mavlink ComponentID used when handling waypoints can be changed now.

ArduPilot · Mar 11, 2023 · f843627 · f843627
1 parent d53fe3e
commit f843627
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Showing 8 changed files with 115 additions and 16 deletions.
diff --git a/src/configuration.h b/src/configuration.h
@@ -133,6 +133,14 @@ const static quint8 defaultMavlinkSystemId = 252; // Using 252 to 'crudely' iden
         GlobalObject::sharedInstance()->setMavlinkID(ID);
     }
 
+    inline quint8 ComponentID(){
+        return GlobalObject::sharedInstance()->ComponentID();
+    }
+
+    inline void setComponentID(const quint8 ID){
+        GlobalObject::sharedInstance()->setComponentID(ID);
+    }
+
 
     //Returns the absolute parth to the files, data, qml support directories
     //It could be in 1 of 2 places under Linux

diff --git a/src/globalobject.cc b/src/globalobject.cc
@@ -1,6 +1,7 @@
 #include "logging.h"
 #include "configuration.h"
 #include "globalobject.h"
+#include "mavlink.h"
 #include <QSettings>
 #include <QDateTime>
 #include <QDir>
@@ -36,6 +37,7 @@ void GlobalObject::loadSettings()
     m_parameterDirectory = settings.value("PARAMETER_DIRECTORY", defaultParameterDirectory()).toString();
     m_missionDirectory = settings.value("MISSION_DIRECTORY", defaultMissionDirectory()).toString();
     m_mavlinkID = static_cast<quint8>(settings.value("MAVLINK_ID", defaultMavlinkID()).toUInt());
+    m_componentID = static_cast<quint8>(settings.value("COMPONENT_ID", defaultComponentID()).toUInt());
 
     settings.endGroup();
 }
@@ -51,6 +53,7 @@ void GlobalObject::saveSettings()
     settings.setValue("PARAMETER_DIRECTORY", m_parameterDirectory);
     settings.setValue("MISSION_DIRECTORY", m_missionDirectory);
     settings.setValue("MAVLINK_ID", m_mavlinkID);
+    settings.setValue("COMPONENT_ID", m_componentID);
 
     settings.sync();
 }
@@ -205,6 +208,25 @@ void GlobalObject::setMavlinkID(const quint8 mavlinkID)
     m_mavlinkID = mavlinkID;
 }
 
+//
+// Component ID of APM Planner when uploading Waypoints via mavlink
+//
+
+quint8 GlobalObject::defaultComponentID()
+{
+    return MAV_COMP_ID_MISSIONPLANNER;
+}
+
+quint8 GlobalObject::ComponentID()
+{
+    return m_componentID;
+}
+
+void GlobalObject::setComponentID(const quint8 componentID)
+{
+    m_componentID = componentID;
+}
+
 
 //
 // Share Directory

diff --git a/src/globalobject.h b/src/globalobject.h
@@ -72,6 +72,10 @@ class GlobalObject
     quint8 MavlinkID();
     void setMavlinkID(const quint8 mavlinkID);
 
+    quint8 defaultComponentID();
+    quint8 ComponentID();
+    void setComponentID(const quint8 mavlinkID);
+
     QString shareDirectory();
 
 private:
@@ -83,6 +87,7 @@ class GlobalObject
     QString m_parameterDirectory;
     QString m_missionDirectory;
     quint8  m_mavlinkID;
+    quint8  m_componentID;
 
 };
 

diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
@@ -32,7 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include "logging.h"
 #include "UASWaypointManager.h"
 #include "UAS.h"
-#include "UASManager.h"
+#include "configuration.h"
 #include "MainWindow.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
@@ -71,6 +71,8 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
     }
 
     m_defaultRelativeAlt = readSetting(DEFAULT_REL_ALT, 20.0f).toDouble();
+
+    m_waypointComponentID = QGC::ComponentID();
 }
 
 UASWaypointManager::~UASWaypointManager()
@@ -622,7 +624,7 @@ void UASWaypointManager::clearWaypointList()
         current_state = WP_CLEARLIST;
         current_wp_id = 0;
         current_partner_systemid = uasid;
-        current_partner_compid = MAV_COMP_ID_MISSIONPLANNER;
+        current_partner_compid = m_waypointComponentID;
 
         sendWaypointClearAll();
     }
@@ -874,7 +876,7 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
         current_state = WP_GETLIST;
         current_wp_id = 0;
         current_partner_systemid = uasid;
-        current_partner_compid = MAV_COMP_ID_MISSIONPLANNER;
+        current_partner_compid = m_waypointComponentID;
 
         sendWaypointRequestList();
 
