diff --git a/QGCApplication.pro b/QGCApplication.pro
index 469e2400026bc93730a4abcc7f6b4a2dce5fbce9..15517ec3ea684caf76f42cabb2626f8e94038abc 100644
--- a/QGCApplication.pro
+++ b/QGCApplication.pro
@@ -565,6 +565,7 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/FlightModesComponent.h \
src/AutoPilotPlugins/PX4/FlightModesComponentController.h \
src/AutoPilotPlugins/PX4/PowerComponent.h \
+ src/AutoPilotPlugins/PX4/PowerComponentController.h \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
src/AutoPilotPlugins/PX4/PX4Component.h \
src/AutoPilotPlugins/PX4/PX4ParameterLoader.h \
@@ -593,6 +594,7 @@ SOURCES += \
src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \
src/AutoPilotPlugins/PX4/PowerComponent.cc \
+ src/AutoPilotPlugins/PX4/PowerComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/PX4Component.cc \
src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc \
diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.qml b/src/AutoPilotPlugins/PX4/PowerComponent.qml
index 61378e93c0ca0b6eaa1cdbeb7a90627526920385..f0c1b68a38c078485da9f11b00304cc878f5fec0 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponent.qml
+++ b/src/AutoPilotPlugins/PX4/PowerComponent.qml
@@ -27,266 +27,321 @@
import QtQuick 2.2
import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
+import QtQuick.Dialogs 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controllers 1.0
-Rectangle {
- QGCPalette { id: palette; colorGroupEnabled: true }
-
- id: powerSettings
- width: 600
- height: 600
- color: palette.window
-
- property int firstColumnWidth: 220
- property int textEditWidth: 80
-
- property Fact battNumCells: Fact { name: "BAT_N_CELLS" }
- property Fact battHighVolt: Fact { name: "BAT_V_CHARGED" }
- property Fact battLowVolt: Fact { name: "BAT_V_EMPTY" }
-
- property alias battHigh: battHighRow
- property alias battLow: battLowRow
-
- function getBatteryImage()
- {
- switch(battNumCells.value) {
- case 1: return "/qml/PowerComponentBattery_01cell.svg";
- case 2: return "/qml/PowerComponentBattery_02cell.svg"
- case 3: return "/qml/PowerComponentBattery_03cell.svg"
- case 4: return "/qml/PowerComponentBattery_04cell.svg"
- case 5: return "/qml/PowerComponentBattery_05cell.svg"
- case 6: return "/qml/PowerComponentBattery_06cell.svg"
- default: return "/qml/PowerComponentBattery_01cell.svg";
- }
- }
-
- function drawArrowhead(ctx, x, y, radians)
- {
- ctx.save();
- ctx.beginPath();
- ctx.translate(x,y);
- ctx.rotate(radians);
- ctx.moveTo(0,0);
- ctx.lineTo(5,10);
- ctx.lineTo(-5,10);
- ctx.closePath();
- ctx.restore();
- ctx.fill();
- }
-
- function drawLineWithArrow(ctx, x1, y1, x2, y2)
- {
- ctx.beginPath();
- ctx.moveTo(x1, y1);
- ctx.lineTo(x2, y2);
- ctx.stroke();
- var rd = Math.atan((y2 - y1) / (x2 - x1));
- rd += ((x2 > x1) ? 90 : -90) * Math.PI/180;
- drawArrowhead(ctx, x2, y2, rd);
- }
-
- Column {
- anchors.fill: parent
- spacing: 10
-
- QGCLabel {
- text: "POWER CONFIG"
- font.pointSize: ScreenTools.fontPointFactor * (20);
- }
-
- QGCLabel {
- text: "Battery"
- color: palette.text
- font.pointSize: ScreenTools.fontPointFactor * (20);
- }
-
- Rectangle {
- width: parent.width
- height: 120
- color: palette.windowShade
+QGCView {
+ id: rootQGCView
+ viewComponent: view
+
+ Component {
+ id: view
+
+ QGCViewPanel {
+ id: viewPanel
+
+ QGCPalette { id: palette; colorGroupEnabled: enabled }
+
+ width: 600
