Merge pull request #1277 from DonLakeFlyer/FixedWingSensors

Handle sensor difference for Fixed Wing

qgroundcontrol.qrc

@@ -268,6 +268,7 @@
 
         <file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
         <file alias="SensorsComponentSummary.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml</file>
+        <file alias="SensorsComponentSummaryFixedWing.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml</file>
         <file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
         <file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
         <file alias="AirframeComponentSummary.qml">src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml</file>

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -31,8 +31,10 @@
 // These two list must be kept in sync
 
 /// @brief Parameters which signal a change in setupComplete state
-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 };
+static const char* triggerParamsV1[] = {  "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS_ACC_XOFF", NULL };
+static const char* triggerParamsV2[] = {  "CAL_MAG0_ID", "CAL_GYRO0_ID", "CAL_ACC0_ID", NULL };
+static const char* triggerParamsV1FixedWing[] = {  "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS_ACC_XOFF", "SENS_DPRES_OFF", NULL };
+static const char* triggerParamsV2FixedWing[] = {  "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),
@@ -102,7 +104,11 @@ QString SensorsComponent::setupStateDescription(void) const
 
 const char** SensorsComponent::setupCompleteChangedTriggerList(void) const
 {
-    return _paramsV1 ? triggerParamsV1 : triggerParamsV2;
+    if (_uas->getSystemType() == MAV_TYPE_FIXED_WING) {
+        return _paramsV1 ? triggerParamsV1FixedWing : triggerParamsV2FixedWing;
+    } else {
+        return _paramsV1 ? triggerParamsV1 : triggerParamsV2;
+    }
 }
 
 QStringList SensorsComponent::paramFilterList(void) const
@@ -125,7 +131,16 @@ QWidget* SensorsComponent::setupWidget(void) const
 
 QUrl SensorsComponent::summaryQmlSource(void) const
 {
-    return QUrl::fromUserInput("qrc:/qml/SensorsComponentSummary.qml");
+    QString summaryQml;
+    
+    qDebug() << _uas->getSystemType();
+    if (_uas->getSystemType() == MAV_TYPE_FIXED_WING) {
+        summaryQml = "qrc:/qml/SensorsComponentSummaryFixedWing.qml";
+    } else {
+        summaryQml = "qrc:/qml/SensorsComponentSummary.qml";
+    }
+    
+    return QUrl::fromUserInput(summaryQml);
 }
 
 QString SensorsComponent::prerequisiteSetup(void) const

src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml

@@ -5,6 +5,10 @@ import QtQuick.Controls.Styles 1.2
 import QGroundControl.FactSystem 1.0
 import QGroundControl.Controls 1.0
 
+/*
+    IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummaryFixedWing.qml
+*/
+
 Column {
     anchors.fill: parent
     anchors.margins: 8
@@ -44,15 +48,4 @@ Column {
             text: setupRequiredValue  == 0 ? "Setup required" : "Ready"
         }
     }
-
-    Row {
-        width: parent.width
-
-        QGCLabel { id: airspeed; text: "Airspeed:" }
-        QGCLabel {
-            horizontalAlignment: Text.AlignRight;
-            width: parent.width - airspeed.contentWidth;
-            text: autopilot.parameters["SENS_DPRES_OFF"].value == 0.0 ? "Setup required" : "Ready"
-        }
-    }
 }

src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.Controls 1.0
+
+/*
+    IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummary.qml
+*/
+
+Column {
+    anchors.fill: parent
+    anchors.margins: 8
+
+    Row {
+        width: parent.width
+
+        QGCLabel { id: compass; text: "Compass:" }
+        QGCLabel {
+            horizontalAlignment: Text.AlignRight;
+            width: parent.width - compass.contentWidth;
+            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"
+        }
+    }
+
+    Row {
+        width: parent.width
+
+        QGCLabel { id: gyro; text: "Gyro:" }
+        QGCLabel {
+            horizontalAlignment: Text.AlignRight;
+            width: parent.width - gyro.contentWidth;
+            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"
+        }
+    }
+
+    Row {
+        width: parent.width
+
+        QGCLabel { id: accel; text: "Accelerometer:" }
+        QGCLabel {
+            horizontalAlignment: Text.AlignRight;
+            width: parent.width - accel.contentWidth;
+            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"
+        }
+    }
+
+    Row {
+        width: parent.width
+
+        QGCLabel { id: airspeed; text: "Airspeed:" }
+        QGCLabel {
+            horizontalAlignment: Text.AlignRight;
+            width: parent.width - airspeed.contentWidth;
+            text: autopilot.parameters["SENS_DPRES_OFF"].value == 0.0 ? "Setup required" : "Ready"
+        }
+    }
+}