zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

PX4 multi-battery setup

QGC4.4
DonLakeFlyer 5 years ago
parent
0d1a709d60
commit
9ca7bbe733
6 changed files with 380 additions and 303 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 58
      src/AutoPilotPlugins/PX4/BatteryParams.qml
  2. 598
      src/AutoPilotPlugins/PX4/PowerComponent.qml
  3. 21
      src/AutoPilotPlugins/PX4/PowerComponentController.cc
  4. 4
      src/AutoPilotPlugins/PX4/PowerComponentController.h
  5. 1
      src/FirmwarePlugin/PX4/PX4Resources.qrc
  6. 1
      src/QmlControls/QGroundControl/PX4/qmldir

58
src/AutoPilotPlugins/PX4/BatteryParams.qml
Unescape View File

@ -0,0 +1,58 @@
/****************************************************************************
*
* (c) 2009-2020 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 QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
// Exposes the set of battery parameters for new and old firmwares
// Older firmware: BAT_* naming
// Newer firmware: BAT#_* naming, with indices starting at 1
QtObject {
property var controller ///< FactPanelController
property int batteryIndex ///< 1-based battery index
property bool battVoltageDividerAvailable: controller.parameterExists(-1, "BAT#_V_DIV".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""))
property bool battAmpsPerVoltAvailable: controller.parameterExists(-1, "BAT#_A_PER_V".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""))
property Fact battNumCells: controller.getParameterFact(-1, "BAT#_N_CELLS".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""))
property Fact battHighVolt: controller.getParameterFact(-1, "BAT#_V_CHARGED".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""))
property Fact battLowVolt: controller.getParameterFact(-1, "BAT#_V_EMPTY".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""))
property Fact battVoltLoadDrop: controller.getParameterFact(-1, "BAT#_V_LOAD_DROP".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""))
property Fact battVoltageDivider: controller.getParameterFact(-1, "BAT#_V_DIV".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""), false)
property Fact battAmpsPerVolt: controller.getParameterFact(-1, "BAT#_A_PER_V".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""), false)
property string _batNCellsIndexedParamName: "BAT#_N_CELLS"
property bool _indexedBatteryParamsAvailable: controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", 1))
property int _indexedBatteryParamCount: getIndexedBatteryParamCount()
Component.onCompleted: {
if (batteryIndex > 1 && !_indexedBatteryParamsAvailable) {
console.warn("Internal Error: BatteryParams.qml batteryIndex > 1 while indexed params are not available", batteryIndex)
}
}
function getIndexedBatteryParamCount() {
var batteryIndex = 1
do {
if (!controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", batteryIndex))) {
return batteryIndex - 1
}
batteryIndex++
} while (true)
}
}

