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Merge pull request #2934 from DonLakeFlyer/SimpleFlightMode 

Simple flight mode config
QGC4.4
Don Gagne 9 years ago
parent
ed475329d4 9fa4c40b69
commit
f5776307c4
19 changed files with 2039 additions and 1611 deletions
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  1. 6
      qgroundcontrol.pro
  2. 4
      qgroundcontrol.qrc
  3. 20
      src/AutoPilotPlugins/PX4/FlightModesComponent.cc
  4. 86
      src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
  5. 415
      src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml
  6. 116
      src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
  7. 8
      src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h
  8. 2
      src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
  9. 67
      src/AutoPilotPlugins/PX4/PX4FlightModes.qml
  10. 140
      src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml
  11. 73
      src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc
  12. 62
      src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h
  13. 2
      src/FactSystem/ParameterLoader.cc
  14. 201
      src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
  15. 6
      src/QGCApplication.cc
  16. 6
      src/VehicleSetup/VehicleComponent.cc

6
qgroundcontrol.pro
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@ -590,7 +590,8 @@ HEADERS+= \ @@ -590,7 +590,8 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
src/AutoPilotPlugins/PX4/AirframeComponentController.h \
src/AutoPilotPlugins/PX4/FlightModesComponent.h \
src/AutoPilotPlugins/PX4/FlightModesComponentController.h \
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h \
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h \
src/AutoPilotPlugins/PX4/PowerComponent.h \
src/AutoPilotPlugins/PX4/PowerComponentController.h \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
@ -646,7 +647,8 @@ SOURCES += \ @@ -646,7 +647,8 @@ SOURCES += \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
src/AutoPilotPlugins/PX4/AirframeComponentController.cc \
src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc \
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc \
src/AutoPilotPlugins/PX4/PowerComponent.cc \
src/AutoPilotPlugins/PX4/PowerComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \

4
qgroundcontrol.qrc
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@ -14,7 +14,9 @@ @@ -14,7 +14,9 @@
<file alias="LogDownload.qml">src/ViewWidgets/LogDownload.qml</file>
<file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
<file alias="FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
<file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
<file alias="PX4FlightModes.qml">src/AutoPilotPlugins/PX4/PX4FlightModes.qml</file>
<file alias="PX4AdvancedFlightModes.qml">src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml</file>
<file alias="PX4SimpleFlightModes.qml">src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml</file>
<file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
<file alias="APMFlightModesComponent.qml">src/AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
<file alias="APMFlightModesComponentSummary.qml">src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>

20
src/AutoPilotPlugins/PX4/FlightModesComponent.cc
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@ -63,18 +63,30 @@ bool FlightModesComponent::requiresSetup(void) const @@ -63,18 +63,30 @@ bool FlightModesComponent::requiresSetup(void) const
bool FlightModesComponent::setupComplete(void) const
{
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ||
_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0;
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
return true;
}
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
(_autopilot->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
return true;
}
return false;
}
QStringList FlightModesComponent::setupCompleteChangedTriggerList(void) const
{
return QStringList("RC_MAP_MODE_SW");
QStringList list;
list << QStringLiteral("RC_MAP_MODE_SW") << QStringLiteral("RC_MAP_FLTMODE");
return list;
}
QUrl FlightModesComponent::setupSource(void) const
{
return QUrl::fromUserInput("qrc:/qml/FlightModesComponent.qml");
return QUrl::fromUserInput("qrc:/qml/PX4FlightModes.qml");
}
QUrl FlightModesComponent::summaryQmlSource(void) const

86
src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
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@ -1,10 +1,11 @@ @@ -1,10 +1,11 @@
import QtQuick 2.2
import QtQuick 2.2
import QtQuick.Controls 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.ScreenTools 1.0
FactPanel {
id: panel
@ -14,33 +15,68 @@ FactPanel { @@ -14,33 +15,68 @@ FactPanel {
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
FactPanelController { id: controller; factPanel: panel }
property Fact modeSwFact: controller.getParameterFact(-1, "RC_MAP_MODE_SW")
property Fact posCtlSwFact: controller.getParameterFact(-1, "RC_MAP_POSCTL_SW")
property Fact loiterSwFact: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
property Fact returnSwFact: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
property Fact _nullFact
property Fact _rcMapFltmode: controller.parameterExists(-1, "RC_MAP_FLTMODE") ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
property Fact _rcMapModeSw: controller.getParameterFact(-1, "RC_MAP_MODE_SW")
property bool _simpleMode: _rcMapFltmode.value > 0 || _rcMapModeSw.value == 0
Column {
Loader {
anchors.fill: parent
anchors.margins: 8
sourceComponent: _simpleMode ? simple : advanced
}
VehicleSummaryRow {
labelText: "Mode switch:"
valueText: modeSwFact ? (modeSwFact.value === 0 ? "Setup required" : modeSwFact.valueString) : ""
}
Component {
id: simple
VehicleSummaryRow {
labelText: "Position Ctl switch:"
valueText: posCtlSwFact ? (posCtlSwFact.value === 0 ? "Disabled" : posCtlSwFact.valueString) : ""
}
Column {
anchors.margins: 8
VehicleSummaryRow {
labelText: "Loiter switch:"
valueText: loiterSwFact ? (loiterSwFact.value === 0 ? "Disabled" : loiterSwFact.valueString) : ""
VehicleSummaryRow {
labelText: "Mode switch:"
valueText: _rcMapFltmode.value === 0 ? "Setup required" : _rcMapFltmode.enumStringValue
}
Repeater {
model: 6
VehicleSummaryRow {
labelText: "Flight Mode " + (index + 1) + ":"
valueText: controller.getParameterFact(-1, "COM_FLTMODE" + (index + 1)).enumStringValue
}
}
}
}
Component {
id: advanced
Column {
anchors.margins: 8
property Fact posCtlSwFact: controller.getParameterFact(-1, "RC_MAP_POSCTL_SW")
property Fact loiterSwFact: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
property Fact returnSwFact: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
VehicleSummaryRow {
labelText: "Mode switch:"
valueText: _rcMapModeSw.value === 0 ? "Setup required" : _rcMapModeSw.valueString
}
VehicleSummaryRow {
labelText: "Position Ctl switch:"
valueText: posCtlSwFact.value === 0 ? "Disabled" : posCtlSwFact.valueString
}
VehicleSummaryRow {
labelText: "Loiter switch:"
valueText: loiterSwFact.value === 0 ? "Disabled" : loiterSwFact.valueString
}
VehicleSummaryRow {
labelText: "Return switch:"
valueText: returnSwFact ? (returnSwFact.value === 0 ? "Disabled" : returnSwFact.valueString) : ""
VehicleSummaryRow {
labelText: "Return switch:"
valueText: returnSwFact.value === 0 ? "Disabled" : returnSwFact.valueString
}
}
}
}