+ height: 600
+ color: palette.window
+
+ property int firstColumnWidth: 220
+ property int textEditWidth: 80
+
+ property Fact battNumCells: Fact { name: "BAT_N_CELLS"; onFactMissing: showMissingFactOverlay(name) }
+ property Fact battHighVolt: Fact { name: "BAT_V_CHARGED"; onFactMissing: showMissingFactOverlay(name) }
+ property Fact battLowVolt: Fact { name: "BAT_V_EMPTY"; onFactMissing: showMissingFactOverlay(name) }
+
+ property alias battHigh: battHighRow
+ property alias battLow: battLowRow
+
+ function getBatteryImage()
+ {
+ switch(battNumCells.value) {
+ case 1: return "/qml/PowerComponentBattery_01cell.svg";
+ case 2: return "/qml/PowerComponentBattery_02cell.svg"
+ case 3: return "/qml/PowerComponentBattery_03cell.svg"
+ case 4: return "/qml/PowerComponentBattery_04cell.svg"
+ case 5: return "/qml/PowerComponentBattery_05cell.svg"
+ case 6: return "/qml/PowerComponentBattery_06cell.svg"
+ default: return "/qml/PowerComponentBattery_01cell.svg";
+ }
+ }
+
+ function drawArrowhead(ctx, x, y, radians)
+ {
+ ctx.save();
+ ctx.beginPath();
+ ctx.translate(x,y);
+ ctx.rotate(radians);
+ ctx.moveTo(0,0);
+ ctx.lineTo(5,10);
+ ctx.lineTo(-5,10);
+ ctx.closePath();
+ ctx.restore();
+ ctx.fill();
+ }
+
+ function drawLineWithArrow(ctx, x1, y1, x2, y2)
+ {
+ ctx.beginPath();
+ ctx.moveTo(x1, y1);
+ ctx.lineTo(x2, y2);
+ ctx.stroke();
+ var rd = Math.atan((y2 - y1) / (x2 - x1));
+ rd += ((x2 > x1) ? 90 : -90) * Math.PI/180;
+ drawArrowhead(ctx, x2, y2, rd);
+ }
+
+ PowerComponentController {
+ id: controller
+ factPanel: viewPanel
+
+ onOldFirmware: showMessage("ESC Calibration", "QGroundControl cannot perform ESC Calibration with this version of firmware. You will need to upgrade to a newer firmware.", StandardButton.Ok)
+ onNewerFirmware: showMessage("ESC Calibration", "QGroundControl cannot perform ESC Calibration with this version of firmware. You will need to upgrade QGroundControl.", StandardButton.Ok)
+ onBatteryConnected: showMessage("ESC Calibration", "Performing calibration. This will take a few seconds..", 0)
+ onCalibrationFailed: showMessage("ESC Calibration failed", errorMessage, StandardButton.Ok)
+ onCalibrationSuccess: showMessage("ESC Calibration", "Calibration complete. You can disconnect your battery now if you like.", StandardButton.Ok)
+ onConnectBattery: showMessage("ESC Calibration", "WARNING: Props must be removed from vehicle prior to performing ESC calibration.\n\nConnect the battery now and calibration will begin.", 0)
+ }
Column {
- id: batteryColumn
+ anchors.fill: parent
spacing: 10
- anchors.verticalCenter: parent.verticalCenter
- x: (parent.x + 20)
- Row {
- spacing: 10
+ QGCLabel {
+ text: "POWER CONFIG"
+ font.pointSize: ScreenTools.largeFontPointSize
+ }
+
+ QGCLabel {
+ text: "Battery"
+ color: palette.text
+ font.pointSize: ScreenTools.mediumFontPointSize
+ }
+
+ Rectangle {
+ width: parent.width
+ height: 120
+ color: palette.windowShade
+
Column {
- id: voltageCol
+ id: batteryColumn
spacing: 10
+ anchors.verticalCenter: parent.verticalCenter
+ x: (parent.x + 20)
+
Row {
spacing: 10
- QGCLabel { text: "Number of Cells (in Series)"; width: firstColumnWidth; anchors.baseline: cellsField.baseline}
- FactTextField {
- id: cellsField
- width: textEditWidth
- fact: Fact { name: "BAT_N_CELLS" }
- showUnits: true
+ Column {
+ id: voltageCol
+ spacing: 10
+ Row {
+ spacing: 10
