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Merged
amilcarlucas merged 4 commits into from
Apr 28, 2026
Merged

Add frame class #1531

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ffedb34
feat(component editor): Import FRAME_CLASS from FC parameters into Fr…
amilcarlucas Apr 19, 2026
76fcf44
feat(component editor): Added frame class
amilcarlucas Apr 27, 2026
8e55548
docs(component editor): Auto-update vehicle components translatable s…
amilcarlucas Apr 20, 2026
ce7cb9d
fix(data_model): fix a pyright finding
amilcarlucas Apr 28, 2026
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2 changes: 1 addition & 1 deletion ardupilot_methodic_configurator/data_model_parameter_editor.py
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Expand Up @@ -1077,7 +1077,7 @@ def _validate_uploaded_parameters(self, selected_params: dict) -> list[str]:
self._flight_controller.fc_parameters[param_name],
)
param_upload_error.append(param_name)
if param_name not in self._flight_controller.fc_parameters:
if param_name not in self._flight_controller.fc_parameters and param is not None:
logging_error(
_("Parameter %s upload to the flight controller failed. Expected: %f, Actual: N/A"),
param_name,
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1 change: 1 addition & 0 deletions ardupilot_methodic_configurator/data_model_vehicle_components_base.py
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Expand Up @@ -262,6 +262,7 @@ def update_json_structure(
"Specifications": {
"TOW min Kg": 1,
"TOW max Kg": 1,
"Frame class": "Undefined",
}
},
"Flight Controller": {
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10 changes: 10 additions & 0 deletions ardupilot_methodic_configurator/data_model_vehicle_components_import.py
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Expand Up @@ -17,6 +17,7 @@
from typing import Any, Optional

from ardupilot_methodic_configurator import _
from ardupilot_methodic_configurator.backend_flightcontroller_business_logic import get_frame_info
from ardupilot_methodic_configurator.battery_cell_voltages import (
BATTERY_CELL_VOLTAGE_TYPES,
BATTERY_DEFAULT_CHEMISTRY,
Expand All @@ -36,6 +37,7 @@
SERVO_FUNCTION_ESC_CONTROL,
ComponentDataModelValidation,
get_esc_connection_sub_dict,
get_frame_class_sub_dict,
)


Expand Down Expand Up @@ -183,6 +185,14 @@ def process_fc_parameters(
self._verify_dict_is_uptodate(doc, get_esc_connection_sub_dict(fw_type), "MOT_PWM_TYPE", "values")
self._verify_dict_is_uptodate(doc, RC_PROTOCOLS_DICT, "RC_PROTOCOLS", "Bitmask")

# Process frame information if FRAME_CLASS is present in FC parameters
if "FRAME_CLASS" in fc_parameters:
frame_class, _ = get_frame_info(fc_parameters)
self.set_component_value(
("Frame", "Specifications", "Frame class"),
get_frame_class_sub_dict(fw_type).get(frame_class, "Undefined"),
Comment thread
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)

# Process parameters in sequence
self._set_gnss_type_from_fc_parameters(fc_parameters)
esc_is_serial = self._set_serial_type_from_fc_parameters(fc_parameters)
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40 changes: 40 additions & 0 deletions ardupilot_methodic_configurator/data_model_vehicle_components_validation.py
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Expand Up @@ -316,6 +316,46 @@ def get_esc_connection_sub_dict(
"65536": {"type": RC_PORTS + SERIAL_PORTS, "protocol": "MAVRadio"}, # Bit 16
}

FRAME_CLASS_DICT: dict[str, dict[int, str]] = {
"ArduCopter": {
0: "Undefined",
1: "Quad",
2: "Hexa",
3: "Octa",
4: "OctaQuad",
5: "Y6",
6: "Heli",
7: "Tri",
8: "SingleCopter",
9: "CoaxCopter",
10: "BiCopter",
11: "Heli_Dual",
12: "DodecaHexa",
13: "HeliQuad",
14: "Deca",
15: "Scripting Matrix",
16: "6DoF Scripting",
17: "Dynamic Scripting Matrix",
},
"Heli": {
6: "Heli",
11: "Heli_Dual",
13: "HeliQuad",
},
"Rover": {
0: "Undefined",
1: "Rover",
2: "Boat",
3: "BalanceBot",
},
"ArduPlane": {},
}
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def get_frame_class_sub_dict(vehicle_type: str) -> dict[int, str]:
"""Return the vehicle-type-specific frame class mapping from FRAME_CLASS_DICT."""
return FRAME_CLASS_DICT.get(vehicle_type, FRAME_CLASS_DICT["ArduCopter"])
Comment on lines +319 to +357


