PX4 Actuator & Geometry Configuration and Testing UI

qgroundcontrol.pro

@@ -688,7 +688,16 @@ HEADERS += \
     src/SHPFileHelper.h \
     src/Terrain/TerrainQuery.h \
     src/TerrainTile.h \
+    src/Vehicle/Actuators/ActuatorActions.h \
+    src/Vehicle/Actuators/Actuators.h \
+    src/Vehicle/Actuators/ActuatorOutputs.h \
+    src/Vehicle/Actuators/ActuatorTesting.h \
+    src/Vehicle/Actuators/Common.h \
+    src/Vehicle/Actuators/GeometryImage.h \
+    src/Vehicle/Actuators/Mixer.h \
+    src/Vehicle/Actuators/MotorAssignment.h \
     src/Vehicle/CompInfo.h \
+    src/Vehicle/CompInfoActuators.h \
     src/Vehicle/CompInfoEvents.h \
     src/Vehicle/CompInfoParam.h \
     src/Vehicle/CompInfoGeneral.h \
@@ -929,7 +938,16 @@ SOURCES += \
     src/SHPFileHelper.cc \
     src/Terrain/TerrainQuery.cc \
     src/TerrainTile.cc\
+    src/Vehicle/Actuators/ActuatorActions.cc \
+    src/Vehicle/Actuators/Actuators.cc \
+    src/Vehicle/Actuators/ActuatorOutputs.cc \
+    src/Vehicle/Actuators/ActuatorTesting.cc \
+    src/Vehicle/Actuators/Common.cc \
+    src/Vehicle/Actuators/GeometryImage.cc \
+    src/Vehicle/Actuators/Mixer.cc \
+    src/Vehicle/Actuators/MotorAssignment.cc \
     src/Vehicle/CompInfo.cc \
+    src/Vehicle/CompInfoActuators.cc \
     src/Vehicle/CompInfoEvents.cc \
     src/Vehicle/CompInfoParam.cc \
     src/Vehicle/CompInfoGeneral.cc \
@@ -1168,6 +1186,7 @@ PX4FirmwarePlugin {
         src/FirmwarePlugin/PX4 \
 
     HEADERS+= \
+        src/AutoPilotPlugins/PX4/ActuatorComponent.h \
         src/AutoPilotPlugins/PX4/AirframeComponent.h \
         src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
         src/AutoPilotPlugins/PX4/AirframeComponentController.h \
@@ -1189,6 +1208,7 @@ PX4FirmwarePlugin {
         src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
 
     SOURCES += \
+        src/AutoPilotPlugins/PX4/ActuatorComponent.cc \
         src/AutoPilotPlugins/PX4/AirframeComponent.cc \
         src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
         src/AutoPilotPlugins/PX4/AirframeComponentController.cc \

qgroundcontrol.qrc

@@ -66,6 +66,9 @@
         <file alias="MockLink.qml">src/ui/preferences/MockLink.qml</file>
         <file alias="MockLinkSettings.qml">src/ui/preferences/MockLinkSettings.qml</file>
         <file alias="MotorComponent.qml">src/AutoPilotPlugins/Common/MotorComponent.qml</file>
+        <file alias="ActuatorComponent.qml">src/AutoPilotPlugins/PX4/ActuatorComponent.qml</file>
+        <file alias="ActuatorFact.qml">src/AutoPilotPlugins/PX4/ActuatorFact.qml</file>
+        <file alias="ActuatorSlider.qml">src/AutoPilotPlugins/PX4/ActuatorSlider.qml</file>
         <file alias="OfflineMap.qml">src/QtLocationPlugin/QMLControl/OfflineMap.qml</file>
         <file alias="PlanToolBar.qml">src/PlanView/PlanToolBar.qml</file>
         <file alias="PlanToolBarIndicators.qml">src/PlanView/PlanToolBarIndicators.qml</file>

src/AutoPilotPlugins/CMakeLists.txt

@@ -34,6 +34,8 @@ add_library(AutoPilotPlugins
 
 	Generic/GenericAutoPilotPlugin.cc
 
+	PX4/ActuatorComponent.cc
+	PX4/ActuatorComponent.h
 	PX4/AirframeComponentAirframes.cc
 	PX4/AirframeComponentAirframes.h
 	PX4/AirframeComponent.cc

src/AutoPilotPlugins/PX4/ActuatorComponent.cc

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ * (c) 2021 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 "ActuatorComponent.h"
+
+#include "QGCApplication.h"
+
+static bool imageProviderAdded{false};
+
+ActuatorComponent::ActuatorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(vehicle, autopilot, parent),
+    _name(tr("Actuators")), _actuators(*vehicle->actuators())
+{
+    if (!imageProviderAdded) {
+        qgcApp()->qmlAppEngine()->addImageProvider(QLatin1String("actuators"), GeometryImage::VehicleGeometryImageProvider::instance());
+        imageProviderAdded = true;
+    }
+
+    connect(&_actuators, &Actuators::hasUnsetRequiredFunctionsChanged, this, [this]() { _triggerUpdated({}); });
+}
+
+QString ActuatorComponent::name(void) const
+{
+    return _name;
+}
+
+QString ActuatorComponent::description(void) const
+{
+    return "";
+}
+
+QString ActuatorComponent::iconResource(void) const
+{
+    return QStringLiteral("/qmlimages/MotorComponentIcon.svg");
+}
+
+bool ActuatorComponent::requiresSetup(void) const
+{
+    return true;
+}
+
+bool ActuatorComponent::setupComplete(void) const
+{
+    return !_actuators.hasUnsetRequiredFunctions();
+}
+
+QStringList ActuatorComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl ActuatorComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput(QStringLiteral("qrc:/qml/ActuatorComponent.qml"));
+}
+
+QUrl ActuatorComponent::summaryQmlSource(void) const
+{
+    return QUrl();
+}

src/AutoPilotPlugins/PX4/ActuatorComponent.h

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ * (c) 2021 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.
+ *
+ ****************************************************************************/
+
+
+#pragma once
+
+#include "VehicleComponent.h"
+#include "Fact.h"
+
+#include "Actuators/Actuators.h"
+
+class ActuatorComponent : public VehicleComponent
+{
+    Q_OBJECT
+
+public:
+    ActuatorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = nullptr);
+
+    // Virtuals from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const final;
+
+    // Virtuals from VehicleComponent
+    QString name(void) const final;
+    QString description(void) const final;
+    QString iconResource(void) const final;
+    bool requiresSetup(void) const final;
+    bool setupComplete(void) const final;
+    virtual QUrl setupSource(void) const;
+    QUrl summaryQmlSource(void) const final;
+
+private:
+    const QString   _name;
+    Actuators& _actuators;
+};
+