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Add ArduSub XML file and update firmware plugin to allow it to work

QGC4.4
Rustom Jehangir 9 years ago
parent
1fb0f042e8
commit
caa1de1563
4 changed files with 5626 additions and 24 deletions
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  1. 3
      qgcresources.qrc
  2. 15
      src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
  3. 5592
      src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml
  4. 6
      src/FirmwarePlugin/APM/APMParameterMetaData.cc

3
qgcresources.qrc
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@ -175,7 +175,7 @@
<file alias="TrashDelete.svg">resources/TrashDelete.svg</file> <file alias="TrashDelete.svg">resources/TrashDelete.svg</file>
<file alias="XDelete.svg">resources/XDelete.svg</file> <file alias="XDelete.svg">resources/XDelete.svg</file>
<file alias="XDeleteBlack.svg">resources/XDeleteBlack.svg</file> <file alias="XDeleteBlack.svg">resources/XDeleteBlack.svg</file>
</qresource> </qresource>
<qresource prefix="/res/firmware"> <qresource prefix="/res/firmware">
<file alias="px4.png">resources/firmware/px4.png</file> <file alias="px4.png">resources/firmware/px4.png</file>
<file alias="apm.png">resources/firmware/apm.png</file> <file alias="apm.png">resources/firmware/apm.png</file>
@ -266,6 +266,7 @@
<file alias="APMParameterFactMetaData.Copter.3.3.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml</file> <file alias="APMParameterFactMetaData.Copter.3.3.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml</file>
<file alias="APMParameterFactMetaData.Copter.3.4.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml</file> <file alias="APMParameterFactMetaData.Copter.3.4.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml</file>
<file alias="APMParameterFactMetaData.Rover.3.0.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml</file> <file alias="APMParameterFactMetaData.Rover.3.0.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.4.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml</file>
</qresource> </qresource>
<qresource prefix="/FirmwarePlugin/PX4"> <qresource prefix="/FirmwarePlugin/PX4">
<file alias="PX4ParameterFactMetaData.xml">src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml</file> <file alias="PX4ParameterFactMetaData.xml">src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml</file>

