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Commit 50e87f74 authored by Don Gagne's avatar Don Gagne
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Merge pull request #2864 from DonLakeFlyer/Sensors 

Usability plus bug fixes
parents 50a26196 9931529c
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src/AutoPilotPlugins/APM/APMSensorsComponent.cc
View file @ 50e87f74
......@@ -72,16 +72,7 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
<< "COMPASS_OFS3_X" << "COMPASS_OFS3_X" << "COMPASS_OFS3_X";
// Accelerometer triggers
if (_autopilot->parameterExists(FactSystem::defaultComponentId, "INS_USE")) {
triggers << "INS_USE" << "INS_USE2" << "INS_USE3"
<< "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z"
<< "INS_ACC2OFFS_X" << "INS_ACC2OFFS_Y" << "INS_ACC2OFFS_Z"
<< "INS_ACC3OFFS_X" << "INS_ACC3OFFS_Y" << "INS_ACC3OFFS_Z";
} else {
// For older firmwares which don't support the INS_USE parameter we can't determine which secondary accels are in use.
// So we just base things off the the first accel.
triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
}
triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
return triggers;
}
......@@ -116,9 +107,9 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
QStringList rgOffsets[cCompass];
devicesIds << QStringLiteral("COMPASS_DEV_ID") << QStringLiteral("COMPASS_DEV_ID2") << QStringLiteral("COMPASS_DEV_ID3");
rgOffsets[0] << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X");
rgOffsets[1] << QStringLiteral("COMPASS_OFS2_X") << QStringLiteral("COMPASS_OFS2_X") << QStringLiteral("COMPASS_OFS2_X");
rgOffsets[2] << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_X");
rgOffsets[0] << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_Y") << QStringLiteral("COMPASS_OFS_Z");
rgOffsets[1] << QStringLiteral("COMPASS_OFS2_X") << QStringLiteral("COMPASS_OFS2_Y") << QStringLiteral("COMPASS_OFS2_Z");
rgOffsets[2] << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_Y") << QStringLiteral("COMPASS_OFS3_Z");
for (size_t i=0; i<cCompass; i++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, devicesIds[i])->rawValue().toInt() != 0) {
......@@ -135,29 +126,13 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
bool APMSensorsComponent::accelSetupNeeded(void) const
{
const size_t cAccel = 3;
const size_t cOffset = 3;
QStringList insUse;
QStringList rgOffsets[cAccel];
if (_autopilot->parameterExists(FactSystem::defaultComponentId, "INS_USE")) {
insUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
rgOffsets[0] << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
rgOffsets[1] << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
rgOffsets[2] << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
} else {
// For older firmwares which don't support the INS_USE parameter we can't determine which secondary accels are in use.
// So we just base things off the the first accel.
rgOffsets[0] << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
}
QStringList offsets;
for (size_t i=0; i<cAccel; i++) {
if (insUse.count() == 0 || _autopilot->getParameterFact(FactSystem::defaultComponentId, insUse[i])->rawValue().toInt() != 0) {
for (size_t j=0; j<cOffset; j++) {
if (rgOffsets[i].count() && _autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
return true;
}
}
offsets << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
foreach(const QString& offset, offsets) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, offset)->rawValue().toFloat() == 0.0f) {
return true;
}
}
......
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
View file @ 50e87f74
......@@ -369,6 +369,19 @@ QGCView {
QGCLabel { text: "Calibrate:"; anchors.baseline: compassButton.baseline }
IndicatorButton {
id: accelButton
width: parent.buttonWidth
text: "Accelerometer"
indicatorGreen: !accelCalNeeded
onClicked: {
preCalibrationDialogType = "accel"
preCalibrationDialogHelp = accelHelp
showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
id: compassButton
width: parent.buttonWidth
......@@ -388,18 +401,6 @@ QGCView {
}
}
IndicatorButton {
id: accelButton
width: parent.buttonWidth
text: "Accelerometer"
indicatorGreen: !accelCalNeeded
onClicked: {
preCalibrationDialogType = "accel"
preCalibrationDialogHelp = accelHelp
showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
QGCButton {
id: nextButton
showBorder: true
......
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
View file @ 50e87f74
......@@ -77,11 +77,6 @@ APMSensorsComponentController::APMSensorsComponentController(void) :
connect(_sensorsComponent, &VehicleComponent::setupCompleteChanged, this, &APMSensorsComponentController::setupNeededChanged);
}
APMSensorsComponentController::~APMSensorsComponentController()
{
_vehicle->setConnectionLostEnabled(true);
}
/// Appends the specified text to the status log area in the ui
void APMSensorsComponentController::_appendStatusLog(const QString& text)
{
......
src/AutoPilotPlugins/APM/APMSensorsComponentController.h
View file @ 50e87f74
......@@ -41,7 +41,6 @@ class APMSensorsComponentController : public FactPanelController
public:
APMSensorsComponentController(void);
~APMSensorsComponentController();
Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
......
