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Merge pull request #6514 from DonLakeFlyer/OpticalFlow 

PX4 Optical Flow fixes
QGC4.4
Don Gagne 7 years ago committed by GitHub
parent
34931bf2c3 f0eb00298c
commit
f1e2638cad
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GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 70 additions and 27 deletions
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  1. 8
      src/Vehicle/MultiVehicleManager.cc
  2. 4
      src/Vehicle/Vehicle.cc
  3. 1
      src/Vehicle/Vehicle.h
  4. 46
      src/VehicleSetup/FirmwareUpgrade.qml
  5. 4
      src/VehicleSetup/FirmwareUpgradeController.cc
  6. 3
      src/VehicleSetup/FirmwareUpgradeController.h
  7. 2
      src/VehicleSetup/SetupView.qml
  8. 3
      src/comm/LinkInterface.cc
  9. 12
      src/comm/LinkInterface.h
  10. 6
      src/comm/LinkManager.cc
  11. 2
      src/comm/LinkManager.h
  12. 4
      src/comm/SerialLink.cc
  13. 2
      src/comm/SerialLink.h

8
src/Vehicle/MultiVehicleManager.cc
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@ -74,6 +74,14 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox) @@ -74,6 +74,14 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType)
{
// Special case PX4 Flow since depending on firmware it can have different settings. We force to the PX4 Firmware settings.
if (link->isPX4Flow()) {
vehicleId = 81;
componentId = 50;//MAV_COMP_ID_AUTOPILOT1;
vehicleFirmwareType = MAV_AUTOPILOT_GENERIC;
vehicleType = 0;
}
if (componentId != MAV_COMP_ID_AUTOPILOT1) {
// Special case for PX4 Flow
if (vehicleId != 81 || componentId != 50) {

4
src/Vehicle/Vehicle.cc
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@ -239,8 +239,8 @@ Vehicle::Vehicle(LinkInterface* link, @@ -239,8 +239,8 @@ Vehicle::Vehicle(LinkInterface* link,
connect(_mav, SIGNAL(attitudeChanged (UASInterface*,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
connect(_mav, SIGNAL(attitudeChanged (UASInterface*,int,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
if (_highLatencyLink) {
// High latency links don't request information
if (_highLatencyLink || link->isPX4Flow()) {
// These links don't request information
_setMaxProtoVersion(100);
_setCapabilities(0);
_initialPlanRequestComplete = true;

1
src/Vehicle/Vehicle.h
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@ -496,6 +496,7 @@ public: @@ -496,6 +496,7 @@ public:
Q_PROPERTY(bool supportsTerrainFrame READ supportsTerrainFrame NOTIFY firmwareTypeChanged)
Q_PROPERTY(QString priorityLinkName READ priorityLinkName WRITE setPriorityLinkByName NOTIFY priorityLinkNameChanged)
Q_PROPERTY(QVariantList links READ links NOTIFY linksChanged)
Q_PROPERTY(LinkInterface* priorityLink READ priorityLink NOTIFY priorityLinkNameChanged)
// Vehicle state used for guided control
Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged) ///< Vehicle is flying

