Merge pull request #665 from bitcraze/tobba/arming

Added arming fuctionality and emergency button

docs/userguides/userguide_client/console_tab.md

@@ -1,12 +1,12 @@
 ---
 title: Console Tab
 page_id: console_tab
+sort_order: 2
 ---
 
 The console tab will show printouts from the Crazyflie firmware as it\'s
 running.
 
-![cfclient console](/docs/images/cfclient_console_marked.png){:align-center
-width="700"}
+![cfclient console](/docs/images/cfclient_console_marked.png)
 
 1.  Console output from the Crazyflie

docs/userguides/userguide_client/flightcontrol_tab.md

@@ -1,11 +1,12 @@
 ---
 title: Flightcontrol Tab
 page_id: flightcontrol_tab
+sort_order: 1
 ---
 
 The normal view used when flying is the one seen below.
 
-![cfclient flighttab](/docs/images/cfclient_flightab.png){:align-center}
+![cfclient flighttab](/docs/images/cfclient_flightab.png)
 
 1.  Flight mode selector (Normal and Advanced)
     * *Normal:* Recommended for beginners
@@ -34,3 +35,4 @@ The normal view used when flying is the one seen below.
 8. Motor output on the Crazyflie
 9. Horizon indicator
 10. Command based flight control, allow controlled flight if, and only if, a positioning deck such as the [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck-v2), the [Loco deck](https://store.bitcraze.io/collections/decks/products/loco-positioning-deck) or the [Lighthouse deck](https://store.bitcraze.io/collections/decks/products/lighthouse-positioning-deck) is present.
+11. Arming/disarming button. Pressing this will send a arming or disarming event to the Crazyflie which will arm or disarm the system if this is possible. This button can also say "Auto arming" which indicates the crazyflie is configured to arm the system automatically if system checks have passed. More info in [crazyflie firmware arming documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/supervisor/arming/). 

docs/userguides/userguide_client/index.md

@@ -47,16 +47,16 @@ For more info on LED indicators etc. have a look at the [Crazyflie 2.X](https://
 1.  The window title will show the connection status
 2.  Connect/disconnect, scan and the drop-down connection list as well
     as Address and auto reconnect.
-
-
-
        * *Scan:* Will scan for availible Crazyflies within the chosen address.
        * *Connect:* Will connect to the selected URI in the connection list
        * *Disconnect:* Will disconnect the current Crazyflie
        * *Address:* The address to scan for. If you didn't change this [in the configuration]( #firmware-configuration), then leave the default of 0xE7E7E7E7E7
 3. Battery and link quality (from 0% to 100%)
 4. Tabs with specific functionality (see below for details)
-5. The selected and used input interface
+5. The content for the active tab
+6. Toolboxes can be docked to the edges, making their content visible all the time.
+7. The selected and used input interface
+8. Emergency stop button. The motors will stop when clicked.
 
 ### Tabs and toolboxes
 

docs/userguides/userguide_client/lighthouse_tab.md

@@ -1,14 +1,15 @@
 ---
 title: Lighthouse Positioning Tab
 page_id: lighthouse_tab
+sort_order: 6
 ---
 
 The Lighthouse Positioning tab shows information from the Lighthouse Positioning
 system when present. It is also used to configure and manage the system.
 For more information on how the Lighthouse system works, please see
 [the firmware documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/lighthouse/).
 
-![cfclient positioning](/docs/images/cfclient_lh_main.png){:align-center width="700"}
+![cfclient positioning](/docs/images/cfclient_lh_main.png)
 
 The tab is divided into four sections:
 1.  3D view of the Crazyfle and the base stations

docs/userguides/userguide_client/loco_tab.md

@@ -1,6 +1,7 @@
 ---
 title: Loco Positioning Tab
 page_id: loco_tab
+sort_order: 7
 ---
 
 The Loco Positioning tab shows information from the Loco Positioning
@@ -22,8 +23,7 @@ Displays the configured anchor positions and the estimated position of
 the Crazyflie. Can be used to make sure the system is set up correctly
 and that the estimated position is reasonable.
 
-![cfclient positioning](/docs/images/cfclient_position_estimate.png){:align-center
-width="700"}
+![cfclient positioning](/docs/images/cfclient_position_estimate.png)
 
 1.  Plot showing anchors and Crazyflie
 2.  Sets the graph mode

docs/userguides/userguide_client/logblocks_tab.md

@@ -1,14 +1,14 @@
 ---
 title: Log Blocks Tab
 page_id: logblocks_tab
+sort_order: 5
 ---
 
 The log blocks tab shows all log configurations that are saved and if
 they are started. It\'s also possible to start/stop them as well as
 write the logged data to file.
 
