Identify PX4 Flow from board id

mavlink · May 27, 2018 · f0eb002 · f0eb002
1 parent 5cbe79b
commit f0eb002
Show file tree

Hide file tree

Showing 11 changed files with 30 additions and 16 deletions.
diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc
@@ -74,6 +74,14 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
 
 void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType)
 {
+    // Special case PX4 Flow since depending on firmware it can have different settings. We force to the PX4 Firmware settings.
+    if (link->isPX4Flow()) {
+        vehicleId = 81;
+        componentId = 50;//MAV_COMP_ID_AUTOPILOT1;
+        vehicleFirmwareType = MAV_AUTOPILOT_GENERIC;
+        vehicleType = 0;
+    }
+
     if (componentId != MAV_COMP_ID_AUTOPILOT1) {
         // Special case for PX4 Flow
         if (vehicleId != 81 || componentId != 50) {

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
@@ -239,8 +239,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
     connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
 
-    if (_highLatencyLink) {
-        // High latency links don't request information
+    if (_highLatencyLink || link->isPX4Flow()) {
+        // These links don't request information
         _setMaxProtoVersion(100);
         _setCapabilities(0);
         _initialPlanRequestComplete = true;

diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
@@ -496,6 +496,7 @@ class Vehicle : public FactGroup
     Q_PROPERTY(bool                 supportsTerrainFrame    READ supportsTerrainFrame                                   NOTIFY firmwareTypeChanged)
     Q_PROPERTY(QString              priorityLinkName        READ priorityLinkName       WRITE setPriorityLinkByName     NOTIFY priorityLinkNameChanged)
     Q_PROPERTY(QVariantList         links                   READ links                                                  NOTIFY linksChanged)
+    Q_PROPERTY(LinkInterface*       priorityLink            READ priorityLink                                           NOTIFY priorityLinkNameChanged)
 
     // Vehicle state used for guided control
     Q_PROPERTY(bool flying                  READ flying NOTIFY flyingChanged)                               ///< Vehicle is flying

diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -353,7 +353,7 @@ void FirmwareUpgradeController::_initFirmwareHash()
     /////////////////////////////// px4flow firmwares ///////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
         { PX4FlowPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
-        { PX4FlowAPM, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flowAPM.px4" },
+        { PX4FlowAPM, StableFirmware, DefaultVehicleFirmware, "http://firmware.ardupilot.org/Tools/PX4Flow/px4flow-klt-06Dec2014.px4" },
     };
 
     /////////////////////////////// 3dr radio firmwares ///////////////////////////////////////

diff --git a/src/VehicleSetup/SetupView.qml b/src/VehicleSetup/SetupView.qml
@@ -259,7 +259,7 @@ Rectangle {
             SubMenuButton {
                 id:                 px4FlowButton
                 exclusiveGroup:     setupButtonGroup
-                visible:            QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.genericFirmware : false
+                visible:            QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.priorityLink.isPX4Flow : false
                 setupIndicator:     false
                 text:               qsTr("PX4Flow")
                 Layout.fillWidth:   true

diff --git a/src/comm/LinkInterface.cc b/src/comm/LinkInterface.cc
@@ -42,13 +42,14 @@ uint8_t LinkInterface::mavlinkChannel(void) const
     return _mavlinkChannel;
 }
 // Links are only created by LinkManager so constructor is not public
-LinkInterface::LinkInterface(SharedLinkConfigurationPointer& config)
+LinkInterface::LinkInterface(SharedLinkConfigurationPointer& config, bool isPX4Flow)
     : QThread                   (0)
     , _config                   (config)
     , _highLatency              (config->isHighLatency())
     , _mavlinkChannelSet        (false)
     , _enableRateCollection     (false)
     , _decodedFirstMavlinkPacket(false)
+    , _isPX4Flow                (isPX4Flow)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 

diff --git a/src/comm/LinkInterface.h b/src/comm/LinkInterface.h
@@ -43,13 +43,16 @@ class LinkInterface : public QThread
         _config->setLink(NULL);
     }
 
