PX4 LOITER_TO_ALT and metadata update

jhonconal · Jul 10, 2016 · b334b28 · b334b28
1 parent 87fc7f5
commit b334b28
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Showing 4 changed files with 109 additions and 32 deletions.
diff --git a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
@@ -33,7 +33,7 @@
  "param3": {
  "label": "Radius:",
  "units": "m",
- "default": 100,
+ "default": 50,
  "decimalPlaces": 0
  },
  "param7": {
@@ -59,9 +59,16 @@
  "param3": {
  "label": "Radius:",
  "units": "m",
- "default": 100,
+ "default": 50,
  "decimalPlaces": 0
  },
+ "param4": {
+ "label": "Next waypoint start:",
+ "enumStrings": "Center,On Loiter",
+ "enumValues": "0,1",
+ "default": 1,
+ "decimalPlaces": 0
+ },
  "param7": {
  "label": "Altitude:",
  "units": "m",
@@ -86,9 +93,16 @@
  "param3": {
  "label": "Radius:",
  "units": "m",
- "default": 100,
+ "default": 50,
  "decimalPlaces": 0
  },
+ "param4": {
+ "label": "Next waypoint start:",
+ "enumStrings": "Center,On Loiter",
+ "enumValues": "0,1",
+ "default": 1,
+ "decimalPlaces": 0
+ },
  "param7": {
  "label": "Altitude:",
  "units": "m",
@@ -134,7 +148,7 @@
  "param1": {
  "label": "Pitch:",
  "units": "degrees",
- "default": 0,
+ "default": 10,
  "decimalPlaces": 0
  },
  "param4": {
@@ -150,6 +164,41 @@
  "decimalPlaces": 0
  }
  },
+ {
+ "id": 31,
+ "rawName": "MAV_CMD_NAV_LOITER_TO_ALT",
+ "friendlyName": "Loiter (altitude)",
+ "description": "Travel to a position and Loiter around the specified radius until the given altitude.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Loiter",
+ "param1": {
+ "label": "Heading wait:",
+ "enumStrings": "False,True",
+ "enumValues": "0,1",
+ "default": 1,
+ "decimalPlaces": 0
+ },
+ "param2": {
+ "label": "Radius:",
+ "units": "m",
+ "default": 50,
+ "decimalPlaces": 0
+ },
+ "param4": {
+ "label": "Next waypoint start:",
+ "enumStrings": "Center,On Loiter",
+ "enumValues": "0,1",
+ "default": 1,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "m",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
  {
  "id": 206,
  "rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",

diff --git a/src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json b/src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
@@ -33,7 +33,7 @@
  "param3": {
  "label": "Radius:",
  "units": "m",
- "default": 100,
+ "default": 50,
  "decimalPlaces": 0
  },
  "param7": {
@@ -59,9 +59,16 @@
  "param3": {
  "label": "Radius:",
  "units": "m",
- "default": 100,
+ "default": 50,
  "decimalPlaces": 0
  },
+ "param4": {
+ "label": "Next waypoint start:",
+ "enumStrings": "Center,On Loiter",
+ "enumValues": "0,1",
+ "default": 1,
+ "decimalPlaces": 0
+ },
  "param7": {
  "label": "Altitude:",
  "units": "m",
@@ -86,9 +93,16 @@
  "param3": {
  "label": "Radius:",
  "units": "m",
- "default": 100,
+ "default": 50,
  "decimalPlaces": 0
  },
+ "param4": {
+ "label": "Next waypoint start:",
+ "enumStrings": "Center,On Loiter",
+ "enumValues": "0,1",
+ "default": 1,
+ "decimalPlaces": 0
+ },
  "param7": {
  "label": "Altitude:",
  "units": "m",
@@ -104,18 +118,6 @@
  "specifiesCoordinate": true,
  "friendlyEdit": true,
  "category": "Basic",
- "param1": {
- "label": "Abort Alt:",
- "units": "m",
- "default": 25,
- "decimalPlaces": 0
- },
- "param4": {
- "label": "Heading:",
- "units": "radians",
- "default": 0,
- "decimalPlaces": 2
- },
  "param7": {
  "label": "Altitude:",
  "units": "m",
@@ -134,19 +136,48 @@
  "param1": {
  "label": "Pitch:",
  "units": "degrees",
- "default": 0,
+ "default": 10,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "m",
+ "default": 25,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 31,
+ "rawName": "MAV_CMD_NAV_LOITER_TO_ALT",
+ "friendlyName": "Loiter (altitude)",
+ "description": "Travel to a position and Loiter around the specified radius until the given altitude.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Loiter",
+ "param1": {
+ "label": "Heading wait:",
+ "enumStrings": "False,True",
+ "enumValues": "0,1",
+ "default": 1,
+ "decimalPlaces": 0
+ },
+ "param2": {
+ "label": "Radius:",
+ "units": "m",
+ "default": 50,
  "decimalPlaces": 0
  },
  "param4": {
- "label": "Heading:",
- "units": "radians",
- "default": 0,
- "decimalPlaces": 1
+ "label": "Next waypoint start:",
+ "enumStrings": "Center,On Loiter",
+ "enumValues": "0,1",
+ "default": 1,
+ "decimalPlaces": 0
  },
  "param7": {
  "label": "Altitude:",
  "units": "m",
- "default": 25,
+ "default": 50,
  "decimalPlaces": 0
  }
  },

diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -199,18 +199,17 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
  QList<MAV_CMD> list;
 
  list << MAV_CMD_NAV_WAYPOINT
- << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME
+ << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_TO_ALT
  << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
  << MAV_CMD_DO_JUMP
  << MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
  << MAV_CMD_DO_DIGICAM_CONTROL
  << MAV_CMD_DO_SET_CAM_TRIGG_DIST
  << MAV_CMD_DO_SET_SERVO
  << MAV_CMD_DO_CHANGE_SPEED
- << MAV_CMD_DO_SET_ROI
+ << MAV_CMD_DO_LAND_START
  << MAV_CMD_DO_MOUNT_CONFIGURE
- << MAV_CMD_DO_MOUNT_CONTROL
- << MAV_CMD_NAV_PATHPLANNING;
+ << MAV_CMD_DO_MOUNT_CONTROL;
 
  return list;
 }

diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
@@ -543,10 +543,8 @@
  "rawName": "MAV_CMD_DO_LAND_START",
  "friendlyName": "Land start",
  "description": "Marker to indicate start of landing sequence.",
- "specifiesCoordinate": true,
- "standaloneCoordinate": true,
  "friendlyEdit": true,
- "category": "Basic"
+ "category": "Flight control"
  },
  { "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "Rally land" },
  { "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "Go around" },