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Merge branch 'config' of github.com:mavlink/qgroundcontrol into config

QGC4.4
Lorenz Meier 12 years ago
parent
a4d7f1007d 42c623686e
commit
f8e59e0783
5 changed files with 70 additions and 30 deletions
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  1. 3
      qgroundcontrol.pro
  2. 30
      src/comm/px4_custom_mode.h
  3. 33
      src/uas/UAS.cc
  4. 26
      src/ui/uas/UASControlWidget.cc
  5. 8
      src/ui/uas/UASControlWidget.h

3
qgroundcontrol.pro
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@ -488,7 +488,8 @@ HEADERS += src/MG.h \ @@ -488,7 +488,8 @@ HEADERS += src/MG.h \
src/uas/UASParameterCommsMgr.h \
src/ui/QGCPendingParamWidget.h \
src/ui/px4_configuration/QGCPX4AirframeConfig.h \
src/ui/QGCBaseParamWidget.h
src/ui/QGCBaseParamWidget.h \
src/comm/px4_custom_mode.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h

30
src/comm/px4_custom_mode.h
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@ -0,0 +1,30 @@ @@ -0,0 +1,30 @@
#ifndef PX4_CUSTOM_MODE_H
#define PX4_CUSTOM_MODE_H
enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_SEATBELT,
PX4_CUSTOM_MAIN_MODE_EASY,
PX4_CUSTOM_MAIN_MODE_AUTO,
};
enum PX4_CUSTOM_SUB_MODE_AUTO {
PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
};
union px4_custom_mode {
struct {
uint16_t reserved;
uint8_t main_mode;
uint8_t sub_mode;
};
uint32_t data;
float data_float;
};
#endif // PX4_CUSTOM_MODE_H

33
src/uas/UAS.cc
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@ -28,6 +28,7 @@ @@ -28,6 +28,7 @@
#include "SerialLink.h"
#include "UASParameterCommsMgr.h"
#include <Eigen/Geometry>
#include <comm/px4_custom_mode.h>
#ifdef QGC_PROTOBUF_ENABLED
#include <google/protobuf/descriptor.h>
@ -1837,7 +1838,7 @@ void UAS::setMode(uint8_t newBaseMode, uint32_t newCustomMode) @@ -1837,7 +1838,7 @@ void UAS::setMode(uint8_t newBaseMode, uint32_t newCustomMode)
mavlink_message_t msg;
mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, newBaseMode, newCustomMode);
sendMessage(msg);
qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << newBaseMode;
qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", MODE " << newBaseMode << " " << newCustomMode;
}
/**
@ -3318,24 +3319,32 @@ QString UAS::getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int au @@ -3318,24 +3319,32 @@ QString UAS::getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int au
{
QString mode = "";
enum PX4_CUSTOM_MODE {
PX4_CUSTOM_MODE_MANUAL = 1,
PX4_CUSTOM_MODE_SEATBELT,
PX4_CUSTOM_MODE_EASY,
PX4_CUSTOM_MODE_AUTO
};
if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
// use custom_mode - autopilot-specific
if (autopilot == MAV_AUTOPILOT_PX4) {
if (custom_mode == PX4_CUSTOM_MODE_MANUAL) {
union px4_custom_mode px4_mode;
px4_mode.data = custom_mode;
if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
mode += "|MANUAL";
} else if (custom_mode == PX4_CUSTOM_MODE_SEATBELT) {
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) {
mode += "|SEATBELT";
} else if (custom_mode == PX4_CUSTOM_MODE_EASY) {
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_EASY) {
mode += "|EASY";
} else if (custom_mode == PX4_CUSTOM_MODE_AUTO) {
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
mode += "|AUTO";
if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_READY) {
mode += "|READY";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF) {
mode += "|TAKEOFF";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LOITER) {
mode += "|LOITER";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_MISSION) {
mode += "|MISSION";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_RTL) {
mode += "|RTL";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LAND) {
mode += "|LAND";
}
}
}
}

26
src/ui/uas/UASControlWidget.cc
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@ -52,16 +52,7 @@ static struct full_mode_s modes_list_common[] = { @@ -52,16 +52,7 @@ static struct full_mode_s modes_list_common[] = {
0 },
};
static struct full_mode_s modes_list_px4[] = {
{ (MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED),
PX4_CUSTOM_MODE_MANUAL },
{ (MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED),
PX4_CUSTOM_MODE_SEATBELT },
{ (MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED),
PX4_CUSTOM_MODE_EASY },
{ (MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED),
PX4_CUSTOM_MODE_AUTO },
};
static struct full_mode_s modes_list_px4[4];
UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
uasID(-1),
@ -83,6 +74,21 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent), @@ -83,6 +74,21 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
void UASControlWidget::updateModesList()
{
union px4_custom_mode px4_cm;
px4_cm.data = 0;
modes_list_px4[0].baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
modes_list_px4[0].customMode = px4_cm.data;
modes_list_px4[1].baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
modes_list_px4[1].customMode = px4_cm.data;
modes_list_px4[2].baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
modes_list_px4[2].customMode = px4_cm.data;
modes_list_px4[3].baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
modes_list_px4[3].customMode = px4_cm.data;
// Detect autopilot type
int autopilot = 0;
if (this->uasID >= 0) {

8
src/ui/uas/UASControlWidget.h
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@ -38,13 +38,7 @@ This file is part of the QGROUNDCONTROL project @@ -38,13 +38,7 @@ This file is part of the QGROUNDCONTROL project
#include <QPushButton>
#include <ui_UASControl.h>
#include <UASInterface.h>
enum PX4_CUSTOM_MODE {
PX4_CUSTOM_MODE_MANUAL = 1,
PX4_CUSTOM_MODE_SEATBELT,
PX4_CUSTOM_MODE_EASY,
PX4_CUSTOM_MODE_AUTO
};
#include <comm/px4_custom_mode.h>
struct full_mode_s {
uint8_t baseMode;

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