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/****************************************************************************
*
* (c) 2009-2020 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 QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
// Note: This setup supports back compat on battery parameter naming
// Older firmware: Single battery setup using BAT_* naming
// Newer firmware: Multiple battery setup using BAT#_* naming, with indices starting at 1
SetupPage {
id: powerPage
pageComponent: pageComponent
Item {
width: Math.max(availableWidth, innerColumn.width)
height: innerColumn.height
readonly property string _highlightPrefix: "<font color=\"" + qgcPal.warningText + "\">"
readonly property string _highlightSuffix: "</font>"
readonly property string _batNCellsIndexedParamName: "BAT#_N_CELLS"
property int _textEditWidth: ScreenTools.defaultFontPixelWidth * 8
property Fact _uavcanEnable: controller.getParameterFact(-1, "UAVCAN_ENABLE", false)
property bool _indexedBatteryParamsAvailable: controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", 1))
property int _indexedBatteryParamCount: getIndexedBatteryParamCount()
function getIndexedBatteryParamCount() {
var batteryIndex = 1
do {
if (!controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", batteryIndex))) {
return batteryIndex - 1
}
batteryIndex++
} while (true)
}
PowerComponentController {
id: controller
onOldFirmware: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade to a newer firmware.").arg(QGroundControl.appName))
onNewerFirmware: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade %1.").arg(QGroundControl.appName))
onBatteryConnected: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Performing calibration. This will take a few seconds.."))
onCalibrationFailed: mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), errorMessage)
onCalibrationSuccess: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Calibration complete. You can disconnect your battery now if you like."))
onConnectBattery: mainWindow.showMessageDialog(qsTr("ESC Calibration"), _highlightPrefix + qsTr("WARNING: Props must be removed from vehicle prior to performing ESC calibration.") + _highlightSuffix + qsTr(" Connect the battery now and calibration will begin."))
onDisconnectBattery: mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), qsTr("You must disconnect the battery prior to performing ESC Calibration. Disconnect your battery and try again."))
ColumnLayout {
id: innerColumn
anchors.horizontalCenter: parent.horizontalCenter
spacing: ScreenTools.defaultFontPixelHeight
function drawArrowhead(ctx, x, y, radians)
{
ctx.save();
ctx.beginPath();
ctx.translate(x,y);
ctx.rotate(radians);
ctx.moveTo(0,0);
ctx.lineTo(5,10);
ctx.lineTo(-5,10);
ctx.closePath();
ctx.restore();
ctx.fill();
}
function drawLineWithArrow(ctx, x1, y1, x2, y2)
{
ctx.beginPath();
ctx.moveTo(x1, y1);
ctx.lineTo(x2, y2);
ctx.stroke();
var rd = Math.atan((y2 - y1) / (x2 - x1));
rd += ((x2 > x1) ? 90 : -90) * Math.PI/180;
drawArrowhead(ctx, x2, y2, rd);
}
Repeater {
id: batterySetupRepeater
model: _indexedBatteryParamsAvailable ? _indexedBatteryParamCount : 1
Loader {
sourceComponent: batterySetupComponent
property int batteryIndex: index + 1
property bool showBatteryIndex: batterySetupRepeater.count > 1
property bool useIndexedParamNames: _indexedBatteryParamsAvailable
}
QGCGroupBox {
Layout.fillWidth: true
title: qsTr("ESC PWM Minimum and Maximum Calibration")
ColumnLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
color: qgcPal.warningText
wrapMode: Text.WordWrap
text: qsTr("WARNING: Propellers must be removed from vehicle prior to performing ESC calibration.")
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("You must use USB connection for this operation.")
}
QGCButton {
text: qsTr("Calibrate")
width: ScreenTools.defaultFontPixelWidth * 20
onClicked: controller.calibrateEsc()
}
}
}
QGCCheckBox {
id: showUAVCAN
text: qsTr("Show UAVCAN Settings")
checked: _uavcanEnable ? _uavcanEnable.rawValue !== 0 : false
}
QGCGroupBox {
Layout.fillWidth: true
title: qsTr("UAVCAN Bus Configuration")
visible: showUAVCAN.checked
Row {
id: uavCanConfigRow
spacing: ScreenTools.defaultFontPixelWidth
FactComboBox {
id: _uavcanEnabledCheckBox
width: ScreenTools.defaultFontPixelWidth * 20
fact: _uavcanEnable
indexModel: false
}
QGCLabel {
anchors.verticalCenter: parent.verticalCenter
text: qsTr("Change required restart")
}
}
}
QGCGroupBox {
Layout.fillWidth: true
title: qsTr("UAVCAN Motor Index and Direction Assignment")
visible: showUAVCAN.checked
ColumnLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
wrapMode: Text.WordWrap
color: qgcPal.warningText
text: qsTr("WARNING: Propellers must be removed from vehicle prior to performing UAVCAN ESC configuration.")
