Merge pull request #3620 from DonLakeFlyer/RoverFixes

Rover fixes

src/AutoPilotPlugins/APM/APMFlightModesComponent.qml

@@ -22,13 +22,16 @@ QGCView {
     id:         rootQGCView
     viewPanel:  panel
 
+    readonly property string _modeChannelParam: controller.modeChannelParam
+    readonly property string _modeParamPrefix:  controller.modeParamPrefix
+
     property real   _margins:                   ScreenTools.defaultFontPixelHeight
     property bool   _channel7OptionsAvailable:  controller.parameterExists(-1, "CH7_OPT")   // Not available in all firmware types
     property bool   _channel9OptionsAvailable:  controller.parameterExists(-1, "CH9_OPT")   // Not available in all firmware types
     property int    _channelOptionCount:         _channel7OptionsAvailable ? (_channel9OptionsAvailable ? 6 : 2) : 0
     property Fact   _nullFact
-    property bool   _fltmodeChExists:           controller.parameterExists(-1, "FLTMODE_CH")
+    property bool   _fltmodeChExists:           controller.parameterExists(-1, _modeChannelParam)
-    property Fact   _fltmodeCh:                 _fltmodeChExists ? controller.getParameterFact(-1, "FLTMODE_CH") : _nullFact
+    property Fact   _fltmodeCh:                 _fltmodeChExists ? controller.getParameterFact(-1, _modeChannelParam) : _nullFact
 
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
 
@@ -114,7 +117,7 @@ QGCView {
                                     FactComboBox {
                                         id:         modeCombo
                                         width:      ScreenTools.defaultFontPixelWidth * 15
-                                        fact:       controller.getParameterFact(-1, "FLTMODE" + index)
+                                        fact:       controller.getParameterFact(-1, _modeParamPrefix + index)
                                         indexModel: false
                                     }
 

src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc

@@ -19,9 +19,13 @@ APMFlightModesComponentController::APMFlightModesComponentController(void)
     : _activeFlightMode(0)
     , _channelCount(Vehicle::cMaxRcChannels)
 {
+    _modeParamPrefix = _vehicle->rover() ? "MODE" : "FLTMODE";
+    _modeChannelParam = _vehicle->rover() ? "MODE_CH" : "FLTMODE_CH";
+
     QStringList usedParams;
-    usedParams << QStringLiteral("FLTMODE1") << QStringLiteral("FLTMODE2") << QStringLiteral("FLTMODE3")
+    for (int i=1; i<7; i++) {
-               << QStringLiteral("FLTMODE4") << QStringLiteral("FLTMODE5") << QStringLiteral("FLTMODE6");
+        usedParams << QStringLiteral("%1%2").arg(_modeParamPrefix).arg(i);
+    }
     if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) {
         return;
     }
@@ -36,8 +40,8 @@ void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int
 {
     int flightModeChannel = 4;
 
-    if (parameterExists(FactSystem::defaultComponentId, QStringLiteral("FLTMODE_CH"))) {
+    if (parameterExists(FactSystem::defaultComponentId, _modeChannelParam)) {
-        flightModeChannel = getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FLTMODE_CH"))->rawValue().toInt() - 1;
+        flightModeChannel = getParameterFact(FactSystem::defaultComponentId, _modeChannelParam)->rawValue().toInt() - 1;
     }
 
     if (flightModeChannel >= channelCount) {

src/AutoPilotPlugins/APM/APMFlightModesComponentController.h

@@ -29,6 +29,8 @@ class APMFlightModesComponentController : public FactPanelController
 public:
     APMFlightModesComponentController(void);
     
