diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index 1a79754..ebe40c0 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -797,7 +797,11 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) } return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml"); case MAV_TYPE_SUBMARINE: - return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml"); + if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 4)) { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml"); + } else { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml"); + } default: return QString(); } diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml index ac42cc7..e8f2e01 100644 --- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml +++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml @@ -16,6 +16,7 @@ AntennaTracker Copter Rover +ArduSub @@ -38,29 +39,6 @@ .5 Hz - -0.0 1000.0 -10 -Centimeters - - -0.0 500.0 -10 - - -0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection - -None -Feedback from mid stick -High throttle cancels landing -Disarm on land detection - - - -0 10 -1 -seconds - 0:Roll,1:Pitch,2:Yaw @@ -70,25 +48,6 @@ Yaw - -0 8000 -1 -Centimeters - - -0.5 10.0 - -Disabled -Shallow -Steep - -.1 - - -0 2000 -50 -cm/s - 0.01 2.0 0.01 @@ -161,84 +120,6 @@ Enabled - - -Disabled -Mode1 -Mode2 -Mode1+2 -Mode3 -Mode1+3 -Mode2+3 -Mode1+2+3 -Mode4 -Mode1+4 -Mode2+4 -Mode1+2+4 -Mode3+4 -Mode1+3+4 -Mode2+3+4 -Mode1+2+3+4 -Mode5 -Mode1+5 -Mode2+5 -Mode1+2+5 -Mode3+5 -Mode1+3+5 -Mode2+3+5 -Mode1+2+3+5 -Mode4+5 -Mode1+4+5 -Mode2+4+5 -Mode1+2+4+5 -Mode3+4+5 -Mode1+3+4+5 -Mode2+3+4+5 -Mode1+2+3+4+5 -Mode6 -Mode1+6 -Mode2+6 -Mode1+2+6 -Mode3+6 -Mode1+3+6 -Mode2+3+6 -Mode1+2+3+6 -Mode4+6 -Mode1+4+6 -Mode2+4+6 -Mode1+2+4+6 -Mode3+4+6 -Mode1+3+4+6 -Mode2+3+4+6 -Mode1+2+3+4+6 -Mode5+6 -Mode1+5+6 -Mode2+5+6 -Mode1+2+5+6 -Mode3+5+6 -Mode1+3+5+6 -Mode2+3+5+6 -Mode1+2+3+5+6 -Mode4+5+6 -Mode1+4+5+6 -Mode2+4+5+6 -Mode1+2+4+5+6 -Mode3+4+5+6 -Mode1+3+4+5+6 -Mode2+3+4+5+6 -Mode1+2+3+4+5+6 - - - --1 1000 -1 -Centimeters - - -0 3000 -10 -Centimeters - Never change yaw @@ -247,21 +128,6 @@ Face along GPS course - -0 60000 -1000 -ms - - -30 200 -10 -cm/s - - -0 500 -10 -cm/s - 50 500 10 @@ -272,19 +138,6 @@ 10 cm/s/s - - -Disabled -Enabled always RTL -Enabled Continue with Mission in Auto Mode -Enabled always LAND - - - -925 1100 -1 -pwm - 0 300 1 @@ -332,8 +185,6 @@ Manual - - 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW @@ -405,17 +256,6 @@ 0 32767 - - -Plus -X -V -H -V-Tail -A-Tail -Y6B (New) - - Do Nothing @@ -433,7 +273,7 @@ Auto AutoTune Land -EPM +Gripper Parachute Enable Parachute Release Parachute 3pos @@ -470,7 +310,7 @@ Auto AutoTune Land -EPM +Gripper Parachute Enable Parachute Release Parachute 3pos @@ -507,7 +347,7 @@ Auto AutoTune Land -EPM +Gripper Parachute Enable Parachute Release Parachute 3pos @@ -544,7 +384,7 @@ Auto AutoTune Land -EPM +Gripper Parachute Enable Parachute Release Parachute 3pos @@ -581,7 +421,7 @@ Auto AutoTune Land -EPM +Gripper Parachute Enable Parachute Release Parachute 3pos @@ -618,7 +458,7 @@ Auto AutoTune Land -EPM +Gripper Parachute Enable Parachute Release Parachute 3pos @@ -671,20 +511,6 @@ 10 - -4 12 -deg/sec - - -2000 4500 -Centi-degrees - - - -No repositioning -Repositioning - - Land @@ -701,6 +527,30 @@ Enabled + +0.1 1.0 + + +0.2 1.0 + + +0.1 0.8 + + +1 10 + + +30 400 + + +30 400 + + +0.5 4.0 + + +1000 2000 + 50 490 1 @@ -750,6 +600,11 @@ 10 cm/s/s + +0 4500 +10 +cm/s/s + 1.000 8.000 @@ -767,7 +622,7 @@ 0.000 0.400 - + 1.000 100.000 Hz @@ -795,19 +650,13 @@ 0.001 0.006 - - -Stopped -Running - - Do Not Use in RTL and Land Use in RTL and Land - + 0 5 @@ -837,14 +686,18 @@ None -MAVlink1 +MAVLink1 MAVLink2 -Frsky D-PORT -Frsky S-PORT +Frsky D +Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar +FrSky SPort Passthrough (OpenTX) +Lidar360 +Aerotenna uLanding +Pozyx Beacon @@ -866,14 +719,18 @@ None -MAVlink1 +MAVLink1 MAVLink2 -Frsky D-PORT -Frsky S-PORT +Frsky D +Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar +FrSky SPort Passthrough (OpenTX) +Lidar360 +Aerotenna uLanding +Pozyx Beacon @@ -895,14 +752,18 @@ None -MAVlink1 +MAVLink1 MAVLink2 -Frsky D-PORT -Frsky S-PORT +Frsky D +Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar +FrSky SPort Passthrough (OpenTX) +Lidar360 +Aerotenna uLanding +Pozyx Beacon @@ -924,14 +785,18 @@ None -MAVlink1 +MAVLink1 MAVLink2 -Frsky D-PORT -Frsky S-PORT +Frsky D +Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar +FrSky SPort Passthrough (OpenTX) +Lidar360 +Aerotenna uLanding +Pozyx Beacon @@ -953,14 +818,18 @@ None -MAVlink1 +MAVLink1 MAVLink2 -Frsky D-PORT -Frsky S-PORT +Frsky D +Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar +FrSky SPort Passthrough (OpenTX) +Lidar360 +Aerotenna uLanding +Pozyx Beacon @@ -1141,7 +1010,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1170,6 +1039,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1226,7 +1099,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1255,6 +1128,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1311,7 +1188,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1340,6 +1217,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1396,7 +1277,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1425,6 +1306,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1481,7 +1366,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1510,6 +1395,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1566,7 +1455,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1595,6 +1484,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1651,7 +1544,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1680,6 +1573,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1736,7 +1633,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1765,6 +1662,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1821,7 +1722,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1850,6 +1751,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -1906,7 +1811,7 @@ Flaperon2 GroundSteering Parachute -EPM +Gripper LandingGear EngineRunEnable HeliRSC @@ -1935,6 +1840,10 @@ RCIN14 RCIN15 RCIN16 +Ignition +Choke +Starter +Throttle @@ -3678,92 +3587,18 @@ - - - -Disabled -Enabled - - - -1000 2000 - - -1000 2000 - - -1000 2000 - - - -Never -every 15 seconds -every 30 seconds -once per minute - - - - - - -Disabled -Enabled - - - - -First Relay -Second Relay -Third Relay -Fourth Relay -Servo - - - -1000 2000 -1 -pwm - - -1000 2000 -1 -pwm - - -0 32000 -1 -Meters - - -0 5000 -1 -Milliseconds - - - - -1000 2000 -1 -pwm - - -1000 2000 -1 -pwm - - - + -400 400 1 milligauss - + -400 400 1 milligauss - + -400 400 1 milligauss @@ -3799,17 +3634,17 @@ Use Current - + -1000 1000 1 Offset per Amp or at Full Throttle - + -1000 1000 1 Offset per Amp or at Full Throttle - + -1000 1000 1 Offset per Amp or