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Fix "Change Airspeed" guided action #12505

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Merged
merged 2 commits into from
Mar 14, 2025
Merged

Fix "Change Airspeed" guided action #12505

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621ba91
Update ArduPlane airspeed limits parameter names
rubenp02 Feb 24, 2025
581a1dc
Set airspeed slider default to current airspeed
rubenp02 Feb 24, 2025
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8 changes: 4 additions & 4 deletions src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1203,7 +1203,7 @@ QMutex& APMFirmwarePlugin::_reencodeMavlinkChannelMutex()

double APMFirmwarePlugin::maximumEquivalentAirspeed(Vehicle* vehicle)
{
QString airspeedMax("ARSPD_FBW_MAX");
QString airspeedMax("r.AIRSPEED_MAX");

if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, airspeedMax)) {
return vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, airspeedMax)->rawValue().toDouble();
Expand All @@ -1214,7 +1214,7 @@ double APMFirmwarePlugin::maximumEquivalentAirspeed(Vehicle* vehicle)

double APMFirmwarePlugin::minimumEquivalentAirspeed(Vehicle* vehicle)
{
QString airspeedMin("ARSPD_FBW_MIN");
QString airspeedMin("r.AIRSPEED_MIN");

if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, airspeedMin)) {
return vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, airspeedMin)->rawValue().toDouble();
Expand All @@ -1225,8 +1225,8 @@ double APMFirmwarePlugin::minimumEquivalentAirspeed(Vehicle* vehicle)

bool APMFirmwarePlugin::fixedWingAirSpeedLimitsAvailable(Vehicle* vehicle)
{
return vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "ARSPD_FBW_MIN") &&
vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "ARSPD_FBW_MAX");
return vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "r.AIRSPEED_MIN") &&
vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "r.AIRSPEED_MAX");
}

void APMFirmwarePlugin::guidedModeChangeEquivalentAirspeedMetersSecond(Vehicle* vehicle, double airspeed_equiv)
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13 changes: 9 additions & 4 deletions src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
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Expand Up @@ -104,17 +104,22 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
if (!_remapParamNameIntialized) {
FirmwarePlugin::remapParamNameMap_t& remapV3_10 = _remapParamName[3][10];

remapV3_10["BATT_ARM_VOLT"] = QStringLiteral("ARMING_VOLT_MIN");
remapV3_10["BATT2_ARM_VOLT"] = QStringLiteral("ARMING_VOLT2_MIN");
remapV3_10["BATT_ARM_VOLT"] = QStringLiteral("ARMING_VOLT_MIN");
remapV3_10["BATT2_ARM_VOLT"] = QStringLiteral("ARMING_VOLT2_MIN");

FirmwarePlugin::remapParamNameMap_t& remapV4_5 = _remapParamName[4][5];

remapV4_5["AIRSPEED_MIN"] = QStringLiteral("ARSPD_FBW_MIN");
remapV4_5["AIRSPEED_MAX"] = QStringLiteral("ARSPD_FBW_MAX");

_remapParamNameIntialized = true;
}
}

int ArduPlaneFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{
// Remapping supports up to 3.10
return majorVersionNumber == 3 ? 10 : Vehicle::versionNotSetValue;
// Remapping supports up to 4.5
return majorVersionNumber == 4 ? 5 : Vehicle::versionNotSetValue;
}

QString ArduPlaneFirmwarePlugin::stabilizedFlightMode() const
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2 changes: 1 addition & 1 deletion src/FlightDisplay/GuidedActionsController.qml
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Expand Up @@ -231,7 +231,7 @@ Item {
GuidedValueSlider.SliderType.Speed,
_unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.minimumEquivalentAirspeed()).toFixed(1),
_unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.maximumEquivalentAirspeed()).toFixed(1),
_unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.minimumEquivalentAirspeed()).toFixed(1),
_unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.airSpeed.rawValue),
qsTr("Airspeed"))
} else if (!_fixedWing && _activeVehicle.haveMRSpeedLimits) {
guidedValueSlider.setupSlider(
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