415
src/AutoPilotPlugins/PX4/FlightModesComponent.qml → src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml
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@ -34,9 +34,13 @@ import QGroundControl.Controls 1.0 @@ -34,9 +34,13 @@ import QGroundControl.Controls 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ScreenTools 1.0
QGCView {
id: qgcView
viewPanel: panel
/// PX4 Advanced Flight Mode configuration
Item {
id: root
// The following properties must be pushed in from the Loader
//property var qgcView - QGCView control
//property var qgcViewPanel - QGCViewPanel control
readonly property int monitorThresholdCharWidth: 8 // Character width of Monitor and Threshold labels
@ -120,13 +124,11 @@ QGCView { @@ -120,13 +124,11 @@ QGCView {
readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3
property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
FlightModesComponentController {
PX4AdvancedFlightModesController {
id: controller
factPanel: panel
factPanel: qgcViewPanel
onModeRowsChanged: recalcModePositions()
}
@ -137,9 +139,6 @@ QGCView { @@ -137,9 +139,6 @@ QGCView {
onTriggered: {
recalcModePositions()
if (rcInMode.value == 1) {
showDialog(joystickEnabledDialogComponent, title, qgcView.showDialogDefaultWidth, 0)
}
}
}
@ -194,225 +193,233 @@ QGCView { @@ -194,225 +193,233 @@ QGCView {
scrollItem.height = nextY
}
QGCViewPanel {
id: panel
anchors.fill: parent
Component {
id: joystickEnabledDialogComponent
Component {
id: joystickEnabledDialogComponent
QGCViewMessage {
message: "Flight Mode Config is disabled since you have a Joystick enabled."
}
QGCViewMessage {
message: "Flight Mode Config is disabled since you have a Joystick enabled."
}
}
ScrollView {
id: scroll
anchors.fill: parent
horizontalScrollBarPolicy: Qt.ScrollBarAlwaysOff
ScrollView {
id: scroll
anchors.fill: parent
horizontalScrollBarPolicy: Qt.ScrollBarAlwaysOff
Item {
id: scrollItem
width: scroll.viewport.width
Item {
id: scrollItem
width: scroll.viewport.width
Item {
id: helpApplyRow
width: parent.width
height: Math.max(helpText.contentHeight, applyButton.height)
QGCLabel {
id: helpText
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.right: applyButton.left
text: topHelpText
font.pixelSize: ScreenTools.defaultFontPixelSize
wrapMode: Text.WordWrap
id: helpApplyRow
width: parent.width
height: Math.max(helpText.contentHeight, applyButton.y + applyButton.height)
QGCLabel {
id: helpText
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.right: buttonColumn.left
text: topHelpText
font.pixelSize: ScreenTools.defaultFontPixelSize
wrapMode: Text.WordWrap
}
Column {
id: buttonColumn
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelHeight / 4
QGCButton {
text: "Use Simple Flight Modes"
visible: controller.parameterExists(-1, "RC_MAP_FLTMODE")
onClicked: {
controller.getParameterFact(-1, "RC_MAP_MODE_SW").value = 0
controller.getParameterFact(-1, "RC_MAP_FLTMODE").value = 5
}
}
QGCButton {
id: applyButton
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.right: parent.right
text: "Generate Thresholds"
onClicked: controller.generateThresholds()
}
}
}
Item {
id: lastSpacer
anchors.top: helpApplyRow.bottom
height: ScreenTools.defaultFontPixelHeight
width: 10
}
Item {
id: lastSpacer
anchors.top: helpApplyRow.bottom
height: ScreenTools.defaultFontPixelHeight
width: 10
}
ModeSwitchDisplay {
id: manualMode
anchors.top: lastSpacer.bottom
flightModeName: controller.fixedWing ? fwManualModeName : mrManualModeName
flightModeDescription: controller.fixedWing ? fwManualModeDescription : mrManualModeDescription
rcValue: controller.manualModeRcValue
modeChannelIndex: controller.manualModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.manualModeSelected
thresholdValue: controller.manualModeThreshold
thresholdDragEnabled: false
onModeChannelIndexSelected: controller.manualModeChannelIndex = index
}
ModeSwitchDisplay {
id: manualMode
anchors.top: lastSpacer.bottom
flightModeName: controller.fixedWing ? fwManualModeName : mrManualModeName
flightModeDescription: controller.fixedWing ? fwManualModeDescription : mrManualModeDescription
rcValue: controller.manualModeRcValue
modeChannelIndex: controller.manualModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.manualModeSelected
thresholdValue: controller.manualModeThreshold
thresholdDragEnabled: false
onModeChannelIndexSelected: controller.manualModeChannelIndex = index
}
ModeSwitchDisplay {
id: assistMode
visible: controller.assistModeVisible
flightModeName: assistModeName
flightModeDescription: assistModeDescription
rcValue: controller.assistModeRcValue
modeChannelIndex: controller.assistModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.assistModeSelected
thresholdValue: controller.assistModeThreshold
thresholdDragEnabled: true
onThresholdValueChanged: controller.assistModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: assistMode
visible: controller.assistModeVisible
flightModeName: assistModeName
flightModeDescription: assistModeDescription
rcValue: controller.assistModeRcValue
modeChannelIndex: controller.assistModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.assistModeSelected
thresholdValue: controller.assistModeThreshold
thresholdDragEnabled: true
onThresholdValueChanged: controller.assistModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: autoMode
visible: controller.autoModeVisible
flightModeName: autoModeName
flightModeDescription: autoModeDescription
rcValue: controller.autoModeRcValue
modeChannelIndex: controller.autoModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.autoModeSelected
thresholdValue: controller.autoModeThreshold
thresholdDragEnabled: true
onThresholdValueChanged: controller.autoModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: autoMode
visible: controller.autoModeVisible
flightModeName: autoModeName
flightModeDescription: autoModeDescription
rcValue: controller.autoModeRcValue
modeChannelIndex: controller.autoModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.autoModeSelected
thresholdValue: controller.autoModeThreshold
thresholdDragEnabled: true
onThresholdValueChanged: controller.autoModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: acroMode
flightModeName: controller.fixedWing ? fwAcroModeName : mrAcroModeName
flightModeDescription: controller.fixedWing ? fwAcroModeDescription : mrAcroModeDescription
rcValue: controller.acroModeRcValue
modeChannelIndex: controller.acroModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.acroModeSelected
thresholdValue: controller.acroModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.acroModeChannelIndex = index
