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Merge pull request #8196 from Williangalvani/updateArdusub2 

Update Ardusub Metadata and Tuning page for Sub 4.0
QGC4.4
Don Gagne 5 years ago committed by GitHub
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6e68375fd1 14ec0d07f4
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7 changed files with 25978 additions and 11042 deletions
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  1. 134
      src/AutoPilotPlugins/APM/APMTuningComponentSub.qml
  2. 7
      src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
  3. 2044
      src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.6.xml
  4. 13283
      src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.0.xml
  5. 3
      src/FirmwarePlugin/APM/APMResources.qrc
  6. 11
      src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

134
src/AutoPilotPlugins/APM/APMTuningComponentSub.qml
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@ -105,27 +105,62 @@ SetupPage { @@ -105,27 +105,62 @@ SetupPage {
height: velColumn.height + _margins*2
color: palette.windowShade
Column {
Component {
id: velColumnUpTo36
Column {
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins*1.5
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_POSXY_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_POSZ_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_I") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_IMAX") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELZ_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_D") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FILT") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_I") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_IMAX") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_P") }
} // Column - VEL parameters
}
Component {
id: velColumn40
Column {
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins*1.5
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_POSXY_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_POSZ_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_I") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_IMAX") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELZ_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_D") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTD") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTE") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTT") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_I") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_IMAX") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_P") }
} // Column - VEL parameters
}
Loader {
id: velColumn
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins*1.5
FactTextFieldSlider { fact: controller.getParameterFact(-1, "POS_XY_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "POS_Z_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "VEL_XY_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "VEL_XY_I") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "VEL_XY_IMAX") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "VEL_Z_P") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_D") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_FILT") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_I") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_IMAX") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_P") }
} // Column - VEL parameters
sourceComponent: activeVehicle.versionCompare(3, 6, 0) <= 0 ? velColumnUpTo36 :velColumnUpTo36
}
} // Rectangle - VEL parameters
Rectangle {
@ -136,26 +171,63 @@ SetupPage { @@ -136,26 +171,63 @@ SetupPage {
height: wpnavColumn.height + _margins*2
color: palette.windowShade
Column {
// WPNAV parameters up to 3.5
Component {
id: wpnavColumn35
Column {
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins*1.5
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL_Z") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_JERK") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_MAXA") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_MINA") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_SPEED") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_RADIUS") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_DN") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_UP") }
}
}
// WPNAV parameters for 3.6 and upwards
Component {
id: wpnavColumn36
Column {
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins*1.5
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL_Z") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_RADIUS") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_DN") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_UP") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_SPEED") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_ACC_MAX") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_ANG_MAX") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_BRK_ACCEL") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_BRK_DELAY") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_BRK_JERK") }
}
}
Loader {
id: wpnavColumn
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins*1.5
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL_Z") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_JERK") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_MAXA") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_MINA") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_SPEED") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_RADIUS") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_DN") }
FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_UP") }
} // Column - WPNAV parameters
sourceComponent: activeVehicle.versionCompare(3, 6, 0) < 0 ? wpnavColumn35 : wpnavColumn36
}
} // Rectangle - WPNAV parameters
} // Column
} // Component

7
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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@ -876,8 +876,11 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) @@ -876,8 +876,11 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.4.xml");
case MAV_TYPE_SUBMARINE:
if (vehicle->versionCompare(3, 6, 0) >= 0) { // 3.5.x
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.6dev.xml");
if (vehicle->versionCompare(4, 0, 0) >= 0) { // 4.0.x
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.0.xml");
}
if (vehicle->versionCompare(3, 6, 0) >= 0) { // 3.6.x
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.6.xml");
}
if (vehicle->versionCompare(3, 5, 0) >= 0) { // 3.5.x
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml");

2044
src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.6dev.xml → src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.6.xml
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13283
src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.0.xml
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3
src/FirmwarePlugin/APM/APMResources.qrc
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@ -56,7 +56,8 @@ @@ -56,7 +56,8 @@
<file alias="APMParameterFactMetaData.Rover.4.0.xml">APMParameterFactMetaData.Rover.4.0.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.4.xml">APMParameterFactMetaData.Sub.3.4.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.5.xml">APMParameterFactMetaData.Sub.3.5.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.6dev.xml">APMParameterFactMetaData.Sub.3.6dev.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.6.xml">APMParameterFactMetaData.Sub.3.6.xml</file>
<file alias="APMParameterFactMetaData.Sub.4.0.xml">APMParameterFactMetaData.Sub.4.0.xml</file>
<file alias="Copter.OfflineEditing.params">Copter3.6.OfflineEditing.params</file>
<file alias="Plane.OfflineEditing.params">Plane3.9.OfflineEditing.params</file>
<file alias="Rover.OfflineEditing.params">Rover3.5.OfflineEditing.params</file>

11
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
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@ -118,6 +118,17 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void): @@ -118,6 +118,17 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
remapV3_6["BATT_LOW_MAH"] = QStringLiteral("FS_BATT_MAH");
remapV3_6["BATT_LOW_VOLT"] = QStringLiteral("FS_BATT_VOLTAGE");
remapV3_6["BATT_FS_LOW_ACT"] = QStringLiteral("FS_BATT_ENABLE");
remapV3_6["PSC_POSXY_P"] = QStringLiteral("POS_XY_P");
remapV3_6["PSC_POSZ_P"] = QStringLiteral("POS_Z_P");
remapV3_6["PSC_VELXY_P"] = QStringLiteral("VEL_XY_P");
remapV3_6["PSC_VELXY_I"] = QStringLiteral("VEL_XY_I");
remapV3_6["PSC_VELXY_IMAX"] = QStringLiteral("VEL_XY_IMAX");
remapV3_6["PSC_VELZ_P"] = QStringLiteral("VEL_Z_P");
remapV3_6["PSC_ACCZ_I"] = QStringLiteral("ACCEL_Z_I");
remapV3_6["PSC_ACCZ_D"] = QStringLiteral("ACCEL_Z_D");
remapV3_6["PSC_ACCZ_P"] = QStringLiteral("ACCEL_Z_P");
remapV3_6["PSC_ACCZ_IMAX"] = QStringLiteral("ACCEL_Z_IMAX");
remapV3_6["PSC_ACCZ_FILT"] = QStringLiteral("ACCEL_Z_FILT");
_remapParamNameIntialized = true;
}

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