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Add safety component for Sub firmware.

QGC4.4
Rustom Jehangir 9 years ago
parent
a93076dd32
commit
99d161edd4
4 changed files with 516 additions and 0 deletions
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  1. 2
      qgroundcontrol.qrc
  2. 6
      src/AutoPilotPlugins/APM/APMSafetyComponent.cc
  3. 385
      src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
  4. 123
      src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml

2
qgroundcontrol.qrc
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@ -149,9 +149,11 @@ @@ -149,9 +149,11 @@
<file alias="APMSafetyComponentCopter.qml">src/AutoPilotPlugins/APM/APMSafetyComponentCopter.qml</file>
<file alias="APMSafetyComponentPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentPlane.qml</file>
<file alias="APMSafetyComponentRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentRover.qml</file>
<file alias="APMSafetyComponentSub.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml</file>
<file alias="APMSafetyComponentSummaryCopter.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryCopter.qml</file>
<file alias="APMSafetyComponentSummaryPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryPlane.qml</file>
<file alias="APMSafetyComponentSummaryRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryRover.qml</file>
<file alias="APMSafetyComponentSummarySub.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml</file>
<file alias="APMTuningComponentCopter.qml">src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml</file>
<file alias="CameraComponent.qml">src/AutoPilotPlugins/PX4/CameraComponent.qml</file>
<file alias="CameraComponentSummary.qml">src/AutoPilotPlugins/PX4/CameraComponentSummary.qml</file>

6
src/AutoPilotPlugins/APM/APMSafetyComponent.cc
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@ -69,6 +69,9 @@ QUrl APMSafetyComponent::setupSource(void) const @@ -69,6 +69,9 @@ QUrl APMSafetyComponent::setupSource(void) const
case MAV_TYPE_TRICOPTER:
qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentCopter.qml");
break;
case MAV_TYPE_SUBMARINE:
qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentSub.qml");
break;
case MAV_TYPE_GROUND_ROVER:
qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentRover.qml");
break;
@ -96,6 +99,9 @@ QUrl APMSafetyComponent::summaryQmlSource(void) const @@ -96,6 +99,9 @@ QUrl APMSafetyComponent::summaryQmlSource(void) const
case MAV_TYPE_TRICOPTER:
qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentSummaryCopter.qml");
break;
case MAV_TYPE_SUBMARINE:
qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentSummarySub.qml");
break;
case MAV_TYPE_GROUND_ROVER:
qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentSummaryRover.qml");
break;