at Full Throttle @@ -3864,32 +3699,32 @@ ForcedExternal - + -400 400 1 milligauss - + -400 400 1 milligauss - + -400 400 1 milligauss - + -1000 1000 1 Offset per Amp or at Full Throttle - + -1000 1000 1 Offset per Amp or at Full Throttle - + -1000 1000 1 Offset per Amp or at Full Throttle @@ -3901,41 +3736,41 @@ ThirdCompass - + -400 400 1 milligauss - + -400 400 1 milligauss - + -400 400 1 milligauss - + -1000 1000 1 Offset per Amp or at Full Throttle - + -1000 1000 1 Offset per Amp or at Full Throttle - + -1000 1000 1 Offset per Amp or at Full Throttle - + - + - + @@ -4049,60 +3884,55 @@ ForcedExternal - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + -4 20 +4 32 + +Very Strict +Default +Relaxed +Very Relaxed + 0.1 - - -Unknown -unused -unused -unused -SITL -PX4v1 -PX4v2 -unused -Linux - + rad/s @@ -4243,6 +4073,53 @@ IMU 3 + +m + + +m + + +m + + +m + + +m + + +m + + +m + + +m + + +m + + +True + + +True + + +True + + +True + + +True + + +True + + + @@ -4291,10 +4168,16 @@ cm/s/s -100 981 +25 250 1 cm/s/s + + +Disable +Enable + + @@ -4325,6 +4208,17 @@ 1000 Centi-Degrees/Sec/Sec + +0 72000 + +Disabled +Slow +Medium +Fast + +1000 +Centi-Degrees/Sec/Sec + Disabled @@ -4388,7 +4282,7 @@ 0.0 0.02 0.001 - + 1 100 1 Hz @@ -4410,7 +4304,7 @@ 0.0 0.02 0.001 - + 1 100 1 Hz @@ -4432,7 +4326,7 @@ 0.000 0.02 0.001 - + 1 100 1 Hz @@ -4444,8 +4338,8 @@ 0.5 0.9 - - + + 0.5 5 0.1 Hz @@ -4497,11 +4391,6 @@ 1 Hz - -0 50 -1 -Hz - @@ -4549,11 +4438,6 @@ 1 Hz - -0 50 -1 -Hz - @@ -4601,11 +4485,6 @@ 1 Hz - -0 50 -1 -Hz - @@ -4653,14 +4532,9 @@ 1 Hz - -0 50 -1 -Hz - - + 0.0 1.0 .01 @@ -4670,25 +4544,25 @@ Enabled - + 0.1 0.4 .01 - + 0.1 0.4 .01 - + 0 127 1 m/s - + -0.1745 +0.1745 0.01 Radians - + -0.1745 +0.1745 0.01 Radians @@ -5078,6 +4952,12 @@ Enabled + + +Disabled +Enabled + + @@ -5172,7 +5052,7 @@ - + No PWMs Two PWMs @@ -5182,7 +5062,7 @@ True - + Disabled Enabled @@ -5190,7 +5070,7 @@ True - + Disabled Enabled @@ -5198,14 +5078,14 @@ True - + Disabled Enabled True - + Disabled 50Hz @@ -5221,73 +5101,74 @@ -32767 32768 - + Disabled Enabled +Dynamic ID/Update - -0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8 + +0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14 Disabled Enabled True - -degreesC + -1 80 +degreesC - - - - -Disabled -Enabled + + +AUTO +PX4V1 +Pixhawk +Pixhawk2 +Pixracer +PixhawkMini +Pixhawk2Slim +VRBrain 5.1 +VRBrain 5.2 +VR Micro Brain 5.1 +VR Micro Brain 5.2 +VRBrain Core 1.0 +VRBrain 5.4 - - -0 100 -percentage - - -1000 2000 -ms - - -0 1000 -cm/s - - -0 100 -percentage +True - + True True 1 pascals - + True True 1 degrees celsius - -meters + 0.1 +meters - + FirstBaro 2ndBaro 3rdBaro + + +Disabled +Bus0 + + 1.0:Fresh Water, 1.024:Salt Water @@ -5303,7 +5184,7 @@ - + None AUTO @@ -5317,10 +5198,14 @@ PX4-UAVCAN SBF GSOF +QURT +ERB +MAV +NOVA True - + None AUTO @@ -5337,7 +5222,7 @@ True - + Portable Stationary @@ -5374,7 +5259,7 @@ -100 90 Degrees - + send to first GPS send to 2nd GPS @@ -5388,7 +5273,7 @@ External only - + Disabled log every sample @@ -5439,6 +5324,38 @@ Enable automatic configuration + + +10Hz +8Hz +5Hz + + + + +10Hz +8Hz +5Hz + + + +m + + +m + + +m + + +m + + +m + + +m + @@ -5572,9 +5489,12 @@ +0:StopAtFence,1:UseProximitySensor None StopAtFence +UseProximitySensor +All @@ -5645,6 +5565,69 @@ 0.0 1.5 0.1 + +0 500 +pwm + + +0.25 0.8 + + +0.9:Low, 0.95:Default, 1.0:High + + +6 35 +Volts + + +6 35 +Volts + + +0 200 +Amps + + + +Normal +OneShot +OneShot125 +Brushed16kHz + +True + + +0 2000 + + +0 2000 + + +0.0:Low, 0.15:Default, 0.3:High + + +0.0:Low, 0.1:Default, 0.2:High + + +0 10 +Seconds + + +0.2 0.8 + + + +Disabled +Learn +LearnAndSave + + + + +PWM enabled while disarmed +PWM disabled while disarmed + + @@ -5850,12 +5833,12 @@ Enabled - + GPS 3D Vel and 2D Pos GPS 2D vel and 2D pos GPS 2D pos -No GPS use optical flow +No GPS @@ -5891,11 +5874,12 @@ 10 msec - + Use Baro Use Range Finder Use GPS +Use Range Beacon @@ -6041,68 +6025,49 @@ 0.00001 0.01 gauss/s + +-1 70 +1 +% + + +0 0.2 +0.01 + + +0.1 10.0 +0.1 +m + + +100 1000 +25 + + +0 250 +10 +msec + 0 32766 1 - + Resume Mission Restart Mission - - - -Disabled -AnalogPin -RCChannelPwmValue - - - - -APM2 A0 -APM2 A1 -APM2 A13 -Pixracer -Pixhawk ADC4 -Pixhawk ADC3 - Pixhawk ADC6 -Pixhawk SBUS - - - -0 5.0 -0.01 -Volt - - -0 5.0 -0.01 -Volt - - - - - -0 2000 -Microseconds - - -0 2000 -Microseconds - - None Analog -APM2-MaxbotixI2C -APM2-PulsedLightI2C +MaxbotixI2C +PulsedLightI2C PX4-I2C PX4-PWM BBB-PRU @@ -6110,6 +6075,9 @@ LightWareSerial Bebop MAVLink +uLanding +LeddarOne +MaxbotixSerial @@ -6189,12 +6157,25 @@ 1 centimeters + +0 127 +1 + + +m + + +m + + +m + None Analog -APM2-MaxbotixI2C -APM2-PulsedLightI2C +MaxbotixI2C +PulsedLightI2C PX4-I2C PX4-PWM BBB-PRU @@ -6202,6 +6183,9 @@ LightWareSerial Bebop MAVLink +uLanding +LeddarOne +MaxbotixSerial @@ -6277,15 +6261,20 @@ 1 centimeters - + 0 127 1 - -0 127 -1 + +m - + +m + + +m + + None Analog @@ -6298,9 +6287,12 @@ LightWareSerial Bebop MAVLink +uLanding +LeddarOne +MaxbotixSerial - + Not Used APM2-A0 @@ -6318,30 +6310,30 @@ APM1-airspeed port - -meters/Volt + 0.001 +meters/Volt - -Volts + 0.001 +Volts - + Linear Inverted Hyperbolic - -centimeters + 1 - - centimeters + + 1 +centimeters - + Not Used Pixhawk AUXOUT1 @@ -6358,26 +6350,35 @@ PX4IO ACC2 - -milliseconds + 1 +milliseconds - + No Yes - + 0 127 1 centimeters - + 0 127 1 - + +m + + +m + + +m + + None Analog @@ -6390,9 +6391,12 @@ LightWareSerial Bebop MAVLink +uLanding +LeddarOne +MaxbotixSerial - + Not Used APM2-A0 @@ -6410,30 +6414,30 @@ APM1-airspeed port - -meters/Volt + 0.001 +meters/Volt - -Volts + 0.001 +Volts - + Linear Inverted Hyperbolic - -centimeters + 1 - - centimeters + + 1 +centimeters - + Not Used Pixhawk AUXOUT1 @@ -6450,36 +6454,45 @@ PX4IO ACC2 - -milliseconds + 1 +milliseconds - + No Yes - + 0 127 1 centimeters - + 0 127 1 + +m + + +m + + +m + - + Disable Enable - -meters + 1 +meters @@ -6501,126 +6514,167 @@ -18000 +18000 1 - - - - -Disabled -Enabled Always Land -Enabled Strict - + +m - - -None -CompanionComputer -IRLock - + +m + + +m + + +0 255 - + None PX4-PWM - + 0.001 - + 1 - + 1 - + 0.1 - + None PX4-PWM - + 0.001 - - + + -Disabled -Enabled +Off +Low +Medium +High - + -None -Loiter -LoiterAndDescend +Disable +Enable - -1 100 - - -1 100000 + + +Disable +Enable + - --1 16777215 + + + + +None +LightWareSF40C + - + -NoInfo -Light -Small -Large -HighVortexlarge -Heavy -HighlyManuv -Rotocraft -RESERVED -Glider -LightAir -Parachute -UltraLight -RESERVED -UAV -Space -RESERVED -EmergencySurface -ServiceSurface -PointObstacle +Default +Upside Down - + +-180 180 - + +0 360 - + +0 45 - - - + +0 360 + + +0 45 + + +0 360 + + +0 45 + + +0 360 + + +0 45 + + +0 360 + + +0 45 + + +0 360 + + +0 45 + + -Off -Low -Medium -High +None +LightWareSF40C - + -Disable -Enable +Default +Upside Down - + +-180 