onThresholdValueChanged: controller.acroModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: acroMode
flightModeName: controller.fixedWing ? fwAcroModeName : mrAcroModeName
flightModeDescription: controller.fixedWing ? fwAcroModeDescription : mrAcroModeDescription
rcValue: controller.acroModeRcValue
modeChannelIndex: controller.acroModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.acroModeSelected
thresholdValue: controller.acroModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.acroModeChannelIndex = index
onThresholdValueChanged: controller.acroModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: altCtlMode
flightModeName: altCtlModeName
flightModeDescription: controller.fixedWing ? fwAltCtlModeDescription : mrAltCtlModeDescription
rcValue: controller.altCtlModeRcValue
modeChannelIndex: controller.altCtlModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.altCtlModeSelected
thresholdValue: controller.altCtlModeThreshold
thresholdDragEnabled: !controller.assistModeVisible
ModeSwitchDisplay {
id: altCtlMode
flightModeName: altCtlModeName
flightModeDescription: controller.fixedWing ? fwAltCtlModeDescription : mrAltCtlModeDescription
rcValue: controller.altCtlModeRcValue
modeChannelIndex: controller.altCtlModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.altCtlModeSelected
thresholdValue: controller.altCtlModeThreshold
thresholdDragEnabled: !controller.assistModeVisible
onThresholdValueChanged: controller.altCtlModeThreshold = thresholdValue
onThresholdValueChanged: controller.altCtlModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: posCtlMode
flightModeName: posCtlModeName
flightModeDescription: controller.fixedWing ? fwPosCtlModeDescription : mrPosCtlModeDescription
rcValue: controller.posCtlModeRcValue
modeChannelIndex: controller.posCtlModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.posCtlModeSelected
thresholdValue: controller.posCtlModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.posCtlModeChannelIndex = index
onThresholdValueChanged: controller.posCtlModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: posCtlMode
flightModeName: posCtlModeName
flightModeDescription: controller.fixedWing ? fwPosCtlModeDescription : mrPosCtlModeDescription
rcValue: controller.posCtlModeRcValue
modeChannelIndex: controller.posCtlModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.posCtlModeSelected
thresholdValue: controller.posCtlModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.posCtlModeChannelIndex = index
onThresholdValueChanged: controller.posCtlModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: missionMode
flightModeName: missionModeName
flightModeDescription: missionModeDescription
rcValue: controller.missionModeRcValue
modeChannelIndex: controller.missionModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.missionModeSelected
thresholdValue: controller.missionModeThreshold
thresholdDragEnabled: !controller.autoModeVisible
ModeSwitchDisplay {
id: missionMode
flightModeName: missionModeName
flightModeDescription: missionModeDescription
rcValue: controller.missionModeRcValue
modeChannelIndex: controller.missionModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.missionModeSelected
thresholdValue: controller.missionModeThreshold
thresholdDragEnabled: !controller.autoModeVisible
onThresholdValueChanged: controller.missionModeThreshold = thresholdValue
onThresholdValueChanged: controller.missionModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: loiterMode
flightModeName: loiterModeName
flightModeDescription: controller.fixedWing ? fwLoiterModeDescription : mrLoiterModeDescription
rcValue: controller.loiterModeRcValue
modeChannelIndex: controller.loiterModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.loiterModeSelected
thresholdValue: controller.loiterModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.loiterModeChannelIndex = index
onThresholdValueChanged: controller.loiterModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: loiterMode
flightModeName: loiterModeName
flightModeDescription: controller.fixedWing ? fwLoiterModeDescription : mrLoiterModeDescription
rcValue: controller.loiterModeRcValue
modeChannelIndex: controller.loiterModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.loiterModeSelected
thresholdValue: controller.loiterModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.loiterModeChannelIndex = index
onThresholdValueChanged: controller.loiterModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: returnMode
flightModeName: returnModeName
flightModeDescription: returnModeDescription
rcValue: controller.returnModeRcValue
modeChannelIndex: controller.returnModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.returnModeSelected
thresholdValue: controller.returnModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.returnModeChannelIndex = index
onThresholdValueChanged: controller.returnModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: returnMode
flightModeName: returnModeName
flightModeDescription: returnModeDescription
rcValue: controller.returnModeRcValue
modeChannelIndex: controller.returnModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.returnModeSelected
thresholdValue: controller.returnModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.returnModeChannelIndex = index
onThresholdValueChanged: controller.returnModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
ModeSwitchDisplay {
id: offboardMode
flightModeName: offboardModeName
flightModeDescription: offboardModeDescription
rcValue: controller.offboardModeRcValue
modeChannelIndex: controller.offboardModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.offboardModeSelected
thresholdValue: controller.offboardModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.offboardModeChannelIndex = index
onThresholdValueChanged: controller.offboardModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
} // Item
} // Scroll View
} // QGCViewPanel
} // QGCView
ModeSwitchDisplay {
id: offboardMode
flightModeName: offboardModeName
flightModeDescription: offboardModeDescription
rcValue: controller.offboardModeRcValue
modeChannelIndex: controller.offboardModeChannelIndex
modeChannelEnabled: true
modeSelected: controller.offboardModeSelected
thresholdValue: controller.offboardModeThreshold
thresholdDragEnabled: true
onModeChannelIndexSelected: controller.offboardModeChannelIndex = index
onThresholdValueChanged: controller.offboardModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
} // Item
} // Scroll View
} // Item