Layout.fillWidth: true
}
QGCLabel {
wrapMode: Text.WordWrap
text: qsTr("ESC parameters will only be accessible in the editor after assignment.")
Layout.fillWidth: true
}
QGCLabel {
wrapMode: Text.WordWrap
text: qsTr("Start the process, then turn each motor into its turn direction, in the order of their motor indices.")
Layout.fillWidth: true
}
QGCButton {
text: qsTr("Start Assignment")
width: ScreenTools.defaultFontPixelWidth * 20
onClicked: controller.startBusConfigureActuators()
}
QGCButton {
text: qsTr("Stop Assignment")
width: ScreenTools.defaultFontPixelWidth * 20
onClicked: controller.stopBusConfigureActuators()
}
}
}
} // Column
Component {
id: batterySetupComponent
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title: qsTr("Battery ") + (showBatteryIndex ? batteryIndex : "")
property var _controller: controller
property int _batteryIndex: batteryIndex
BatteryParams {
id: batParams
controller: _controller
batteryIndex: _batteryIndex
}
property bool battVoltageDividerAvailable: batParams.battVoltageDividerAvailable
property bool battAmpsPerVoltAvailable: batParams.battAmpsPerVoltAvailable
property Fact battNumCells: batParams.battNumCells
property Fact battHighVolt: batParams.battHighVolt
property Fact battLowVolt: batParams.battLowVolt
property Fact battVoltLoadDrop: batParams.battVoltLoadDrop
property Fact battVoltageDivider: batParams.battVoltageDivider
property Fact battAmpsPerVolt: batParams.battAmpsPerVolt
function getBatteryImage() {
switch(battNumCells.value) {
case 1: return "/qmlimages/PowerComponentBattery_01cell.svg";
case 2: return "/qmlimages/PowerComponentBattery_02cell.svg"
case 3: return "/qmlimages/PowerComponentBattery_03cell.svg"
case 4: return "/qmlimages/PowerComponentBattery_04cell.svg"
case 5: return "/qmlimages/PowerComponentBattery_05cell.svg"
case 6: return "/qmlimages/PowerComponentBattery_06cell.svg"
default: return "/qmlimages/PowerComponentBattery_01cell.svg";
}
}
GridLayout {
id: batteryGrid
columns: 5
columnSpacing: ScreenTools.defaultFontPixelWidth
QGCColoredImage {
Layout.rowSpan: 3
width: height * 0.75
height: 100
sourceSize.height: height
fillMode: Image.PreserveAspectFit
smooth: true
color: qgcPal.text
cache: false
text: qsTr("Calculate")
visible: battVoltageDividerAvailable
onClicked: mainWindow.showPopupDialogFromComponent(calcVoltageDividerDlgComponent, { batteryIndex: _batteryIndex })
Item { width: 1; height: 1; Layout.columnSpan: 2; visible: battVoltageDividerAvailable }
QGCLabel {
Layout.columnSpan: batteryGrid.columns
Layout.fillWidth: true
font.pointSize: ScreenTools.smallFontPointSize
wrapMode: Text.WordWrap
text: qsTr("If the battery voltage reported by the vehicle is largely different than the voltage read externally using a voltmeter you can adjust the voltage multiplier value to correct this. ") +
qsTr("Click the Calculate button for help with calculating a new value.")
text: qsTr("Calculate")
visible: battAmpsPerVoltAvailable
onClicked: mainWindow.showPopupDialogFromComponent(calcAmpsPerVoltDlgComponent, { batteryIndex: _batteryIndex })
Item { width: 1; height: 1; Layout.columnSpan: 2; visible: battAmpsPerVoltAvailable }
QGCLabel {
Layout.columnSpan: batteryGrid.columns
Layout.fillWidth: true
font.pointSize: ScreenTools.smallFontPointSize
wrapMode: Text.WordWrap
text: qsTr("If the current draw reported by the vehicle is largely different than the current read externally using a current meter you can adjust the amps per volt value to correct this. ") +
qsTr("Click the Calculate button for help with calculating a new value.")