385
src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
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@ -0,0 +1,385 @@ @@ -0,0 +1,385 @@
/****************************************************************************
*
* (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 2.5
import QtQuick.Controls 1.2
import QtGraphicalEffects 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
QGCView {
id: _safetyView
viewPanel: panel
anchors.fill: parent
FactPanelController { id: controller; factPanel: panel }
QGCPalette { id: ggcPal; colorGroupEnabled: enabled }
property Fact _failsafeGCSEnable: controller.getParameterFact(-1, "FS_GCS_ENABLE")
property Fact _failsafeBattEnable: controller.getParameterFact(-1, "FS_BATT_ENABLE")
property Fact _failsafeBattMah: controller.getParameterFact(-1, "FS_BATT_MAH")
property Fact _failsafeBattVoltage: controller.getParameterFact(-1, "FS_BATT_VOLTAGE")
property Fact _failsafeThrEnable: controller.getParameterFact(-1, "FS_THR_ENABLE")
property Fact _failsafeThrValue: controller.getParameterFact(-1, "FS_THR_VALUE")
property Fact _fenceAction: controller.getParameterFact(-1, "FENCE_ACTION")
property Fact _fenceAltMax: controller.getParameterFact(-1, "FENCE_ALT_MAX")
property Fact _fenceEnable: controller.getParameterFact(-1, "FENCE_ENABLE")
property Fact _fenceMargin: controller.getParameterFact(-1, "FENCE_MARGIN")
property Fact _fenceType: controller.getParameterFact(-1, "FENCE_TYPE")
property Fact _leakPin: controller.getParameterFact(-1, "WD_1_PIN")
property Fact _leakLogic: controller.getParameterFact(-1, "WD_1_DEFAULT")
property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
property real _margins: ScreenTools.defaultFontPixelHeight
property bool _showIcon: !ScreenTools.isTinyScreen
ExclusiveGroup { id: fenceActionRadioGroup }
QGCViewPanel {
id: panel
anchors.fill: parent
QGCFlickable {
clip: true
anchors.fill: parent
contentHeight: flowLayout.height
contentWidth: flowLayout.width
Flow {
id: flowLayout
width: panel.width // parent.width doesn't work for some reason
spacing: _margins
Column {
spacing: _margins / 2
QGCLabel {
id: failsafeLabel
text: qsTr("Failsafe Triggers")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: failsafeSettings
width: throttleEnableCombo.x + throttleEnableCombo.width + _margins
height: mahField.y + mahField.height + _margins
color: ggcPal.windowShade
QGCLabel {
id: gcsEnableLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: gcsEnableCombo.baseline
text: qsTr("Ground Station failsafe:")
}
FactComboBox {
id: gcsEnableCombo
anchors.topMargin: _margins
anchors.leftMargin: _margins
anchors.left: gcsEnableLabel.right
anchors.top: parent.top
width: voltageField.width
fact: _failsafeGCSEnable
indexModel: false
}
QGCLabel {
id: throttleEnableLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: throttleEnableCombo.baseline
text: qsTr("Throttle failsafe:")
}
QGCComboBox {
id: throttleEnableCombo
anchors.topMargin: _margins
anchors.left: gcsEnableCombo.left
anchors.top: gcsEnableCombo.bottom
width: voltageField.width
model: [qsTr("Disabled"), qsTr("Always RTL"),
qsTr("Continue with Mission in Auto Mode"), qsTr("Always Land")]
currentIndex: _failsafeThrEnable.value
onActivated: _failsafeThrEnable.value = index
}
QGCLabel {
id: throttlePWMLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: throttlePWMField.baseline
text: qsTr("PWM threshold:")
}
FactTextField {
id: throttlePWMField
anchors.topMargin: _margins / 2
anchors.left: gcsEnableCombo.left
anchors.top: throttleEnableCombo.bottom
fact: _failsafeThrValue
showUnits: true
}
QGCLabel {
id: batteryEnableLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: batteryEnableCombo.baseline
text: qsTr("Battery failsafe:")
}
QGCComboBox {
id: batteryEnableCombo
anchors.topMargin: _margins
anchors.left: gcsEnableCombo.left
anchors.top: throttlePWMField.bottom
width: voltageField.width
model: [qsTr("Disabled"), qsTr("Land"), qsTr("Return to Launch")]
currentIndex: _failsafeBattEnable.value
onActivated: _failsafeBattEnable.value = index
}
QGCCheckBox {
id: voltageLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: voltageField.baseline
text: qsTr("Voltage threshold:")
checked: _failsafeBattVoltage.value != 0
onClicked: _failsafeBattVoltage.value = checked ? 10.5 : 0
}
FactTextField {
id: voltageField
anchors.topMargin: _margins / 2
anchors.left: gcsEnableCombo.left
anchors.top: batteryEnableCombo.bottom
fact: _failsafeBattVoltage
showUnits: true
}
QGCCheckBox {
id: mahLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: mahField.baseline
text: qsTr("MAH threshold:")
checked: _failsafeBattMah.value != 0
onClicked: _failsafeBattMah.value = checked ? 600 : 0
}
FactTextField {
id: mahField
anchors.topMargin: _margins / 2
anchors.left: gcsEnableCombo.left
anchors.top: voltageField.bottom
fact: _failsafeBattMah
showUnits: true
}
} // Rectangle - Failsafe Settings
} // Column - Failsafe Settings
Column {
spacing: _margins / 2
QGCLabel {
id: geoFenceLabel
text: qsTr("GeoFence")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: geoFenceSettings
width: fenceAltMaxField.x + fenceAltMaxField.width + _margins
height: fenceAltMaxField.y + fenceAltMaxField.height + _margins
color: ggcPal.windowShade
QGCCheckBox {
id: altitudeGeo
enabled: false
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
text: qsTr("Depth GeoFence enabled")
checked: _fenceEnable.value != 0 && _fenceType.value & 1
onClicked: {
if (checked) {
if (_fenceEnable.value == 1) {
_fenceType.value |= 1
} else {
_fenceEnable.value = 1
_fenceType.value = 1
}
} else {
_fenceEnable.value = 0
_fenceType.value = 0
}
}
}
QGCRadioButton {
id: geoReportRadio
enabled: false
anchors.margins: _margins
anchors.left: parent.left
anchors.top: altitudeGeo.bottom
text: qsTr("Report only")
exclusiveGroup: fenceActionRadioGroup
checked: _fenceAction.value == 0
onClicked: _fenceAction.value = 0
}
QGCRadioButton {
id: geoRTLRadio
enabled: false
anchors.topMargin: _margins / 2
anchors.left: altitudeGeo.left
anchors.top: geoReportRadio.bottom
text: qsTr("RTL or Land")
exclusiveGroup: fenceActionRadioGroup
checked: _fenceAction.value == 1
onClicked: _fenceAction.value = 1
}
QGCLabel {
id: fenceAltMaxLabel
enabled: false
anchors.left: altitudeGeo.left
anchors.baseline: fenceAltMaxField.baseline
text: qsTr("Max depth:")
}
FactTextField {
id: fenceAltMaxField
enabled: false
anchors.topMargin: _margins / 2
anchors.leftMargin: _margins
anchors.left: fenceAltMaxLabel.right
anchors.top: geoRTLRadio.bottom
fact: _fenceAltMax
showUnits: true
}
} // Rectangle - GeoFence Settings
} // Column - GeoFence Settings
Column {
spacing: _margins / 2
QGCLabel {
id: leakDetectorLabel
text: qsTr("Leak Detector")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: leakDetectorSettings
width: leakLogicCombo.x + leakLogicCombo.width + _margins
height: leakLogicCombo.y + leakLogicCombo.height + _margins
color: ggcPal.windowShade
QGCLabel {
id: leakPinLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
text: qsTr("Pin:")
}
FactComboBox {
id: leakPinCombo
anchors.margins: _margins
anchors.left: leakLogicLabel.right
anchors.baseline: leakPinLabel.baseline
width: voltageField.width
fact: _leakPin
indexModel: false
}
QGCLabel {
id: leakLogicLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.top: leakPinLabel.bottom
text: qsTr("Logic:")
}
FactComboBox {
id: leakLogicCombo
anchors.margins: _margins
anchors.left: leakLogicLabel.right
anchors.baseline: leakLogicLabel.baseline
width: voltageField.width
fact: _leakLogic
indexModel: false
}
} // Rectangle - Leak Detector Settings
} // Column - Leak Detector Settings
Column {
spacing: _margins / 2
QGCLabel {
text: qsTr("Arming Checks")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
width: flowLayout.width
height: armingCheckInnerColumn.height + (_margins * 2)
color: ggcPal.windowShade
Column {
id: armingCheckInnerColumn
anchors.margins: _margins
anchors.top: parent.top
anchors.left: parent.left
anchors.right: parent.right
spacing: _margins
FactBitmask {
id: armingCheckBitmask
anchors.left: parent.left
anchors.right: parent.right
firstEntryIsAll: true
fact: _armingCheck
}
QGCLabel {
id: armingCheckWarning
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
color: qgcPal.warningText
text: qsTr("Warning: Turning off arming checks can lead to loss of Vehicle control.")
visible: _armingCheck.value != 1
}
}
} // Rectangle - Arming checks
} // Column - Arming Checks
} // Flow
} // QGCFlickable
} // QGCViewPanel
} // QGCView

