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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "PX4AutoPilotPlugin.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"
#include "FlightModesComponent.h"
#include "PX4RadioComponent.h"
#include "PX4TuningComponent.h"
#include "PowerComponent.h"
#include "SafetyComponent.h"
#include "SensorsComponent.h"
/// @file
/// @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
/// @author Don Gagne <don@thegagnes.com>
PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
: AutoPilotPlugin(vehicle, parent)
, _incorrectParameterVersion(false)
, _airframeComponent(NULL)
, _radioComponent(NULL)
, _esp8266Component(NULL)
, _flightModesComponent(NULL)
, _sensorsComponent(NULL)
, _safetyComponent(NULL)
, _powerComponent(NULL)
, _motorComponent(NULL)
, _tuningComponent(NULL)
, _mixersComponent(NULL)
{
if (!vehicle) {
qWarning() << "Internal error";
return;
}
_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) {
if (_vehicle) {
if (_vehicle->parameterManager()->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));
if (!_vehicle->hilMode()) {
_sensorsComponent = new SensorsComponent(_vehicle, this);
_sensorsComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
}
_flightModesComponent = new FlightModesComponent(_vehicle, this);
_flightModesComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
_powerComponent = new PowerComponent(_vehicle, this);
_powerComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
#if 0
// Coming soon
_motorComponent = new MotorComponent(_vehicle, this);
_motorComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));
#endif
_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));
#if 0
// Coming soon
_mixersComponent = new MixersComponent(_vehicle, this);
_mixersComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_mixersComponent));
#endif
//-- Is there support for cameras?
if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "TRIG_MODE")) {
_cameraComponent = new CameraComponent(_vehicle, this);
_cameraComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
}
//-- Is there an ESP8266 Connected?
if(_vehicle->parameterManager()->parameterExists(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";
}
} else {
qWarning() << "Internal error";
}
}
return _components;
}
void PX4AutoPilotPlugin::parametersReadyPreChecks(void)
{
// Base class must be called
AutoPilotPlugin::parametersReadyPreChecks();
// 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 (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") ||
_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) {
_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.");
}
}
QString PX4AutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
{
bool requiresAirframeCheck = false;
if (qobject_cast<const FlightModesComponent*>(component)) {
if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
// No RC input
return QString();
} else {
if (_airframeComponent && !_airframeComponent->setupComplete()) {
return _airframeComponent->name();
} else if (_radioComponent && !_radioComponent->setupComplete()) {
return _radioComponent->name();
} else if (_sensorsComponent && !_vehicle->hilMode() && !_sensorsComponent->setupComplete()) {
return _sensorsComponent->name();
}
}
} else if (qobject_cast<const PX4RadioComponent*>(component)) {
if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
requiresAirframeCheck = true;
}
} else if (qobject_cast<const PX4TuningComponent*>(component)) {
requiresAirframeCheck = true;
} else if (qobject_cast<const PowerComponent*>(component)) {
requiresAirframeCheck = true;
} else if (qobject_cast<const SafetyComponent*>(component)) {
requiresAirframeCheck = true;
} else if (qobject_cast<const SensorsComponent*>(component)) {
requiresAirframeCheck = true;
}
if (requiresAirframeCheck) {
if (_airframeComponent && !_airframeComponent->setupComplete()) {
return _airframeComponent->name();
}
}
return QString();
}