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Merge pull request #6974 from Williangalvani/subCamera2 

Create simplified camera page for sub
QGC4.4
Don Gagne 7 years ago committed by GitHub
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b51f273506 23308cf8f5
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3 changed files with 579 additions and 0 deletions
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  1. 4
      src/AutoPilotPlugins/APM/APMCameraComponent.cc
  2. 574
      src/AutoPilotPlugins/APM/APMCameraSubComponent.qml
  3. 1
      src/FirmwarePlugin/APM/APMResources.qrc

4
src/AutoPilotPlugins/APM/APMCameraComponent.cc
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@ -54,7 +54,11 @@ QStringList APMCameraComponent::setupCompleteChangedTriggerList(void) const @@ -54,7 +54,11 @@ QStringList APMCameraComponent::setupCompleteChangedTriggerList(void) const
QUrl APMCameraComponent::setupSource(void) const
{
if (_vehicle->sub()) {
return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMCameraSubComponent.qml"));
}
return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMCameraComponent.qml"));
}
QUrl APMCameraComponent::summaryQmlSource(void) const

574
src/AutoPilotPlugins/APM/APMCameraSubComponent.qml
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@ -0,0 +1,574 @@ @@ -0,0 +1,574 @@
/****************************************************************************
*
* (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.4
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.SettingsManager 1.0
SetupPage {
id: cameraPage
pageComponent: cameraPageComponent
Component {
id: cameraPageComponent
Column {
spacing: _margins
width: availableWidth
FactPanelController { id: controller; factPanel: cameraPage.viewPanel }
QGCPalette { id: palette; colorGroupEnabled: true }
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property bool _oldFW: !(_activeVehicle.firmwareMajorVersion > 3 || _activeVehicle.firmwareMinorVersion > 5 || _activeVehicle.firmwarePatchVersion >= 2)
property Fact _mountRetractX: controller.getParameterFact(-1, "MNT_RETRACT_X")
property Fact _mountRetractY: controller.getParameterFact(-1, "MNT_RETRACT_Y")
property Fact _mountRetractZ: controller.getParameterFact(-1, "MNT_RETRACT_Z")
property Fact _mountNeutralX: controller.getParameterFact(-1, "MNT_NEUTRAL_X")
property Fact _mountNeutralY: controller.getParameterFact(-1, "MNT_NEUTRAL_Y")
property Fact _mountNeutralZ: controller.getParameterFact(-1, "MNT_NEUTRAL_Z")
property Fact _mountRCInTilt: controller.getParameterFact(-1, "MNT_RC_IN_TILT")
property Fact _mountStabTilt: controller.getParameterFact(-1, "MNT_STAB_TILT")
property Fact _mountAngMinTilt: controller.getParameterFact(-1, "MNT_ANGMIN_TIL")
property Fact _mountAngMaxTilt: controller.getParameterFact(-1, "MNT_ANGMAX_TIL")
property Fact _mountRCInRoll: controller.getParameterFact(-1, "MNT_RC_IN_ROLL")
property Fact _mountStabRoll: controller.getParameterFact(-1, "MNT_STAB_ROLL")
property Fact _mountAngMinRoll: controller.getParameterFact(-1, "MNT_ANGMIN_ROL")
property Fact _mountAngMaxRoll: controller.getParameterFact(-1, "MNT_ANGMAX_ROL")
property Fact _mountRCInPan: controller.getParameterFact(-1, "MNT_RC_IN_PAN")
property Fact _mountStabPan: controller.getParameterFact(-1, "MNT_STAB_PAN")
property Fact _mountAngMinPan: controller.getParameterFact(-1, "MNT_ANGMIN_PAN")
property Fact _mountAngMaxPan: controller.getParameterFact(-1, "MNT_ANGMAX_PAN")
property Fact _rc5Function: controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
// These enable/disable the options for setting up each axis
property bool _tiltEnabled: false
property bool _panEnabled: false
property bool _rollEnabled: false
property bool _servoReverseIsBool: controller.parameterExists(-1, "RC5_REVERSED")
// Gimbal Settings not available on older firmware
property bool _showGimbaLSettings: controller.parameterExists(-1, "MNT_DEFLT_MODE")
readonly property real _margins: ScreenTools.defaultFontPixelHeight
readonly property int _rcFunctionDisabled: 0
readonly property int _rcFunctionMountPan: 6
readonly property int _rcFunctionMountTilt: 7
readonly property int _rcFunctionMountRoll: 8
readonly property int _firstGimbalOutChannel: 5
readonly property int _lastGimbalOutChannel: 14
readonly property int _mountDefaultModeRCTargetting: 3
Component.onCompleted: {
if (_showGimbaLSettings) {
gimbalSettingsLoader.sourceComponent = gimbalSettings
}
calcGimbalOutValues()
slide.minimumValue = 10
slide.maximumValue = 127
slide.value = slide._fact.value
slide._loadComplete = true
}
function setGimbalSettingsServoInfo(loader, channel) {
var rcPrefix = "r.SERVO" + channel + "_"
loader.gimbalOutIndex = channel - 4
loader.servoPWMMinFact = controller.getParameterFact(-1, rcPrefix + "MIN")
loader.servoPWMMaxFact = controller.getParameterFact(-1, rcPrefix + "MAX")
loader.servoReverseFact = controller.getParameterFact(-1, rcPrefix + "REVERSED")
}
/// Gimbal output channels are stored in SERVO#_FUNCTION parameters. We need to loop through those
/// to find them and setup the ui accordindly.