-    Q_PROPERTY(bool active      READ active                                 NOTIFY activeChanged)
+    Q_PROPERTY(bool active      READ active     NOTIFY activeChanged)
+    Q_PROPERTY(bool isPX4Flow   READ isPX4Flow  CONSTANT)
 
-    // Property accessors
-    bool active() const;
     Q_INVOKABLE bool link_active(int vehicle_id) const;
     Q_INVOKABLE bool getHighLatency(void) const { return _highLatency; }
 
+    // Property accessors
+    bool active() const;
+    bool isPX4Flow(void) const { return _isPX4Flow; }
+
     LinkConfiguration* getLinkConfiguration(void) { return _config.data(); }
 
     /* Connection management */
@@ -201,7 +204,7 @@ private slots:
 
 protected:
     // Links are only created by LinkManager so constructor is not public
-    LinkInterface(SharedLinkConfigurationPointer& config);
+    LinkInterface(SharedLinkConfigurationPointer& config, bool isPX4Flow = false);
 
     /// This function logs the send times and amounts of datas for input. Data is used for calculating
     /// the transmission rate.
@@ -298,6 +301,7 @@ private slots:
 
     bool _enableRateCollection;
     bool _decodedFirstMavlinkPacket;    ///< true: link has correctly decoded it's first mavlink packet
+    bool _isPX4Flow;
 
     QMap<int /* vehicle id */, HeartbeatTimer*> _heartbeatTimers;
 };

diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
@@ -97,7 +97,7 @@ void LinkManager::createConnectedLink(LinkConfiguration* config)
     }
 }
 
-LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer& config)
+LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer& config, bool isPX4Flow)
 {
     if (!config) {
         qWarning() << "LinkManager::createConnectedLink called with NULL config";
@@ -111,7 +111,7 @@ LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer&
     {
         SerialConfiguration* serialConfig = dynamic_cast<SerialConfiguration*>(config.data());
         if (serialConfig) {
-            pLink = new SerialLink(config);
+            pLink = new SerialLink(config, isPX4Flow);
             if (serialConfig->usbDirect()) {
                 _activeLinkCheckList.append((SerialLink*)pLink);
                 if (!_activeLinkCheckTimer.isActive()) {
@@ -599,7 +599,7 @@ void LinkManager::_updateAutoConnectLinks(void)
                     pSerialConfig->setDynamic(true);
                     pSerialConfig->setPortName(portInfo.systemLocation());
                     _sharedAutoconnectConfigurations.append(SharedLinkConfigurationPointer(pSerialConfig));
-                    createConnectedLink(_sharedAutoconnectConfigurations.last());
+                    createConnectedLink(_sharedAutoconnectConfigurations.last(), boardType == QGCSerialPortInfo::BoardTypePX4Flow);
                 }
             }
         }

diff --git a/src/comm/LinkManager.h b/src/comm/LinkManager.h
@@ -104,7 +104,7 @@ class LinkManager : public QGCTool
 
     /// Creates, connects (and adds) a link  based on the given configuration instance.
     /// Link takes ownership of config.
-    LinkInterface* createConnectedLink(SharedLinkConfigurationPointer& config);
+    LinkInterface* createConnectedLink(SharedLinkConfigurationPointer& config, bool isPX4Flow = false);
 
     // This should only be used by Qml code
     Q_INVOKABLE void createConnectedLink(LinkConfiguration* config);

diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
@@ -30,8 +30,8 @@ QGC_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog")
 
 static QStringList kSupportedBaudRates;
 
-SerialLink::SerialLink(SharedLinkConfigurationPointer& config)
-    : LinkInterface(config)
+SerialLink::SerialLink(SharedLinkConfigurationPointer& config, bool isPX4Flow)
+    : LinkInterface(config, isPX4Flow)
     , _port(NULL)
     , _bytesRead(0)
     , _stopp(false)

diff --git a/src/comm/SerialLink.h b/src/comm/SerialLink.h
@@ -169,7 +169,7 @@ private slots:
 
 private:
     // Links are only created/destroyed by LinkManager so constructor/destructor is not public
-    SerialLink(SharedLinkConfigurationPointer& config);
+    SerialLink(SharedLinkConfigurationPointer& config, bool isPX4Flow = false);
     ~SerialLink();
 
     // From LinkInterface