int CopterControl::queryMaxGyroRate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
HwCopterControl *hwCopterControl = HwCopterControl::GetInstance(uavoManager);
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
Q_ASSERT(hwCopterControl);
Q_ASSERT(utilMngr);
if (!hwCopterControl)
return 0;
HwCopterControl::DataFields settings = hwCopterControl->getData();
int CC_Version = (utilMngr->getBoardModel() & 0x00FF);
if(CC_Version == 1) return 500;
switch(settings.GyroRange) {
case HwCopterControl::GYRORANGE_250:
return 250;
case HwCopterControl::GYRORANGE_500:
return 500;
case HwCopterControl::GYRORANGE_1000:
return 1000;
case HwCopterControl::GYRORANGE_2000:
return 2000;
default:
return 500;
}
}
void ConfigStabilizationWidget::onBoardConnected()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
Q_ASSERT(utilMngr);
boardModel = utilMngr->getBoardModel();
// If Revolution board enable Althold tab, otherwise disable it
ui->AltitudeHold->setEnabled((boardModel & 0xff00) == 0x0900);
}
ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_telemetry = new Ui_CC_HW_Widget();
m_telemetry->setupUi(this);
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode())
m_telemetry->saveTelemetryToRAM->setVisible(false);
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
switch (id) {
case 0x0101:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0101.svg"));
break;
case 0x0301:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0301.svg"));
break;
case 0x0401:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
case 0x0402:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
case 0x0201:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0201.svg"));
break;
default:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
}
addApplySaveButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
addUAVObjectToWidgetRelation("HwCopterControl","FlexiPort",m_telemetry->cbFlexi);
addUAVObjectToWidgetRelation("HwCopterControl","MainPort",m_telemetry->cbTele);
addUAVObjectToWidgetRelation("HwCopterControl","RcvrPort",m_telemetry->cbRcvr);
addUAVObjectToWidgetRelation("HwCopterControl","USB_HIDPort",m_telemetry->cbUsbHid);
addUAVObjectToWidgetRelation("HwCopterControl","USB_VCPPort",m_telemetry->cbUsbVcp);
addUAVObjectToWidgetRelation("ModuleSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
addUAVObjectToWidgetRelation("ModuleSettings","GPSSpeed",m_telemetry->gpsSpeed);
addUAVObjectToWidgetRelation("ModuleSettings","ComUsbBridgeSpeed",m_telemetry->comUsbBridgeSpeed);
// Load UAVObjects to widget relations from UI file
// using objrelation dynamic property
autoLoadWidgets();
connect(m_telemetry->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
enableControls(false);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
}
void ConfigGadgetWidget::onAutopilotConnect()
{
// qDebug() << "ConfigGadgetWidget::onAutopilotConnect";
// Check what Board type we are talking to, and if necessary, remove/add tabs in the config gadget
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
if (utilMngr) {
int board = utilMngr->getBoardModel();
if ((board & 0xff00) == 0x0400) {
// CopterControl family
ConfigTaskWidget *widget;
widget = new ConfigCCAttitudeWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
widget = new ConfigCCHWWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
} else if ((board & 0xff00) == 0x0900) {
// Revolution family
ConfigTaskWidget *widget;
widget = new ConfigRevoWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
if (board == 0x0903 || board == 0x0904) {
widget = new ConfigRevoHWWidget(this);
} else if (board == 0x0905) {
widget = new ConfigRevoNanoHWWidget(this);
}
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
} else if ((board & 0xff00) == 0x9200) {
// Sparky2
ConfigTaskWidget *widget;
widget = new ConfigRevoWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
widget = new ConfigSparky2HWWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
} else {
// Unknown board
qWarning() << "Unknown board " << board;
}
}
}
SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
switch (id) {
case 0x0301:
return SetupWizard::CONTROLLER_PIPX;
case 0x0401:
return SetupWizard::CONTROLLER_CC;
case 0x0402:
return SetupWizard::CONTROLLER_CC3D;
case 0x0901:
return SetupWizard::CONTROLLER_REVO;
default:
return SetupWizard::CONTROLLER_UNKNOWN;
}
}
ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_telemetry = new Ui_CC_HW_Widget();
m_telemetry->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_telemetry->saveTelemetryToRAM->setVisible(false);
}
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
switch (id) {
case 0x0101:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0101.svg"));
break;
case 0x0301:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0301.svg"));
break;
case 0x0401:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
case 0x0402:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
case 0x0201:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0201.svg"));
break;
default:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
}
addApplySaveButtons(m_telemetry->saveTelemetryToRAM, m_telemetry->saveTelemetryToSD);
addWidgetBinding("HwSettings", "CC_FlexiPort", m_telemetry->cbFlexi);
addWidgetBinding("HwSettings", "CC_MainPort", m_telemetry->cbTele);
addWidgetBinding("HwSettings", "CC_RcvrPort", m_telemetry->cbRcvr);
