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187 lines
7.5 KiB
187 lines
7.5 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "PX4AutoPilotPlugin.h" |
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#include "PX4AirframeLoader.h" |
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#include "PX4AdvancedFlightModesController.h" |
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#include "AirframeComponentController.h" |
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#include "UAS.h" |
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#include "FirmwarePlugin/PX4/PX4ParameterMetaData.h" // FIXME: Hack |
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#include "FirmwarePlugin/PX4/PX4FirmwarePlugin.h" // FIXME: Hack |
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#include "QGCApplication.h" |
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#include "FlightModesComponent.h" |
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#include "PX4RadioComponent.h" |
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#include "PX4TuningComponent.h" |
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#include "PowerComponent.h" |
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#include "SafetyComponent.h" |
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#include "SensorsComponent.h" |
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/// @file |
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/// @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type. |
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/// @author Don Gagne <don@thegagnes.com> |
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PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) |
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: AutoPilotPlugin(vehicle, parent) |
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, _incorrectParameterVersion(false) |
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, _airframeComponent(NULL) |
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, _radioComponent(NULL) |
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, _esp8266Component(NULL) |
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, _flightModesComponent(NULL) |
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, _sensorsComponent(NULL) |
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, _safetyComponent(NULL) |
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, _powerComponent(NULL) |
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, _motorComponent(NULL) |
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, _tuningComponent(NULL) |
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, _mixersComponent(NULL) |
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{ |
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if (!vehicle) { |
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qWarning() << "Internal error"; |
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return; |
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} |
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_airframeFacts = new PX4AirframeLoader(this, _vehicle->uas(), this); |
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Q_CHECK_PTR(_airframeFacts); |
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PX4AirframeLoader::loadAirframeMetaData(); |
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} |
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PX4AutoPilotPlugin::~PX4AutoPilotPlugin() |
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{ |
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delete _airframeFacts; |
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} |
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const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void) |
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{ |
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if (_components.count() == 0 && !_incorrectParameterVersion) { |
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if (_vehicle) { |
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if (_vehicle->parameterManager()->parametersReady()) { |
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_airframeComponent = new AirframeComponent(_vehicle, this); |
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_airframeComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent)); |
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_radioComponent = new PX4RadioComponent(_vehicle, this); |
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_radioComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent)); |
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if (!_vehicle->hilMode()) { |
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_sensorsComponent = new SensorsComponent(_vehicle, this); |
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_sensorsComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent)); |
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} |
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_flightModesComponent = new FlightModesComponent(_vehicle, this); |
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_flightModesComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent)); |
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_powerComponent = new PowerComponent(_vehicle, this); |
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_powerComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_powerComponent)); |
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#if 0 |
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// Coming soon |
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_motorComponent = new MotorComponent(_vehicle, this); |
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_motorComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_motorComponent)); |
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#endif |
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_safetyComponent = new SafetyComponent(_vehicle, this); |
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_safetyComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent)); |
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_tuningComponent = new PX4TuningComponent(_vehicle, this); |
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_tuningComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent)); |
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#if 0 |
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// Coming soon |
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_mixersComponent = new MixersComponent(_vehicle, this); |
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_mixersComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_mixersComponent)); |
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#endif |
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//-- Is there support for cameras? |
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if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "TRIG_MODE")) { |
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_cameraComponent = new CameraComponent(_vehicle, this); |
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_cameraComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent)); |
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} |
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//-- Is there an ESP8266 Connected? |
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if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) { |
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_esp8266Component = new ESP8266Component(_vehicle, this); |
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_esp8266Component->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component)); |
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} |
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} else { |
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qWarning() << "Call to vehicleCompenents prior to parametersReady"; |
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} |
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} else { |
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qWarning() << "Internal error"; |
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} |
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} |
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return _components; |
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} |
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void PX4AutoPilotPlugin::parametersReadyPreChecks(void) |
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{ |
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// Base class must be called |
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AutoPilotPlugin::parametersReadyPreChecks(); |
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// Check for older parameter version set |
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// FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp |
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// should be used instead. |
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if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") || |
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_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) { |
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_incorrectParameterVersion = true; |
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qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. " |
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"Please perform a Firmware Upgrade if you wish to use Vehicle Setup."); |
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} |
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} |
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QString PX4AutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const |
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{ |
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bool requiresAirframeCheck = false; |
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if (qobject_cast<const FlightModesComponent*>(component)) { |
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if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) { |
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// No RC input |
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return QString(); |
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} else { |
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if (_airframeComponent && !_airframeComponent->setupComplete()) { |
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return _airframeComponent->name(); |
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} else if (_radioComponent && !_radioComponent->setupComplete()) { |
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return _radioComponent->name(); |
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} else if (_sensorsComponent && !_vehicle->hilMode() && !_sensorsComponent->setupComplete()) { |
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return _sensorsComponent->name(); |
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} |
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} |
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} else if (qobject_cast<const PX4RadioComponent*>(component)) { |
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if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) { |
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requiresAirframeCheck = true; |
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} |
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} else if (qobject_cast<const PX4TuningComponent*>(component)) { |
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requiresAirframeCheck = true; |
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} else if (qobject_cast<const PowerComponent*>(component)) { |
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requiresAirframeCheck = true; |
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} else if (qobject_cast<const SafetyComponent*>(component)) { |
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requiresAirframeCheck = true; |
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} else if (qobject_cast<const SensorsComponent*>(component)) { |
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requiresAirframeCheck = true; |
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} |
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if (requiresAirframeCheck) { |
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if (_airframeComponent && !_airframeComponent->setupComplete()) { |
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return _airframeComponent->name(); |
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} |
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} |
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return QString(); |
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}
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