class ComponentDataModelValidation(ComponentDataModelBase):
"""
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2 changes: 2 additions & 0 deletions ardupilot_methodic_configurator/vehicle_components.py
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Expand Up @@ -32,6 +32,7 @@ def translatable_strings() -> None:
_vehicle_components_strings = _("Flight Controller")
_vehicle_components_strings = _("Format version")
_vehicle_components_strings = _("Frame")
_vehicle_components_strings = _("Frame class")
_vehicle_components_strings = _("GNSS Receiver")
_vehicle_components_strings = _("MCU Series")
_vehicle_components_strings = _("Manufacturer")
Expand Down Expand Up @@ -90,6 +91,7 @@ def translatable_descriptions() -> None: # noqa: PLR0915 # pylint: disable=too-
_vehicle_components_descriptions = _("Flight controller component that runs the ArduPilot firmware")
_vehicle_components_descriptions = _("Flight controller firmware information")
_vehicle_components_descriptions = _("Flight controller that runs ArduPilot firmware")
_vehicle_components_descriptions = _("Frame class/category (e.g., Quad, Hexa, Octa, etc.)")
_vehicle_components_descriptions = _("Global Navigation Satellite System receiver for positioning")
_vehicle_components_descriptions = _("How this component connects to the flight controller")
_vehicle_components_descriptions = _("Information about the firmware running on a component")
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4 changes: 4 additions & 0 deletions ardupilot_methodic_configurator/vehicle_components_schema.json
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Expand Up @@ -199,6 +199,10 @@
"TOW max Kg": {
"type": "number",
"description": "Maximum take-off weight in kilograms"
},
"Frame class": {
"type": "string",
"description": "Frame class/category (e.g., Quad, Hexa, Octa, etc.)"
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amilcarlucas marked this conversation as resolved.
Comment thread
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}
},
"description": "Technical specifications of the vehicle frame"
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3 changes: 2 additions & 1 deletion ...ilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 320,
"TOW max Kg": 500
"TOW max Kg": 500,
"Frame class": "OctaQuad"
},
"Notes": "Frame is custom, X type frame. Arm length is 2650mm."
},
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3 changes: 2 additions & 1 deletion ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 7.0,
"TOW max Kg": 12.0
"TOW max Kg": 12.0,
"Frame class": "Quad"
},
"Notes": ""
},
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3 changes: 2 additions & 1 deletion ...pilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.9,
"TOW max Kg": 0.9
"TOW max Kg": 0.9,
"Frame class": "Quad"
},
"Notes": ""
},
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3 changes: 2 additions & 1 deletion ...c_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.1,
"TOW max Kg": 0.1
"TOW max Kg": 0.1,
"Frame class": "Scripting Matrix"
},
"Notes": ""
},
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3 changes: 2 additions & 1 deletion ...pilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 1.3,
"TOW max Kg": 2.0
"TOW max Kg": 2.0,
"Frame class": "Quad"
},
"Notes": "5\" Props"
},
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3 changes: 2 additions & 1 deletion ...figurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.6,
"TOW max Kg": 0.6
"TOW max Kg": 0.6,
"Frame class": "Quad"
},
"Notes": "TOW in this case a taken ideal, and not calculated including gimbal."
},
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3 changes: 2 additions & 1 deletion ...t_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 1.09,
"TOW max Kg": 2.11
"TOW max Kg": 2.11,
"Frame class": "Quad"
},
"Notes": "Frame is X500 type. Look on holybro site for more specifications"
},
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3 changes: 2 additions & 1 deletion ...ethodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 1.09,
"TOW max Kg": 2.11
"TOW max Kg": 2.11,
"Frame class": "Quad"
},
"Notes": "Frame is X500 V2 type. Look on holybro site for more specifications"
},
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3 changes: 2 additions & 1 deletion ...thodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 5.6,
"TOW max Kg": 7.6
"TOW max Kg": 7.6,
"Frame class": "Quad"
},
"Notes": "Frame is X650 V2 type. Look on holybro site for more specifications"
},
Expand Down
3 changes: 2 additions & 1 deletion ...t_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 35,
"TOW max Kg": 50
"TOW max Kg": 50,
"Frame class": "Quad"
},
"Notes": "customized drone"
},
Expand Down