116
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc → src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
Unescape View File

@ -24,14 +24,14 @@ @@ -24,14 +24,14 @@
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "FlightModesComponentController.h"
#include "PX4AdvancedFlightModesController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
FlightModesComponentController::FlightModesComponentController(void) :
PX4AdvancedFlightModesController::PX4AdvancedFlightModesController(void) :
_validConfiguration(false),
_channelCount(18),
_manualModeSelected(false),
@ -55,10 +55,10 @@ FlightModesComponentController::FlightModesComponentController(void) : @@ -55,10 +55,10 @@ FlightModesComponentController::FlightModesComponentController(void) :
_init();
_validateConfiguration();
connect(_vehicle, &Vehicle::rcChannelsChanged, this, &FlightModesComponentController::_rcChannelsChanged);
connect(_vehicle, &Vehicle::rcChannelsChanged, this, &PX4AdvancedFlightModesController::_rcChannelsChanged);
}
void FlightModesComponentController::_init(void)
void PX4AdvancedFlightModesController::_init(void)
{
// FIXME: What about VTOL? That confuses the whole Flight Mode naming scheme
_fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING;
@ -151,7 +151,7 @@ void FlightModesComponentController::_init(void) @@ -151,7 +151,7 @@ void FlightModesComponentController::_init(void)
/// This will look for parameter settings which would cause the config to not run correctly.
/// It will set _validConfiguration and _configurationErrors as needed.
void FlightModesComponentController::_validateConfiguration(void)
void PX4AdvancedFlightModesController::_validateConfiguration(void)
{
_validConfiguration = true;
@ -205,7 +205,7 @@ void FlightModesComponentController::_validateConfiguration(void) @@ -205,7 +205,7 @@ void FlightModesComponentController::_validateConfiguration(void)
}
/// Connected to Vehicle::rcChannelsChanged signal
void FlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
void PX4AdvancedFlightModesController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
{
for (int channel=0; channel<channelCount; channel++) {
int channelValue = pwmValues[channel];
@ -232,7 +232,7 @@ void FlightModesComponentController::_rcChannelsChanged(int channelCount, int pw @@ -232,7 +232,7 @@ void FlightModesComponentController::_rcChannelsChanged(int channelCount, int pw
emit switchLiveRangeChanged();
}
double FlightModesComponentController::_switchLiveRange(const QString& param)
double PX4AdvancedFlightModesController::_switchLiveRange(const QString& param)
{
QVariant value;
@ -244,27 +244,27 @@ double FlightModesComponentController::_switchLiveRange(const QString& param) @@ -244,27 +244,27 @@ double FlightModesComponentController::_switchLiveRange(const QString& param)
}
}
double FlightModesComponentController::manualModeRcValue(void)
double PX4AdvancedFlightModesController::manualModeRcValue(void)
{
return _switchLiveRange("RC_MAP_MODE_SW");
}
double FlightModesComponentController::assistModeRcValue(void)
double PX4AdvancedFlightModesController::assistModeRcValue(void)
{
return manualModeRcValue();
}
double FlightModesComponentController::autoModeRcValue(void)
double PX4AdvancedFlightModesController::autoModeRcValue(void)
{
return manualModeRcValue();
}
double FlightModesComponentController::acroModeRcValue(void)
double PX4AdvancedFlightModesController::acroModeRcValue(void)
{
return _switchLiveRange("RC_MAP_ACRO_SW");
}
double FlightModesComponentController::altCtlModeRcValue(void)
double PX4AdvancedFlightModesController::altCtlModeRcValue(void)
{
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
@ -275,12 +275,12 @@ double FlightModesComponentController::altCtlModeRcValue(void) @@ -275,12 +275,12 @@ double FlightModesComponentController::altCtlModeRcValue(void)
}
}
double FlightModesComponentController::posCtlModeRcValue(void)
double PX4AdvancedFlightModesController::posCtlModeRcValue(void)
{
return _switchLiveRange("RC_MAP_POSCTL_SW");
}
double FlightModesComponentController::missionModeRcValue(void)
double PX4AdvancedFlightModesController::missionModeRcValue(void)
{
int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt();
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
@ -302,22 +302,22 @@ double FlightModesComponentController::missionModeRcValue(void) @@ -302,22 +302,22 @@ double FlightModesComponentController::missionModeRcValue(void)
return _switchLiveRange(switchChannelParam);
}
double FlightModesComponentController::loiterModeRcValue(void)
double PX4AdvancedFlightModesController::loiterModeRcValue(void)
{
return _switchLiveRange("RC_MAP_LOITER_SW");
}
double FlightModesComponentController::returnModeRcValue(void)
double PX4AdvancedFlightModesController::returnModeRcValue(void)
{
return _switchLiveRange("RC_MAP_RETURN_SW");
}
double FlightModesComponentController::offboardModeRcValue(void)
double PX4AdvancedFlightModesController::offboardModeRcValue(void)
{
return _switchLiveRange("RC_MAP_OFFB_SW");
}
void FlightModesComponentController::_recalcModeSelections(void)
void PX4AdvancedFlightModesController::_recalcModeSelections(void)
{
_manualModeSelected = false;
_assistModeSelected = false;
@ -377,7 +377,7 @@ void FlightModesComponentController::_recalcModeSelections(void) @@ -377,7 +377,7 @@ void FlightModesComponentController::_recalcModeSelections(void)
emit modesSelectedChanged();
}
void FlightModesComponentController::_recalcModeRows(void)
void PX4AdvancedFlightModesController::_recalcModeRows(void)
{
int modeSwitchChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
int acroSwitchChannel = getParameterFact(-1, "RC_MAP_ACRO_SW")->rawValue().toInt();
@ -467,140 +467,140 @@ void FlightModesComponentController::_recalcModeRows(void) @@ -467,140 +467,140 @@ void FlightModesComponentController::_recalcModeRows(void)
emit modeRowsChanged();
}
double FlightModesComponentController::manualModeThreshold(void)
double PX4AdvancedFlightModesController::manualModeThreshold(void)
{
return 0.0;
}
double FlightModesComponentController::assistModeThreshold(void)
double PX4AdvancedFlightModesController::assistModeThreshold(void)
{
return getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
}
double FlightModesComponentController::autoModeThreshold(void)
double PX4AdvancedFlightModesController::autoModeThreshold(void)
{
return getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
}
double FlightModesComponentController::acroModeThreshold(void)
double PX4AdvancedFlightModesController::acroModeThreshold(void)
{
return getParameterFact(-1, "RC_ACRO_TH")->rawValue().toDouble();
}
double FlightModesComponentController::altCtlModeThreshold(void)
double PX4AdvancedFlightModesController::altCtlModeThreshold(void)
{
return _assistModeVisible ? 0.0 : getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
}
double FlightModesComponentController::posCtlModeThreshold(void)
double PX4AdvancedFlightModesController::posCtlModeThreshold(void)
{
return getParameterFact(-1, "RC_POSCTL_TH")->rawValue().toDouble();
}
double FlightModesComponentController::missionModeThreshold(void)
double PX4AdvancedFlightModesController::missionModeThreshold(void)
{
return _autoModeVisible ? 0.0 : getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
}
double FlightModesComponentController::loiterModeThreshold(void)
double PX4AdvancedFlightModesController::loiterModeThreshold(void)
{
return getParameterFact(-1, "RC_LOITER_TH")->rawValue().toDouble();
}
double FlightModesComponentController::returnModeThreshold(void)
double PX4AdvancedFlightModesController::returnModeThreshold(void)
