Merge pull request #2998 from DonLakeFlyer/AllowArmedSetup

Allow armed setup for Safety/Tuning

src/AutoPilotPlugins/APM/APMSafetyComponent.h

@@ -45,7 +45,8 @@ public:
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
     QString prerequisiteSetup(void) const final;
-    
+    bool allowSetupWhileArmed(void) const final { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;

src/AutoPilotPlugins/APM/APMTuningComponent.h

@@ -45,7 +45,8 @@ public:
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
     QString prerequisiteSetup(void) const final;
-    
+    bool allowSetupWhileArmed(void) const final { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;

src/AutoPilotPlugins/PX4/PX4TuningComponent.h

@@ -34,18 +34,19 @@ public:
     PX4TuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from VehicleComponent
-    virtual QStringList setupCompleteChangedTriggerList(void) const;
+    QStringList setupCompleteChangedTriggerList(void) const final;
     
     // Virtuals from VehicleComponent
-    virtual QString name(void) const;
-    virtual QString description(void) const;
-    virtual QString iconResource(void) const;
-    virtual bool requiresSetup(void) const;
-    virtual bool setupComplete(void) const;
-    virtual QUrl setupSource(void) const;
-    virtual QUrl summaryQmlSource(void) const;
-    virtual QString prerequisiteSetup(void) const;
-    
+    QString name(void) const final;
+    QString description(void) const final;
+    QString iconResource(void) const final;
+    bool requiresSetup(void) const final;
+    bool setupComplete(void) const final;
+    QUrl setupSource(void) const final;
+    QUrl summaryQmlSource(void) const final;
+    QString prerequisiteSetup(void) const final;
+    bool allowSetupWhileArmed(void) const final { return true; }
+
 private:
     const QString   _name;
 };

src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml

@@ -27,7 +27,8 @@ import QtQuick.Controls     1.4
 import QGroundControl.Controls  1.0
 
 FactSliderPanel {
-    anchors.fill: parent
+    anchors.fill:   parent
+    panelTitle:     "Tuning"
 
     sliderModel: ListModel {
         ListElement {

src/AutoPilotPlugins/PX4/SafetyComponent.h

@@ -39,18 +39,19 @@ public:
     SafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from VehicleComponent
-    virtual QStringList setupCompleteChangedTriggerList(void) const;
+    QStringList setupCompleteChangedTriggerList(void) const;
     
     // Virtuals from VehicleComponent
-    virtual QString name(void) const;
-    virtual QString description(void) const;
-    virtual QString iconResource(void) const;
-    virtual bool requiresSetup(void) const;
-    virtual bool setupComplete(void) const;
-    virtual QUrl setupSource(void) const;
-    virtual QUrl summaryQmlSource(void) const;
-    virtual QString prerequisiteSetup(void) const;
-    
+    QString name(void) const final;
+    QString description(void) const final;
+    QString iconResource(void) const final;
+    bool requiresSetup(void) const final;
+    bool setupComplete(void) const final;
+    QUrl setupSource(void) const final;
+    QUrl summaryQmlSource(void) const final;
+    QString prerequisiteSetup(void) const final;
+    bool allowSetupWhileArmed(void) const final { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;

src/QmlControls/FactSliderPanel.qml

@@ -80,30 +80,31 @@ QGCView {
                 font.weight:    Font.DemiBold
             }
 
-            Rectangle {
-                id:                 sliderRect
-                anchors.topMargin:  _margins / 2
+
+            Column {
+                anchors.margins:    _margins
                 anchors.left:       parent.left
                 anchors.right:      parent.right
                 anchors.top:        panelLabel.bottom
-                height:             sliderColumns.y + sliderColumns.height + _margins
-                color:              palette.windowShade
+                spacing:            _margins
 
-                Column {
-                    id:                 sliderColumns
-                    anchors.margins:    _margins
-                    anchors.left:       parent.left
-                    anchors.right:      parent.right
-                    anchors.top:        parent.top
-                    spacing:            _margins
+                Repeater {
+                    id:     sliderRepeater
+                    model:  sliderModel
 
-                    Repeater {
-                        id:     sliderRepeater
-                        model:  sliderModel
+                    Rectangle {
+                        id:                 sliderRect
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        height:             sliderColumn.y + sliderColumn.height + _margins
+                        color:              palette.windowShade
 