598
src/AutoPilotPlugins/PX4/PowerComponent.qml
Unescape View File

@ -18,7 +18,11 @@ import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0 import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0 import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0 import QGroundControl.Controllers 1.0
import QGroundControl.PX4 1.0
// Note: This setup supports back compat on battery parameter naming
// Older firmware: Single battery setup using BAT_* naming
// Newer firmware: Multiple battery setup using BAT#_* naming, with indices starting at 1
SetupPage { SetupPage {
id: powerPage id: powerPage
pageComponent: pageComponent pageComponent: pageComponent
@ -30,30 +34,34 @@ SetupPage {
width: Math.max(availableWidth, innerColumn.width) width: Math.max(availableWidth, innerColumn.width)
height: innerColumn.height height: innerColumn.height
property int textEditWidth: ScreenTools.defaultFontPixelWidth * 8 readonly property string _highlightPrefix: "<font color=\"" + qgcPal.warningText + "\">"
readonly property string _highlightSuffix: "</font>"
property Fact battNumCells: controller.getParameterFact(-1, "BAT_N_CELLS") readonly property string _batNCellsIndexedParamName: "BAT#_N_CELLS"
property Fact battHighVolt: controller.getParameterFact(-1, "BAT_V_CHARGED")
property Fact battLowVolt: controller.getParameterFact(-1, "BAT_V_EMPTY") property int _textEditWidth: ScreenTools.defaultFontPixelWidth * 8
property Fact battVoltLoadDrop: controller.getParameterFact(-1, "BAT_V_LOAD_DROP") property Fact _uavcanEnable: controller.getParameterFact(-1, "UAVCAN_ENABLE", false)
property Fact battVoltageDivider: controller.getParameterFact(-1, "BAT_V_DIV") property bool _indexedBatteryParamsAvailable: controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", 1))
property Fact battAmpsPerVolt: controller.getParameterFact(-1, "BAT_A_PER_V") property int _indexedBatteryParamCount: getIndexedBatteryParamCount()
property Fact uavcanEnable: controller.getParameterFact(-1, "UAVCAN_ENABLE", false)
function getIndexedBatteryParamCount() {
readonly property string highlightPrefix: "<font color=\"" + qgcPal.warningText + "\">" var batteryIndex = 1
readonly property string highlightSuffix: "</font>" do {
if (!controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", batteryIndex))) {
function getBatteryImage() return batteryIndex - 1
{ }
switch(battNumCells.value) { batteryIndex++
case 1: return "/qmlimages/PowerComponentBattery_01cell.svg"; } while (true)
case 2: return "/qmlimages/PowerComponentBattery_02cell.svg" }
case 3: return "/qmlimages/PowerComponentBattery_03cell.svg"
case 4: return "/qmlimages/PowerComponentBattery_04cell.svg" PowerComponentController {
case 5: return "/qmlimages/PowerComponentBattery_05cell.svg" id: controller
case 6: return "/qmlimages/PowerComponentBattery_06cell.svg" onOldFirmware: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade to a newer firmware.").arg(QGroundControl.appName))
default: return "/qmlimages/PowerComponentBattery_01cell.svg"; onNewerFirmware: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade %1.").arg(QGroundControl.appName))
} onBatteryConnected: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Performing calibration. This will take a few seconds.."))
onCalibrationFailed: mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), errorMessage)
onCalibrationSuccess: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Calibration complete. You can disconnect your battery now if you like."))
onConnectBattery: mainWindow.showMessageDialog(qsTr("ESC Calibration"), _highlightPrefix + qsTr("WARNING: Props must be removed from vehicle prior to performing ESC calibration.") + _highlightSuffix + qsTr(" Connect the battery now and calibration will begin."))
onDisconnectBattery: mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), qsTr("You must disconnect the battery prior to performing ESC Calibration. Disconnect your battery and try again."))
} }
ColumnLayout { ColumnLayout {
@ -86,136 +94,159 @@ SetupPage {
drawArrowhead(ctx, x2, y2, rd); drawArrowhead(ctx, x2, y2, rd);
} }