{
return getParameterFact(-1, "RC_RETURN_TH")->rawValue().toDouble();
}
double FlightModesComponentController::offboardModeThreshold(void)
double PX4AdvancedFlightModesController::offboardModeThreshold(void)
{
return getParameterFact(-1, "RC_OFFB_TH")->rawValue().toDouble();
}
void FlightModesComponentController::setAssistModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setAssistModeThreshold(double threshold)
{
getParameterFact(-1, "RC_ASSIST_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setAutoModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setAutoModeThreshold(double threshold)
{
getParameterFact(-1, "RC_AUTO_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setAcroModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setAcroModeThreshold(double threshold)
{
getParameterFact(-1, "RC_ACRO_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setAltCtlModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setAltCtlModeThreshold(double threshold)
{
setAssistModeThreshold(threshold);
}
void FlightModesComponentController::setPosCtlModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setPosCtlModeThreshold(double threshold)
{
getParameterFact(-1, "RC_POSCTL_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setMissionModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setMissionModeThreshold(double threshold)
{
setAutoModeThreshold(threshold);
}
void FlightModesComponentController::setLoiterModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setLoiterModeThreshold(double threshold)
{
getParameterFact(-1, "RC_LOITER_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setReturnModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setReturnModeThreshold(double threshold)
{
getParameterFact(-1, "RC_RETURN_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setOffboardModeThreshold(double threshold)
void PX4AdvancedFlightModesController::setOffboardModeThreshold(double threshold)
{
getParameterFact(-1, "RC_OFFB_TH")->setRawValue(threshold);
_recalcModeSelections();
}
int FlightModesComponentController::_channelToChannelIndex(int channel)
int PX4AdvancedFlightModesController::_channelToChannelIndex(int channel)
{
return _channelListModelChannel.lastIndexOf(channel);
}
int FlightModesComponentController::_channelToChannelIndex(const QString& channelParam)
int PX4AdvancedFlightModesController::_channelToChannelIndex(const QString& channelParam)
{
return _channelToChannelIndex(getParameterFact(-1, channelParam)->rawValue().toInt());
}
int FlightModesComponentController::manualModeChannelIndex(void)
int PX4AdvancedFlightModesController::manualModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_MODE_SW");
}
int FlightModesComponentController::assistModeChannelIndex(void)
int PX4AdvancedFlightModesController::assistModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_MODE_SW");
}
int FlightModesComponentController::autoModeChannelIndex(void)
int PX4AdvancedFlightModesController::autoModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_MODE_SW");
}
int FlightModesComponentController::acroModeChannelIndex(void)
int PX4AdvancedFlightModesController::acroModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_ACRO_SW");
}
int FlightModesComponentController::altCtlModeChannelIndex(void)
int PX4AdvancedFlightModesController::altCtlModeChannelIndex(void)
{
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
@ -611,17 +611,17 @@ int FlightModesComponentController::altCtlModeChannelIndex(void) @@ -611,17 +611,17 @@ int FlightModesComponentController::altCtlModeChannelIndex(void)
}
}
int FlightModesComponentController::posCtlModeChannelIndex(void)
int PX4AdvancedFlightModesController::posCtlModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_POSCTL_SW");
}
int FlightModesComponentController::loiterModeChannelIndex(void)
int PX4AdvancedFlightModesController::loiterModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_LOITER_SW");
}
int FlightModesComponentController::missionModeChannelIndex(void)
int PX4AdvancedFlightModesController::missionModeChannelIndex(void)
{
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
@ -632,22 +632,22 @@ int FlightModesComponentController::missionModeChannelIndex(void) @@ -632,22 +632,22 @@ int FlightModesComponentController::missionModeChannelIndex(void)
}
}
int FlightModesComponentController::returnModeChannelIndex(void)
int PX4AdvancedFlightModesController::returnModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_RETURN_SW");
}
int FlightModesComponentController::offboardModeChannelIndex(void)
int PX4AdvancedFlightModesController::offboardModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_OFFB_SW");
}
int FlightModesComponentController::_channelIndexToChannel(int index)
int PX4AdvancedFlightModesController::_channelIndexToChannel(int index)
{
return _channelListModelChannel[index];
}
void FlightModesComponentController::setManualModeChannelIndex(int index)
void PX4AdvancedFlightModesController::setManualModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_MODE_SW")->setRawValue(_channelIndexToChannel(index));
@ -657,7 +657,7 @@ void FlightModesComponentController::setManualModeChannelIndex(int index) @@ -657,7 +657,7 @@ void FlightModesComponentController::setManualModeChannelIndex(int index)
}
void FlightModesComponentController::setAcroModeChannelIndex(int index)
void PX4AdvancedFlightModesController::setAcroModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_ACRO_SW")->setRawValue(_channelIndexToChannel(index));
@ -665,7 +665,7 @@ void FlightModesComponentController::setAcroModeChannelIndex(int index) @@ -665,7 +665,7 @@ void FlightModesComponentController::setAcroModeChannelIndex(int index)
_recalcModeRows();
}
void FlightModesComponentController::setPosCtlModeChannelIndex(int index)
void PX4AdvancedFlightModesController::setPosCtlModeChannelIndex(int index)
{
int channel = _channelIndexToChannel(index);
@ -687,7 +687,7 @@ void FlightModesComponentController::setPosCtlModeChannelIndex(int index) @@ -687,7 +687,7 @@ void FlightModesComponentController::setPosCtlModeChannelIndex(int index)
}
void FlightModesComponentController::setLoiterModeChannelIndex(int index)
void PX4AdvancedFlightModesController::setLoiterModeChannelIndex(int index)
{
int channel = _channelIndexToChannel(index);
@ -709,7 +709,7 @@ void FlightModesComponentController::setLoiterModeChannelIndex(int index) @@ -709,7 +709,7 @@ void FlightModesComponentController::setLoiterModeChannelIndex(int index)
}
void FlightModesComponentController::setReturnModeChannelIndex(int index)
void PX4AdvancedFlightModesController::setReturnModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_RETURN_SW")->setRawValue(_channelIndexToChannel(index));
_recalcModeSelections();
@ -718,7 +718,7 @@ void FlightModesComponentController::setReturnModeChannelIndex(int index) @@ -718,7 +718,7 @@ void FlightModesComponentController::setReturnModeChannelIndex(int index)
}
void FlightModesComponentController::setOffboardModeChannelIndex(int index)
void PX4AdvancedFlightModesController::setOffboardModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_OFFB_SW")->setRawValue(_channelIndexToChannel(index));
_recalcModeSelections();
@ -727,7 +727,7 @@ void FlightModesComponentController::setOffboardModeChannelIndex(int index) @@ -727,7 +727,7 @@ void FlightModesComponentController::setOffboardModeChannelIndex(int index)
}
void FlightModesComponentController::generateThresholds(void)
void PX4AdvancedFlightModesController::generateThresholds(void)
{
// Reset all thresholds to 0.0

