Merge pull request #2256 from mavlink/bl_update

Add support for v4 boards

src/VehicleSetup/Bootloader.h

@@ -76,6 +76,7 @@ public:
     // Supported bootloader board ids
     static const int boardIDPX4FMUV1 = 5;   ///< PX4 V1 board
     static const int boardIDPX4FMUV2 = 9;   ///< PX4 V2 board
+    static const int boardIDPX4FMUV4 = 11;   ///< PX4 V4 board
     static const int boardIDPX4Flow = 6;    ///< PX4 Flow board
     static const int boardIDAeroCore = 98;  ///< Gumstix AeroCore board
     static const int boardID3DRRadio = 78;  ///< 3DR Radio
@@ -128,7 +129,7 @@ private:
         
         INFO_BL_REV         =   1,    ///< bootloader protocol revision
         BL_REV_MIN          =   2,    ///< Minimum supported bootlader protocol
-        BL_REV_MAX			=   4,    ///< Maximum supported bootloader protocol
+        BL_REV_MAX			=   5,    ///< Maximum supported bootloader protocol
         INFO_BOARD_ID		=   2,    ///< board type
         INFO_BOARD_REV		=   3,    ///< board revision
         INFO_FLASH_SIZE		=   4,    ///< max firmware size in bytes

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -118,6 +118,7 @@ void FirmwareUpgradeController::_foundBoard(bool firstAttempt, const QSerialPort
             _startFlashWhenBootloaderFound = false;
             break;
         case QGCSerialPortInfo::BoardTypePX4FMUV2:
+        case QGCSerialPortInfo::BoardTypePX4FMUV4:
             _foundBoardType = "Pixhawk";
             _startFlashWhenBootloaderFound = false;
             break;
@@ -187,6 +188,16 @@ void FirmwareUpgradeController::_initFirmwareHash()
         return;
     }
 
+    //////////////////////////////////// PX4FMUV4 firmwares //////////////////////////////////////////////////
+    FirmwareToUrlElement_t rgPX4FMV4FirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v4_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v4_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v4_default.px4"},
+        { AutoPilotStackAPM, StableFirmware,    QuadFirmware,           "http://firmware.diydrones.com/Copter/stable/PX4-quad/ArduCopter-v4.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      QuadFirmware,           "http://firmware.diydrones.com/Copter/beta/PX4-quad/ArduCopter-v4.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, QuadFirmware,           "http://firmware.diydrones.com/Copter/latest/PX4-quad/ArduCopter-v4.px4"}
+    };
+
     //////////////////////////////////// PX4FMUV2 firmwares //////////////////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FMV2FirmwareArray[] = {
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4"},
@@ -273,7 +284,13 @@ void FirmwareUpgradeController::_initFirmwareHash()
     };
 
     // populate hashes now
-    int size = sizeof(rgPX4FMV2FirmwareArray)/sizeof(rgPX4FMV2FirmwareArray[0]);
+    int size = sizeof(rgPX4FMV4FirmwareArray)/sizeof(rgPX4FMV4FirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgPX4FMV4FirmwareArray[i];
+        _rgPX4FMUV4Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
+
+    size = sizeof(rgPX4FMV2FirmwareArray)/sizeof(rgPX4FMV2FirmwareArray[0]);
     for (int i = 0; i < size; i++) {
         const FirmwareToUrlElement_t& element = rgPX4FMV2FirmwareArray[i];
         _rgPX4FMUV2Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
@@ -333,6 +350,10 @@ void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId)
         case Bootloader::boardIDPX4FMUV2:
             prgFirmware = _rgPX4FMUV2Firmware;
             break;
+
+        case Bootloader::boardIDPX4FMUV4:
+            prgFirmware = _rgPX4FMUV4Firmware;
+            break;
             
         case Bootloader::boardIDAeroCore:
             prgFirmware = _rgAeroCoreFirmware;

src/VehicleSetup/FirmwareUpgradeController.h

@@ -177,6 +177,7 @@ private:
     QString _portDescription;
 