PowerComponentController { Repeater {
id: controller id: batterySetupRepeater
onOldFirmware: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade to a newer firmware.").arg(QGroundControl.appName)) model: _indexedBatteryParamsAvailable ? _indexedBatteryParamCount : 1
onNewerFirmware: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade %1.").arg(QGroundControl.appName))
onBatteryConnected: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Performing calibration. This will take a few seconds..")) Loader {
onCalibrationFailed: mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), errorMessage) sourceComponent: batterySetupComponent
onCalibrationSuccess: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Calibration complete. You can disconnect your battery now if you like."))
onConnectBattery: mainWindow.showMessageDialog(qsTr("ESC Calibration"), highlightPrefix + qsTr("WARNING: Props must be removed from vehicle prior to performing ESC calibration.") + highlightSuffix + qsTr(" Connect the battery now and calibration will begin.")) property int batteryIndex: index + 1
onDisconnectBattery: mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), qsTr("You must disconnect the battery prior to performing ESC Calibration. Disconnect your battery and try again.")) property bool showBatteryIndex: batterySetupRepeater.count > 1
property bool useIndexedParamNames: _indexedBatteryParamsAvailable
}
} }
Component {
id: calcVoltageDividerDlgComponent
QGCViewDialog { QGCGroupBox {
id: calcVoltageDividerDlg Layout.fillWidth: true
title: qsTr("ESC PWM Minimum and Maximum Calibration")
QGCFlickable { ColumnLayout {
anchors.fill: parent anchors.left: parent.left
contentHeight: column.height anchors.right: parent.right
contentWidth: column.width spacing: ScreenTools.defaultFontPixelWidth
Column { QGCLabel {
id: column color: qgcPal.warningText
width: calcVoltageDividerDlg.width wrapMode: Text.WordWrap
spacing: ScreenTools.defaultFontPixelHeight text: qsTr("WARNING: Propellers must be removed from vehicle prior to performing ESC calibration.")
Layout.fillWidth: true
}
QGCLabel { QGCLabel {
width: parent.width text: qsTr("You must use USB connection for this operation.")
wrapMode: Text.WordWrap }
text: qsTr("Measure battery voltage using an external voltmeter and enter the value below. Click Calculate to set the new voltage multiplier.")
}
Grid { QGCButton {
columns: 2 text: qsTr("Calibrate")
spacing: ScreenTools.defaultFontPixelHeight / 2 width: ScreenTools.defaultFontPixelWidth * 20
verticalItemAlignment: Grid.AlignVCenter onClicked: controller.calibrateEsc()
}
}
}
QGCLabel { QGCCheckBox {
text: qsTr("Measured voltage:") id: showUAVCAN
} text: qsTr("Show UAVCAN Settings")
QGCTextField { id: measuredVoltage } checked: _uavcanEnable ? _uavcanEnable.rawValue !== 0 : false
}
QGCLabel { text: qsTr("Vehicle voltage:") } QGCGroupBox {
QGCLabel { text: controller.vehicle.battery.voltage.valueString } Layout.fillWidth: true
title: qsTr("UAVCAN Bus Configuration")
visible: showUAVCAN.checked
QGCLabel { text: qsTr("Voltage divider:") } Row {
FactLabel { fact: battVoltageDivider } id: uavCanConfigRow
} spacing: ScreenTools.defaultFontPixelWidth
QGCButton { FactComboBox {
text: "Calculate" id: _uavcanEnabledCheckBox
width: ScreenTools.defaultFontPixelWidth * 20
onClicked: { fact: _uavcanEnable
var measuredVoltageValue = parseFloat(measuredVoltage.text) indexModel: false
if (measuredVoltageValue === 0 || isNaN(measuredVoltageValue)) { }
return
} QGCLabel {
var newVoltageDivider = (measuredVoltageValue * battVoltageDivider.value) / controller.vehicle.battery.voltage.value anchors.verticalCenter: parent.verticalCenter
if (newVoltageDivider > 0) { text: qsTr("Change required restart")
battVoltageDivider.value = newVoltageDivider }
} }
} }
}
} // Column QGCGroupBox {
} // QGCFlickable Layout.fillWidth: true
} // QGCViewDialog title: qsTr("UAVCAN Motor Index and Direction Assignment")
} // Component - calcVoltageDividerDlgComponent visible: showUAVCAN.checked
Component {
id: calcAmpsPerVoltDlgComponent
QGCViewDialog {
id: calcAmpsPerVoltDlg
QGCFlickable {