8
src/AutoPilotPlugins/PX4/FlightModesComponentController.h → src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h
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@ -24,8 +24,8 @@ @@ -24,8 +24,8 @@
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef FLIGHTMODESCOMPONENTCONTROLLER_H
#define FLIGHTMODESCOMPONENTCONTROLLER_H
#ifndef PX4AdvancedFlightModesController_H
#define PX4AdvancedFlightModesController_H
#include <QObject>
#include <QQuickItem>
@ -37,12 +37,12 @@ @@ -37,12 +37,12 @@
#include "FactPanelController.h"
/// MVC Controller for FlightModesComponent.qml.
class FlightModesComponentController : public FactPanelController
class PX4AdvancedFlightModesController : public FactPanelController
{
Q_OBJECT
public:
FlightModesComponentController(void);
PX4AdvancedFlightModesController(void);
Q_PROPERTY(bool validConfiguration MEMBER _validConfiguration CONSTANT)
Q_PROPERTY(QString configurationErrors MEMBER _configurationErrors CONSTANT)

2
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
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@ -24,7 +24,7 @@ @@ -24,7 +24,7 @@
#include "PX4AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "PX4AirframeLoader.h"
#include "FlightModesComponentController.h"
#include "PX4AdvancedFlightModesController.h"
#include "AirframeComponentController.h"
#include "UAS.h"
#include "FirmwarePlugin/PX4/PX4ParameterMetaData.h" // FIXME: Hack

67
src/AutoPilotPlugins/PX4/PX4FlightModes.qml
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@ -0,0 +1,67 @@ @@ -0,0 +1,67 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.2
import QtQuick.Layouts 1.1
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ScreenTools 1.0
/// PX4 Flight Mode configuration. This control will load either the Simple or Advanced Flight Mode config
/// based on current parameter settings.
QGCView {
id: rootQGCView
viewPanel: panel
property Fact _nullFact
property Fact _rcMapFltmode: controller.parameterExists(-1, "RC_MAP_FLTMODE") ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
property Fact _rcMapModeSw: controller.getParameterFact(-1, "RC_MAP_MODE_SW")
property bool _simpleMode: _rcMapFltmode.value > 0 || _rcMapModeSw.value == 0
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
FactPanelController {
id: controller
factPanel: panel
}
QGCViewPanel {
id: panel
anchors.fill: parent
Loader {
anchors.fill: parent
source: _simpleMode ? "qrc:/qml/PX4SimpleFlightModes.qml" : "qrc:/qml/PX4AdvancedFlightModes.qml"
property var qgcView: rootQGCView
property var qgcViewPanel: panel
}
} // QGCViewPanel
} // QGCView

