From 96e5674dd8b20317e7a22963fea2a35317f86ca2 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 10 Feb 2015 13:12:29 -0800
Subject: [PATCH] Support two param sets for calibration
The parameters for calibration were changed in the latest master. QGC
needs to work with both. Hacked in for now, waiting on a true parameter
re-mapping implementation.
---
src/AutoPilotPlugins/PX4/SensorsComponent.cc | 15 +++++++++---
src/AutoPilotPlugins/PX4/SensorsComponent.h | 1 +
.../PX4/SensorsComponentSummary.qml | 9 +++++---
.../QGCPX4SensorCalibration.cc | 23 ++++++++++++-------
4 files changed, 34 insertions(+), 14 deletions(-)
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.cc b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
index 29b6282dc9..b0d5bbb974 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
@@ -31,12 +31,17 @@
// These two list must be kept in sync
/// @brief Parameters which signal a change in setupComplete state
-static const char* triggerParams[] = { "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS_ACC_XOFF", "SENS_DPRES_OFF", NULL };
+static const char* triggerParamsV1[] = { "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS_ACC_XOFF", "SENS_DPRES_OFF", NULL };
+static const char* triggerParamsV2[] = { "CAL_MAG0_ID", "CAL_GYRO0_ID", "CAL_ACC0_ID", "SENS_DPRES_OFF", NULL };
SensorsComponent::SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
PX4Component(uas, autopilot, parent),
_name(tr("Sensors"))
{
+ // Determine what set of parameters are available. This is a temporary hack for now. Will need real parameter
+ // mapping in the future.
+ QVariant value;
+ _paramsV1 = _paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "SENS_MAG_XOFF", value);
}
QString SensorsComponent::name(void) const
@@ -97,14 +102,18 @@ QString SensorsComponent::setupStateDescription(void) const
const char** SensorsComponent::setupCompleteChangedTriggerList(void) const
{
- return triggerParams;
+ return _paramsV1 ? triggerParamsV1 : triggerParamsV2;
}
QStringList SensorsComponent::paramFilterList(void) const
{
QStringList list;
- list << "SENS_*";
+ if (_paramsV1) {
+ list << "SENS_*";
+ } else {
+ list << "CAL_*";
+ }
return list;
}
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.h b/src/AutoPilotPlugins/PX4/SensorsComponent.h
index a58874986a..992a25f5ce 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.h
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.h
@@ -55,6 +55,7 @@ public:
private:
const QString _name;
QVariantList _summaryItems;
+ bool _paramsV1;
};
#endif
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml b/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml
index be7b52d238..25f237cbd8 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml
@@ -15,7 +15,8 @@ Column {
Text {
horizontalAlignment: Text.AlignRight;
width: parent.width - compass.contentWidth;
- text: autopilot.parameters["SENS_MAG_XOFF"].value == 0.0 ? "Setup required" : "Ready"
+ property bool setupRequiredValue: autopilot.parameters["SENS_MAG_XOFF"] ? autopilot.parameters["SENS_MAG_XOFF"].value : autopilot.parameters["CAL_MAG0_ID"].value
+ text: setupRequiredValue == 0 ? "Setup required" : "Ready"
}
}
@@ -26,7 +27,8 @@ Column {
Text {
horizontalAlignment: Text.AlignRight;
width: parent.width - gyro.contentWidth;
- text: autopilot.parameters["SENS_GYRO_XOFF"].value == 0.0 ? "Setup required" : "Ready"
+ property bool setupRequiredValue: autopilot.parameters["SENS_GYRO_XOFF"] ? autopilot.parameters["SENS_GYRO_XOFF"].value : autopilot.parameters["CAL_GYRO0_ID"].value
+ text: setupRequiredValue == 0 ? "Setup required" : "Ready"