+ QGCLabel { text: "Number of Cells (in Series)"; width: firstColumnWidth; anchors.baseline: cellsField.baseline}
+ FactTextField {
+ id: cellsField
+ width: textEditWidth
+ fact: Fact { name: "BAT_N_CELLS"; onFactMissing: showMissingFactOverlay(name) }
+ showUnits: true
+ }
+ }
+ Row {
+ id: battHighRow
+ spacing: 10
+ QGCLabel { text: "Full Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battHighField.baseline}
+ FactTextField {
+ id: battHighField
+ width: textEditWidth
+ fact: Fact { name: "BAT_V_CHARGED"; onFactMissing: showMissingFactOverlay(name) }
+ showUnits: true
+ }
+ }
+ Row {
+ id: battLowRow
+ spacing: 10
+ QGCLabel { text: "Empty Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battLowField.baseline}
+ FactTextField {
+ id: battLowField
+ width: textEditWidth
+ fact: Fact { name: "BAT_V_EMPTY"; onFactMissing: showMissingFactOverlay(name) }
+ showUnits: true
+ }
+ }
}
- }
- Row {
- id: battHighRow
- spacing: 10
- QGCLabel { text: "Full Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battHighField.baseline}
- FactTextField {
- id: battHighField
- width: textEditWidth
- fact: Fact { name: "BAT_V_CHARGED" }
- showUnits: true
+ Canvas {
+ id: arrows
+ height: voltageCol.height
+ width: 40
+ antialiasing: true
+ Connections {
+ target: ScreenTools
+ onRepaintRequestedChanged: {
+ arrows.requestPaint();
+ }
+ }
+ onPaint: {
+ var y0 = voltageCol.mapFromItem(battHigh, 0, battHigh.height / 2).y;
+ var y1 = voltageCol.mapFromItem(battLow, 0, battLow.height / 2).y;
+ var context = getContext("2d");
+ context.reset();
+ context.strokeStyle = palette.button;
+ context.fillStyle = palette.button;
+ drawLineWithArrow(context, 0, y0, width, height * 0.25);
+ drawLineWithArrow(context, 0, y1, width, height * 0.85);
+ }
}
- }
- Row {
- id: battLowRow
- spacing: 10
- QGCLabel { text: "Empty Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battLowField.baseline}
- FactTextField {
- id: battLowField
- width: textEditWidth
- fact: Fact { name: "BAT_V_EMPTY" }
- showUnits: true
+ QGCColoredImage {
+ height: voltageCol.height
+ width: voltageCol.height * 0.75
+ source: getBatteryImage();
+ fillMode: Image.PreserveAspectFit
+ smooth: true
+ color: palette.button
+ cache: false
+ }
+ Item { width: 20; height: 1; }
+ Column {
+ spacing: 10
+ anchors.verticalCenter: parent.verticalCenter
+ Row {
+ spacing: 10
+ QGCLabel {
+ text: "Battery Max:"
+ color: palette.text
+ width: 80
+ }
+ QGCLabel {
+ text: (battNumCells.value * battHighVolt.value).toFixed(1) + ' V'
+ color: palette.text
+ }
+ }
+ Row {
+ spacing: 10
+ QGCLabel {
+ text: "Battery Min:"
+ color: palette.text
+ width: 80
+ }
+ QGCLabel {
+ text: (battNumCells.value * battLowVolt.value).toFixed(1) + ' V'
+ color: palette.text
+ }
+ }
}
}
}
- Canvas {
- id: arrows
- height: voltageCol.height
- width: 40
- antialiasing: true
- Connections {
- target: ScreenTools
- onRepaintRequestedChanged: {
- arrows.requestPaint();
- }
+ }
+
+ QGCLabel {
+ text: "ESC Calibration"
+ font.pointSize: ScreenTools.mediumFontPointSize
+ }
+
+ Rectangle {
+ width: parent.width
+ height: 80
+ color: palette.windowShade
+
+ Column {
+ anchors.margins: 10
+ anchors.left: parent.left
+ anchors.right: parent.right
+ anchors.top: parent.top
+ anchors.bottom: calibrateButton.bottom
+ spacing: 10
+
+ QGCLabel {
+ text: "WARNING: Props must be removed from vehicle prior to performing ESC calibration."
