From 11ab9aa0311fc0efbb03d3e387480f390f903ea7 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 10 Apr 2016 15:02:59 -0700
Subject: [PATCH] Warn used about sensor cal over WiFi

---
 src/AutoPilotPlugins/PX4/SensorsComponent.qml          | 9 +++++++++
 src/AutoPilotPlugins/PX4/SensorsComponentController.cc | 4 ++++
 src/AutoPilotPlugins/PX4/SensorsComponentController.h  | 1 +
 3 files changed, 14 insertions(+)

diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.qml b/src/AutoPilotPlugins/PX4/SensorsComponent.qml
index 15bff89009..4fb7605d68 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.qml
@@ -138,6 +138,15 @@ QGCView {
                 hideDialog()
             }
         }
+
+    }
+
+    Component.onCompleted: {
+        var usingUDP = controller.usingUDPLink()
+        if (usingUDP) {
+            console.log("onUsingUDPLink")
+            showMessage("Sensor Calibration", "Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead.", StandardButton.Ok)
+        }
     }
 
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentController.cc b/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
index 6404700115..c28be78849 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
@@ -74,7 +74,11 @@ SensorsComponentController::SensorsComponentController(void) :
     _unknownFirmwareVersion(false),
     _waitingForCancel(false)
 {
+}
 
+bool SensorsComponentController::usingUDPLink(void)
+{
+    return _vehicle->priorityLink()->getLinkConfiguration()->type() == LinkConfiguration::TypeUdp;
 }
 
 /// Appends the specified text to the status log area in the ui
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentController.h b/src/AutoPilotPlugins/PX4/SensorsComponentController.h
index b8498d482f..fe9744efa1 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponentController.h
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentController.h
@@ -95,6 +95,7 @@ public:
     Q_INVOKABLE void calibrateLevel(void);
     Q_INVOKABLE void calibrateAirspeed(void);
     Q_INVOKABLE void cancelCalibration(void);
+    Q_INVOKABLE bool usingUDPLink(void);
     
     bool fixedWing(void);
     
-- 
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