Rework PX4 airspeed cal due to parameter name/functionality changes

src/AutoPilotPlugins/APM/APMRadioComponent.cc

@@ -124,7 +124,7 @@ void APMRadioComponent::_connectSetupTriggers(void)
 
 void APMRadioComponent::_triggerChanged(void)
 {
- emit setupCompleteChanged(setupComplete());
+ emit setupCompleteChanged();
 
  // Control mapping may have changed so we need to reset triggers
  _connectSetupTriggers();

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -49,7 +49,7 @@ void AutoPilotPlugin::_recalcSetupComplete(void)
 
  if (_setupComplete != newSetupComplete) {
  _setupComplete = newSetupComplete;
- emit setupCompleteChanged(_setupComplete);
+ emit setupCompleteChanged();
  }
 }
 

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -50,8 +50,8 @@ class AutoPilotPlugin : public QObject
  bool setupComplete(void) const;
 
 signals:
- void setupCompleteChanged(bool setupComplete);
- void vehicleComponentsChanged(void);
+ void setupCompleteChanged (void);
+ void vehicleComponentsChanged (void);
 
 protected:
  /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -7,19 +7,11 @@
  *
  ****************************************************************************/
 
-
-/// @file
-/// @author Don Gagne <[email protected]>
-
 #include "SensorsComponent.h"
 #include "FactSystem.h"
 #include "ParameterManager.h"
 #include "Vehicle.h"
 
-const char* SensorsComponent::_airspeedBreakerParam = "CBRK_AIRSPD_CHK";
-const char* SensorsComponent::_airspeedDisabledParam = "FW_ARSP_MODE";
-const char* SensorsComponent::_airspeedCalParam = "SENS_DPRES_OFF";
-
 const char* SensorsComponent::_magEnabledParam = "SYS_HAS_MAG";
 const char* SensorsComponent::_magCalParam = "CAL_MAG0_ID";
 
@@ -28,6 +20,15 @@ SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot,
  _name(tr("Sensors"))
 {
  _deviceIds = QStringList({QStringLiteral("CAL_GYRO0_ID"), QStringLiteral("CAL_ACC0_ID") });
+
+ if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
+ _airspeedCalTriggerParams << "SENS_DPRES_OFF";
+ if (_vehicle->firmwareMajorVersion() >= 1 && _vehicle->firmwareMinorVersion() >= 14) {
+ _airspeedCalTriggerParams << "SYS_HAS_NUM_ASPD";
+ } else {
+ _airspeedCalTriggerParams << "FW_ARSP_MODE" << "CBRK_AIRSPD_CHK";
+ }
+ }
 }
 
 QString SensorsComponent::name(void) const
@@ -67,10 +68,17 @@ bool SensorsComponent::setupComplete(void) const
  }
 
  if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
- if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedDisabledParam)->rawValue().toBool() &&
- _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedBreakerParam)->rawValue().toInt() != 162128 &&
- _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedCalParam)->rawValue().toFloat() == 0.0f) {
- return false;
+ if (_vehicle->firmwareMajorVersion() >= 1 && _vehicle->firmwareMinorVersion() >= 14) {
+ if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SYS_HAS_NUM_ASPD")->rawValue().toBool() &&
+ _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f) {
+ return false;
+ }
+ } else {
+ if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FW_ARSP_MODE")->rawValue().toBool() &&
+ _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "CBRK_AIRSPD_CHK")->rawValue().toInt() != 162128 &&
+ _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f) {
+ return false;
+ }
  }
  }
 
@@ -83,7 +91,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
 
  triggers << _deviceIds << _magCalParam << _magEnabledParam;
  if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
- triggers << _airspeedCalParam << _airspeedBreakerParam;
+ triggers << _airspeedCalTriggerParams;
  }
 
  return triggers;
@@ -106,3 +114,26 @@ QUrl SensorsComponent::summaryQmlSource(void) const
 
  return QUrl::fromUserInput(summaryQml);
 }
+
+ bool SensorsComponent::_airspeedCalSupported(void) const
+ {
+ if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
+ if (_vehicle->firmwareMajorVersion() >= 1 && _vehicle->firmwareMinorVersion() >= 14) {
+ if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SYS_HAS_NUM_ASPD")->rawValue().toBool()) {
+ return true;
+ }
+ } else {
+ if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FW_ARSP_MODE")->rawValue().toBool() &&
+ _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "CBRK_AIRSPD_CHK")->rawValue().toInt() != 162128) {
+ return true;
+ }
+ }
+ }
+
+ return false;
+ }
+
+ bool SensorsComponent::_airspeedCalRequired(void) const
+ {
+ return _airspeedCalSupported() && _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f;
+ }