46
src/VehicleSetup/FirmwareUpgrade.qml
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@ -170,16 +170,20 @@ SetupPage { @@ -170,16 +170,20 @@ SetupPage {
if (_singleFirmwareMode) {
controller.flashSingleFirmwareMode(controller.selectedFirmwareType)
} else {
var stack = apmFlightStack.checked ? FirmwareUpgradeController.AutoPilotStackAPM : FirmwareUpgradeController.AutoPilotStackPX4
if (px4Flow) {
stack = FirmwareUpgradeController.PX4Flow
}
var stack
var firmwareType = firmwareVersionCombo.model.get(firmwareVersionCombo.currentIndex).firmwareType
var vehicleType = FirmwareUpgradeController.DefaultVehicleFirmware
if (apmFlightStack.checked) {
vehicleType = controller.vehicleTypeFromVersionIndex(vehicleTypeSelectionCombo.currentIndex)
if (px4Flow) {
stack = px4FlowTypeSelectionCombo.model.get(px4FlowTypeSelectionCombo.currentIndex).stackType
vehicleType = FirmwareUpgradeController.DefaultVehicleFirmware
} else {
stack = apmFlightStack.checked ? FirmwareUpgradeController.AutoPilotStackAPM : FirmwareUpgradeController.AutoPilotStackPX4
if (apmFlightStack.checked) {
vehicleType = controller.vehicleTypeFromVersionIndex(vehicleTypeSelectionCombo.currentIndex)
}
}
controller.flash(stack, firmwareType, vehicleType)
}
}
@ -215,6 +219,19 @@ SetupPage { @@ -215,6 +219,19 @@ SetupPage {
}
ListModel {
id: px4FlowFirmwareList
ListElement {
text: qsTr("PX4 Pro")
stackType: FirmwareUpgradeController.PX4FlowPX4
}
ListElement {
text: qsTr("ArduPilot")
stackType: FirmwareUpgradeController.PX4FlowAPM
}
}
ListModel {
id: px4FlowTypeList
ListElement {
@ -249,7 +266,7 @@ SetupPage { @@ -249,7 +266,7 @@ SetupPage {
wrapMode: Text.WordWrap
text: _singleFirmwareMode ? _singleFirmwareLabel : (px4Flow ? _px4FlowLabel : _pixhawkLabel)
readonly property string _px4FlowLabel: qsTr("Detected PX4 Flow board. You can select from the following firmware:")
readonly property string _px4FlowLabel: qsTr("Detected PX4 Flow board. The firmware you use on the PX4 Flow must match the AutoPilot firmware type you are using on the vehicle:")
readonly property string _pixhawkLabel: qsTr("Detected Pixhawk board. You can select from the following flight stacks:")
readonly property string _singleFirmwareLabel: qsTr("Press Ok to upgrade your vehicle.")
}
@ -301,10 +318,19 @@ SetupPage { @@ -301,10 +318,19 @@ SetupPage {
id: vehicleTypeSelectionCombo
anchors.left: parent.left
anchors.right: parent.right
visible: apmFlightStack.checked
visible: !px4Flow && apmFlightStack.checked
model: controller.apmAvailableVersions
}
QGCComboBox {
id: px4FlowTypeSelectionCombo
anchors.left: parent.left
anchors.right: parent.right
visible: px4Flow
model: px4FlowFirmwareList
currentIndex: _defaultFirmwareIsPX4 ? 0 : 1
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth / 2
@ -349,7 +375,7 @@ SetupPage { @@ -349,7 +375,7 @@ SetupPage {
anchors.left: parent.left
anchors.right: parent.right
visible: showFirmwareTypeSelection
model: _singleFirmwareMode ? singleFirmwareModeTypeList: (px4Flow ? px4FlowTypeList : firmwareTypeList)
model: _singleFirmwareMode ? singleFirmwareModeTypeList : (px4Flow ? px4FlowTypeList : firmwareTypeList)
currentIndex: controller.selectedFirmwareType
onActivated: {

4
src/VehicleSetup/FirmwareUpgradeController.cc
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@ -99,6 +99,7 @@ void FirmwareUpgradeController::flash(AutoPilotStackType_t stackType, @@ -99,6 +99,7 @@ void FirmwareUpgradeController::flash(AutoPilotStackType_t stackType,
FirmwareType_t firmwareType,
FirmwareVehicleType_t vehicleType)
{
qCDebug(FirmwareUpgradeLog) << "_flash stackType:firmwareType:vehicleType" << stackType << firmwareType << vehicleType;
FirmwareIdentifier firmwareId = FirmwareIdentifier(stackType, firmwareType, vehicleType);
if (_bootloaderFound) {
_getFirmwareFile(firmwareId);
@ -351,7 +352,8 @@ void FirmwareUpgradeController::_initFirmwareHash() @@ -351,7 +352,8 @@ void FirmwareUpgradeController::_initFirmwareHash()
/////////////////////////////// px4flow firmwares ///////////////////////////////////////
FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
{ PX4Flow, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
{ PX4FlowPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
{ PX4FlowAPM, StableFirmware, DefaultVehicleFirmware, "http://firmware.ardupilot.org/Tools/PX4Flow/px4flow-klt-06Dec2014.px4" },
};
/////////////////////////////// 3dr radio firmwares ///////////////////////////////////////

3
src/VehicleSetup/FirmwareUpgradeController.h
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@ -40,7 +40,8 @@ public: @@ -40,7 +40,8 @@ public:
typedef enum {
AutoPilotStackPX4,
AutoPilotStackAPM,
PX4Flow,
PX4FlowPX4,
PX4FlowAPM,
ThreeDRRadio,
SingleFirmwareMode
} AutoPilotStackType_t;

2
src/VehicleSetup/SetupView.qml
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@ -258,7 +258,7 @@ Rectangle { @@ -258,7 +258,7 @@ Rectangle {
SubMenuButton {
id: px4FlowButton
exclusiveGroup: setupButtonGroup
visible: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.genericFirmware : false
visible: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.priorityLink.isPX4Flow : false
setupIndicator: false
text: qsTr("PX4Flow")
Layout.fillWidth: true

3
src/comm/LinkInterface.cc
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@ -42,13 +42,14 @@ uint8_t LinkInterface::mavlinkChannel(void) const @@ -42,13 +42,14 @@ uint8_t LinkInterface::mavlinkChannel(void) const
return _mavlinkChannel;
}
// Links are only created by LinkManager so constructor is not public
LinkInterface::LinkInterface(SharedLinkConfigurationPointer& config)
LinkInterface::LinkInterface(SharedLinkConfigurationPointer& config, bool isPX4Flow)
: QThread (0)
, _config (config)
, _highLatency (config->isHighLatency())
, _mavlinkChannelSet (false)
, _enableRateCollection (false)
, _decodedFirstMavlinkPacket(false)
, _isPX4Flow (isPX4Flow)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);