140
src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml
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@ -0,0 +1,140 @@ @@ -0,0 +1,140 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
import QtQuick 2.5
import QtQuick.Controls 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ScreenTools 1.0
Item {
id: root
// The following properties must be pushed in from the Loader
//property var qgcView - QGCView control
//property var qgcViewPanel - QGCViewPanel control
property real _margins: ScreenTools.defaultFontPixelHeight / 2
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
PX4SimpleFlightModesController {
id: controller
factPanel: qgcViewPanel
}
QGCFlickable {
anchors.fill: parent
clip: true
contentWidth: contentColumn.width
contentHeight: contentColumn.height
Column {
id: contentColumn
spacing: _margins
QGCLabel {
id: flightModeLabel
text: "Flight Mode Settings"
font.weight: Font.DemiBold
}
Item {
height: modeChannelCombo.height
width: modeChannelCombo.x + modeChannelCombo.width
QGCLabel {
id: modeChannelLabel
anchors.baseline: modeChannelCombo.baseline
text: "Flight mode channel:"
}
FactComboBox {
id: modeChannelCombo
anchors.leftMargin: _margins
anchors.left: modeChannelLabel.right
width: ScreenTools.defaultFontPixelWidth * 15
fact: controller.getParameterFact(-1, "RC_MAP_FLTMODE")
indexModel: false
}
}
Rectangle {
id: flightModeSettings
width: flightModeColumn.width + (_margins * 2)
height: flightModeColumn.height + ScreenTools.defaultFontPixelHeight
color: qgcPal.windowShade
Column {
id: flightModeColumn
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelHeight
Repeater {
model: 6
Row {
spacing: ScreenTools.defaultFontPixelWidth
property int index: modelData + 1
property var pwmStrings: [ "PWM 0 - 1230", "PWM 1231 - 1360", "PWM 1361 - 1490", "PWM 1491 - 1620", "PWM 1621 - 1749", "PWM 1750 +"]
QGCLabel {
anchors.baseline: modeCombo.baseline
text: "Flight Mode " + index + ":"
color: controller.activeFlightMode == index ? "yellow" : qgcPal.text
}
FactComboBox {
id: modeCombo
width: ScreenTools.defaultFontPixelWidth * 20
fact: controller.getParameterFact(-1, "COM_FLTMODE" + index)
indexModel: false
}
QGCLabel {
anchors.baseline: modeCombo.baseline
text: pwmStrings[modelData]
}
}
} // Repeater - Flight Modes
} // Column - Flight Modes
} // Rectangle - Flight Modes
QGCButton {
text: "Use Advanced Flight Modes"
onClicked: {
controller.getParameterFact(-1, "RC_MAP_MODE_SW").value = 5
controller.getParameterFact(-1, "RC_MAP_FLTMODE").value = 0
}
}
} // Column
} // QGCFlickable
} // QGCView

73
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc
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@ -0,0 +1,73 @@ @@ -0,0 +1,73 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "PX4SimpleFlightModesController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
PX4SimpleFlightModesController::PX4SimpleFlightModesController(void)
: _activeFlightMode(0)
, _channelCount(Vehicle::cMaxRcChannels)
{
QStringList usedParams;
usedParams << QStringLiteral("COM_FLTMODE1") << QStringLiteral("COM_FLTMODE2") << QStringLiteral("COM_FLTMODE3")
<< QStringLiteral("COM_FLTMODE4") << QStringLiteral("COM_FLTMODE5") << QStringLiteral("COM_FLTMODE6")
<< QStringLiteral("RC_MAP_FLTMODE");
if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) {
return;
}
connect(_vehicle, &Vehicle::rcChannelsChanged, this, &PX4SimpleFlightModesController::_rcChannelsChanged);
}
/// Connected to Vehicle::rcChannelsChanged signal
void PX4SimpleFlightModesController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
{
int flightModeChannel = getParameterFact(-1, "RC_MAP_FLTMODE")->rawValue().toInt() - 1;
if (flightModeChannel < 0 || flightModeChannel > channelCount) {
return;
}
_activeFlightMode = 0;
int channelValue = pwmValues[flightModeChannel];
if (channelValue != -1) {
bool found = false;
int rgThreshold[] = { 1230, 1360, 1490, 1620, 1749 };
for (int i=0; i<5; i++) {
if (channelValue <= rgThreshold[i]) {
_activeFlightMode = i + 1;
found = true;
break;
}
}
if (!found) {
_activeFlightMode = 6;
}
}
emit activeFlightModeChanged(_activeFlightMode);
}

62
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h
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@ -0,0 +1,62 @@ @@ -0,0 +1,62 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef PX4SimpleFlightModesController_H
#define PX4SimpleFlightModesController_H
#include <QObject>
#include <QQuickItem>
#include <QList>
#include <QStringList>
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
#include "FactPanelController.h"
#include "Vehicle.h"
/// MVC Controller for PX4SimpleFlightModes.qml
class PX4SimpleFlightModesController : public FactPanelController
{
Q_OBJECT
public:
PX4SimpleFlightModesController(void);
Q_PROPERTY(int activeFlightMode READ activeFlightMode NOTIFY activeFlightModeChanged)
Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT)
int activeFlightMode(void) const { return _activeFlightMode; }
signals:
void activeFlightModeChanged(int activeFlightMode);
void channelOptionEnabledChanged(void);
private slots:
void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
private:
int _activeFlightMode;
int _channelCount;
};
#endif

2
src/FactSystem/ParameterLoader.cc
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@ -44,7 +44,7 @@ QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog") @@ -44,7 +44,7 @@ QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog")
Fact ParameterLoader::_defaultFact;
const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParamaterFactMetaData";
const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParameterFactMetaData";
ParameterLoader::ParameterLoader(Vehicle* vehicle)
: QObject(vehicle)