anchors.fill: parent
contentHeight: column.height
contentWidth: column.width
Column {
id: column
width: calcAmpsPerVoltDlg.width
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: qsTr("Measure current draw using an external current meter and enter the value below. Click Calculate to set the new amps per volt value.")
}
Grid { ColumnLayout {
columns: 2 anchors.left: parent.left
spacing: ScreenTools.defaultFontPixelHeight / 2 anchors.right: parent.right
verticalItemAlignment: Grid.AlignVCenter spacing: ScreenTools.defaultFontPixelWidth
QGCLabel { QGCLabel {
text: qsTr("Measured current:") wrapMode: Text.WordWrap
} color: qgcPal.warningText
QGCTextField { id: measuredCurrent } text: qsTr("WARNING: Propellers must be removed from vehicle prior to performing UAVCAN ESC configuration.")
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Vehicle current:") } QGCLabel {
QGCLabel { text: controller.vehicle.battery.current.valueString } wrapMode: Text.WordWrap
text: qsTr("ESC parameters will only be accessible in the editor after assignment.")
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Amps per volt:") } QGCLabel {
FactLabel { fact: battAmpsPerVolt } wrapMode: Text.WordWrap
} text: qsTr("Start the process, then turn each motor into its turn direction, in the order of their motor indices.")
Layout.fillWidth: true
}
QGCButton { QGCButton {
text: qsTr("Calculate") text: qsTr("Start Assignment")
width: ScreenTools.defaultFontPixelWidth * 20
onClicked: { onClicked: controller.startBusConfigureActuators()
var measuredCurrentValue = parseFloat(measuredCurrent.text) }
if (measuredCurrentValue === 0) {
return QGCButton {
} text: qsTr("Stop Assignment")
var newAmpsPerVolt = (measuredCurrentValue * battAmpsPerVolt.value) / controller.vehicle.battery.current.value width: ScreenTools.defaultFontPixelWidth * 20
if (newAmpsPerVolt != 0) { onClicked: controller.stopBusConfigureActuators()
battAmpsPerVolt.value = newAmpsPerVolt }
} }
} }
}
} // Column } // Column
} // QGCFlickable
} // QGCViewDialog Component {
} // Component - calcAmpsPerVoltDlgComponent id: batterySetupComponent
QGCGroupBox { QGCGroupBox {
id: batteryGroup id: batteryGroup
title: qsTr("Battery") title: qsTr("Battery ") + (showBatteryIndex ? batteryIndex : "")
property var _controller: controller
property int _batteryIndex: batteryIndex
BatteryParams {
id: batParams
controller: _controller
batteryIndex: _batteryIndex
}
property bool battVoltageDividerAvailable: batParams.battVoltageDividerAvailable
property bool battAmpsPerVoltAvailable: batParams.battAmpsPerVoltAvailable
property Fact battNumCells: batParams.battNumCells
property Fact battHighVolt: batParams.battHighVolt
property Fact battLowVolt: batParams.battLowVolt
property Fact battVoltLoadDrop: batParams.battVoltLoadDrop
property Fact battVoltageDivider: batParams.battVoltageDivider
property Fact battAmpsPerVolt: batParams.battAmpsPerVolt
function getBatteryImage() {
switch(battNumCells.value) {
case 1: return "/qmlimages/PowerComponentBattery_01cell.svg";
case 2: return "/qmlimages/PowerComponentBattery_02cell.svg"
case 3: return "/qmlimages/PowerComponentBattery_03cell.svg"
case 4: return "/qmlimages/PowerComponentBattery_04cell.svg"
case 5: return "/qmlimages/PowerComponentBattery_05cell.svg"
case 6: return "/qmlimages/PowerComponentBattery_06cell.svg"
default: return "/qmlimages/PowerComponentBattery_01cell.svg";
}
}
GridLayout { GridLayout {
id: batteryGrid id: batteryGrid
@ -223,18 +254,16 @@ SetupPage {
columnSpacing: ScreenTools.defaultFontPixelWidth columnSpacing: ScreenTools.defaultFontPixelWidth
QGCLabel { QGCLabel {
text: qsTr("Number of Cells (in Series)") text: qsTr("Number of Cells (in Series)")
} }
FactTextField { FactTextField {
id: cellsField width: _textEditWidth
width: textEditWidth
fact: battNumCells fact: battNumCells
showUnits: true showUnits: true
} }
QGCColoredImage { QGCColoredImage {
id: batteryImage
Layout.rowSpan: 3 Layout.rowSpan: 3
width: height * 0.75 width: height * 0.75
height: 100 height: 100
@ -243,265 +272,256 @@ SetupPage {
smooth: true smooth: true
color: qgcPal.text color: qgcPal.text