@@ -913,7 +915,7 @@ void UASWaypointManager::goToWaypoint(Waypoint *wp)
         mission.z = wp->getZ();
         mavlink_message_t message;
         mission.target_system = uasid;
-        mission.target_component = MAV_COMP_ID_MISSIONPLANNER;
+        mission.target_component = m_waypointComponentID;
         //using mavlink_msg_mission_item_int_encode to encode mavlink_mission_item_int_t type message
         mavlink_msg_mission_item_int_encode(uas->getSystemId(), uas->getComponentId(), &message, &mission);
         uas->sendMessage(message);
@@ -934,7 +936,7 @@ void UASWaypointManager::writeWaypoints()
             current_state = WP_SENDLIST;
             current_wp_id = 0;
             current_partner_systemid = uasid;
-            current_partner_compid = MAV_COMP_ID_MISSIONPLANNER;
+            current_partner_compid = m_waypointComponentID;
 
             //clear local buffer
             // Why not replace with waypoint_buffer.clear() ?
@@ -998,7 +1000,7 @@ void UASWaypointManager::sendWaypointClearAll()
     mavlink_mission_clear_all_t wpca;
 
     wpca.target_system = uasid;
-    wpca.target_component = MAV_COMP_ID_MISSIONPLANNER;
+    wpca.target_component = m_waypointComponentID;
 
     emit updateStatusString(QString("Clearing waypoint list..."));
 
@@ -1015,7 +1017,7 @@ void UASWaypointManager::sendWaypointSetCurrent(quint16 seq)
     mavlink_mission_set_current_t wpsc;
 
     wpsc.target_system = uasid;
-    wpsc.target_component = MAV_COMP_ID_MISSIONPLANNER;
+    wpsc.target_component = m_waypointComponentID;
     wpsc.seq = seq;
 
     emit updateStatusString(QString("Updating target waypoint..."));
@@ -1032,7 +1034,7 @@ void UASWaypointManager::sendWaypointCount()
     mavlink_mission_count_t wpc;
 
     wpc.target_system = uasid;
-    wpc.target_component = MAV_COMP_ID_MISSIONPLANNER;
+    wpc.target_component = m_waypointComponentID;
     wpc.count = current_count;
     wpc.mission_type = MAV_MISSION_TYPE_MISSION;
 
@@ -1050,7 +1052,7 @@ void UASWaypointManager::sendWaypointRequestList()
     mavlink_mission_request_list_t wprl;
 
     wprl.target_system = uasid;
-    wprl.target_component = MAV_COMP_ID_MISSIONPLANNER;
+    wprl.target_component = m_waypointComponentID;
 
     emit updateStatusString(QString("Requesting waypoint list..."));
 
@@ -1068,7 +1070,7 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
     mavlink_mission_request_int_t wpr;
 
     wpr.target_system = uasid;
-    wpr.target_component = MAV_COMP_ID_MISSIONPLANNER;
+    wpr.target_component = m_waypointComponentID;
     wpr.seq = seq;
 
     emit updateStatusString(QString("Retrieving waypoint ID %1 of %2 total").arg(wpr.seq).arg(current_count));
@@ -1091,7 +1093,7 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
 
         wp = waypoint_buffer.at(seq);
         wp->target_system = uasid;
-        wp->target_component = MAV_COMP_ID_MISSIONPLANNER;
+        wp->target_component = m_waypointComponentID;
 
         if (current_state == WP_SENDLIST_SENDWPSINT) {
             mavlink_msg_mission_item_int_encode(uas->getSystemId(), uas->getComponentId(), &message, wp);
@@ -1119,7 +1121,7 @@ void UASWaypointManager::sendWaypointAck(quint8 type)
     mavlink_mission_ack_t wpa;
 
     wpa.target_system = uasid;
-    wpa.target_component = MAV_COMP_ID_MISSIONPLANNER;
+    wpa.target_component = m_waypointComponentID;
     wpa.type = type;
 
     mavlink_msg_mission_ack_encode(uas->getSystemId(), uas->getComponentId(), &message, &wpa);

diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
@@ -197,6 +197,8 @@ public slots:
     bool standalone;                                ///< If standalone is set, do not write to UAS
     quint16 uasid;
 
