Merge pull request #3183 from DonLakeFlyer/WiFiCal

WiFi sensor cal

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 }

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

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);
     

src/Vehicle/Vehicle.h

@@ -406,6 +406,10 @@ public:
     /// @return true: message sent, false: Link no longer connected
     bool sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
 
+    /// Sends a message to the priority link
+    /// @return true: message sent, false: Link no longer connected
+    bool sendMessageOnPriorityLink(mavlink_message_t message) { return sendMessageOnLink(priorityLink(), message); }
+
     /// Sends the specified messages multiple times to the vehicle in order to attempt to
     /// guarantee that it makes it to the vehicle.
     void sendMessageMultiple(mavlink_message_t message);

src/uas/UAS.cc

@@ -846,7 +846,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
                                   accelCal,                         // accel cal
                                   airspeedCal,                      // airspeed cal
                                   escCal);                          // esc cal
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnPriorityLink(msg);
 }
 
 void UAS::stopCalibration(void)
@@ -870,7 +870,7 @@ void UAS::stopCalibration(void)
                                   0,                                // accel cal
                                   0,                                // airspeed cal
                                   0);                               // unused
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnPriorityLink(msg);
 }
 
 void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
@@ -905,7 +905,7 @@ void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
                                   0,
                                   0,
                                   0);
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnPriorityLink(msg);
 }
 
 void UAS::stopBusConfig(void)
@@ -929,7 +929,7 @@ void UAS::stopBusConfig(void)
                                   0,
                                   0,
                                   0);
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnPriorityLink(msg);
 }
 
 /**