function calcGimbalOutValues() {
gimbalDirectionTiltLoader.gimbalOutIndex = 0
gimbalDirectionPanLoader.gimbalOutIndex = 0
gimbalDirectionRollLoader.gimbalOutIndex = 0
_tiltEnabled = false
_panEnabled = false
_rollEnabled = false
for (var channel=_firstGimbalOutChannel; channel<=_lastGimbalOutChannel; channel++) {
var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
if (functionFact.value === _rcFunctionMountTilt) {
_tiltEnabled = true
setGimbalSettingsServoInfo(gimbalDirectionTiltLoader, channel)
} else if (functionFact.value === _rcFunctionMountPan) {
_panEnabled = true
setGimbalSettingsServoInfo(gimbalDirectionPanLoader, channel)
} else if (functionFact.value === _rcFunctionMountRoll) {
_rollEnabled = true
setGimbalSettingsServoInfo(gimbalDirectionRollLoader, channel)
}
}
}
function setRCFunction(channel, rcFunction) {
// First clear any previous settings for this function
for (var index=_firstGimbalOutChannel; index<=_lastGimbalOutChannel; index++) {
var functionFact = controller.getParameterFact(-1, "r.SERVO" + index + "_FUNCTION")
if (functionFact.value !== _rcFunctionDisabled && functionFact.value === rcFunction) {
functionFact.value = _rcFunctionDisabled
}
}
// Now set the function into the new channel
if (channel !== 0) {
var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
functionFact.value = rcFunction
}
}
// Whenever any SERVO#_FUNCTION parameters changes we need to go looking for gimbal output channels again
Connections { target: _rc5Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc6Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc7Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc8Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc9Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc10Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc11Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc12Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc13Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc14Function; onValueChanged: calcGimbalOutValues() }
// Whenever an MNT_RC_IN_* setting is changed make sure to turn on RC targeting
Connections {
target: _mountRCInPan
onValueChanged: _mountDefaultMode.value = _mountDefaultModeRCTargetting
}
Connections {
target: _mountRCInRoll
onValueChanged: _mountDefaultMode.value = _mountDefaultModeRCTargetting
}
Connections {
target: _mountRCInTilt
onValueChanged: _mountDefaultMode.value = _mountDefaultModeRCTargetting
}
ListModel {
id: gimbalOutModel
ListElement { text: qsTr("Disabled"); value: 0 }
ListElement { text: qsTr("Channel 5"); value: 5 }
ListElement { text: qsTr("Channel 6"); value: 6 }
ListElement { text: qsTr("Channel 7"); value: 7 }
ListElement { text: qsTr("Channel 8"); value: 8 }
ListElement { text: qsTr("Channel 9"); value: 9 }
ListElement { text: qsTr("Channel 10"); value: 10 }
ListElement { text: qsTr("Channel 11"); value: 11 }
ListElement { text: qsTr("Channel 12"); value: 12 }
ListElement { text: qsTr("Channel 13"); value: 13 }
ListElement { text: qsTr("Channel 14"); value: 14 }
}
QGCCheckBox {
id: _allVisible
text: "Show all settings (advanced)"
}
QGCLabel {
visible: !_oldFW
text: "Camera mount tilt speed:"
font.family: ScreenTools.demiboldFontFamily
}
QGCSlider {
visible: !_oldFW
id: slide
width: gimbalDirectionTiltLoader.width
stepSize: _fact.increment ? _fact.increment : 1
property var _fact: controller.getParameterFact(-1, "MNT_JSTICK_SPD")
property bool _loadComplete: false
// Override style to make handles smaller than default
style: SliderStyle {
handle: Rectangle {
anchors.centerIn: parent
color: qgcPal.button
border.color: qgcPal.buttonText
border.width: 1
implicitWidth: _radius * 2
implicitHeight: _radius * 2
radius: _radius
property real _radius: Math.round(ScreenTools.defaultFontPixelHeight * 0.35)
}
}
onValueChanged: {
if (_loadComplete) {
_fact.value = value
}
}
MouseArea {
anchors.fill: parent
onWheel: {
// do nothing