}
- onPaint: {
- var y0 = voltageCol.mapFromItem(battHigh, 0, battHigh.height / 2).y;
- var y1 = voltageCol.mapFromItem(battLow, 0, battLow.height / 2).y;
- var context = getContext("2d");
- context.reset();
- context.strokeStyle = palette.button;
- context.fillStyle = palette.button;
- drawLineWithArrow(context, 0, y0, width, height * 0.25);
- drawLineWithArrow(context, 0, y1, width, height * 0.85);
+
+ QGCButton {
+ id: calibrateButton
+ text: "Calibrate"
+ onClicked: controller.calibrateEsc()
}
}
- QGCColoredImage {
- height: voltageCol.height
- width: voltageCol.height * 0.75
- source: getBatteryImage();
- fillMode: Image.PreserveAspectFit
- smooth: true
- color: palette.button
- cache: false
+ }
+
+ /*
+ * This is disabled for now
+ Row {
+ width: parent.width
+ spacing: 30
+ visible: showAdvanced.checked
+ Column {
+ spacing: 10
+ width: (parent.width / 2) - 5
+ QGCLabel {
+ text: "Propeller Function"
+ color: palette.text
+ font.pointSize: ScreenTools.fontPointFactor * (20);
+ }
+ Rectangle {
+ width: parent.width
+ height: 160
+ color: palette.windowShade
+ }
}
- Item { width: 20; height: 1; }
Column {
spacing: 10
- anchors.verticalCenter: parent.verticalCenter
- Row {
- spacing: 10
- QGCLabel {
- text: "Battery Max:"
- color: palette.text
- width: 80
- }
- QGCLabel {
- text: (battNumCells.value * battHighVolt.value).toFixed(1) + ' V'
- color: palette.text
- }
+ width: (parent.width / 2) - 5
+ QGCLabel {
+ text: "Magnetometer Distortion"
+ color: palette.text
+ font.pointSize: ScreenTools.fontPointFactor * (20);
}
- Row {
- spacing: 10
- QGCLabel {
- text: "Battery Min:"
- color: palette.text
- width: 80
- }
- QGCLabel {
- text: (battNumCells.value * battLowVolt.value).toFixed(1) + ' V'
- color: palette.text
- }
+ Rectangle {
+ width: parent.width
+ height: 160
+ color: palette.windowShade
}
+
}
}
- }
- }
- /*
- * This is disabled for now
- Row {
- width: parent.width
- spacing: 30
- visible: showAdvanced.checked
- Column {
- spacing: 10
- width: (parent.width / 2) - 5
- QGCLabel {
- text: "Propeller Function"
- color: palette.text
- font.pointSize: ScreenTools.fontPointFactor * (20);
- }
- Rectangle {
- width: parent.width
- height: 160
- color: palette.windowShade
+ */
+
+ //-- Advanced Settings
+ QGCCheckBox {
+ id: showAdvanced
+ text: "Show Advanced Settings"
}
- }
- Column {
- spacing: 10
- width: (parent.width / 2) - 5
QGCLabel {
- text: "Magnetometer Distortion"
+ text: "Advanced Power Settings"
color: palette.text
font.pointSize: ScreenTools.fontPointFactor * (20);
+ visible: showAdvanced.checked
}
Rectangle {
width: parent.width
- height: 160
+ height: 40
color: palette.windowShade
- }
-
- }
- }
- */
- //-- Advanced Settings
- QGCCheckBox {
- id: showAdvanced
- text: "Show Advanced Settings"
- }
- QGCLabel {
- text: "Advanced Power Settings"
- color: palette.text
- font.pointSize: ScreenTools.fontPointFactor * (20);
- visible: showAdvanced.checked
- }
- Rectangle {
- width: parent.width
- height: 40
- color: palette.windowShade
- visible: showAdvanced.checked
- Column {
- id: advBatteryColumn
- spacing: 10
- anchors.verticalCenter: parent.verticalCenter
- x: (parent.x + 20)
- Row {
- spacing: 10
- QGCLabel { text: "Voltage Drop on Full Load (per cell)"; width: firstColumnWidth; anchors.baseline: battDropField.baseline}
- FactTextField {
- id: battDropField
- width: textEditWidth
- fact: Fact { name: "BAT_V_LOAD_DROP" }
- showUnits: true
+ visible: showAdvanced.checked
+ Column {
+ id: advBatteryColumn
+ spacing: 10
+ anchors.verticalCenter: parent.verticalCenter
+ x: (parent.x + 20)
+ Row {
+ spacing: 10
+ QGCLabel { text: "Voltage Drop on Full Load (per cell)"; width: firstColumnWidth; anchors.baseline: battDropField.baseline}
+ FactTextField {
+ id: battDropField
+ width: textEditWidth
+ fact: Fact { name: "BAT_V_LOAD_DROP"; onFactMissing: showMissingFactOverlay(name) }
+ showUnits: true
+ }
+ }
}
}
- }
- }
- }
+ } // Column
+ } // QGCViewPanel
+ } // Component - view
}
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentController.cc b/src/AutoPilotPlugins/PX4/PowerComponentController.cc
new file mode 100644
index 0000000000000000000000000000000000000000..4b2c076a5c62a0605dcfce5e980b2626e31ef775
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/PowerComponentController.cc
@@ -0,0 +1,126 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+/// @author Don Gagne <don@thegagnes.com>
+
+#include "PowerComponentController.h"
+#include "QGCMAVLink.h"
+#include "UASManager.h"