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -24,6 +24,9 @@ class SensorsComponent : public VehicleComponent
 public:
  SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = nullptr);
 
+ Q_PROPERTY(bool airspeedCalSupported READ _airspeedCalSupported STORED false NOTIFY setupCompleteChanged)
+ Q_PROPERTY(bool airspeedCalRequired READ _airspeedCalRequired STORED false NOTIFY setupCompleteChanged)
+
  // Virtuals from VehicleComponent
  QStringList setupCompleteChangedTriggerList(void) const override;
 
@@ -37,13 +40,13 @@ class SensorsComponent : public VehicleComponent
  virtual QUrl summaryQmlSource(void) const override;
 
 private:
+ bool _airspeedCalSupported (void) const;
+ bool _airspeedCalRequired (void) const;
+
  const QString _name;
  QVariantList _summaryItems;
  QStringList _deviceIds;
-
- static const char* _airspeedDisabledParam;
- static const char* _airspeedBreakerParam;
- static const char* _airspeedCalParam;
+ QStringList _airspeedCalTriggerParams;
 
  static const char* _magEnabledParam;
  static const char* _magCalParam;

src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml

@@ -18,12 +18,6 @@ Item {
  property Fact mag0IdFact: controller.getParameterFact(-1, "CAL_MAG0_ID")
  property Fact gyro0IdFact: controller.getParameterFact(-1, "CAL_GYRO0_ID")
  property Fact accel0IdFact: controller.getParameterFact(-1, "CAL_ACC0_ID")
- property Fact dpressOffFact: controller.getParameterFact(-1, "SENS_DPRES_OFF")
- property Fact airspeedDisabledFact: controller.getParameterFact(-1, "FW_ARSP_MODE")
- property Fact airspeedBreakerFact: controller.getParameterFact(-1, "CBRK_AIRSPD_CHK")
-
- property bool _airspeedVisible: airspeedDisabledFact.value == 0 && airspeedBreakerFact.value !== 162128
- property bool _airspeedCalRequired: _airspeedVisible && dpressOffFact.value === 0
 
  Column {
  anchors.fill: parent
@@ -45,8 +39,8 @@ Item {
 
  VehicleSummaryRow {
  labelText: qsTr("Airspeed:")
- visible: _airspeedVisible
- valueText: _airspeedCalRequired ? qsTr("Setup required") : qsTr("Ready")
+ visible: vehicleComponent.airspeedCalSupported
+ valueText:  vehicleComponent.airspeedCalRequired ? qsTr("Setup required") : qsTr("Ready")
  }
  }
 }

src/AutoPilotPlugins/PX4/SensorsSetup.qml

@@ -450,11 +450,9 @@ Item {
  id: airspeedButton
  width: _buttonWidth
  text: qsTr("Airspeed")
- visible: (controller.vehicle.fixedWing || controller.vehicle.vtol || controller.vehicle.airship) &&
- controller.getParameterFact(-1, "FW_ARSP_MODE").value == 0 &&
- controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value !== 162128 &&
- QGroundControl.corePlugin.options.showSensorCalibrationAirspeed &&
- showSensorCalibrationAirspeed
+ visible: vehicleComponent.airspeedCalSupported && 
+ QGroundControl.corePlugin.options.showSensorCalibrationAirspeed &&
+ showSensorCalibrationAirspeed
  indicatorGreen: sens_dpres_off.value !== 0
 
  onClicked: {
@@ -522,7 +520,7 @@ Item {
  height: parent.height
  readOnly: true
  text: statusTextAreaDefaultText
- color: qgcPal.Text
+ color: qgcPal.text
  background: Rectangle { color: qgcPal.windowShade }
  }
 

src/VehicleSetup/VehicleComponent.cc

@@ -69,5 +69,5 @@ void VehicleComponent::setupTriggerSignals(void)
 
 void VehicleComponent::_triggerUpdated(QVariant /*value*/)
 {
- emit setupCompleteChanged(setupComplete());
+ emit setupCompleteChanged();
 }

src/VehicleSetup/VehicleComponent.h

@@ -69,8 +69,8 @@ class VehicleComponent : public QObject
  virtual void setupTriggerSignals(void);
 
 signals:
- void setupCompleteChanged(bool setupComplete);
- void setupSourceChanged(void);
+ void setupCompleteChanged (void);
+ void setupSourceChanged (void);
 
 protected slots:
  void _triggerUpdated(QVariant value);

src/VehicleSetup/VehicleSummary.qml

@@ -145,6 +145,8 @@ Rectangle {
  anchors.fill: parent
  anchors.margins: ScreenTools.defaultFontPixelWidth
  source: modelData.summaryQmlSource
+
+ property var vehicleComponent: modelData
  }
  }
  }