201
src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
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@ -2,8 +2,7 @@ @@ -2,8 +2,7 @@
<parameters>
<version>3</version>
<parameter_version_major>1</parameter_version_major>
<parameter_version_minor>1</parameter_version_minor>
<group name="UAVCAN Motor Parameters" no_code_generation="true">
<parameter_version_minor>1</parameter_version_minor> <group name="UAVCAN Motor Parameters" no_code_generation="true">
<parameter default="75" name="ctl_bw" type="INT32">
<short_desc>Speed controller bandwidth</short_desc>
<long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
@ -3583,6 +3582,33 @@ replay messages for logging</short_desc> @@ -3583,6 +3582,33 @@ replay messages for logging</short_desc>
</parameter>
</group>
<group name="Radio Switches">
<parameter default="0" name="RC_MAP_FLTMODE" type="INT32">
<short_desc>Single channel flight mode selection</short_desc>
<long_desc>If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.</long_desc>
<min>0</min>
<max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter>
<parameter default="0" name="RC_MAP_MODE_SW" type="INT32">
<short_desc>Mode switch channel mapping</short_desc>
<long_desc>This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.</long_desc>
@ -4775,121 +4801,118 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc> @@ -4775,121 +4801,118 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc>
<parameter default="0.1" name="RV_YAW_P" type="FLOAT">
<short_desc>RV_YAW_P</short_desc>
</parameter>
<parameter default="0" name="COM_FLTMODE_CH" type="INT32">
<short_desc>COM_FLTMODE_CH</short_desc>
</parameter>
<parameter default="0" name="COM_FLTMODE1" type="INT32">
<parameter default="-1" name="COM_FLTMODE1" type="INT32">
<short_desc>First flightmode slot (1000-1160)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
<value code="11">AUTO / LAND</value>
<value code="10">AUTO / TAKEOFF</value>
<value code="1">ALTITUDE CONTROL</value>
<value code="0">MANUAL</value>
<value code="3">AUTO / MISSION</value>
<value code="2">POSITION CONTROL</value>
<value code="-1">Unassigned</value>
<value code="4">AUTO / PAUSE</value>
<value code="7">OFFBOARD</value>
<value code="6">ACRO</value>
<value code="9">RATTITUDE</value>
<value code="5">RETURN TO LAUNCH</value>
<value code="8">STABILIZED</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE2" type="INT32">
<parameter default="-1" name="COM_FLTMODE2" type="INT32">
<short_desc>Second flightmode slot (1160-1320)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
<value code="11">AUTO / LAND</value>
<value code="10">AUTO / TAKEOFF</value>
<value code="1">ALTITUDE CONTROL</value>
<value code="0">MANUAL</value>
<value code="3">AUTO / MISSION</value>
<value code="2">POSITION CONTROL</value>
<value code="-1">Unassigned</value>
<value code="4">AUTO / PAUSE</value>
<value code="7">OFFBOARD</value>
<value code="6">ACRO</value>
<value code="9">RATTITUDE</value>
<value code="5">RETURN TO LAUNCH</value>
<value code="8">STABILIZED</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE3" type="INT32">
<parameter default="-1" name="COM_FLTMODE3" type="INT32">
<short_desc>Third flightmode slot (1320-1480)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
<value code="11">AUTO / LAND</value>
<value code="10">AUTO / TAKEOFF</value>
<value code="1">ALTITUDE CONTROL</value>
<value code="0">MANUAL</value>
<value code="3">AUTO / MISSION</value>
<value code="2">POSITION CONTROL</value>
<value code="-1">Unassigned</value>
<value code="4">AUTO / PAUSE</value>
<value code="7">OFFBOARD</value>
<value code="6">ACRO</value>
<value code="9">RATTITUDE</value>
<value code="5">RETURN TO LAUNCH</value>
<value code="8">STABILIZED</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE4" type="INT32">
<parameter default="-1" name="COM_FLTMODE4" type="INT32">
<short_desc>Fourth flightmode slot (1480-1640)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
<value code="11">AUTO / LAND</value>
<value code="10">AUTO / TAKEOFF</value>
<value code="1">ALTITUDE CONTROL</value>
<value code="0">MANUAL</value>
<value code="3">AUTO / MISSION</value>
<value code="2">POSITION CONTROL</value>
<value code="-1">Unassigned</value>
<value code="4">AUTO / PAUSE</value>
<value code="7">OFFBOARD</value>
<value code="6">ACRO</value>
<value code="9">RATTITUDE</value>
<value code="5">RETURN TO LAUNCH</value>
<value code="8">STABILIZED</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE5" type="INT32">
<parameter default="-1" name="COM_FLTMODE5" type="INT32">
<short_desc>Fift flightmode slot (1640-1800)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
<value code="11">AUTO / LAND</value>
<value code="10">AUTO / TAKEOFF</value>
<value code="1">ALTITUDE CONTROL</value>
<value code="0">MANUAL</value>
<value code="3">AUTO / MISSION</value>
<value code="2">POSITION CONTROL</value>
<value code="-1">Unassigned</value>
<value code="4">AUTO / PAUSE</value>
<value code="7">OFFBOARD</value>
<value code="6">ACRO</value>
<value code="9">RATTITUDE</value>
<value code="5">RETURN TO LAUNCH</value>
<value code="8">STABILIZED</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE6" type="INT32">
<parameter default="-1" name="COM_FLTMODE6" type="INT32">
<short_desc>Sixt flightmode slot (1800-2000)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
<value code="11">AUTO / LAND</value>
<value code="10">AUTO / TAKEOFF</value>
<value code="1">ALTITUDE CONTROL</value>
<value code="0">MANUAL</value>
<value code="3">AUTO / MISSION</value>
<value code="2">POSITION CONTROL</value>
<value code="-1">Unassigned</value>
<value code="4">AUTO / PAUSE</value>
<value code="7">OFFBOARD</value>
<value code="6">ACRO</value>
<value code="9">RATTITUDE</value>
<value code="5">RETURN TO LAUNCH</value>
<value code="8">STABILIZED</value>
</values>
</parameter>
<parameter default="-1.0" name="TEST_MIN" type="FLOAT">

6
src/QGCApplication.cc
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@ -61,7 +61,8 @@ @@ -61,7 +61,8 @@
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
#include "CustomCommandWidgetController.h"
#include "FlightModesComponentController.h"
#include "PX4AdvancedFlightModesController.h"
#include "PX4SimpleFlightModesController.h"
#include "APMFlightModesComponentController.h"
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
@ -434,7 +435,8 @@ void QGCApplication::_initCommon(void) @@ -434,7 +435,8 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<ParameterEditorController> ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
qmlRegisterType<APMFlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
qmlRegisterType<FlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
qmlRegisterType<PX4AdvancedFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
qmlRegisterType<PX4SimpleFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
qmlRegisterType<APMAirframeComponentController> ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
qmlRegisterType<AirframeComponentController> ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
qmlRegisterType<APMSensorsComponentController> ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");

6
src/VehicleSetup/VehicleComponent.cc
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@ -62,8 +62,10 @@ void VehicleComponent::setupTriggerSignals(void) @@ -62,8 +62,10 @@ void VehicleComponent::setupTriggerSignals(void)
{
// Watch for changed on trigger list params
foreach (const QString &paramName, setupCompleteChangedTriggerList()) {
Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
if (_autopilot->parameterExists(FactSystem::defaultComponentId, paramName)) {
Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
}
}
}

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