-![cfclient log blocks](/docs/images/cfclient_logblocks_marked.png){:align-center
-width="700"}
+![cfclient log blocks](/docs/images/cfclient_logblocks_marked.png)
 
 1.  Fields
     -   *ID:* Block id in Crazyflie

docs/userguides/userguide_client/parameters_tab.md

@@ -1,14 +1,15 @@
 ---
 title: Parameter Tab
 page_id: parameter_tab
+sort_order: 4
 ---
 
 The Crazyflie supports parameters, variables stored in the Crazyflie
 that can be changed in real-time. The parameter tab can be used to view
 and update parameters. For more information about parameters see
 [logging and parameter frameworks](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/logparam/).
 
-![cfclient parameter list](/docs/images/cfclient_param.png){:align-center width="700"}
+![cfclient parameter list](/docs/images/cfclient_param.png)
 
 1.  Parameter information fields
        * *Name:* The name of the parameter or group.

docs/userguides/userguide_client/plotter_tab.md

@@ -1,12 +1,12 @@
 ---
 title: Plotter Tab
 page_id: plotter_tab
+sort_order: 3
 ---
 
 The plotter tab can be used to visualize data logged from the Crazyflie.
 
-![cfclient plotter](/docs/images/cfclient_ploter.png){:align-center
-width="700"}
+![cfclient plotter](/docs/images/cfclient_ploter.png)
 
 1.  Select logging configuration to plot. Read about how to create
     configurations [here](/docs/userguides/userguide_client/#logging).

docs/userguides/userguide_client/tuning_tab.md

@@ -1,16 +1,16 @@
 ---
 title: Tuning  Tab
 page_id: tuning_tab
+sort_order: 8
 ---
 
-![cfclient plotter](/docs/images/tuning_tab.png){:align-center
-width="700"}
+![cfclient plotter](/docs/images/tuning_tab.png)
 
-This tab is for tuning the PID controller on your Crazyflie platform. 
+This tab is for tuning the PID controller on your Crazyflie platform.
 
 1. Select which part of the controller you want to tune (attitude (rate) or velocity/position)
 2. Check the 'link roll and pitch' or 'link x and y' button if you have a symetrical platform, or else it is best to tune those seperately
 3. Tune the PID gains of controller. This is best done within flight with the controller or flight commander
 4. If you are not happy with your tuning, default to values there were in before
 5. If you are happy, it would be best to persist the parameters so it is consistent after startup
-6. If you want to remove the persistent parameter from the memory, you can also clear it.
+6. If you want to remove the persistent parameter from the memory, you can also clear it.

setup.py

@@ -90,7 +90,7 @@ def relative(lst, base=''):
         ],
     },
 
-    install_requires=['cflib>=0.1.22',
+    install_requires=['cflib>=0.1.23',
                       'appdirs~=1.4.0',
                       'pyzmq~=25.0',
                       'pyqtgraph~=0.11',

src/cfclient/ui/dialogs/about.ui

@@ -39,7 +39,7 @@
              <item row="1" column="0">
               <widget class="QLabel" name="label_2">
                <property name="text">
-                <string>Copyright (c) 2011-2020, Bitcraze AB</string>
+                <string>Copyright (c) 2011-2023, Bitcraze AB</string>
                </property>
               </widget>
              </item>

src/cfclient/ui/dialogs/inputconfigdialogue.py

@@ -107,8 +107,12 @@ def __init__(self, joystickReader, *args):
                 "Press the button for Roll negative calibration"))
         self.detectKillswitch.clicked.connect(
             lambda: self._button_detect(
-                "killswitch", "Killswitch",
-                "Press the button for the killswitch (will disable motors)"))
+                "estop", "Disarm/Kill",
+                "Press the button to disarm/kill (will disable motors)"))
+        self.detectArm.clicked.connect(
+            lambda: self._button_detect(
+                "arm", "Arm system",
+                "Press the button to arm the system (will enable motor ouput)"))
         self.detectAlt1.clicked.connect(
             lambda: self._button_detect(
                 "alt1", "Alternative function 1",
@@ -142,9 +146,10 @@ def __init__(self, joystickReader, *args):
             self.detectYaw, self.detectThrust,
             self.detectPitchPos, self.detectPitchNeg,
             self.detectRollPos, self.detectRollNeg,
-            self.detectKillswitch, self.detectExitapp,
-            self._detect_assisted_control, self.detectAlt1,
-            self.detectAlt2, self.detectMuxswitch]
+            self.detectKillswitch, self.detectArm,
+            self.detectExitapp, self._detect_assisted_control,
+            self.detectAlt1, self.detectAlt2,
+            self.detectMuxswitch]
 
