enable horizontal velocity slider (if enabled, individual velocity limit parameters are automatically set)") |
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checked: _mpc_xy_vel_all ? (_mpc_xy_vel_all.value >= 0) : false |
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onClicked: { |
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if (checked) { |
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_mpc_xy_vel_all.value = Math.abs(_mpc_xy_vel_all.value) |
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} else { |
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_mpc_xy_vel_all.value = -Math.abs(_mpc_xy_vel_all.value) |
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} |
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} |
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} |
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FactSliderPanel { |
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width: availableWidth |
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enabled: xyVelCheckbox.checked |
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sliderModel: ListModel { |
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id: xyVelSlider |
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ListElement { |
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title: qsTr("Horizontal velocity (m/s)") |
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description: qsTr("Limit the horizonal velocity (applies to all modes).") |
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param: "MPC_XY_VEL_ALL" |
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min: 0.5 |
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max: 20 |
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step: 0.5 |
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} |
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} |
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} |
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} |
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Column { |
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visible: _mpc_z_vel_all |
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QGCCheckBox { |
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id: zVelCheckbox |
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text: qsTr("Enable vertical velocity slider (if enabled, individual velocity limit parameters are automatically set)") |
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checked: _mpc_z_vel_all && _mpc_z_vel_all.value >= 0 |
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onClicked: { |
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if (checked) { |
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_mpc_z_vel_all.value = Math.abs(_mpc_z_vel_all.value) |
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} else { |
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_mpc_z_vel_all.value = -Math.abs(_mpc_z_vel_all.value) |
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} |
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} |
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} |
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FactSliderPanel { |
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width: availableWidth |
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enabled: zVelCheckbox.checked |
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sliderModel: ListModel { |
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id: zVelSlider |
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ListElement { |
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title: qsTr("Vertial velocity (m/s)") |
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description: qsTr("Limit the vertical velocity (applies to all modes).") |
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param: "MPC_Z_VEL_ALL" |
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min: 0.2 |
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max: 8 |
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step: 0.2 |
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} |
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} |
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} |
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} |
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} // Column |
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} // Component - pageComponent |
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} // SetupPage |
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