3 changes: 2 additions & 1 deletion ...ot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 56,
"TOW max Kg": 90
"TOW max Kg": 90,
"Frame class": "Quad"
},
"Notes": "z50 eft frame"
},
Expand Down
3 changes: 2 additions & 1 deletion ...ot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.7,
"TOW max Kg": 0.7
"TOW max Kg": 0.7,
"Frame class": "Quad"
},
"Notes": ""
},
Expand Down
3 changes: 2 additions & 1 deletion ...ethodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 2.884,
"TOW max Kg": 2.884
"TOW max Kg": 2.884,
"Frame class": "Quad"
},
"Notes": "10-14\" Props"
},
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3 changes: 2 additions & 1 deletion ...ic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 1.6,
"TOW max Kg": 5.39
"TOW max Kg": 5.39,
"Frame class": "Hexa"
},
"Notes": "With or without 1 Gallon of water (for spraying my small garden/vineyard)"
},
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3 changes: 2 additions & 1 deletion ...pilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 5,
"TOW max Kg": 7
"TOW max Kg": 7,
"Frame class": "Quad"
},
"Notes": "A frame with 960mm diameter (motor to notor) using T-Motor MN7005(7206) propulsion sets for 25mm tube arms"
},
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3 changes: 2 additions & 1 deletion ...pilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 20,
"TOW max Kg": 50
"TOW max Kg": 50,
"Frame class": "Quad"
},
"Notes": "Frame is custom, X type frame, the middle is welded. Arm length is 1950mm."
},
Expand Down
3 changes: 2 additions & 1 deletion ...ator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.6,
"TOW max Kg": 0.6
"TOW max Kg": 0.6,
"Frame class": "Quad"
},
"Notes": "A small 3'' ducted frame"
},
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3 changes: 2 additions & 1 deletion ...ator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.6,
"TOW max Kg": 0.6
"TOW max Kg": 0.6,
"Frame class": "Quad"
},
"Notes": "A small 3'' ducted frame"
},
Expand Down
3 changes: 2 additions & 1 deletion ...ator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.6,
"TOW max Kg": 0.6
"TOW max Kg": 0.6,
"Frame class": "Quad"
},
"Notes": "A small 3'' ducted frame"
},
Expand Down
3 changes: 2 additions & 1 deletion ...ator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.6,
"TOW max Kg": 0.6
"TOW max Kg": 0.6,
"Frame class": "Quad"
},
"Notes": "A small 3'' ducted frame"
},
Expand Down
3 changes: 2 additions & 1 deletion ...ot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.1,
"TOW max Kg": 0.1
"TOW max Kg": 0.1,
"Frame class": "Undefined"
},
"Notes": ""
},
Expand Down
3 changes: 2 additions & 1 deletion ...ot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.1,
"TOW max Kg": 0.1
"TOW max Kg": 0.1,
"Frame class": "Undefined"
},
"Notes": ""
},
Expand Down
3 changes: 2 additions & 1 deletion ...ot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 5,
"TOW max Kg": 7
"TOW max Kg": 7,
"Frame class": "Undefined"
},
"Notes": ""
},
Expand Down
3 changes: 2 additions & 1 deletion ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 1,
"TOW max Kg": 1
"TOW max Kg": 1,
"Frame class": "Heli"
},
"Notes": "This was done with the Basic M4 Combo kit, not the max"
},
Expand Down
3 changes: 2 additions & 1 deletion ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.6,
"TOW max Kg": 0.6
"TOW max Kg": 0.6,
"Frame class": "Rover"
},
"Notes": ""
},
Expand Down
3 changes: 2 additions & 1 deletion ...ilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json
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Expand Up @@ -26,7 +26,8 @@
},
"Specifications": {
"TOW min Kg": 0.5,
"TOW max Kg": 0.5
"TOW max Kg": 0.5,
"Frame class": "Rover"
},
"Notes": ""
},
Expand Down
11 changes: 11 additions & 0 deletions tests/test_data_model_vehicle_components_import.py
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Expand Up @@ -309,6 +309,17 @@ def test_system_imports_esc_aio_configuration(self, realistic_model) -> None:
assert esc_type == "AIO"
assert esc_protocol == "DShot600"

def test_user_can_import_frame_class_from_fc(self, realistic_model) -> None:
"""Given FRAME_CLASS from FC, set Frame.Specifications.Class."""
fc_parameters = {"FRAME_CLASS": 3, "MOT_PWM_TYPE": 6, "SERVO1_FUNCTION": 0}
doc = {"MOT_PWM_TYPE": {"values": {"6": "DShot600"}}}

with patch.object(realistic_model, "_verify_dict_is_uptodate", return_value=True):
realistic_model.process_fc_parameters(fc_parameters, doc)

frame_class = realistic_model.get_component_value(("Frame", "Specifications", "Frame class"))
assert frame_class == "Octa"

def test_user_can_import_esc_connection_and_telemetry_from_serial_fc(self, realistic_model) -> None:
"""
Import ESC serial config into FC->ESC Connection and ESC->FC Telemetry.
Expand Down
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