cache: false cache: false
source: getBatteryImage(); source: getBatteryImage(batteryIndex)
} }
Item { width: 1; height: 1; Layout.columnSpan: 2 } Item { width: 1; height: 1; Layout.columnSpan: 2 }
QGCLabel { QGCLabel {
id: battHighLabel text: qsTr("Full Voltage (per cell)")
text: qsTr("Full Voltage (per cell)")
} }
FactTextField { FactTextField {
id: battHighField width: _textEditWidth
width: textEditWidth
fact: battHighVolt fact: battHighVolt
showUnits: true showUnits: true
} }
QGCLabel { QGCLabel {
text: qsTr("Battery Max:") text: qsTr("Battery Max:")
} }
QGCLabel { QGCLabel {
text: (battNumCells.value * battHighVolt.value).toFixed(1) + ' V' text: (battNumCells.value * battHighVolt.value).toFixed(1) + ' V'
} }
QGCLabel { QGCLabel {
id: battLowLabel text: qsTr("Empty Voltage (per cell)")
text: qsTr("Empty Voltage (per cell)")
} }
FactTextField { FactTextField {
id: battLowField width: _textEditWidth
width: textEditWidth
fact: battLowVolt fact: battLowVolt
showUnits: true showUnits: true
} }
QGCLabel { QGCLabel {
text: qsTr("Battery Min:") text: qsTr("Battery Min:")
} }
QGCLabel { QGCLabel {
text: (battNumCells.value * battLowVolt.value).toFixed(1) + ' V' text: (battNumCells.value * battLowVolt.value).toFixed(1) + ' V'
} }
QGCLabel { QGCLabel {
text: qsTr("Voltage divider") text: qsTr("Voltage divider")
visible: battVoltageDividerAvailable
} }
FactTextField { FactTextField {
id: voltMultField fact: battVoltageDivider
fact: battVoltageDivider visible: battVoltageDividerAvailable
} }
QGCButton { QGCButton {
id: voltMultCalculateButton text: qsTr("Calculate")
text: qsTr("Calculate") visible: battVoltageDividerAvailable
onClicked: mainWindow.showComponentDialog(calcVoltageDividerDlgComponent, qsTr("Calculate Voltage Divider"), mainWindow.showDialogDefaultWidth, StandardButton.Close) onClicked: mainWindow.showPopupDialogFromComponent(calcVoltageDividerDlgComponent, { batteryIndex: _batteryIndex })
} }
Item { width: 1; height: 1; Layout.columnSpan: 2 } Item { width: 1; height: 1; Layout.columnSpan: 2; visible: battVoltageDividerAvailable }
QGCLabel { QGCLabel {
id: voltMultHelp
Layout.columnSpan: batteryGrid.columns Layout.columnSpan: batteryGrid.columns
Layout.fillWidth: true Layout.fillWidth: true
font.pointSize: ScreenTools.smallFontPointSize font.pointSize: ScreenTools.smallFontPointSize
wrapMode: Text.WordWrap wrapMode: Text.WordWrap
text: qsTr("If the battery voltage reported by the vehicle is largely different than the voltage read externally using a voltmeter you can adjust the voltage multiplier value to correct this. ") + text: qsTr("If the battery voltage reported by the vehicle is largely different than the voltage read externally using a voltmeter you can adjust the voltage multiplier value to correct this. ") +
qsTr("Click the Calculate button for help with calculating a new value.") qsTr("Click the Calculate button for help with calculating a new value.")
visible: battVoltageDividerAvailable
} }
QGCLabel { QGCLabel {
id: ampPerVoltLabel text: qsTr("Amps per volt")
text: qsTr("Amps per volt") visible: battAmpsPerVoltAvailable
} }
FactTextField { FactTextField {
id: ampPerVoltField fact: battAmpsPerVolt
fact: battAmpsPerVolt visible: battAmpsPerVoltAvailable
} }
QGCButton { QGCButton {
id: ampPerVoltCalculateButton text: qsTr("Calculate")
text: qsTr("Calculate") visible: battAmpsPerVoltAvailable
onClicked: mainWindow.showComponentDialog(calcAmpsPerVoltDlgComponent, qsTr("Calculate Amps per Volt"), mainWindow.showDialogDefaultWidth, StandardButton.Close) onClicked: mainWindow.showPopupDialogFromComponent(calcAmpsPerVoltDlgComponent, { batteryIndex: _batteryIndex })
} }
Item { width: 1; height: 1; Layout.columnSpan: 2 } Item { width: 1; height: 1; Layout.columnSpan: 2; visible: battAmpsPerVoltAvailable }
QGCLabel { QGCLabel {
id: ampPerVoltHelp
Layout.columnSpan: batteryGrid.columns Layout.columnSpan: batteryGrid.columns
Layout.fillWidth: true Layout.fillWidth: true
font.pointSize: ScreenTools.smallFontPointSize font.pointSize: ScreenTools.smallFontPointSize
wrapMode: Text.WordWrap wrapMode: Text.WordWrap