     // firmware hashes
+    QHash<FirmwareIdentifier, QString> _rgPX4FMUV4Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware;
     QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV1Firmware;

src/comm/LinkManager.cc

@@ -497,6 +497,7 @@ void LinkManager::_updateAutoConnectLinks(void)
                 switch (boardType) {
                 case QGCSerialPortInfo::BoardTypePX4FMUV1:
                 case QGCSerialPortInfo::BoardTypePX4FMUV2:
+                case QGCSerialPortInfo::BoardTypePX4FMUV4:
                     if (_autoconnectPixhawk) {
                         pSerialConfig = new SerialConfiguration(QString("Pixhawk on %1").arg(portInfo.portName().trimmed()));
                     }

src/comm/QGCSerialPortInfo.cc

@@ -47,7 +47,10 @@ QGCSerialPortInfo::BoardType_t QGCSerialPortInfo::boardType(void) const
 
     switch (vendorIdentifier()) {
         case px4VendorId:
-            if (productIdentifier() == pixhawkFMUV2ProductId || productIdentifier() == pixhawkFMUV2OldBootloaderProductId) {
+            if (productIdentifier() == pixhawkFMUV4ProductId) {
+                qCDebug(QGCSerialPortInfoLog) << "Found PX4 FMU V4";
+                boardType = BoardTypePX4FMUV4;
+            } else if (productIdentifier() == pixhawkFMUV2ProductId || productIdentifier() == pixhawkFMUV2OldBootloaderProductId) {
                 qCDebug(QGCSerialPortInfoLog) << "Found PX4 FMU V2";
                 boardType = BoardTypePX4FMUV2;
             } else if (productIdentifier() == pixhawkFMUV1ProductId) {
@@ -72,7 +75,10 @@ QGCSerialPortInfo::BoardType_t QGCSerialPortInfo::boardType(void) const
     if (boardType == BoardTypeUnknown) {
         // Fall back to port name matching which could lead to incorrect board mapping. But in some cases the
         // vendor and product id do not come through correctly so this is used as a last chance detection method.
-        if (description() == "PX4 FMU v2.x" || description() == "PX4 BL FMU v2.x") {
+        if (description() == "PX4 FMU v4.x" || description() == "PX4 BL FMU v4.x") {
+            qCDebug(QGCSerialPortInfoLog) << "Found PX4 FMU V4 (by name matching fallback)";
+            boardType = BoardTypePX4FMUV4;
+        } else if (description() == "PX4 FMU v2.x" || description() == "PX4 BL FMU v2.x") {
             qCDebug(QGCSerialPortInfoLog) << "Found PX4 FMU V2 (by name matching fallback)";
             boardType = BoardTypePX4FMUV2;
         } else if (description() == "PX4 FMU v1.x" || description() == "PX4 BL FMU v1.x") {

src/comm/QGCSerialPortInfo.h

@@ -42,6 +42,7 @@ public:
     typedef enum {
         BoardTypePX4FMUV1,
         BoardTypePX4FMUV2,
+        BoardTypePX4FMUV4,
         BoardTypePX4Flow,
         BoardType3drRadio,
         BoardTypeAeroCore,
@@ -52,6 +53,7 @@ public:
 
     static const int px4VendorId =                          9900;   ///< Vendor ID for Pixhawk board (V2 and V1) and PX4 Flow
 
+    static const int pixhawkFMUV4ProductId =                18;     ///< Product ID for Pixhawk V2 board
     static const int pixhawkFMUV2ProductId =                17;     ///< Product ID for Pixhawk V2 board
     static const int pixhawkFMUV2OldBootloaderProductId =   22;     ///< Product ID for Bootloader on older Pixhawk V2 boards
     static const int pixhawkFMUV1ProductId =                16;     ///< Product ID for PX4 FMU V1 board