+    Q_PROPERTY(QString  modeParamPrefix             MEMBER _modeParamPrefix     CONSTANT)
+    Q_PROPERTY(QString  modeChannelParam            MEMBER _modeChannelParam    CONSTANT)
     Q_PROPERTY(int      activeFlightMode            READ activeFlightMode       NOTIFY activeFlightModeChanged)
     Q_PROPERTY(int      channelCount                MEMBER _channelCount        CONSTANT)
     Q_PROPERTY(QVariantList channelOptionEnabled    READ channelOptionEnabled   NOTIFY channelOptionEnabledChanged)
@@ -44,6 +46,8 @@ private slots:
     void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
     
 private:
+    QString         _modeParamPrefix;
+    QString         _modeChannelParam;
     int             _activeFlightMode;
     int             _channelCount;
     QVariantList    _rgChannelOptionEnabled;

src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml

@@ -14,12 +14,14 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact flightMode1: controller.getParameterFact(-1, "FLTMODE1")
+    property var _vehicle: controller.vehicle
-    property Fact flightMode2: controller.getParameterFact(-1, "FLTMODE2")
+
-    property Fact flightMode3: controller.getParameterFact(-1, "FLTMODE3")
+    property Fact flightMode1: controller.getParameterFact(-1, _vehicle.rover ? "MODE1" : "FLTMODE1")
-    property Fact flightMode4: controller.getParameterFact(-1, "FLTMODE4")
+    property Fact flightMode2: controller.getParameterFact(-1, _vehicle.rover ? "MODE2" : "FLTMODE2")
-    property Fact flightMode5: controller.getParameterFact(-1, "FLTMODE5")
+    property Fact flightMode3: controller.getParameterFact(-1, _vehicle.rover ? "MODE3" : "FLTMODE3")
-    property Fact flightMode6: controller.getParameterFact(-1, "FLTMODE6")
+    property Fact flightMode4: controller.getParameterFact(-1, _vehicle.rover ? "MODE4" : "FLTMODE4")
+    property Fact flightMode5: controller.getParameterFact(-1, _vehicle.rover ? "MODE5" : "FLTMODE5")
+    property Fact flightMode6: controller.getParameterFact(-1, _vehicle.rover ? "MODE6" : "FLTMODE6")
 
     Column {
         anchors.fill:       parent

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

@@ -117,13 +117,23 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
 
 bool APMSensorsComponent::accelSetupNeeded(void) const
 {
-    QStringList offsets;
+    const size_t    cAccel = 3;
-
+    const size_t    cOffset = 3;
-    offsets << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
+    QStringList     rgUse;
-
+    QStringList     rgOffsets[cAccel];
-    foreach(const QString& offset, offsets) {
+
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, offset)->rawValue().toFloat() == 0.0f) {
+    rgUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
-            return true;
+    rgOffsets[0] << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
+    rgOffsets[1] << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
+    rgOffsets[2] << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
+
+    for (size_t i=0; i<cAccel; i++) {
+        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
+            for (size_t j=0; j<cOffset; j++) {
+                if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
+                    return true;
+                }
+            }
         }
     }
 

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -88,7 +88,7 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
             break;
         case MAV_TYPE_GROUND_ROVER:
         case MAV_TYPE_SURFACE_BOAT:
-            vehicleName = "ArduRover";
+            vehicleName = "APMrover2";
             break;
         case MAV_TYPE_SUBMARINE:
             vehicleName = "ArduSub";

src/Vehicle/Vehicle.cc

@@ -1405,6 +1405,11 @@ bool Vehicle::fixedWing(void) const
     return vehicleType() == MAV_TYPE_FIXED_WING;
 }
 
+bool Vehicle::rover(void) const
+{
+    return vehicleType() == MAV_TYPE_GROUND_ROVER;
+}
+
 bool Vehicle::multiRotor(void) const
 {
     switch (vehicleType()) {

src/Vehicle/Vehicle.h

@@ -273,6 +273,7 @@ public:
     Q_PROPERTY(bool                 fixedWing               READ fixedWing                              CONSTANT)
     Q_PROPERTY(bool                 multiRotor              READ multiRotor                             CONSTANT)
     Q_PROPERTY(bool                 vtol                    READ vtol                                   CONSTANT)
+    Q_PROPERTY(bool                 rover                   READ rover                                  CONSTANT)
     Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                      NOTIFY autoDisconnectChanged)
     Q_PROPERTY(QString              prearmError             READ prearmError        WRITE setPrearmError NOTIFY prearmErrorChanged)
 
@@ -443,6 +444,7 @@ public:
     bool fixedWing(void) const;
     bool multiRotor(void) const;
     bool vtol(void) const;
+    bool rover(void) const;
 
     void setFlying(bool flying);
     void setGuidedMode(bool guidedMode);