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ArduSubFirmwarePlugin.cc
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ArduSubFirmwarePlugin.cc
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/*=====================================================================
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/>.
======================================================================*/
/// @file
/// @author Rustom Jehangir <rusty@bluerobotics.com>
#include "ArduSubFirmwarePlugin.h"
bool ArduSubFirmwarePlugin::_remapParamNameIntialized = false;
FirmwarePlugin::remapParamNameMajorVersionMap_t ArduSubFirmwarePlugin::_remapParamName;
APMSubMode::APMSubMode(uint32_t mode, bool settable) :
APMCustomMode(mode, settable)
{
setEnumToStringMapping({
{MANUAL, "Manual"},
{STABILIZE, "Stabilize"},
{ACRO, "Acro"},
{ALT_HOLD, "Depth Hold"},
{AUTO, "Auto"},
{GUIDED, "Guided"},
{CIRCLE, "Circle"},
{SURFACE, "Surface"},
{POSHOLD, "Position Hold"},
{MOTORDETECTION, "Motor Detection"},
});
}
ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
_infoFactGroup(this)
{
setSupportedModes({
APMSubMode(APMSubMode::MANUAL ,true),
APMSubMode(APMSubMode::STABILIZE ,true),
APMSubMode(APMSubMode::ACRO ,true),
APMSubMode(APMSubMode::ALT_HOLD ,true),
APMSubMode(APMSubMode::AUTO ,true),
APMSubMode(APMSubMode::GUIDED ,true),
APMSubMode(APMSubMode::CIRCLE ,true),
APMSubMode(APMSubMode::SURFACE ,false),
APMSubMode(APMSubMode::POSHOLD ,true),
APMSubMode(APMSubMode::MOTORDETECTION, false),
});
if (!_remapParamNameIntialized) {
FirmwarePlugin::remapParamNameMap_t& remapV3_5 = _remapParamName[3][5];
remapV3_5["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
remapV3_5["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
remapV3_5["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
remapV3_5["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
remapV3_5["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
remapV3_5["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
remapV3_5["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
remapV3_5["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
remapV3_5["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
remapV3_5["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");
remapV3_5["SERVO5_MIN"] = QStringLiteral("RC5_MIN");
remapV3_5["SERVO6_MIN"] = QStringLiteral("RC6_MIN");
remapV3_5["SERVO7_MIN"] = QStringLiteral("RC7_MIN");
remapV3_5["SERVO8_MIN"] = QStringLiteral("RC8_MIN");
remapV3_5["SERVO9_MIN"] = QStringLiteral("RC9_MIN");
remapV3_5["SERVO10_MIN"] = QStringLiteral("RC10_MIN");
remapV3_5["SERVO11_MIN"] = QStringLiteral("RC11_MIN");
remapV3_5["SERVO12_MIN"] = QStringLiteral("RC12_MIN");
remapV3_5["SERVO13_MIN"] = QStringLiteral("RC13_MIN");
remapV3_5["SERVO14_MIN"] = QStringLiteral("RC14_MIN");
remapV3_5["SERVO5_MAX"] = QStringLiteral("RC5_MAX");
remapV3_5["SERVO6_MAX"] = QStringLiteral("RC6_MAX");
remapV3_5["SERVO7_MAX"] = QStringLiteral("RC7_MAX");
remapV3_5["SERVO8_MAX"] = QStringLiteral("RC8_MAX");
remapV3_5["SERVO9_MAX"] = QStringLiteral("RC9_MAX");
remapV3_5["SERVO10_MAX"] = QStringLiteral("RC10_MAX");
remapV3_5["SERVO11_MAX"] = QStringLiteral("RC11_MAX");
remapV3_5["SERVO12_MAX"] = QStringLiteral("RC12_MAX");
remapV3_5["SERVO13_MAX"] = QStringLiteral("RC13_MAX");
remapV3_5["SERVO14_MAX"] = QStringLiteral("RC14_MAX");
remapV3_5["SERVO5_REVERSED"] = QStringLiteral("RC5_REVERSED");
remapV3_5["SERVO6_REVERSED"] = QStringLiteral("RC6_REVERSED");
remapV3_5["SERVO7_REVERSED"] = QStringLiteral("RC7_REVERSED");
remapV3_5["SERVO8_REVERSED"] = QStringLiteral("RC8_REVERSED");
remapV3_5["SERVO9_REVERSED"] = QStringLiteral("RC9_REVERSED");
remapV3_5["SERVO10_REVERSED"] = QStringLiteral("RC10_REVERSED");
remapV3_5["SERVO11_REVERSED"] = QStringLiteral("RC11_REVERSED");
remapV3_5["SERVO12_REVERSED"] = QStringLiteral("RC12_REVERSED");
remapV3_5["SERVO13_REVERSED"] = QStringLiteral("RC13_REVERSED");
remapV3_5["SERVO14_REVERSED"] = QStringLiteral("RC14_REVERSED");
remapV3_5["FENCE_ALT_MIN"] = QStringLiteral("FENCE_DEPTH_MAX");