}
}
@@ -37,7 +39,8 @@ Column {
Text {
horizontalAlignment: Text.AlignRight;
width: parent.width - accel.contentWidth;
- text: autopilot.parameters["SENS_ACC_XOFF"].value == 0.0 ? "Setup required" : "Ready"
+ property bool setupRequiredValue: autopilot.parameters["SENS_ACC_XOFF"] ? autopilot.parameters["SENS_ACC_XOFF"].value : autopilot.parameters["CAL_ACC0_ID"].value
+ text: setupRequiredValue == 0 ? "Setup required" : "Ready"
}
}
diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.cc b/src/ui/px4_configuration/QGCPX4SensorCalibration.cc
index 2107f1dc22..515ec2b16d 100644
--- a/src/ui/px4_configuration/QGCPX4SensorCalibration.cc
+++ b/src/ui/px4_configuration/QGCPX4SensorCalibration.cc
@@ -142,7 +142,7 @@ void QGCPX4SensorCalibration::parameterChanged(int uas, int component, QString p
}
// Check mag calibration naively
- if (parameterName.contains("SENS_MAG_XOFF")) {
+ if (parameterName.contains("SENS_MAG_XOFF") || parameterName.contains("CAL_MAG0_ID")) {
float offset = value.toFloat();
if (offset < 0.000001f && offset > -0.000001f) {
// Must be zero, not good
@@ -153,7 +153,7 @@ void QGCPX4SensorCalibration::parameterChanged(int uas, int component, QString p
}
// Check gyro calibration naively
- if (parameterName.contains("SENS_GYRO_XOFF")) {
+ if (parameterName.contains("SENS_GYRO_XOFF") || parameterName.contains("CAL_GYRO0_ID")) {
float offset = value.toFloat();
if (offset < 0.000001f && offset > -0.000001f) {
// Must be zero, not good
@@ -164,7 +164,7 @@ void QGCPX4SensorCalibration::parameterChanged(int uas, int component, QString p
}
// Check accel calibration naively
- if (parameterName.contains("SENS_ACC_XOFF")) {
+ if (parameterName.contains("SENS_ACC_XOFF") || parameterName.contains("CAL_ACC0_ID")) {
float offset = value.toFloat();
if (offset < 0.000001f && offset > -0.000001f) {
// Must be zero, not good
@@ -354,17 +354,24 @@ void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas)
// If the parameters are ready, we aren't going to get paramterChanged signals. So fake them in order to make the UI work.
if (uas->getParamManager()->parametersReady()) {
QVariant value;
- static const char* rgParams[] = { "SENS_BOARD_ROT", "SENS_EXT_MAG_ROT", "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS_ACC_XOFF", "SENS_DPRES_OFF" };
+ static const char* rgParamsV1[] = { "SENS_BOARD_ROT", "SENS_EXT_MAG_ROT", "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS_ACC_XOFF", "SENS_DPRES_OFF" };
+ static const char* rgParamsV2[] = { "SENS_BOARD_ROT", "SENS_EXT_MAG_ROT", "CAL_MAG0_XOFF", "CAL_GYRO0_XOFF", "CAL_ACC0_XOFF", "SENS_DPRES_OFF" };
QGCUASParamManagerInterface* paramMgr = uas->getParamManager();
- for (size_t i=0; i<sizeof(rgParams)/sizeof(rgParams[0]); i++) {
+ // Temp hack for parameter mapping
+ bool paramsV1 = paramMgr->getComponentForParam("SENS_MAG_XOFF").count();
+ static const char** prgParamList = paramsV1 ? rgParamsV1 : rgParamsV2;
+
+ for (size_t i=0; i<sizeof(rgParamsV1)/sizeof(rgParamsV1[0]); i++) {
QVariant value;
- QList<int> compIds = paramMgr->getComponentForParam(rgParams[i]);
+ QList<int> compIds = paramMgr->getComponentForParam(prgParamList[i]);
Q_ASSERT(compIds.count() == 1);
- paramMgr->getParameterValue(compIds[0], rgParams[i], value);
- parameterChanged(uas->getUASID(), compIds[0], rgParams[i], value);
+ bool found = paramMgr->getParameterValue(compIds[0], prgParamList[i], value);
+ Q_ASSERT(found);
+ Q_UNUSED(found);
+ parameterChanged(uas->getUASID(), compIds[0], prgParamList[i], value);
}
}
}
--
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