addWidgetBinding("HwSettings", "USB_HIDPort", m_telemetry->cbUsbHid);
addWidgetBinding("HwSettings", "USB_VCPPort", m_telemetry->cbUsbVcp);
addWidgetBinding("HwSettings", "TelemetrySpeed", m_telemetry->telemetrySpeed);
addWidgetBinding("HwSettings", "GPSSpeed", m_telemetry->gpsSpeed);
// Add Gps protocol configuration
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
m_telemetry->gpsProtocol->setEnabled(false);
m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
} else {
addWidgetBinding("GPSSettings", "DataProtocol", m_telemetry->gpsProtocol);
}
addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_telemetry->comUsbBridgeSpeed);
connect(m_telemetry->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
enableSaveButtons(false);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
}
void UsageTrackerPlugin::collectUsageParameters(QMap<QString, QString> ¶meters)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
QByteArray description = utilMngr->getBoardDescription();
deviceDescriptorStruct devDesc;
if (UAVObjectUtilManager::descriptionToStructure(description, devDesc)) {
int boardModel = utilMngr->getBoardModel();
parameters["board_type"] = "0x" + QString::number(boardModel, 16).toLower();
parameters["board_serial"] = utilMngr->getBoardCPUSerial().toHex();
parameters["bl_version"] = QString::number(utilMngr->getBootloaderRevision());
parameters["fw_tag"] = devDesc.gitTag;
parameters["fw_hash"] = devDesc.gitHash;
parameters["os_version"] = QSysInfo::prettyProductName() + " " + QSysInfo::currentCpuArchitecture();
parameters["os_threads"] = QString::number(QThread::idealThreadCount());
parameters["os_timezone"] = QTimeZone::systemTimeZoneId();
parameters["gcs_version"] = VersionInfo::revision();
// Configuration parameters
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
parameters["conf_receiver"] = getUAVFieldValue(objManager, "ManualControlSettings", "ChannelGroups", 0);
parameters["conf_vehicle"] = getUAVFieldValue(objManager, "SystemSettings", "AirframeType");
if ((boardModel & 0xff00) == 0x0400) {
// CopterControl family
parameters["conf_rport"] = getUAVFieldValue(objManager, "HwSettings", "CC_RcvrPort");
parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "CC_MainPort");
parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "CC_FlexiPort");
} else if ((boardModel & 0xff00) == 0x0900) {
// Revolution family
parameters["conf_rport"] = getUAVFieldValue(objManager, "HwSettings", "RM_RcvrPort");
parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "RM_MainPort");
parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "RM_FlexiPort");
parameters["conf_fusion"] = getUAVFieldValue(objManager, "RevoSettings", "FusionAlgorithm");
}
parameters["conf_uport"] = getUAVFieldValue(objManager, "HwSettings", "USB_HIDPort");
parameters["conf_vport"] = getUAVFieldValue(objManager, "HwSettings", "USB_VCPPort");
parameters["conf_rotation"] = QString("[%1:%2:%3]")
.arg(getUAVFieldValue(objManager, "AttitudeSettings", "BoardRotation", 0))
.arg(getUAVFieldValue(objManager, "AttitudeSettings", "BoardRotation", 1))
.arg(getUAVFieldValue(objManager, "AttitudeSettings", "BoardRotation", 2));
parameters["conf_pidr"] = QString("[%1:%2:%3:%4][%5:%6:%7:%8][%9:%10:%11:%12]")
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollRatePID", 0))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollRatePID", 1))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollRatePID", 2))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollRatePID", 3))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchRatePID", 0))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchRatePID", 1))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchRatePID", 2))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchRatePID", 3))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawRatePID", 0))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawRatePID", 1))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawRatePID", 2))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawRatePID", 3));
parameters["conf_pia"] = QString("[%1:%2:%3][%4:%5:%6][%7:%8:%9]")
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollPI", 0))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollPI", 1))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "RollPI", 2))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchPI", 0))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchPI", 1))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "PitchPI", 2))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawPI", 0))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawPI", 1))
.arg(getUAVFieldValue(objManager, "StabilizationSettingsBank1", "YawPI", 2));
parameters["conf_tps"] = getUAVFieldValue(objManager, "StabilizationSettingsBank1", "EnableThrustPIDScaling");
parameters["conf_piro"] = getUAVFieldValue(objManager, "StabilizationSettingsBank1", "EnablePiroComp");
parameters["conf_fmcount"] = getUAVFieldValue(objManager, "ManualControlSettings", "FlightModeNumber");
parameters["conf_fmodes"] = QString("[%1:%2:%3]").arg(getUAVFieldValue(objManager, "FlightModeSettings", "FlightModePosition", 0))
.arg(getUAVFieldValue(objManager, "FlightModeSettings", "FlightModePosition", 1))
.arg(getUAVFieldValue(objManager, "FlightModeSettings", "FlightModePosition", 2));
}
}