FirmwarePlugin::remapParamNameMap_t& remapV3_6 = _remapParamName[3][6];
remapV3_6["BATT_ARM_VOLT"] = QStringLiteral("ARMING_MIN_VOLT");
remapV3_6["BATT2_ARM_VOLT"] = QStringLiteral("ARMING_MIN_VOLT2");
remapV3_6["BATT_AMP_PERVLT"] = QStringLiteral("BATT_AMP_PERVOLT");
remapV3_6["BATT2_AMP_PERVLT"] = QStringLiteral("BATT2_AMP_PERVOL");
remapV3_6["BATT_LOW_MAH"] = QStringLiteral("FS_BATT_MAH");
remapV3_6["BATT_LOW_VOLT"] = QStringLiteral("FS_BATT_VOLTAGE");
remapV3_6["BATT_FS_LOW_ACT"] = QStringLiteral("FS_BATT_ENABLE");
remapV3_6["PSC_POSXY_P"] = QStringLiteral("POS_XY_P");
remapV3_6["PSC_POSZ_P"] = QStringLiteral("POS_Z_P");
remapV3_6["PSC_VELXY_P"] = QStringLiteral("VEL_XY_P");
remapV3_6["PSC_VELXY_I"] = QStringLiteral("VEL_XY_I");
remapV3_6["PSC_VELXY_IMAX"] = QStringLiteral("VEL_XY_IMAX");
remapV3_6["PSC_VELZ_P"] = QStringLiteral("VEL_Z_P");
remapV3_6["PSC_ACCZ_I"] = QStringLiteral("ACCEL_Z_I");
remapV3_6["PSC_ACCZ_D"] = QStringLiteral("ACCEL_Z_D");
remapV3_6["PSC_ACCZ_P"] = QStringLiteral("ACCEL_Z_P");
remapV3_6["PSC_ACCZ_IMAX"] = QStringLiteral("ACCEL_Z_IMAX");
remapV3_6["PSC_ACCZ_FILT"] = QStringLiteral("ACCEL_Z_FILT");
_remapParamNameIntialized = true;
}
_nameToFactGroupMap.insert("apmSubInfo", &_infoFactGroup);
_factRenameMap[QStringLiteral("altitudeRelative")] = QStringLiteral("Depth");
_factRenameMap[QStringLiteral("flightTime")] = QStringLiteral("Dive Time");
_factRenameMap[QStringLiteral("altitudeAMSL")] = QStringLiteral("");
_factRenameMap[QStringLiteral("hobbs")] = QStringLiteral("");
_factRenameMap[QStringLiteral("airSpeed")] = QStringLiteral("");
}
int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{
// Remapping supports up to 3.6
return majorVersionNumber == 3 ? 6 : Vehicle::versionNotSetValue;
}
void ArduSubFirmwarePlugin::initializeStreamRates(Vehicle* vehicle) {
vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_POSITION, 3);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1, 20);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2, 10);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3, 3);
}
bool ArduSubFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
{
Q_UNUSED(vehicle);
uint32_t available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
return (capabilities & available) == capabilities;
}
bool ArduSubFirmwarePlugin::supportsThrottleModeCenterZero(void)
{
return false;
}
bool ArduSubFirmwarePlugin::supportsRadio(void)
{
return false;
}
bool ArduSubFirmwarePlugin::supportsJSButton(void)
{
return true;
}
bool ArduSubFirmwarePlugin::supportsMotorInterference(void)
{
return false;
}
const QVariantList& ArduSubFirmwarePlugin::toolIndicators(const Vehicle* vehicle)
{
Q_UNUSED(vehicle);
//-- Sub specific list of indicators (Enter your modified list here)
if(_toolIndicators.size() == 0) {
_toolIndicators = QVariantList({
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/MessageIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/BatteryIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/JoystickIndicator.qml")),
});
}
return _toolIndicators;
}
const QVariantList& ArduSubFirmwarePlugin::modeIndicators(const Vehicle* vehicle)
{
Q_UNUSED(vehicle);
//-- Sub specific list of indicators (Enter your modified list here)
if(_modeIndicators.size() == 0) {
_modeIndicators = QVariantList({
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ModeIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ArmedIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/MultiVehicleSelector.qml")),
});
}
return _modeIndicators;
}
void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message)
{
mavlink_named_value_float_t value;
mavlink_msg_named_value_float_decode(message, &value);
QString name = QString(value.name);
if (name == "CamTilt") {
_infoFactGroup.getFact("cameraTilt")->setRawValue(value.value * 100);
} else if (name == "TetherTrn") {
_infoFactGroup.getFact("tetherTurns")->setRawValue(value.value);
} else if (name == "Lights1") {
_infoFactGroup.getFact("lights1")->setRawValue(value.value * 100);