text: qsTr("If the current draw reported by the vehicle is largely different than the current read externally using a current meter you can adjust the amps per volt value to correct this. ") + text: qsTr("If the current draw reported by the vehicle is largely different than the current read externally using a current meter you can adjust the amps per volt value to correct this. ") +
qsTr("Click the Calculate button for help with calculating a new value.") qsTr("Click the Calculate button for help with calculating a new value.")
visible: battAmpsPerVoltAvailable
} }
} // Grid
} // QGCGroupBox - Battery settings
QGCGroupBox { QGCCheckBox {
Layout.maximumWidth: batteryGroup.width id: showAdvanced
Layout.fillWidth: true Layout.columnSpan: batteryGrid.columns
title: qsTr("ESC PWM Minimum and Maximum Calibration") text: qsTr("Show Advanced Settings")
}
ColumnLayout { QGCLabel {
anchors.left: parent.left text: qsTr("Voltage Drop on Full Load (per cell)")
anchors.right: parent.right visible: showAdvanced.checked
spacing: ScreenTools.defaultFontPixelWidth }
FactTextField {
id: battDropField
fact: battVoltLoadDrop
showUnits: true
visible: showAdvanced.checked
}
Item { width: 1; height: 1; Layout.columnSpan: 3; visible: showAdvanced.checked }
QGCLabel { QGCLabel {
color: qgcPal.warningText Layout.columnSpan: batteryGrid.columns
wrapMode: Text.WordWrap
text: qsTr("WARNING: Propellers must be removed from vehicle prior to performing ESC calibration.")
Layout.fillWidth: true Layout.fillWidth: true
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Batteries show less voltage at high throttle. Enter the difference in Volts between idle throttle and full ") +
qsTr("throttle, divided by the number of battery cells. Leave at the default if unsure. ") +
_highlightPrefix + qsTr("If this value is set too high, the battery might be deep discharged and damaged.") + _highlightSuffix
visible: showAdvanced.checked
} }
QGCLabel { QGCLabel {
text: qsTr("You must use USB connection for this operation.") text: qsTr("Compensated Minimum Voltage:")
visible: showAdvanced.checked
} }
QGCLabel {
QGCButton { text: ((battNumCells.value * battLowVolt.value) - (battNumCells.value * battVoltLoadDrop.value)).toFixed(1) + qsTr(" V")
text: qsTr("Calibrate") visible: showAdvanced.checked
width: ScreenTools.defaultFontPixelWidth * 20
onClicked: controller.calibrateEsc()
} }
} Item { width: 1; height: 1; Layout.columnSpan: 3; visible: showAdvanced.checked }
} } // Grid
} // QGCGroupBox - Battery settings
QGCCheckBox { } // Component - batterySetupComponent
id: showUAVCAN
text: qsTr("Show UAVCAN Settings")
checked: uavcanEnable ? uavcanEnable.rawValue !== 0 : false
}
QGCGroupBox { Component {
Layout.maximumWidth: batteryGroup.width id: calcVoltageDividerDlgComponent
Layout.fillWidth: true
title: qsTr("UAVCAN Bus Configuration")
visible: showUAVCAN.checked
Row { QGCPopupDialog {
id: uavCanConfigRow title: qsTr("Calculate Voltage Divider")
spacing: ScreenTools.defaultFontPixelWidth buttons: StandardButton.Close
FactComboBox { property var _controller: controller
id: uavcanEnabledCheckBox
width: ScreenTools.defaultFontPixelWidth * 20
fact: uavcanEnable
indexModel: false
}
QGCLabel { BatteryParams {
anchors.verticalCenter: parent.verticalCenter id: batParams
text: qsTr("Change required restart") controller: _controller
} batteryIndex: dialogProperties.batteryIndex
} }
}
QGCGroupBox {
Layout.maximumWidth: batteryGroup.width
Layout.fillWidth: true
title: qsTr("UAVCAN Motor Index and Direction Assignment")
visible: showUAVCAN.checked
ColumnLayout { ColumnLayout {
anchors.left: parent.left spacing: ScreenTools.defaultFontPixelHeight
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel { QGCLabel {
wrapMode: Text.WordWrap Layout.preferredWidth: gridLayout.width
color: qgcPal.warningText wrapMode: Text.WordWrap
text: qsTr("WARNING: Propellers must be removed from vehicle prior to performing UAVCAN ESC configuration.") text: qsTr("Measure battery voltage using an external voltmeter and enter the value below. Click Calculate to set the new voltage multiplier.")
