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Merge pull request #3730 from dagar/px4_loiter_to_alt 

PX4 MAV_CMD_NAV_LOITER_TO_ALT and cleanup
QGC4.4
Don Gagne 9 years ago committed by GitHub
parent
a45f9080b2 b334b2897d
commit
b1fd918bad
4 changed files with 109 additions and 32 deletions
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  1. 57
      src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
  2. 73
      src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
  3. 7
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  4. 4
      src/MissionManager/MavCmdInfoCommon.json

57
src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
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@ -33,7 +33,7 @@ @@ -33,7 +33,7 @@
"param3": {
"label": "Radius:",
"units": "m",
"default": 100,
"default": 50,
"decimalPlaces": 0
},
"param7": {
@ -59,9 +59,16 @@ @@ -59,9 +59,16 @@
"param3": {
"label": "Radius:",
"units": "m",
"default": 100,
"default": 50,
"decimalPlaces": 0
},
"param4": {
"label": "Next waypoint start:",
"enumStrings": "Center,On Loiter",
"enumValues": "0,1",
"default": 1,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude:",
"units": "m",
@ -86,9 +93,16 @@ @@ -86,9 +93,16 @@
"param3": {
"label": "Radius:",
"units": "m",
"default": 100,
"default": 50,
"decimalPlaces": 0
},
"param4": {
"label": "Next waypoint start:",
"enumStrings": "Center,On Loiter",
"enumValues": "0,1",
"default": 1,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude:",
"units": "m",
@ -134,7 +148,7 @@ @@ -134,7 +148,7 @@
"param1": {
"label": "Pitch:",
"units": "degrees",
"default": 0,
"default": 10,
"decimalPlaces": 0
},
"param4": {
@ -151,6 +165,41 @@ @@ -151,6 +165,41 @@
}
},
{
"id": 31,
"rawName": "MAV_CMD_NAV_LOITER_TO_ALT",
"friendlyName": "Loiter (altitude)",
"description": "Travel to a position and Loiter around the specified radius until the given altitude.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "Loiter",
"param1": {
"label": "Heading wait:",
"enumStrings": "False,True",
"enumValues": "0,1",
"default": 1,
"decimalPlaces": 0
},
"param2": {
"label": "Radius:",
"units": "m",
"default": 50,
"decimalPlaces": 0
},
"param4": {
"label": "Next waypoint start:",
"enumStrings": "Center,On Loiter",
"enumValues": "0,1",
"default": 1,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude:",
"units": "m",
"default": 50,
"decimalPlaces": 0
}
},
{
"id": 206,
"rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
"friendlyName": "Camera trigger distance",

73
src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
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@ -33,7 +33,7 @@ @@ -33,7 +33,7 @@
"param3": {
"label": "Radius:",
"units": "m",
"default": 100,
"default": 50,
"decimalPlaces": 0
},
"param7": {
@ -59,9 +59,16 @@ @@ -59,9 +59,16 @@
"param3": {
"label": "Radius:",
"units": "m",
"default": 100,
"default": 50,
"decimalPlaces": 0
},
"param4": {
"label": "Next waypoint start:",
"enumStrings": "Center,On Loiter",
"enumValues": "0,1",
"default": 1,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude:",
"units": "m",
@ -86,9 +93,16 @@ @@ -86,9 +93,16 @@
"param3": {
"label": "Radius:",
"units": "m",
"default": 100,
"default": 50,
"decimalPlaces": 0
},
"param4": {
"label": "Next waypoint start:",
"enumStrings": "Center,On Loiter",
"enumValues": "0,1",
"default": 1,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude:",
"units": "m",
@ -104,18 +118,6 @@ @@ -104,18 +118,6 @@
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "Basic",
"param1": {
"label": "Abort Alt:",
"units": "m",
"default": 25,
"decimalPlaces": 0
},
"param4": {
"label": "Heading:",
"units": "radians",
"default": 0,
"decimalPlaces": 2
},
"param7": {
"label": "Altitude:",
"units": "m",
@ -134,19 +136,48 @@ @@ -134,19 +136,48 @@
"param1": {
"label": "Pitch:",
"units": "degrees",
"default": 0,
"default": 10,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude:",
"units": "m",
"default": 25,
"decimalPlaces": 0
}
},
{
"id": 31,
"rawName": "MAV_CMD_NAV_LOITER_TO_ALT",
"friendlyName": "Loiter (altitude)",
"description": "Travel to a position and Loiter around the specified radius until the given altitude.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "Loiter",
"param1": {
"label": "Heading wait:",
"enumStrings": "False,True",
"enumValues": "0,1",
"default": 1,
"decimalPlaces": 0
},
"param2": {
"label": "Radius:",
"units": "m",
"default": 50,
"decimalPlaces": 0
},
"param4": {
"label": "Heading:",
"units": "radians",
"default": 0,
"decimalPlaces": 1
"label": "Next waypoint start:",
"enumStrings": "Center,On Loiter",
"enumValues": "0,1",
"default": 1,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude:",
"units": "m",
"default": 25,
"default": 50,
"decimalPlaces": 0
}
},

7
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -205,7 +205,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void) @@ -205,7 +205,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
QList<MAV_CMD> list;
list << MAV_CMD_NAV_WAYPOINT
<< MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME
<< MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_TO_ALT
<< MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
<< MAV_CMD_DO_JUMP
<< MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
@ -213,10 +213,9 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void) @@ -213,10 +213,9 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
<< MAV_CMD_DO_SET_CAM_TRIGG_DIST
<< MAV_CMD_DO_SET_SERVO
<< MAV_CMD_DO_CHANGE_SPEED
<< MAV_CMD_DO_SET_ROI
<< MAV_CMD_DO_LAND_START
<< MAV_CMD_DO_MOUNT_CONFIGURE
<< MAV_CMD_DO_MOUNT_CONTROL
<< MAV_CMD_NAV_PATHPLANNING;
<< MAV_CMD_DO_MOUNT_CONTROL;
return list;
}

4
src/MissionManager/MavCmdInfoCommon.json
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@ -543,10 +543,8 @@ @@ -543,10 +543,8 @@
"rawName": "MAV_CMD_DO_LAND_START",
"friendlyName": "Land start",
"description": "Marker to indicate start of landing sequence.",
"specifiesCoordinate": true,
"standaloneCoordinate": true,
"friendlyEdit": true,
"category": "Basic"
"category": "Flight control"
},
{ "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "Rally land" },
{ "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "Go around" },

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