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UI handles older firmwares

QGC4.4
Don Gagne 9 years ago
parent
f9874376ee
commit
8c3ed848b2
2 changed files with 64 additions and 31 deletions
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  1. 34
      src/AutoPilotPlugins/APM/APMSensorsComponent.cc
  2. 61
      src/AutoPilotPlugins/APM/APMSensorsComponent.qml

34
src/AutoPilotPlugins/APM/APMSensorsComponent.cc
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@ -71,11 +71,17 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const @@ -71,11 +71,17 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
<< "COMPASS_OFS2_X" << "COMPASS_OFS2_X" << "COMPASS_OFS2_X"
<< "COMPASS_OFS3_X" << "COMPASS_OFS3_X" << "COMPASS_OFS3_X";
// Acceleromter triggers
triggers << "INS_USE" << "INS_USE2" << "INS_USE3"
<< "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z"
<< "INS_ACC2OFFS_X" << "INS_ACC2OFFS_Y" << "INS_ACC2OFFS_Z"
<< "INS_ACC3OFFS_X" << "INS_ACC3OFFS_Y" << "INS_ACC3OFFS_Z";
// Accelerometer triggers
if (_autopilot->parameterExists(FactSystem::defaultComponentId, "INS_USE")) {
triggers << "INS_USE" << "INS_USE2" << "INS_USE3"
<< "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z"
<< "INS_ACC2OFFS_X" << "INS_ACC2OFFS_Y" << "INS_ACC2OFFS_Z"
<< "INS_ACC3OFFS_X" << "INS_ACC3OFFS_Y" << "INS_ACC3OFFS_Z";
} else {
// For older firmwares which don't support the INS_USE parameter we can't determine which secondary accels are in use.
// So we just base things off the the first accel.
triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
}
return triggers;
}
@ -134,15 +140,21 @@ bool APMSensorsComponent::accelSetupNeeded(void) const @@ -134,15 +140,21 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
QStringList insUse;
QStringList rgOffsets[cAccel];
insUse << "INS_USE" << "INS_USE2" << "INS_USE3";
rgOffsets[0] << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
rgOffsets[1] << "INS_ACC2OFFS_X" << "INS_ACC2OFFS_Y" << "INS_ACC2OFFS_Z";
rgOffsets[2] << "INS_ACC3OFFS_X" << "INS_ACC3OFFS_Y" << "INS_ACC3OFFS_Z";
if (_autopilot->parameterExists(FactSystem::defaultComponentId, "INS_USE")) {
insUse << "INS_USE" << "INS_USE2" << "INS_USE3";
rgOffsets[0] << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
rgOffsets[1] << "INS_ACC2OFFS_X" << "INS_ACC2OFFS_Y" << "INS_ACC2OFFS_Z";
rgOffsets[2] << "INS_ACC3OFFS_X" << "INS_ACC3OFFS_Y" << "INS_ACC3OFFS_Z";
} else {
// For older firmwares which don't support the INS_USE parameter we can't determine which secondary accels are in use.
// So we just base things off the the first accel.
rgOffsets[0] << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
}
for (size_t i=0; i<cAccel; i++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, insUse[i])->rawValue().toInt() != 0) {
if (insUse.count() == 0 || _autopilot->getParameterFact(FactSystem::defaultComponentId, insUse[i])->rawValue().toInt() != 0) {
for (size_t j=0; j<cOffset; j++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
if (rgOffsets[i].count() && _autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
return true;
}
}

