You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
160 lines
6.0 KiB
160 lines
6.0 KiB
/*===================================================================== |
|
|
|
QGroundControl Open Source Ground Control Station |
|
|
|
(c) 2009 - 2014 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 "PX4AutoPilotPlugin.h" |
|
#include "AutoPilotPluginManager.h" |
|
#include "PX4AirframeLoader.h" |
|
#include "PX4AdvancedFlightModesController.h" |
|
#include "AirframeComponentController.h" |
|
#include "UAS.h" |
|
#include "FirmwarePlugin/PX4/PX4ParameterMetaData.h" // FIXME: Hack |
|
#include "FirmwarePlugin/PX4/PX4FirmwarePlugin.h" // FIXME: Hack |
|
#include "QGCApplication.h" |
|
|
|
/// @file |
|
/// @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type. |
|
/// @author Don Gagne <don@thegagnes.com> |
|
|
|
enum PX4_CUSTOM_MAIN_MODE { |
|
PX4_CUSTOM_MAIN_MODE_MANUAL = 1, |
|
PX4_CUSTOM_MAIN_MODE_ALTCTL, |
|
PX4_CUSTOM_MAIN_MODE_POSCTL, |
|
PX4_CUSTOM_MAIN_MODE_AUTO, |
|
PX4_CUSTOM_MAIN_MODE_ACRO, |
|
PX4_CUSTOM_MAIN_MODE_OFFBOARD, |
|
PX4_CUSTOM_MAIN_MODE_STABILIZED, |
|
PX4_CUSTOM_MAIN_MODE_AIRSPD, |
|
PX4_CUSTOM_MAIN_MODE_RATTITUDE |
|
|
|
}; |
|
|
|
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, |
|
PX4_CUSTOM_SUB_MODE_AUTO_RTGS, |
|
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_ME |
|
}; |
|
|
|
union px4_custom_mode { |
|
struct { |
|
uint16_t reserved; |
|
uint8_t main_mode; |
|
uint8_t sub_mode; |
|
}; |
|
uint32_t data; |
|
float data_float; |
|
}; |
|
|
|
PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) : |
|
AutoPilotPlugin(vehicle, parent), |
|
_airframeComponent(NULL), |
|
_radioComponent(NULL), |
|
_esp8266Component(NULL), |
|
_flightModesComponent(NULL), |
|
_sensorsComponent(NULL), |
|
_safetyComponent(NULL), |
|
_powerComponent(NULL), |
|
_incorrectParameterVersion(false) |
|
{ |
|
Q_ASSERT(vehicle); |
|
|
|
_airframeFacts = new PX4AirframeLoader(this, _vehicle->uas(), this); |
|
Q_CHECK_PTR(_airframeFacts); |
|
|
|
PX4AirframeLoader::loadAirframeMetaData(); |
|
} |
|
|
|
PX4AutoPilotPlugin::~PX4AutoPilotPlugin() |
|
{ |
|
delete _airframeFacts; |
|
} |
|
|
|
const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void) |
|
{ |
|
if (_components.count() == 0 && !_incorrectParameterVersion) { |
|
Q_ASSERT(_vehicle); |
|
|
|
if (parametersReady()) { |
|
_airframeComponent = new AirframeComponent(_vehicle, this); |
|
_airframeComponent->setupTriggerSignals(); |
|
_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent)); |
|
|
|
_radioComponent = new PX4RadioComponent(_vehicle, this); |
|
_radioComponent->setupTriggerSignals(); |
|
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent)); |
|
|
|
_flightModesComponent = new FlightModesComponent(_vehicle, this); |
|
_flightModesComponent->setupTriggerSignals(); |
|
_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent)); |
|
|
|
_sensorsComponent = new SensorsComponent(_vehicle, this); |
|
_sensorsComponent->setupTriggerSignals(); |
|
_components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent)); |
|
|
|
_powerComponent = new PowerComponent(_vehicle, this); |
|
_powerComponent->setupTriggerSignals(); |
|
_components.append(QVariant::fromValue((VehicleComponent*)_powerComponent)); |
|
|
|
_safetyComponent = new SafetyComponent(_vehicle, this); |
|
_safetyComponent->setupTriggerSignals(); |
|
_components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent)); |
|
|
|
_tuningComponent = new PX4TuningComponent(_vehicle, this); |
|
_tuningComponent->setupTriggerSignals(); |
|
_components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent)); |
|
|
|
//-- Is there an ESP8266 Connected? |
|
if(factExists(FactSystem::ParameterProvider, MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) { |
|
_esp8266Component = new ESP8266Component(_vehicle, this); |
|
_esp8266Component->setupTriggerSignals(); |
|
_components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component)); |
|
} |
|
} else { |
|
qWarning() << "Call to vehicleCompenents prior to parametersReady"; |
|
} |
|
} |
|
|
|
return _components; |
|
} |
|
|
|
/// This will perform various checks prior to signalling that the plug in ready |
|
void PX4AutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters) |
|
{ |
|
// Check for older parameter version set |
|
// FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp |
|
// should be used instead. |
|
if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) { |
|
_incorrectParameterVersion = true; |
|
qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. " |
|
"Please perform a Firmware Upgrade if you wish to use Vehicle Setup."); |
|
} |
|
|
|
_parametersReady = true; |
|
_missingParameters = missingParameters; |
|
emit missingParametersChanged(_missingParameters); |
|
emit parametersReadyChanged(_parametersReady); |
|
}
|
|
|