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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtCharts 2.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.ScreenTools 1.0
RowLayout {
layoutDirection: Qt.RightToLeft
property var tuneList
property var params
property real _chartHeight: ScreenTools.defaultFontPixelHeight * 20
property real _margins: ScreenTools.defaultFontPixelHeight / 2
property string _currentTuneType: tuneList[0]
property real _roll: _activeVehicle.roll.value
property real _rollSetpoint: _activeVehicle.setpoint.roll.value
property real _rollRate: _activeVehicle.rollRate.value
property real _rollRateSetpoint: _activeVehicle.setpoint.rollRate.value
property real _pitch: _activeVehicle.pitch.value
property real _pitchSetpoint: _activeVehicle.setpoint.pitch.value
property real _pitchRate: _activeVehicle.pitchRate.value
property real _pitchRateSetpoint: _activeVehicle.setpoint.pitchRate.value
property real _yaw: _activeVehicle.heading.value
property real _yawSetpoint: _activeVehicle.setpoint.yaw.value
property real _yawRate: _activeVehicle.yawRate.value
property real _yawRateSetpoint: _activeVehicle.setpoint.yawRate.value
property var _valueXAxis: valueXAxis
property var _valueRateXAxis: valueRateXAxis
property var _valueYAxis: valueYAxis
property var _valueRateYAxis: valueRateYAxis
property int _msecs: 0
property var _savedTuningParamValues: [ ]
// The following are set when getValues is called
property real _value
property real _valueSetpoint
property real _valueRate
property real _valueRateSetpoint
readonly property int _tickSeparation: 5
readonly property int _maxTickSections: 10
readonly property int _tuneListRollIndex: 0
readonly property int _tuneListPitchIndex: 1
readonly property int _tuneListYawIndex: 2
function adjustYAxisMin(yAxis, newValue) {
var newMin = Math.min(yAxis.min, newValue)
if (newMin % 5 != 0) {
newMin -= 5
newMin = Math.floor(newMin / _tickSeparation) * _tickSeparation
}
yAxis.min = newMin
}
function adjustYAxisMax(yAxis, newValue) {
var newMax = Math.max(yAxis.max, newValue)
if (newMax % 5 != 0) {
newMax += 5
newMax = Math.floor(newMax / _tickSeparation) * _tickSeparation
}
yAxis.max = newMax
}
function getValues() {
if (_currentTuneType === tuneList[_tuneListRollIndex]) {
_value = _roll
_valueSetpoint = _rollSetpoint
_valueRate = _rollRate
_valueRateSetpoint = _rollRateSetpoint
} else if (_currentTuneType === tuneList[_tuneListPitchIndex]) {
_value = _pitch
_valueSetpoint = _pitchSetpoint
_valueRate = _pitchRate
_valueRateSetpoint = _pitchRateSetpoint
} else if (_currentTuneType === tuneList[_tuneListYawIndex]) {
_value = _yaw
_valueSetpoint = _yawSetpoint
_valueRate = _yawRate
_valueRateSetpoint = _yawRateSetpoint
}
}
function resetGraphs() {
valueSeries.removePoints(0, valueSeries.count)
valueSetpointSeries.removePoints(0, valueSetpointSeries.count)
valueRateSeries.removePoints(0, valueRateSeries.count)
valueRateSetpointSeries.removePoints(0, valueRateSetpointSeries.count)
_valueXAxis.min = 0
_valueXAxis.max = 0
_valueRateXAxis.min = 0
_valueRateXAxis.max = 0
_valueYAxis.min = 0
_valueYAxis.max = 10
_valueRateYAxis.min = 0
_valueRateYAxis.max = 10
_msecs = 0
}
function currentTuneTypeIndex() {
if (_currentTuneType === tuneList[_tuneListRollIndex]) {
return _tuneListRollIndex
} else if (_currentTuneType === tuneList[_tuneListPitchIndex]) {
return _tuneListPitchIndex
} else if (_currentTuneType === tuneList[_tuneListYawIndex]) {
return _tuneListYawIndex
}
}
// Save the current set of tuning values so we can reset to them
function saveTuningParamValues() {
var tuneTypeIndex = currentTuneTypeIndex()
_savedTuningParamValues = [ ]
var currentTuneParams = params[tuneTypeIndex]
for (var i=0; i<currentTuneParams.length; i++) {
_savedTuningParamValues.push(currentTuneParams[i].valueString)
}
savedRepeater.model = _savedTuningParamValues
}
function resetToSavedTuningParamValues() {
var tuneTypeIndex = currentTuneTypeIndex()
for (var i=0; i<_savedTuningParamValues.length; i++) {
params[tuneTypeIndex][i].value = _savedTuningParamValues[i]
}
}
Component.onCompleted: {
on_CurrentTuneTypeChanged: {
saveTuningParamValues()
resetGraphs()
}