QGCCheckBox {
id: showAdvanced
Layout.columnSpan: batteryGrid.columns
text: qsTr("Show Advanced Settings")
}
QGCLabel {
text: qsTr("Voltage Drop on Full Load (per cell)")
visible: showAdvanced.checked
}
FactTextField {
id: battDropField
fact: battVoltLoadDrop
showUnits: true
visible: showAdvanced.checked
}
Item { width: 1; height: 1; Layout.columnSpan: 3; visible: showAdvanced.checked }
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Batteries show less voltage at high throttle. Enter the difference in Volts between idle throttle and full ") +
qsTr("throttle, divided by the number of battery cells. Leave at the default if unsure. ") +
_highlightPrefix + qsTr("If this value is set too high, the battery might be deep discharged and damaged.") + _highlightSuffix
visible: showAdvanced.checked
text: qsTr("Compensated Minimum Voltage:")
visible: showAdvanced.checked
QGCLabel {
text: ((battNumCells.value * battLowVolt.value) - (battNumCells.value * battVoltLoadDrop.value)).toFixed(1) + qsTr(" V")
visible: showAdvanced.checked
Item { width: 1; height: 1; Layout.columnSpan: 3; visible: showAdvanced.checked }
} // Grid
} // QGCGroupBox - Battery settings
} // Component - batterySetupComponent
QGCPopupDialog {
title: qsTr("Calculate Voltage Divider")
buttons: StandardButton.Close
BatteryParams {
id: batParams
controller: _controller
batteryIndex: dialogProperties.batteryIndex
Layout.preferredWidth: gridLayout.width
wrapMode: Text.WordWrap
text: qsTr("Measure battery voltage using an external voltmeter and enter the value below. Click Calculate to set the new voltage multiplier.")
QGCLabel { text: qsTr("Measured voltage:") }
QGCTextField { id: measuredVoltage }
QGCLabel { text: qsTr("Vehicle voltage:") }
QGCLabel { text: controller.vehicle.battery.voltage.valueString }
QGCLabel { text: qsTr("Voltage divider:") }
FactLabel { fact: batParams.battVoltageDivider }
onClicked: {
var measuredVoltageValue = parseFloat(measuredVoltage.text)
if (measuredVoltageValue === 0 || isNaN(measuredVoltageValue)) {
return
}
var newVoltageDivider = (measuredVoltageValue * batParams.battVoltageDivider.value) / controller.vehicle.battery.voltage.value
if (newVoltageDivider > 0) {
batParams.battVoltageDivider.value = newVoltageDivider
}
}
}
} // Column
} // QGCViewDialog
} // Component - calcVoltageDividerDlgComponent
QGCPopupDialog {
title: qsTr("Calculate Amps per Volt")
buttons: StandardButton.Close
BatteryParams {
id: batParams
controller: _controller
batteryIndex: dialogProperties.batteryIndex
}
Layout.preferredWidth: gridLayout.width
wrapMode: Text.WordWrap
text: qsTr("Measure current draw using an external current meter and enter the value below. Click Calculate to set the new amps per volt value.")
QGCLabel { text: qsTr("Measured current:") }
QGCTextField { id: measuredCurrent }
QGCLabel { text: qsTr("Vehicle current:") }
QGCLabel { text: controller.vehicle.battery.current.valueString }
QGCLabel { text: qsTr("Amps per volt:") }
FactLabel { fact: batParams.battAmpsPerVolt }
}
QGCButton {
text: qsTr("Calculate")
onClicked: {
var measuredCurrentValue = parseFloat(measuredCurrent.text)
if (measuredCurrentValue === 0 || isNaN(measuredCurrentValue)) {
return
}
var newAmpsPerVolt = (measuredCurrentValue * batParams.battAmpsPerVolt.value) / controller.vehicle.battery.current.value
if (newAmpsPerVolt != 0) {
batParams.battAmpsPerVolt.value = newAmpsPerVolt
}