                         Column {
-                            anchors.left:   parent.left
-                            anchors.right:  parent.right
+                            id:                 sliderColumn
+                            anchors.margins:    _margins
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            anchors.top:        sliderRect.top
 
                             property alias sliderValue: slider.value
 
@@ -132,11 +133,11 @@ QGCView {
                                         fact.value = value
                                     }
                                 }
-                            }
+                            } // Slider
                         } // Column
-                    } // Repeater
-                } // Column
-            } // Rectangle
+                    } // Rectangle
+                } // Repeater
+            } // Column
         } // QGCFlickable
     } // QGCViewPanel
 } // QGCView

src/VehicleSetup/SetupView.qml

@@ -101,7 +101,7 @@ Rectangle {
 
     function showVehicleComponentPanel(vehicleComponent)
     {
-        if (multiVehicleManager.activeVehicle.armed) {
+        if (multiVehicleManager.activeVehicle.armed && !vehicleComponent.allowSetupWhileArmed) {
             _messagePanelText = _armedVehicleText
             panelLoader.sourceComponent = messagePanelComponent
         } else {

src/VehicleSetup/VehicleComponent.cc

@@ -73,3 +73,9 @@ void VehicleComponent::_triggerUpdated(QVariant /*value*/)
 {
     emit setupCompleteChanged(setupComplete());
 }
+
+bool VehicleComponent::allowSetupWhileArmed(void) const
+{
+    // Default is to not allow setup while armed
+    return false;
+}

src/VehicleSetup/VehicleComponent.h

@@ -42,14 +42,15 @@ class VehicleComponent : public QObject
 {
     Q_OBJECT
     
-    Q_PROPERTY(QString name READ name CONSTANT)
-    Q_PROPERTY(QString description READ description CONSTANT)
-    Q_PROPERTY(bool requiresSetup READ requiresSetup CONSTANT)
-    Q_PROPERTY(bool setupComplete READ setupComplete STORED false NOTIFY setupCompleteChanged)
-    Q_PROPERTY(QString iconResource READ iconResource CONSTANT)
-    Q_PROPERTY(QUrl setupSource READ setupSource CONSTANT)
-    Q_PROPERTY(QUrl summaryQmlSource READ summaryQmlSource CONSTANT)
-    Q_PROPERTY(QString prerequisiteSetup READ prerequisiteSetup)
+    Q_PROPERTY(QString  name                    READ name                   CONSTANT)
+    Q_PROPERTY(QString  description             READ description            CONSTANT)
+    Q_PROPERTY(bool     requiresSetup           READ requiresSetup          CONSTANT)
+    Q_PROPERTY(bool     setupComplete           READ setupComplete          STORED false NOTIFY setupCompleteChanged)
+    Q_PROPERTY(QString  iconResource            READ iconResource           CONSTANT)
+    Q_PROPERTY(QUrl     setupSource             READ setupSource            CONSTANT)
+    Q_PROPERTY(QUrl     summaryQmlSource        READ summaryQmlSource       CONSTANT)
+    Q_PROPERTY(QString  prerequisiteSetup       READ prerequisiteSetup      CONSTANT)
+    Q_PROPERTY(bool     allowSetupWhileArmed    READ allowSetupWhileArmed   CONSTANT)
     
 public:
     VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
@@ -63,6 +64,9 @@ public:
     virtual QUrl setupSource(void) const = 0;
     virtual QUrl summaryQmlSource(void) const = 0;
     virtual QString prerequisiteSetup(void) const = 0;
+
+    // @return true: Setup panel can be shown while vehicle is armed
+    virtual bool allowSetupWhileArmed(void) const;
     
     virtual void addSummaryQmlComponent(QQmlContext* context, QQuickItem* parent);
     

src/comm/PX4MockLink.params

@@ -282,6 +282,7 @@
 1	50	MPC_MANTHR_MIN	0.080	9
 1	50	MPC_THR_MAX	                        1	9
 1	50	MPC_THR_MIN	                      0.1	9
+1	50	MPC_THR_HOVER	                      0.5	9
 1	50	MPC_TILTMAX_AIR	                       45	9
 1	50	MPC_TILTMAX_LND	                       15	9
 1	50	MPC_XY_FF	                      0.5	9