Layout.fillWidth: true
} }
QGCLabel { GridLayout {
wrapMode: Text.WordWrap id: gridLayout
text: qsTr("ESC parameters will only be accessible in the editor after assignment.") columns: 2
Layout.fillWidth: true
}
QGCLabel { QGCLabel { text: qsTr("Measured voltage:") }
wrapMode: Text.WordWrap QGCTextField { id: measuredVoltage }
text: qsTr("Start the process, then turn each motor into its turn direction, in the order of their motor indices.")
Layout.fillWidth: true
}
QGCButton { QGCLabel { text: qsTr("Vehicle voltage:") }
text: qsTr("Start Assignment") QGCLabel { text: controller.vehicle.battery.voltage.valueString }
width: ScreenTools.defaultFontPixelWidth * 20
onClicked: controller.busConfigureActuators() QGCLabel { text: qsTr("Voltage divider:") }
FactLabel { fact: batParams.battVoltageDivider }
} }
QGCButton { QGCButton {
text: qsTr("Stop Assignment") text: qsTr("Calculate")
width: ScreenTools.defaultFontPixelWidth * 20
onClicked: controller.stopBusConfigureActuators()
}
}
}
QGCCheckBox { onClicked: {
id: showAdvanced var measuredVoltageValue = parseFloat(measuredVoltage.text)
text: qsTr("Show Advanced Settings") if (measuredVoltageValue === 0 || isNaN(measuredVoltageValue)) {
} return
}
var newVoltageDivider = (measuredVoltageValue * batParams.battVoltageDivider.value) / controller.vehicle.battery.voltage.value
if (newVoltageDivider > 0) {
batParams.battVoltageDivider.value = newVoltageDivider
}
}
}
} // Column
} // QGCViewDialog
} // Component - calcVoltageDividerDlgComponent
QGCGroupBox { Component {
Layout.maximumWidth: batteryGroup.width id: calcAmpsPerVoltDlgComponent
Layout.fillWidth: true
title: qsTr("Advanced Power Settings")
visible: showAdvanced.checked
ColumnLayout { QGCPopupDialog {
anchors.left: parent.left title: qsTr("Calculate Amps per Volt")
anchors.right: parent.right buttons: StandardButton.Close
spacing: ScreenTools.defaultFontPixelWidth
Row { property var _controller: controller
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel { BatteryParams {
text: qsTr("Voltage Drop on Full Load (per cell)") id: batParams
anchors.baseline: battDropField.baseline controller: _controller
} batteryIndex: dialogProperties.batteryIndex
}
FactTextField { ColumnLayout {
id: battDropField spacing: ScreenTools.defaultFontPixelHeight
width: textEditWidth
fact: battVoltLoadDrop
showUnits: true
}
}
QGCLabel { QGCLabel {
wrapMode: Text.WordWrap Layout.preferredWidth: gridLayout.width
text: qsTr("Batteries show less voltage at high throttle. Enter the difference in Volts between idle throttle and full ") + wrapMode: Text.WordWrap
qsTr("throttle, divided by the number of battery cells. Leave at the default if unsure. ") + text: qsTr("Measure current draw using an external current meter and enter the value below. Click Calculate to set the new amps per volt value.")
highlightPrefix + qsTr("If this value is set too high, the battery might be deep discharged and damaged.") + highlightSuffix
Layout.maximumWidth: ScreenTools.defaultFontPixelWidth * 60
} }
Row { GridLayout {
spacing: ScreenTools.defaultFontPixelWidth id: gridLayout
columns: 2
QGCLabel { QGCLabel { text: qsTr("Measured current:") }
text: qsTr("Compensated Minimum Voltage:") QGCTextField { id: measuredCurrent }
}
QGCLabel { text: qsTr("Vehicle current:") }
QGCLabel { text: controller.vehicle.battery.current.valueString }
QGCLabel { text: qsTr("Amps per volt:") }
FactLabel { fact: batParams.battAmpsPerVolt }
}
QGCButton {
text: qsTr("Calculate")
QGCLabel { onClicked: {
text: ((battNumCells.value * battLowVolt.value) - (battNumCells.value * battVoltLoadDrop.value)).toFixed(1) + qsTr(" V") var measuredCurrentValue = parseFloat(measuredCurrent.text)
if (measuredCurrentValue === 0 || isNaN(measuredCurrentValue)) {
return
}
var newAmpsPerVolt = (measuredCurrentValue * batParams.battAmpsPerVolt.value) / controller.vehicle.battery.current.value
if (newAmpsPerVolt != 0) {
batParams.battAmpsPerVolt.value = newAmpsPerVolt
}
} }
} }
} // Column }
} // QGCGroupBox - Advanced power settings }
} // Column }
} // Item } // Item
} // Component } // Component
} // SetupPage } // SetupPage