wheel.accepted = true;
}
onPressed: {
// propogate/accept
mouse.accepted = false;
}
onReleased: {
// propogate/accept
mouse.accepted = false;
}
}
}
// Gimbal axis setup
Component {
id: gimbalDirectionSettings
// The following properties must be set in the Loader
// property string directionTitle
// property bool directionEnabled
// property int gimbalOutIndex
// property Fact mountRcInFact
// property Fact mountStabFact
// property Fact mountAngMinFact
// property Fact mountAngMaxFact
// property Fact servoPWMMinFact
// property Fact servoPWMMaxFact
// property Fact servoReverseFact
// property bool servoReverseIsBool
// property int rcFunction
// Each section is a row
Row {
// Stack section title and section backdrop/content
Column {
spacing: _margins/2
// Section Title
QGCLabel {
id: directionLabel
text: qsTr("Gimbal ") + directionTitle
font.family: ScreenTools.demiboldFontFamily
}
// Section Backdrop
Rectangle {
id: rectangle
height: innerColumn.height + _margins*2
width: innerColumn.width + _margins*2
color: palette.windowShade
// Section Content - 3 Rows
Column {
id: innerColumn
spacing: _margins
anchors.margins: _margins
anchors.top: rectangle.top
anchors.left: rectangle.left
// Input/output channel setup and CheckBoxes
Row {
spacing: _margins
// Input/output channel setup
Column {
spacing: _margins
Row {
spacing: _margins
QGCLabel {
id: gimbalOutLabel
anchors.baseline: outputChan.baseline
text: qsTr("Output channel:")
}
QGCComboBox {
id: outputChan
width: servoPWMMinField.width
model: gimbalOutModel
currentIndex: gimbalOutIndex
onActivated: setRCFunction(gimbalOutModel.get(index).value, rcFunction)
}
}
Component.onCompleted: {
mountRcInFact.value = hardCodedChanned
}
} // Column - Input/output channel setup
// CheckBoxes
Column {
spacing: _margins
enabled: directionEnabled
FactCheckBox {
text: qsTr("Servo reverse")
checkedValue: _servoReverseIsBool ? 1 : -1
uncheckedValue: _servoReverseIsBool ? 0 : 1
fact: servoReverseFact
property bool _servoReverseIsBool: servoReverseIsBool
}
FactCheckBox {
anchors.margins: _margins
text: qsTr("Stabilize")
fact: mountStabFact
checkedValue: 1
uncheckedValue: 0
visible: _allVisible.checked
}
} // Column - CheckBoxes
} // Row input/output setup and CheckBoxes
// Servo PWM Limits
Row {
id: servoLimitRow
spacing: _margins
enabled: directionEnabled
property var _labelBaseline: servoPWMMinField.baseline
QGCLabel {
text: qsTr("Servo PWM limits:")
anchors.baseline: servoLimitRow._labelBaseline
width: angleLimitLabel.width
}
QGCLabel {
text: qsTr("min")
anchors.baseline: servoLimitRow._labelBaseline
}
FactTextField {
id: servoPWMMinField
fact: servoPWMMinFact
}
QGCLabel {
text: qsTr("max")
anchors.baseline: servoLimitRow._labelBaseline
}
FactTextField {
fact: servoPWMMaxFact
}
} // Row - Servo PWM limits
// Gimbal angle limits
Row {
id: angleLimitRow
spacing: _margins
enabled: directionEnabled
visible: _allVisible.checked
property var _labelBaseline: mountAngMinField.baseline
QGCLabel {
id: angleLimitLabel
text: qsTr("Gimbal angle limits:")
anchors.baseline: angleLimitRow._labelBaseline
}
QGCLabel {
text: qsTr("min")
anchors.baseline: angleLimitRow._labelBaseline
}
FactTextField {
id: mountAngMinField
fact: mountAngMinFact
}
QGCLabel {
text: qsTr("max")
anchors.baseline: angleLimitRow._labelBaseline
}
FactTextField {
fact: mountAngMaxFact
}
} // Row - Gimbal angle limits
} // Column - Section content
}// Rectangle - Section backdrop
} // Column - Stack section title and section backdrop/content
} // Row - section
} // Component - gimbalDirectionSettings
Component {
id: gimbalSettings
Item {
width: rectangle.x + rectangle.width
height: rectangle.y + rectangle.height
property Fact _mountDefaultMode: controller.getParameterFact(-1, "MNT_DEFLT_MODE")
property Fact _mountType: controller.getParameterFact(-1, "MNT_TYPE")
QGCLabel {
id: settingsLabel
