Extend FRAME_CLASS support to ArduPlane VTOL and Heli variants#1584
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Pull request overview
Extends frame-class handling across vehicle types to better support ArduPlane VTOL (QuadPlane) and additional Heli variants, and wires frame-class choices/validation into the vehicle components data model and import flow.
Changes:
- Add ArduPlane + additional Heli frame-class entries, plus helpers to present frame-class data in “protocol dict” shape and to generate GUI-valid frame-class choice tuples.
- Update FC-parameter import and business-logic frame parsing to fall back to
Q_FRAME_CLASS/Q_FRAME_TYPEwhenFRAME_CLASS/FRAME_TYPEare absent. - Expand ESC connection constants/tests to include an ArduPlane entry and adjust verification/test expectations.
Reviewed changes
Copilot reviewed 7 out of 7 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
ardupilot_methodic_configurator/backend_flightcontroller_business_logic.py |
Adds Q_FRAME_* fallbacks in get_frame_info(). |
ardupilot_methodic_configurator/data_model_vehicle_components_import.py |
Uses the new frame-class helpers during import and adds a new dictionary verification call. |
ardupilot_methodic_configurator/data_model_vehicle_components_validation.py |
Adds ArduPlane ESC/frame-class mappings, new frame-class helper functions, and updates GUI choice initialization/side-effects. |
tests/test_backend_flightcontroller_business_logic.py |
Adds unit tests for Q_FRAME_* fallback and precedence behavior. |
tests/test_data_model_vehicle_components_import.py |
Adds import tests for ArduPlane Q_FRAME_CLASS and bumps dict verification call-count expectation. |
tests/test_data_model_vehicle_components_validation.py |
Adds validation and side-effect tests ensuring “Undefined” frame class is rejected and that firmware type updates frame choices. |
tests/unit_data_model_vehicle_components_validation_constants.py |
Updates constant-structure tests and adds coverage for new frame-class + ArduPlane ESC constants. |
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| self._verify_dict_is_uptodate(doc, get_frame_class_as_protocol_dict(fw_type), "FRAME_CLASS", "values") | ||
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| # Process frame information if FRAME_CLASS is present in FC parameters | ||
| if "FRAME_CLASS" in fc_parameters: | ||
| # Process frame information if FRAME_CLASS or Q_FRAME_CLASS is present in FC parameters | ||
| if "FRAME_CLASS" in fc_parameters or "Q_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"), | ||
| ) | ||
| frame_class_entry = get_frame_class_as_protocol_dict(fw_type).get(str(frame_class)) | ||
| frame_class_label = frame_class_entry.get("protocol") if isinstance(frame_class_entry, dict) else "Undefined" | ||
| self.set_component_value(("Frame", "Specifications", "Frame class"), frame_class_label) |
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| return tuple(v for v in FRAME_CLASS_DICT.get(vehicle_type, FRAME_CLASS_DICT["ArduCopter"]).values() if v != "Undefined") | ||
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| "6": {"type": PWM_OUT_PORTS, "protocol": "DShot600", "ESC_to_FC": ESC_TO_FC_TELEMETRY_DSHOT}, | ||
| "7": {"type": PWM_OUT_PORTS, "protocol": "DShot1200", "ESC_to_FC": ESC_TO_FC_TELEMETRY_DSHOT}, | ||
| "8": {"type": PWM_OUT_PORTS, "protocol": "PWMRange", "ESC_to_FC": ESC_TO_FC_TELEMETRY_NONE}, | ||
| "9": {"type": PWM_OUT_PORTS, "protocol": "PWMAngle", "ESC_to_FC": ESC_TO_FC_TELEMETRY_NONE}, |
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| fw_type = str(self.get_component_value(("Flight Controller", "Firmware", "Type")) or "") | ||
| 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") | ||
| self._verify_dict_is_uptodate(doc, get_frame_class_as_protocol_dict(fw_type), "FRAME_CLASS", "values") |
Contributor
☂️ Code Coverage
Overall Coverage
New FilesNo new covered files... Modified FilesNo covered modified files...
|
Contributor
Test Results 4 files ± 0 4 suites ±0 40m 47s ⏱️ -41s Results for commit 7e3b5cc. ± Comparison against base commit 4f29eba. This pull request removes 4 and adds 27 tests. Note that renamed tests count towards both.♻️ This comment has been updated with latest results. |
…L and Heli variants - Fall back to Q_FRAME_CLASS/Q_FRAME_TYPE in get_frame_info() for ArduPlane VTOL support - Populate ArduPlane entry in FRAME_CLASS_DICT (mirrors Q_FRAME_CLASS values) - Add missing Heli frame classes (Undefined, SingleCopter, CoaxCopter, BiCopter) - Rename get_frame_class_sub_dict to get_frame_class_as_protocol_dict and change return type to dict[str, dict[str, str]] for _verify_dict_is_uptodate() compatibility - Add get_frame_class_valid_tuple() to exclude "Undefined" from GUI choices - Add ArduPlane to ESC_CONNECTION_DICT (Q_M_PWM_TYPE protocol mapping) - Validate FRAME_CLASS against allowed values in component editor - Update tests and bump verify call count from 5 to 6
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