21
src/AutoPilotPlugins/PX4/PowerComponentController.cc
Unescape View File

@ -22,26 +22,26 @@ PowerComponentController::PowerComponentController(void)
void PowerComponentController::calibrateEsc(void) void PowerComponentController::calibrateEsc(void)
{ {
_warningMessages.clear(); _warningMessages.clear();
connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage); connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
_vehicle->startCalibration(Vehicle::CalibrationEsc); _vehicle->startCalibration(Vehicle::CalibrationEsc);
} }
void PowerComponentController::busConfigureActuators(void) void PowerComponentController::startBusConfigureActuators(void)
{ {
_warningMessages.clear(); _warningMessages.clear();
connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage); connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
_uas->startBusConfig(UASInterface::StartBusConfigActuators); _vehicle->startUAVCANBusConfig();
} }
void PowerComponentController::stopBusConfigureActuators(void) void PowerComponentController::stopBusConfigureActuators(void)
{ {
disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage); disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
_uas->startBusConfig(UASInterface::EndBusConfigActuators); _vehicle->stopUAVCANBusConfig();
} }
void PowerComponentController::_stopCalibration(void) void PowerComponentController::_stopCalibration(void)
{ {
disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage); disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
} }
void PowerComponentController::_stopBusConfig(void) void PowerComponentController::_stopBusConfig(void)
@ -49,12 +49,9 @@ void PowerComponentController::_stopBusConfig(void)
_stopCalibration(); _stopCalibration();
} }
void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text) void PowerComponentController::_handleVehicleTextMessage(int vehicleId, int /* compId */, int /* severity */, QString text)
{ {
Q_UNUSED(compId); if (vehicleId != _vehicle->id()) {
Q_UNUSED(severity);
if (uasId != _vehicle->id()) {
return; return;
} }

4
src/AutoPilotPlugins/PX4/PowerComponentController.h
Unescape View File

@ -29,7 +29,7 @@ public:
PowerComponentController(void); PowerComponentController(void);
Q_INVOKABLE void calibrateEsc(void); Q_INVOKABLE void calibrateEsc(void);
Q_INVOKABLE void busConfigureActuators(void); Q_INVOKABLE void startBusConfigureActuators(void);
Q_INVOKABLE void stopBusConfigureActuators(void); Q_INVOKABLE void stopBusConfigureActuators(void);
signals: signals:
@ -43,7 +43,7 @@ signals:
void calibrationSuccess(const QStringList& warningMessages); void calibrationSuccess(const QStringList& warningMessages);
private slots: private slots:
void _handleUASTextMessage(int uasId, int compId, int severity, QString text); void _handleVehicleTextMessage(int vehicleId, int compId, int severity, QString text);
private: private:
void _stopCalibration(void); void _stopCalibration(void);

1
src/FirmwarePlugin/PX4/PX4Resources.qrc
Unescape View File

@ -21,6 +21,7 @@
<file alias="SensorsComponentSummaryFixedWing.qml">../../AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml</file> <file alias="SensorsComponentSummaryFixedWing.qml">../../AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml</file>
<file alias="SensorsSetup.qml">../../AutoPilotPlugins/PX4/SensorsSetup.qml</file> <file alias="SensorsSetup.qml">../../AutoPilotPlugins/PX4/SensorsSetup.qml</file>
<file alias="QGroundControl/PX4/qmldir">../../QmlControls/QGroundControl/PX4/qmldir</file> <file alias="QGroundControl/PX4/qmldir">../../QmlControls/QGroundControl/PX4/qmldir</file>
<file alias="QGroundControl/PX4/BatteryParams.qml">../../AutoPilotPlugins/PX4/BatteryParams.qml</file>
</qresource> </qresource>
<qresource prefix="/json"> <qresource prefix="/json">
<file alias="PX4-MavCmdInfoCommon.json">PX4-MavCmdInfoCommon.json</file> <file alias="PX4-MavCmdInfoCommon.json">PX4-MavCmdInfoCommon.json</file>

1
src/QmlControls/QGroundControl/PX4/qmldir
Unescape View File

@ -1,3 +1,4 @@
Module QGroundControl.PX4 Module QGroundControl.PX4
BatteryParams 1.0 BatteryParams.qml
SensorSetupPage 1.0 SensorSetupPage.qml SensorSetupPage 1.0 SensorSetupPage.qml

Write Preview
Loading…
Cancel
Save