15
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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@ -37,18 +37,20 @@ static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)");
static const QRegExp APM_SOLO_REXP("^(APM:Copter solo-)"); static const QRegExp APM_SOLO_REXP("^(APM:Copter solo-)");
static const QRegExp APM_PLANE_REXP("^(ArduPlane|APM:Plane)"); static const QRegExp APM_PLANE_REXP("^(ArduPlane|APM:Plane)");
static const QRegExp APM_ROVER_REXP("^(ArduRover|APM:Rover)"); static const QRegExp APM_ROVER_REXP("^(ArduRover|APM:Rover)");
static const QRegExp APM_SUB_REXP("^(ArduSub|APM:Sub)");
static const QRegExp APM_PX4NUTTX_REXP("^PX4: .*NuttX: .*"); static const QRegExp APM_PX4NUTTX_REXP("^PX4: .*NuttX: .*");
static const QRegExp APM_FRAME_REXP("^Frame: "); static const QRegExp APM_FRAME_REXP("^Frame: ");
static const QRegExp APM_SYSID_REXP("^PX4v2 "); static const QRegExp APM_SYSID_REXP("^PX4v2 ");
// Regex to parse version text coming from APM, gives out firmware type, major, minor and patch level numbers // Regex to parse version text coming from APM, gives out firmware type, major, minor and patch level numbers
static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|ArduCopter|ArduPlane|ArduRover) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*"); static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|APM:Sub|ArduCopter|ArduPlane|ArduRover|ArduSub) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*");
// minimum firmware versions that don't suffer from mavlink severity inversion bug. // minimum firmware versions that don't suffer from mavlink severity inversion bug.
// https://github.com/diydrones/apm_planner/issues/788 // https://github.com/diydrones/apm_planner/issues/788
static const QString MIN_SOLO_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter solo-1.2.0"); static const QString MIN_SOLO_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter solo-1.2.0");
static const QString MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter V3.4.0"); static const QString MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter V3.4.0");
static const QString MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Plane V3.4.0"); static const QString MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Plane V3.4.0");
static const QString MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Sub V3.4.0");
static const QString MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Rover V2.6.0"); static const QString MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Rover V2.6.0");
const char* APMFirmwarePlugin::_artooIP = "10.1.1.1"; ///< IP address of ARTOO controller const char* APMFirmwarePlugin::_artooIP = "10.1.1.1"; ///< IP address of ARTOO controller
@ -319,7 +321,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
if (!messageText.contains(APM_SOLO_REXP)) { if (!messageText.contains(APM_SOLO_REXP)) {
// if don't know firmwareVersion yet, try and see if this message contains it // if don't know firmwareVersion yet, try and see if this message contains it
if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP)) { if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP)) {
// found version string // found version string
APMFirmwareVersion firmwareVersion(messageText); APMFirmwareVersion firmwareVersion(messageText);
_textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion); _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion);
@ -376,7 +378,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
// The following messages are incorrectly labeled as warning message. // The following messages are incorrectly labeled as warning message.
// Fixed in newer firmware (unreleased at this point), but still in older firmware. // Fixed in newer firmware (unreleased at this point), but still in older firmware.
if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP) ||
messageText.contains(APM_PX4NUTTX_REXP) || messageText.contains(APM_FRAME_REXP) || messageText.contains(APM_SYSID_REXP)) { messageText.contains(APM_PX4NUTTX_REXP) || messageText.contains(APM_FRAME_REXP) || messageText.contains(APM_SYSID_REXP)) {
_setInfoSeverity(message); _setInfoSeverity(message);
} }
@ -491,6 +493,10 @@ bool APMFirmwarePlugin::_isTextSeverityAdjustmentNeeded(const APMFirmwareVersion
if (firmwareVersion < APMFirmwareVersion(MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { if (firmwareVersion < APMFirmwareVersion(MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) {
adjustmentNeeded = true; adjustmentNeeded = true;
} }
} else if (firmwareVersion.vehicleType().contains(APM_SUB_REXP)) {
if (firmwareVersion < APMFirmwareVersion(MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS)) {
adjustmentNeeded = true;
}
} }
return adjustmentNeeded; return adjustmentNeeded;
@ -654,8 +660,9 @@ QString APMFirmwarePlugin::getParameterMetaDataFile(Vehicle* vehicle)
} }
case MAV_TYPE_GROUND_ROVER: case MAV_TYPE_GROUND_ROVER:
case MAV_TYPE_SURFACE_BOAT: case MAV_TYPE_SURFACE_BOAT:
case MAV_TYPE_SUBMARINE:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml"); return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
case MAV_TYPE_SUBMARINE:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml");
default: default:
return QString(); return QString();
} }

5592
src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml
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6
src/FirmwarePlugin/APM/APMParameterMetaData.cc
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@ -86,7 +86,6 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
case MAV_TYPE_QUADROTOR: case MAV_TYPE_QUADROTOR:
case MAV_TYPE_COAXIAL: case MAV_TYPE_COAXIAL:
case MAV_TYPE_HELICOPTER: case MAV_TYPE_HELICOPTER:
case MAV_TYPE_SUBMARINE:
case MAV_TYPE_HEXAROTOR: case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR: case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER: case MAV_TYPE_TRICOPTER:
@ -104,6 +103,9 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
case MAV_TYPE_SURFACE_BOAT: case MAV_TYPE_SURFACE_BOAT:
vehicleName = "ArduRover"; vehicleName = "ArduRover";
break; break;
case MAV_TYPE_SUBMARINE:
vehicleName = "ArduSub";
break;
case MAV_TYPE_FLAPPING_WING: case MAV_TYPE_FLAPPING_WING:
case MAV_TYPE_KITE: case MAV_TYPE_KITE:
case MAV_TYPE_ONBOARD_CONTROLLER: case MAV_TYPE_ONBOARD_CONTROLLER:
@ -129,7 +131,7 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
} }
_parameterMetaDataLoaded = true; _parameterMetaDataLoaded = true;
QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|AntennaTracker"); QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|ArduSub|AntennaTracker");
QString currentCategory; QString currentCategory;
qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << metaDataFile; qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << metaDataFile;

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