+    quint8 m_waypointComponentID{0};               ///< Component ID used for waypoint transmission
+
     double m_defaultAcceptanceRadius;                 ///< Default Acceptance Radius in meters
     double m_defaultRelativeAlt;                      ///< Default relative alt in meters
 

diff --git a/src/ui/QGCSettingsWidget.cc b/src/ui/QGCSettingsWidget.cc
@@ -109,6 +109,10 @@ void QGCSettingsWidget::showEvent(QShowEvent *evt)
         ui->MavlinkspinBox->setValue(QGC::MavlinkID());
         connect(ui->MavlinkspinBox, SIGNAL(valueChanged(int)), this, SLOT(mavIdChanged(int)));
 
+        ui->ComponentspinBox->setValue(QGC::ComponentID());
+        connect(ui->ComponentspinBox, QOverload<int>::of(&QSpinBox::valueChanged), this, &QGCSettingsWidget::componentIdChanged);
+        // Ahgrl sowas muss auch für componentID
+
         connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(setActiveUAS(UASInterface*)));
         setActiveUAS(UASManager::instance()->getActiveUAS());
 
@@ -286,6 +290,12 @@ void QGCSettingsWidget::mavIdChanged(int id)
     QGC::setMavlinkID(localID);
 }
 
+void QGCSettingsWidget::componentIdChanged(int id)
+{
+    quint8 localID = static_cast<quint8>(id);
+    QGC::setComponentID(localID);
+}
+
 void QGCSettingsWidget::setBetaRelease(bool state)
 {
     QString type;

diff --git a/src/ui/QGCSettingsWidget.h b/src/ui/QGCSettingsWidget.h
@@ -34,6 +34,8 @@ private slots:
 
     void mavIdChanged(int id);
 
+    void componentIdChanged(int id);
+
 private:
     void setDataRateLineEdits();
 

diff --git a/src/ui/QGCSettingsWidget.ui b/src/ui/QGCSettingsWidget.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1014</width>
-    <height>701</height>
+    <height>839</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -17,7 +17,7 @@
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
-      <number>0</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="general">
       <attribute name="title">
@@ -439,23 +439,31 @@
         <rect>
          <x>10</x>
          <y>70</y>
-         <width>171</width>
+         <width>170</width>
          <height>25</height>
         </rect>
        </property>
+       <property name="font">
+        <font>
+         <pointsize>8</pointsize>
+        </font>
+       </property>
        <property name="text">
         <string>Mavlink ID of Apm Planner</string>
        </property>
       </widget>
       <widget class="QSpinBox" name="MavlinkspinBox">
        <property name="geometry">
         <rect>
-         <x>180</x>
+         <x>160</x>
          <y>70</y>
          <width>100</width>
          <height>25</height>
         </rect>
        </property>
+       <property name="toolTip">
+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Mavlink ID used by APM-Planner when communicating with the UAS. Normally there is no need to change the default.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+       </property>
        <property name="minimum">
         <number>1</number>
        </property>
@@ -479,6 +487,46 @@
         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;After changing the settings on this page you have to restart APM Planner&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
        </property>
       </widget>
+      <widget class="QLabel" name="label_15">
+       <property name="geometry">
+        <rect>
+         <x>340</x>
+         <y>60</y>
+         <width>180</width>
+         <height>50</height>
+        </rect>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>8</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;Mavlink component ID&lt;br/&gt;when uploading waypoints&lt;/body&gt;&lt;/html&gt;</string>
+       </property>
+      </widget>
+      <widget class="QSpinBox" name="ComponentspinBox">
+       <property name="geometry">
+        <rect>
+         <x>500</x>
+         <y>70</y>
+         <width>100</width>
+         <height>25</height>
+        </rect>
+       </property>
+       <property name="toolTip">
+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Component ID used by APM-Planner when uploading waypoints to a UAS. Normally there is no need to change the default.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+       </property>
+       <property name="minimum">
+        <number>1</number>
+       </property>
+       <property name="maximum">
+        <number>255</number>
+       </property>
+       <property name="value">
+        <number>190</number>
+       </property>
+      </widget>
      </widget>
     </widget>
    </item>