         self._button_to_detect = ""
         self._axis_to_detect = ""
@@ -178,7 +183,8 @@ def _reset_mapping(self):
             "pitchNeg": self.pitchNeg,
             "rollPos": self.rollPos,
             "rollNeg": self.rollNeg,
-            "killswitch": self.killswitch,
+            "estop": self.killswitch,
+            "arm": self.arm,
             "alt1": self.alt1,
             "alt2": self.alt2,
             "exitapp": self.exitapp,

src/cfclient/ui/dialogs/inputconfigdialogue.ui

@@ -505,13 +505,13 @@
           <property name="geometry">
            <rect>
             <x>600</x>
-            <y>158</y>
+            <y>150</y>
             <width>292</width>
-            <height>202</height>
+            <height>221</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_5">
-           <item row="5" column="1">
+           <item row="6" column="1">
             <widget class="QPushButton" name="detectAlt2">
              <property name="enabled">
               <bool>false</bool>
@@ -521,7 +521,30 @@
              </property>
             </widget>
            </item>
-           <item row="4" column="0">
+           <item row="2" column="1">
+            <widget class="QPushButton" name="detectKillswitch">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
+             <property name="text">
+              <string>Detect</string>
+             </property>
+            </widget>
+           </item>
+           <item row="7" column="0">
+            <widget class="QCheckBox" name="muxswitch">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
+             <property name="text">
+              <string>Mux switch</string>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="5" column="0">
             <widget class="QCheckBox" name="alt1">
              <property name="enabled">
               <bool>false</bool>
@@ -534,8 +557,8 @@
              </property>
             </widget>
            </item>
-           <item row="3" column="1">
-            <widget class="QPushButton" name="detectExitapp">
+           <item row="1" column="1">
+            <widget class="QPushButton" name="_detect_assisted_control">
              <property name="enabled">
               <bool>false</bool>
              </property>
@@ -544,30 +567,33 @@
              </property>
             </widget>
            </item>
-           <item row="2" column="1">
-            <widget class="QPushButton" name="detectKillswitch">
+           <item row="6" column="0">
+            <widget class="QCheckBox" name="alt2">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Detect</string>
+              <string>Alt 2</string>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="2" column="0">
-            <widget class="QCheckBox" name="killswitch">
+           <item row="1" column="0">
+            <widget class="QCheckBox" name="_assisted_control">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Killswitch</string>
+              <string>Assisted control</string>
              </property>
              <property name="checkable">
               <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="3" column="0">
+           <item row="4" column="0">
             <widget class="QCheckBox" name="exitapp">
              <property name="enabled">
               <bool>false</bool>
@@ -580,21 +606,21 @@
              </property>
             </widget>
            </item>
-           <item row="1" column="0">
-            <widget class="QCheckBox" name="_assisted_control">
+           <item row="2" column="0">
+            <widget class="QCheckBox" name="killswitch">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Assisted control</string>
+              <string>Disarm/kill</string>
              </property>
              <property name="checkable">
               <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="1" column="1">
-            <widget class="QPushButton" name="_detect_assisted_control">
+           <item row="7" column="1">
+            <widget class="QPushButton" name="detectMuxswitch">
              <property name="enabled">
               <bool>false</bool>
              </property>
@@ -603,21 +629,18 @@
              </property>
             </widget>
            </item>
-           <item row="5" column="0">
-            <widget class="QCheckBox" name="alt2">
+           <item row="5" column="1">
+            <widget class="QPushButton" name="detectAlt1">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Alt 2</string>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
+              <string>Detect</string>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
-            <widget class="QPushButton" name="detectAlt1">
+            <widget class="QPushButton" name="detectExitapp">
              <property name="enabled">
               <bool>false</bool>
              </property>
@@ -626,21 +649,21 @@
              </property>
             </widget>
            </item>
-           <item row="6" column="0">
-            <widget class="QCheckBox" name="muxswitch">
+           <item row="3" column="0">
+            <widget class="QCheckBox" name="arm">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Mux switch</string>
+              <string>Arm</string>
              </property>
              <property name="checkable">
               <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="6" column="1">
-            <widget class="QPushButton" name="detectMuxswitch">
+           <item row="3" column="1">
+            <widget class="QPushButton" name="detectArm">
              <property name="enabled">
               <bool>false</bool>
              </property>