123
src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml
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@ -0,0 +1,123 @@ @@ -0,0 +1,123 @@
import QtQuick 2.2
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 _failsafeBattEnable: controller.getParameterFact(-1, "FS_BATT_ENABLE")
property Fact _failsafeThrEnable: controller.getParameterFact(-1, "FS_THR_ENABLE")
property Fact _fenceAction: controller.getParameterFact(-1, "FENCE_ACTION")
property Fact _fenceEnable: controller.getParameterFact(-1, "FENCE_ENABLE")
property Fact _fenceType: controller.getParameterFact(-1, "FENCE_TYPE")
property Fact _leakPin: controller.getParameterFact(-1, "WD_1_PIN")
property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
property string _failsafeBattEnableText
property string _failsafeThrEnableText
Component.onCompleted: {
setFailsafeBattEnableText()
setFailsafeThrEnableText()
}
Connections {
target: _failsafeBattEnable
onValueChanged: setFailsafeBattEnableText()
}
Connections {
target: _failsafeThrEnable
onValueChanged: setFailsafeThrEnableText()
}
function setFailsafeThrEnableText() {
switch (_failsafeThrEnable.value) {
case 0:
_failsafeThrEnableText = qsTr("Disabled")
break
case 1:
_failsafeThrEnableText = qsTr("Always RTL")
break
case 2:
_failsafeThrEnableText = qsTr("Continue with Mission in Auto Mode")
break
case 3:
_failsafeThrEnableText = qsTr("Always Land")
break
default:
_failsafeThrEnableText = qsTr("Unknown")
}
}
function setFailsafeBattEnableText() {
switch (_failsafeBattEnable.value) {
case 0:
_failsafeBattEnableText = qsTr("Disabled")
break
case 1:
_failsafeBattEnableText = qsTr("Land")
break
case 2:
_failsafeBattEnableText = qsTr("Return to Launch")
break
default:
_failsafeThrEnableText = qsTr("Unknown")
}
}
Column {
anchors.fill: parent
VehicleSummaryRow {
labelText: qsTr("Arming Checks:")
valueText: _armingCheck.value & 1 ? qsTr("Enabled") : qsTr("Some disabled")
}
VehicleSummaryRow {
labelText: qsTr("Throttle failsafe:")
valueText: _failsafeThrEnableText
}
VehicleSummaryRow {
labelText: qsTr("Battery failsafe:")
valueText: _failsafeBattEnableText
}
VehicleSummaryRow {
labelText: qsTr("Leak Detector:")
valueText: _leakPin.value > 0 ? qsTr("Enabled") : qsTr("Disabled")
}
VehicleSummaryRow {
labelText: qsTr("GeoFence:")
valueText: _fenceEnable.value == 0 || _fenceType == 0 ?
qsTr("Disabled") :
(_fenceType.value == 1 ?
qsTr("Altitude") :
(_fenceType.value == 2 ? qsTr("Circle") : qsTr("Altitude,Circle")))
}
VehicleSummaryRow {
labelText: qsTr("GeoFence:")
valueText: _fenceAction.value == 0 ?
qsTr("Report only") :
(_fenceAction.value == 1 ? qsTr("RTL or Land") : qsTr("Unknown"))
visible: _fenceEnable.value != 0
}
}
}
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