text: qsTr("Gimbal Settings")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: rectangle
anchors.topMargin: _margins / 2
anchors.top: settingsLabel.bottom
width: gimbalModeCombo.x + gimbalModeCombo.width + _margins
height: gimbalModeCombo.y + gimbalModeCombo.height + _margins
color: palette.windowShade
QGCLabel {
id: gimbalTypeLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: gimbalTypeCombo.baseline
text: qsTr("Type:")
}
FactComboBox {
id: gimbalTypeCombo
anchors.topMargin: _margins
anchors.top: parent.top
anchors.left: gimbalModeCombo.left
width: gimbalModeCombo.width
fact: _mountType
indexModel: false
}
QGCLabel {
id: rebootLabel
anchors.topMargin: _margins / 2
anchors.leftMargin: _margins
anchors.rightMargin: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: gimbalTypeCombo.bottom
wrapMode: Text.WordWrap
text: qsTr("Gimbal Type changes takes affect next reboot of autopilot")
}
QGCLabel {
id: gimbalModeLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: gimbalModeCombo.baseline
text: qsTr("Default Mode:")
}
FactComboBox {
id: gimbalModeCombo
anchors.margins: _margins
anchors.top: rebootLabel.bottom
anchors.left: gimbalModeLabel.right
width: ScreenTools.defaultFontPixelWidth * 15
fact: _mountDefaultMode
indexModel: false
}
} // Rectangle
} // Item
} // Component - gimbalSettings
Loader {
id: gimbalDirectionTiltLoader
sourceComponent: gimbalDirectionSettings
property int hardCodedChanned: 8 // ArduSub/joystick.cpp cam_tilt
property string directionTitle: qsTr("Tilt")
property bool directionEnabled: _tiltEnabled
property int gimbalOutIndex: 0
property Fact mountRcInFact: _mountRCInTilt
property Fact mountStabFact: _mountStabTilt
property Fact mountAngMinFact: _mountAngMinTilt
property Fact mountAngMaxFact: _mountAngMaxTilt
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountTilt
}
Loader {
id: gimbalDirectionRollLoader
sourceComponent: gimbalDirectionSettings
visible: _allVisible.checked
property int hardCodedChanned: 0 // ArduSub/joystick.cpp cam_roll does not exist
property string directionTitle: qsTr("Roll")
property bool directionEnabled: _rollEnabled
property int gimbalOutIndex: 0
property Fact mountRcInFact: _mountRCInRoll
property Fact mountStabFact: _mountStabRoll
property Fact mountAngMinFact: _mountAngMinRoll
property Fact mountAngMaxFact: _mountAngMaxRoll
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountRoll
}
Loader {
id: gimbalDirectionPanLoader
sourceComponent: gimbalDirectionSettings
visible: _allVisible.checked
property int hardCodedChanned: 7 // ArduSub/joystick.cpp cam_pan
property string directionTitle: qsTr("Pan")
property bool directionEnabled: _panEnabled
property int gimbalOutIndex: 0
property Fact mountRcInFact: _mountRCInPan
property Fact mountStabFact: _mountStabPan
property Fact mountAngMinFact: _mountAngMinPan
property Fact mountAngMaxFact: _mountAngMaxPan
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountPan
}
Loader {
id: gimbalSettingsLoader
visible: _allVisible.checked
}
} // Column
} // Component
} // SetupPage

1
src/FirmwarePlugin/APM/APMResources.qrc
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@ -3,6 +3,7 @@ @@ -3,6 +3,7 @@
<file alias="APMAirframeComponent.qml">../../AutoPilotPlugins/APM/APMAirframeComponent.qml</file>
<file alias="APMAirframeComponentSummary.qml">../../AutoPilotPlugins/APM/APMAirframeComponentSummary.qml</file>
<file alias="APMCameraComponent.qml">../../AutoPilotPlugins/APM/APMCameraComponent.qml</file>
<file alias="APMCameraSubComponent.qml">../../AutoPilotPlugins/APM/APMCameraSubComponent.qml</file>
<file alias="APMCameraComponentSummary.qml">../../AutoPilotPlugins/APM/APMCameraComponentSummary.qml</file>
<file alias="APMFlightModesComponent.qml">../../AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
<file alias="APMFlightModesComponentSummary.qml">../../AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>

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