} else if (name == "Lights2") {
_infoFactGroup.getFact("lights2")->setRawValue(value.value * 100);
} else if (name == "PilotGain") {
_infoFactGroup.getFact("pilotGain")->setRawValue(value.value * 100);
} else if (name == "InputHold") {
_infoFactGroup.getFact("inputHold")->setRawValue(value.value);
} else if (name == "RollPitch") {
_infoFactGroup.getFact("rollPitchToggle")->setRawValue(value.value);
}
}
void ArduSubFirmwarePlugin::_handleMavlinkMessage(mavlink_message_t* message)
{
switch (message->msgid) {
case (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT):
_handleNamedValueFloat(message);
break;
case (MAVLINK_MSG_ID_RANGEFINDER):
{
mavlink_rangefinder_t msg;
mavlink_msg_rangefinder_decode(message, &msg);
_infoFactGroup.getFact("rangefinderDistance")->setRawValue(msg.distance);
break;
}
}
}
bool ArduSubFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
{
_handleMavlinkMessage(message);
return APMFirmwarePlugin::adjustIncomingMavlinkMessage(vehicle, message);
}
QMap<QString, FactGroup*>* ArduSubFirmwarePlugin::factGroups(void) {
return &_nameToFactGroupMap;
}
const char* APMSubmarineFactGroup::_camTiltFactName = "cameraTilt";
const char* APMSubmarineFactGroup::_tetherTurnsFactName = "tetherTurns";
const char* APMSubmarineFactGroup::_lightsLevel1FactName = "lights1";
const char* APMSubmarineFactGroup::_lightsLevel2FactName = "lights2";
const char* APMSubmarineFactGroup::_pilotGainFactName = "pilotGain";
const char* APMSubmarineFactGroup::_inputHoldFactName = "inputHold";
const char* APMSubmarineFactGroup::_rollPitchToggleFactName = "rollPitchToggle";
const char* APMSubmarineFactGroup::_rangefinderDistanceFactName = "rangefinderDistance";
APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
: FactGroup(300, ":/json/Vehicle/SubmarineFact.json", parent)
, _camTiltFact (0, _camTiltFactName, FactMetaData::valueTypeDouble)
, _tetherTurnsFact (0, _tetherTurnsFactName, FactMetaData::valueTypeDouble)
, _lightsLevel1Fact (0, _lightsLevel1FactName, FactMetaData::valueTypeDouble)
, _lightsLevel2Fact (0, _lightsLevel2FactName, FactMetaData::valueTypeDouble)
, _pilotGainFact (0, _pilotGainFactName, FactMetaData::valueTypeDouble)
, _inputHoldFact (0, _inputHoldFactName, FactMetaData::valueTypeDouble)
, _rollPitchToggleFact (0, _rollPitchToggleFactName, FactMetaData::valueTypeDouble)
, _rangefinderDistanceFact (0, _rangefinderDistanceFactName, FactMetaData::valueTypeDouble)
{
_addFact(&_camTiltFact, _camTiltFactName);
_addFact(&_tetherTurnsFact, _tetherTurnsFactName);
_addFact(&_lightsLevel1Fact, _lightsLevel1FactName);
_addFact(&_lightsLevel2Fact, _lightsLevel2FactName);
_addFact(&_pilotGainFact, _pilotGainFactName);
_addFact(&_inputHoldFact, _inputHoldFactName);
_addFact(&_rollPitchToggleFact , _rollPitchToggleFactName);
_addFact(&_rangefinderDistanceFact, _rangefinderDistanceFactName);
// Start out as not available "--.--"
_camTiltFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_tetherTurnsFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_lightsLevel1Fact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_lightsLevel2Fact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_pilotGainFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_inputHoldFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_rollPitchToggleFact.setRawValue (2); // 2 shows "Unavailable" in older firmwares
_rangefinderDistanceFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
}
QString ArduSubFirmwarePlugin::vehicleImageOpaque(const Vehicle* vehicle) const
{
Q_UNUSED(vehicle);
return QStringLiteral("/qmlimages/subVehicleArrowOpaque.png");
}
QString ArduSubFirmwarePlugin::vehicleImageOutline(const Vehicle* vehicle) const
{
return vehicleImageOpaque(vehicle);
}
void ArduSubFirmwarePlugin::adjustMetaData(MAV_TYPE vehicleType, FactMetaData* metaData)
{
Q_UNUSED(vehicleType);
if (!metaData) {
return;
}
if (_factRenameMap.contains(metaData->name())) {
metaData->setShortDescription(QString(_factRenameMap[metaData->name()]));
}
}