180 + + + + -Disable -Enable +Disabled +Enabled + + +None +Servo +EPM + + + +1000 2000 + + +1000 2000 + + +1000 2000 + + +0 255 +seconds + + +0 255 + diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml new file mode 100644 index 0000000..2ee7651 --- /dev/null +++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml @@ -0,0 +1,7683 @@ + + + + + + +-100 0 + + +True + + +True + +ArduPlane +AntennaTracker +Copter +Rover +ArduSub + + + +1 255 + + + +Mission Planner and DroidPlanner + AP Planner 2 + + + + +Disabled +Enabled + + + +0 10 +.5 +Hz + + +0:Roll,1:Pitch,2:Yaw + +None +Roll +Pitch +Yaw + + + +0.01 2.0 +0.01 + + + +Disabled + + + +0.1 +Volts + + +50 +mAh + + + +Disabled +Warn only +Disarm +Enter depth hold mode +Enter surface mode + + + + +Disabled +Warn only +Enter surface mode + + + + +Disabled +Warn only + + + + +Disabled +Warn only + + + +Pascal + + +Degrees Centigrade + + + +Disarm +Hold Position +Surface + + + +10 90 + + +100 900 + + + +Disabled +Enabled + + + + +Never change yaw +Face next waypoint +Face next waypoint except RTL +Face along GPS course + + + +50 500 +10 +Centimeters/Second + + +50 500 +10 +cm/s/s + + +0 300 +1 +pwm + + + +Stabilize +DepthHold +Manual + + + + +Stabilize +DepthHold +Manual + + + + +Stabilize +DepthHold +Manual + + + + +Stabilize +DepthHold +Manual + + + + +Stabilize +DepthHold +Manual + + + + +Stabilize +DepthHold +Manual + + + +0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW + +Default +Default+RCIN +Default+IMU +Default+Motors +NearlyAll-AC315 +NearlyAll +All+FastATT +All+MotBatt +All+FastIMU +All+FastIMU+PID +All+FullIMU +Disabled + + + + +Normal Start-up +Start-up in ESC Calibration mode if throttle high +Start-up in ESC Calibration mode regardless of throttle +Disabled + + + + +None +Stab Roll/Pitch kP +Rate Roll/Pitch kP +Rate Roll/Pitch kI +Rate Roll/Pitch kD +Stab Yaw kP +Rate Yaw kP +Rate Yaw kD +Altitude Hold kP +Throttle Rate kP +Throttle Accel kP +Throttle Accel kI +Throttle Accel kD +Loiter Speed +Loiter Pos kP +Velocity XY kP +Velocity XY kI +WP Speed +Acro RollPitch kP +Acro Yaw kP +Heli Ext Gyro +OF Loiter kP +OF Loiter kI +OF Loiter kD +Declination +Circle Rate +RangeFinder Gain +Rate Pitch kP +Rate Pitch kI +Rate Pitch kD +Rate Roll kP +Rate Roll kI +Rate Roll kD +Rate Pitch FF +Rate Roll FF +Rate Yaw FF + + + +0 32767 + + +0 32767 + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +AttCon Accel Limits +Retract Mount +Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off +Landing Gear +Lost vehicle Sound +Motor Emergency Stop +Motor Interlock +Brake +Throw + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +AttCon Accel Limits +Retract Mount +Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off +Landing Gear +Lost vehicle Sound +Motor Emergency Stop +Motor Interlock +Brake +Throw + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +AttCon Accel Limits +Retract Mount +Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off +Landing Gear +Lost vehicle Sound +Motor Emergency Stop +Motor Interlock +Brake +Throw + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +AttCon Accel Limits +Retract Mount +Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off +Landing Gear +Lost vehicle Sound +Motor Emergency Stop +Motor Interlock +Brake +Throw + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +AttCon Accel Limits +Retract Mount +Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off +Landing Gear +Lost vehicle Sound +Motor Emergency Stop +Motor Interlock +Brake +Throw + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto 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1000 +1 +cm + + +0 1000 +50 +cm/s + + +0 500 +10 +cm/s + + +0 2000 +50 +cm/s + + +50 500 +10 +cm/s/s + + +50 500 +10 +cm/s/s + + +500 5000 +1 +cm/s/s/s + + +100 981 +1 +cm/s/s + + +25 250 +1 +cm/s/s + + + +Disable +Enable + + + + diff --git a/src/FirmwarePlugin/APM/APMResources.qrc b/src/FirmwarePlugin/APM/APMResources.qrc index 941a2a1..82e2bfc 100644 --- a/src/FirmwarePlugin/APM/APMResources.qrc +++ b/src/FirmwarePlugin/APM/APMResources.qrc @@ -50,6 +50,7 @@ APMParameterFactMetaData.Rover.3.0.xml APMParameterFactMetaData.Rover.3.2.xml APMParameterFactMetaData.Sub.3.4.xml + APMParameterFactMetaData.Sub.3.5.xml CopterGeoFenceEditor.qml PlaneGeoFenceEditor.qml Copter3.4.OfflineEditing.params diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc index e6dd01b..aca9380 100644 --- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc @@ -25,8 +25,9 @@ /// @author Rustom Jehangir #include "ArduSubFirmwarePlugin.h" -#include "QGCApplication.h" -#include "MissionManager.h" + +bool ArduSubFirmwarePlugin::_remapParamNameIntialized = false; +FirmwarePlugin::remapParamNameMajorVersionMap_t ArduSubFirmwarePlugin::_remapParamName; APMSubMode::APMSubMode(uint32_t mode, bool settable) : APMCustomMode(mode, settable) @@ -46,6 +47,29 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void) supportedFlightModes << APMSubMode(APMSubMode::STABILIZE ,true); supportedFlightModes << APMSubMode(APMSubMode::ALT_HOLD ,true); setSupportedModes(supportedFlightModes); + + if (!_remapParamNameIntialized) { + FirmwarePlugin::remapParamNameMap_t& remapV3_5 = _remapParamName[3][5]; + + remapV3_5["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION"); + remapV3_5["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION"); + remapV3_5["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION"); + remapV3_5["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION"); + remapV3_5["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION"); + remapV3_5["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION"); + remapV3_5["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION"); + remapV3_5["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION"); + remapV3_5["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION"); + remapV3_5["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION"); + + _remapParamNameIntialized = true; + } +} + +int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const +{ + // Remapping supports up to 3.5 + return majorVersionNumber == 3 ? 5 : Vehicle::versionNotSetValue; } int ArduSubFirmwarePlugin::manualControlReservedButtonCount(void) diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h index d9911f7..491c045 100644 --- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h +++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h @@ -80,6 +80,12 @@ public: bool supportsJSButton(void); QString brandImage(const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImageSub"); } + const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; } + int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final; + +private: + static bool _remapParamNameIntialized; + static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName; }; #endif