61
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
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@ -69,28 +69,49 @@ QGCView { @@ -69,28 +69,49 @@ QGCView {
readonly property int rotationColumnWidth: 250
property Fact compass1Id: controller.getParameterFact(-1, "COMPASS_DEV_ID")
property Fact compass2Id: controller.getParameterFact(-1, "COMPASS_DEV_ID2")
property Fact compass3Id: controller.getParameterFact(-1, "COMPASS_DEV_ID3")
property Fact compass1External: controller.getParameterFact(-1, "COMPASS_EXTERNAL")
property Fact compass2External: controller.getParameterFact(-1, "COMPASS_EXTERN2")
property Fact compass3External: controller.getParameterFact(-1, "COMPASS_EXTERN3")
property Fact compass1Rot: controller.getParameterFact(-1, "COMPASS_ORIENT")
property Fact compass2Rot: controller.getParameterFact(-1, "COMPASS_ORIENT2")
property Fact compass3Rot: controller.getParameterFact(-1, "COMPASS_ORIENT3")
property Fact compass1Use: controller.getParameterFact(-1, "COMPASS_USE")
property Fact compass2Use: controller.getParameterFact(-1, "COMPASS_USE2")
property Fact compass3Use: controller.getParameterFact(-1, "COMPASS_USE3")
property Fact boardRot: controller.getParameterFact(-1, "AHRS_ORIENTATION")
property bool accelCalNeeded: controller.accelSetupNeeded
property bool compassCalNeeded: controller.compassSetupNeeded
property Fact compass1Id: controller.getParameterFact(-1, "COMPASS_DEV_ID")
property Fact compass2Id: controller.getParameterFact(-1, "COMPASS_DEV_ID2")
property Fact compass3Id: controller.getParameterFact(-1, "COMPASS_DEV_ID3")
property Fact compass1ExternalFact: controller.getParameterFact(-1, "COMPASS_EXTERNAL")
property Fact compass1Rot: controller.getParameterFact(-1, "COMPASS_ORIENT")
property Fact boardRot: controller.getParameterFact(-1, "AHRS_ORIENTATION")
property bool accelCalNeeded: controller.accelSetupNeeded
property bool compassCalNeeded: controller.compassSetupNeeded
// The following parameters are not available in olders firmwares
property bool compass2ExternalParamAvailable: controller.parameterExists(-1, "COMPASS_EXTERN2")
property bool compass3ExternalParamAvailable: controller.parameterExists(-1, "COMPASS_EXTERN3")
property bool compass2RotParamAvailable: controller.parameterExists(-1, "COMPASS_ORIENT2")
property bool compass3RotParamAvailable: controller.parameterExists(-1, "COMPASS_ORIENT3")
property bool compass1UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE")
property bool compass2UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE2")
property bool compass3UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE3")
property Fact noFact: Fact { }
property Fact compass2ExternalFact: compass2ExternalParamAvailable ? controller.getParameterFact(-1, "COMPASS_EXTERN2") : noFact
property Fact compass3ExternalFact: compass3ExternalParamAvailable ? controller.getParameterFact(-1, "COMPASS_EXTERN3") : noFact
property Fact compass2Rot: compass2RotParamAvailable ? controller.getParameterFact(-1, "COMPASS_ORIENT2") : noFact
property Fact compass3Rot: compass3RotParamAvailable ? controller.getParameterFact(-1, "COMPASS_ORIENT3") : noFact
property Fact compass1UseFact: compass1UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE") : noFact
property Fact compass2UseFact: compass2UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE2") : noFact
property Fact compass3UseFact: compass3UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE3") : noFact
// We track these values by binding through a separate property so we can handle missing params
property bool compass1External: compass1ExternalFact.value
property bool compass2External: compass2ExternalParamAvailable ? compass2ExternalFact.value : false // false: Simulate internal so we don't show rotation combos
property bool compass3External: compass3ExternalParamAvailable ? compass3ExternalFact.value : false // false: Simulate internal so we don't show rotation combos
property bool compass1Use: compass1UseParamAvailable ? compass1UseFact.value : true
property bool compass2Use: compass2UseParamAvailable ? compass2UseFact.value : true
property bool compass3Use: compass3UseParamAvailable ? compass3UseFact.value : true
// Id > = signals compass available, rot < 0 signals internal compass
property bool showCompass1Rot: compass1Id.value > 0 && compass1External.value != 0 && compass1Use.value != 0
property bool showCompass2Rot: compass2Id.value > 0 && compass2External.value != 0 && compass2Use.value != 0
property bool showCompass3Rot: compass3Id.value > 0 && compass3External.value != 0 && compass3Use.value != 0
property bool showCompass1Rot: compass1Id.value > 0 && compass1External && compass1Use
property bool showCompass2Rot: compass2Id.value > 0 && compass2External && compass2Use
property bool showCompass3Rot: compass3Id.value > 0 && compass3External && compass3Use
function validCompassOffsets(compassParamPrefix) {
var ofsX = controller.getParameterFact(-1, compassParamPrefix + "X")

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