src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
View file @ 50e87f74
......@@ -20,7 +20,28 @@ FactPanel {
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
APMSensorsComponentController { id: controller; factPanel: panel }
property bool accelCalNeeded: controller.accelSetupNeeded
property Fact compass1IdFact: controller.getParameterFact(-1, "COMPASS_DEV_ID")
property Fact compass2IdFact: controller.getParameterFact(-1, "COMPASS_DEV_ID2")
property Fact compass3IdFact: controller.getParameterFact(-1, "COMPASS_DEV_ID3")
property Fact compass1OfsXFact: controller.getParameterFact(-1, "COMPASS_OFS_X")
property Fact compass1OfsYFact: controller.getParameterFact(-1, "COMPASS_OFS_Y")
property Fact compass1OfsZFact: controller.getParameterFact(-1, "COMPASS_OFS_Z")
property Fact compass2OfsXFact: controller.getParameterFact(-1, "COMPASS_OFS2_X")
property Fact compass2OfsYFact: controller.getParameterFact(-1, "COMPASS_OFS2_Y")
property Fact compass2OfsZFact: controller.getParameterFact(-1, "COMPASS_OFS2_Z")
property Fact compass3OfsXFact: controller.getParameterFact(-1, "COMPASS_OFS3_X")
property Fact compass3OfsYFact: controller.getParameterFact(-1, "COMPASS_OFS3_Y")
property Fact compass3OfsZFact: controller.getParameterFact(-1, "COMPASS_OFS3_Z")
property bool compass1Available: compass1IdFact.value !== 0
property bool compass2Available: compass2IdFact.value !== 0
property bool compass3Available: compass3IdFact.value !== 0
property bool compass1Calibrated: compass1Available ? compass1OfsXFact.value != 0.0 && compass1OfsYFact.value != 0.0 &&compass1OfsZFact.value != 0.0 : false
property bool compass2Calibrated: compass2Available ? compass2OfsXFact.value != 0.0 && compass2OfsYFact.value != 0.0 &&compass2OfsZFact.value != 0.0 : false
property bool compass3Calibrated: compass3Available ? compass3OfsXFact.value != 0.0 && compass3OfsYFact.value != 0.0 &&compass3OfsZFact.value != 0.0 : false
property bool compassCalNeeded: controller.compassSetupNeeded
Column {
......@@ -28,13 +49,26 @@ FactPanel {
anchors.margins: 8
VehicleSummaryRow {
labelText: "Compass:"
valueText: compassCalNeeded ? "Setup required" : "Ready"
labelText: "Compass 1:"
visible: compass1Available
valueText: compass1Calibrated ? "Ready" : "Setup required"
}
VehicleSummaryRow {
labelText: "Compass 2:"
visible: compass2Available
valueText: compass2Calibrated ? "Ready" : "Setup required"
}
VehicleSummaryRow {
labelText: "Compass 3:"
visible: compass3Available
valueText: compass3Calibrated ? "Ready" : "Setup required"
}
VehicleSummaryRow {
labelText: "Accelerometer:"
valueText: accelCalNeeded ? "Setup required" : "Ready"
valueText: controller.accelSetupNeeded ? "Setup required" : "Ready"
}
}
}
src/AutoPilotPlugins/PX4/SensorsComponent.qml
View file @ 50e87f74
......@@ -130,7 +130,7 @@ QGCView {
onSetCompassRotations: {
if (showCompass0Rot || showCompass1Rot || showCompass2Rot) {
showDialog(compassRotationDialogComponent, "Set Compass Rotation(s)", qgcView.showDialogDefaultWidth, StandardButton.Ok)
showDialog(compassRotationDialogComponent, "Set Compass Rotation(s)", qgcView.showDialogDefaultWidth, StandardButton.Ok)
}
}
......
src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml
View file @ 50e87f74
......@@ -20,6 +20,8 @@ FactPanel {
FactPanelController { id: controller; factPanel: panel }
property Fact mag0IdFact: controller.getParameterFact(-1, "CAL_MAG0_ID")
property Fact mag1IdFact: controller.getParameterFact(-1, "CAL_MAG1_ID")
property Fact mag2IdFact: controller.getParameterFact(-1, "CAL_MAG2_ID")
property Fact gyro0IdFact: controller.getParameterFact(-1, "CAL_GYRO0_ID")
property Fact accel0IdFact: controller.getParameterFact(-1, "CAL_ACC0_ID")
......@@ -28,10 +30,22 @@ FactPanel {
anchors.margins: 8
VehicleSummaryRow {
labelText: "Compass:"
labelText: "Compass 0:"
valueText: mag0IdFact ? (mag0IdFact.value === 0 ? "Setup required" : "Ready") : ""
}
VehicleSummaryRow {
labelText: "Compass 1:"
visible: mag1IdFact.value !== 0
valueText: "Ready"
}
VehicleSummaryRow {
labelText: "Compass 2:"
visible: mag2IdFact.value !== 0
valueText: "Ready"
}
VehicleSummaryRow {
labelText: "Gyro:"
valueText: gyro0IdFact ? (gyro0IdFact.value === 0 ? "Setup required" : "Ready") : ""
......
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