ExclusiveGroup {
id: tuneTypeRadios
}
ValueAxis {
id: valueXAxis
min: 0
max: 0
labelFormat: "%d"
}
ValueAxis {
id: valueRateXAxis
min: 0
max: 0
labelFormat: "%d"
}
ValueAxis {
id: valueYAxis
min: 0
max: 10
titleText: "deg"
tickCount: Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1
}
ValueAxis {
id: valueRateYAxis
min: 0
max: 10
titleText: "deg/s"
tickCount: Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1
}
Timer {
id: dataTimer
interval: 10
running: false
repeat: true
function startOrStop() {
if (dataTimer.running) {
dataTimer.stop()
} else {
dataTimer.start()
}
}
adjustYAxisMin(_valueYAxis, _value)
adjustYAxisMax(_valueYAxis, _value)
adjustYAxisMin(_valueYAxis, _valueSetpoint)
adjustYAxisMax(_valueYAxis, _valueSetpoint)
adjustYAxisMin(_valueRateYAxis, _valueRate)
adjustYAxisMax(_valueRateYAxis, _valueRate)
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adjustYAxisMin(_valueRateYAxis, _valueRateSetpoint)
adjustYAxisMax(_valueRateYAxis, _valueRateSetpoint)
_msecs += interval
}
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property int _maxPointCount: 10000 / interval
}
Column {
spacing: _margins
Layout.alignment: Qt.AlignTop
QGCLabel { text: qsTr("Tuning Axis:") }
RowLayout {
spacing: _margins
Repeater {
model: tuneList
QGCRadioButton {
text: modelData
checked: _currentTuneType === modelData
exclusiveGroup: tuneTypeRadios
onClicked: _currentTuneType = modelData
}
}
}
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Tuning Values:") }
GridLayout {
rows: factList.length
flow: GridLayout.TopToBottom
rowSpacing: _margins
columnSpacing: _margins
property var factList: params[tuneList.indexOf(_currentTuneType)]
Repeater {
model: parent.factList
QGCLabel { text: modelData.name }
}
Repeater {
model: parent.factList
QGCButton {
text: "-"
onClicked: {
var value = modelData.value
var newValue = value - (value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value)
if (newValue >= modelData.min) {
modelData.value = newValue
}
}
}
}
Repeater {
model: parent.factList
FactTextField {
Layout.fillWidth: true
fact: modelData
showUnits: false
}
}
Repeater {
model: parent.factList
QGCButton {
text: "+"
onClicked: {
var value = modelData.value
var newValue = value + (value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value)
if (newValue <= modelData.max) {
modelData.value = newValue
}
}
}
}
}
RowLayout {
QGCLabel { text: qsTr("Increment/Decrement %") }
QGCComboBox {
id: adjustPercentCombo
model: ListModel {
id: adjustPercentModel
ListElement { text: "5"; value: 0.05 }
ListElement { text: "10"; value: 0.10 }
ListElement { text: "15"; value: 0.15 }
ListElement { text: "20"; value: 0.20 }
}
}
}
Item { width: 1; height: 1 }
GridLayout {
rows: savedRepeater.model.length
flow: GridLayout.TopToBottom
rowSpacing: _margins
columnSpacing: _margins
Repeater {
model: params[tuneList.indexOf(_currentTuneType)]
QGCLabel { text: modelData.name }
}
Repeater {
id: savedRepeater
QGCLabel { text: modelData }
}
}
RowLayout {
spacing: _margins
QGCButton {
onClicked: saveTuningParamValues()
}
QGCButton {
onClicked: resetToSavedTuningParamValues()
}
}
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Chart:") }
RowLayout {
spacing: _margins
QGCButton {
text: qsTr("Clear")
onClicked: resetGraphs()
}
QGCButton {
text: dataTimer.running ? qsTr("Stop") : qsTr("Start")
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}
}
}
Column {
Layout.fillWidth: true
ChartView {
anchors.left: parent.left
anchors.right: parent.right
height: availableHeight / 2
title: _currentTuneType
antialiasing: true
legend.alignment: Qt.AlignRight
LineSeries {
id: valueSeries
name: "Response"
axisY: valueYAxis
axisX: valueXAxis
}
LineSeries {
id: valueSetpointSeries
name: "Command"
axisY: valueYAxis
axisX: valueXAxis
}
}
ChartView {
anchors.left: parent.left
anchors.right: parent.right
height: availableHeight / 2
title: _currentTuneType + qsTr(" Rate")
antialiasing: true
legend.alignment: Qt.AlignRight
LineSeries {
id: valueRateSeries
name: "Response"
axisY: valueRateYAxis
axisX: valueRateXAxis
}
LineSeries {
id: valueRateSetpointSeries
name: "Command"
axisY: valueRateYAxis
axisX: valueRateXAxis
}
}
}
} // RowLayout