12
src/comm/LinkInterface.h
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@ -43,13 +43,16 @@ public: @@ -43,13 +43,16 @@ public:
_config->setLink(NULL);
}
Q_PROPERTY(bool active READ active NOTIFY activeChanged)
Q_PROPERTY(bool active READ active NOTIFY activeChanged)
Q_PROPERTY(bool isPX4Flow READ isPX4Flow CONSTANT)
// Property accessors
bool active() const;
Q_INVOKABLE bool link_active(int vehicle_id) const;
Q_INVOKABLE bool getHighLatency(void) const { return _highLatency; }
// Property accessors
bool active() const;
bool isPX4Flow(void) const { return _isPX4Flow; }
LinkConfiguration* getLinkConfiguration(void) { return _config.data(); }
/* Connection management */
@ -201,7 +204,7 @@ signals: @@ -201,7 +204,7 @@ signals:
protected:
// Links are only created by LinkManager so constructor is not public
LinkInterface(SharedLinkConfigurationPointer& config);
LinkInterface(SharedLinkConfigurationPointer& config, bool isPX4Flow = false);
/// This function logs the send times and amounts of datas for input. Data is used for calculating
/// the transmission rate.
@ -298,6 +301,7 @@ private: @@ -298,6 +301,7 @@ private:
bool _enableRateCollection;
bool _decodedFirstMavlinkPacket; ///< true: link has correctly decoded it's first mavlink packet
bool _isPX4Flow;
QMap<int /* vehicle id */, HeartbeatTimer*> _heartbeatTimers;
};

6
src/comm/LinkManager.cc
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@ -97,7 +97,7 @@ void LinkManager::createConnectedLink(LinkConfiguration* config) @@ -97,7 +97,7 @@ void LinkManager::createConnectedLink(LinkConfiguration* config)
}
}
LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer& config)
LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer& config, bool isPX4Flow)
{
if (!config) {
qWarning() << "LinkManager::createConnectedLink called with NULL config";
@ -111,7 +111,7 @@ LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer& @@ -111,7 +111,7 @@ LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer&
{
SerialConfiguration* serialConfig = dynamic_cast<SerialConfiguration*>(config.data());
if (serialConfig) {
pLink = new SerialLink(config);
pLink = new SerialLink(config, isPX4Flow);
if (serialConfig->usbDirect()) {
_activeLinkCheckList.append((SerialLink*)pLink);
if (!_activeLinkCheckTimer.isActive()) {
@ -599,7 +599,7 @@ void LinkManager::_updateAutoConnectLinks(void) @@ -599,7 +599,7 @@ void LinkManager::_updateAutoConnectLinks(void)
pSerialConfig->setDynamic(true);
pSerialConfig->setPortName(portInfo.systemLocation());
_sharedAutoconnectConfigurations.append(SharedLinkConfigurationPointer(pSerialConfig));
createConnectedLink(_sharedAutoconnectConfigurations.last());
createConnectedLink(_sharedAutoconnectConfigurations.last(), boardType == QGCSerialPortInfo::BoardTypePX4Flow);
}
}
}

2
src/comm/LinkManager.h
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@ -104,7 +104,7 @@ public: @@ -104,7 +104,7 @@ public:
/// Creates, connects (and adds) a link based on the given configuration instance.
/// Link takes ownership of config.
LinkInterface* createConnectedLink(SharedLinkConfigurationPointer& config);
LinkInterface* createConnectedLink(SharedLinkConfigurationPointer& config, bool isPX4Flow = false);
// This should only be used by Qml code
Q_INVOKABLE void createConnectedLink(LinkConfiguration* config);

4
src/comm/SerialLink.cc
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@ -30,8 +30,8 @@ QGC_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog") @@ -30,8 +30,8 @@ QGC_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog")
static QStringList kSupportedBaudRates;
SerialLink::SerialLink(SharedLinkConfigurationPointer& config)
: LinkInterface(config)
SerialLink::SerialLink(SharedLinkConfigurationPointer& config, bool isPX4Flow)
: LinkInterface(config, isPX4Flow)
, _port(NULL)
, _bytesRead(0)
, _stopp(false)

2
src/comm/SerialLink.h
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@ -169,7 +169,7 @@ private slots: @@ -169,7 +169,7 @@ private slots:
private:
// Links are only created/destroyed by LinkManager so constructor/destructor is not public
SerialLink(SharedLinkConfigurationPointer& config);
SerialLink(SharedLinkConfigurationPointer& config, bool isPX4Flow = false);
~SerialLink();
// From LinkInterface

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