+#include "QGCMessageBox.h"
+
+#include <QVariant>
+#include <QQmlProperty>
+
+PowerComponentController::PowerComponentController(void)
+{
+
+}
+
+PowerComponentController::~PowerComponentController()
+{
+ _stopCalibration();
+}
+
+void PowerComponentController::calibrateEsc(void)
+{
+ _warningMessages.clear();
+ connect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+ _uas->startCalibration(UASInterface::StartCalibrationEsc);
+}
+
+void PowerComponentController::_stopCalibration(void)
+{
+ disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+}
+
+void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
+{
+ Q_UNUSED(compId);
+ Q_UNUSED(severity);
+
+ UASInterface* uas = _autopilot->uas();
+ Q_ASSERT(uas);
+ if (uasId != uas->getUASID()) {
+ return;
+ }
+
+ // All calibration messages start with [cal]
+ QString calPrefix("[cal] ");
+ if (!text.startsWith(calPrefix)) {
+ return;
+ }
+ text = text.right(text.length() - calPrefix.length());
+
+ // Make sure we can understand this firmware rev
+ QString calStartPrefix("calibration started: ");
+ if (text.startsWith(calStartPrefix)) {
+ text = text.right(text.length() - calStartPrefix.length());
+
+ // Split version number and cal type
+ QStringList parts = text.split(" ");
+ if (parts.count() != 2) {
+ emit incorrectFirmwareRevReporting();
+ return;
+ }
+
+ int firmwareRev = parts[0].toInt();
+ if (firmwareRev < _neededFirmwareRev) {
+ emit oldFirmware();
+ return;
+ }
+ if (firmwareRev > _neededFirmwareRev) {
+ emit newerFirmware();
+ return;
+ }
+ }
+
+ if (text == "Connect battery now") {
+ emit connectBattery();
+ return;
+ }
+
+ if (text == "Battery connected") {
+ emit batteryConnected();
+ return;
+ }
+
+ QString failedPrefix("calibration failed: ");
+ if (text.startsWith(failedPrefix)) {
+ _stopCalibration();
+ emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
+ return;
+ }
+
+ QString calCompletePrefix("calibration done:");
+ if (text.startsWith(calCompletePrefix)) {
+ _stopCalibration();
+ emit calibrationSuccess(_warningMessages);
+ return;
+ }
+
+ QString warningPrefix("calibration warning: ");
+ if (text.startsWith(warningPrefix)) {
+ _warningMessages << text.right(text.length() - warningPrefix.length());
+ }
+}
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentController.h b/src/AutoPilotPlugins/PX4/PowerComponentController.h
new file mode 100644
index 0000000000000000000000000000000000000000..3c7704575d4c747c59b8e07f12570e174a8834c5
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/PowerComponentController.h
@@ -0,0 +1,66 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+/// @author Don Gagne <don@thegagnes.com>
+
+#ifndef PowerComponentController_H
+#define PowerComponentController_H
+
+#include <QObject>
+#include <QQuickItem>
+
+#include "UASInterface.h"
+#include "FactPanelController.h"
+
+/// Power Component MVC Controller for PowerComponent.qml.
+class PowerComponentController : public FactPanelController
+{
+ Q_OBJECT
+
+public:
+ PowerComponentController(void);
+ ~PowerComponentController();
+
+ Q_INVOKABLE void calibrateEsc(void);
+
+signals:
+ void oldFirmware(void);
+ void newerFirmware(void);
+ void incorrectFirmwareRevReporting(void);
+ void connectBattery(void);
+ void batteryConnected(void);
+ void calibrationFailed(const QString& errorMessage);
+ void calibrationSuccess(const QStringList& warningMessages);
+
+private slots:
+ void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
+
+private:
+ void _stopCalibration(void);
+
+ QStringList _warningMessages;
+ static const int _neededFirmwareRev = 1;
+};
+
+#endif
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index ff533442c10890e963cc79fe38803ea841437993..b5df4aa71bbb28daf9bce8baf72145f69f822059 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -65,6 +65,7 @@
#include "FlightModesComponentController.h"
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
+#include "PowerComponentController.h"
#include "ScreenTools.h"
#include "MavManager.h"
@@ -322,6 +323,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<FlightModesComponentController>("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
qmlRegisterType<AirframeComponentController>("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
qmlRegisterType<SensorsComponentController>("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
+ qmlRegisterType<PowerComponentController>("QGroundControl.Controllers", 1, 0, "PowerComponentController");
//-- Create QML Singleton Interfaces
qmlRegisterSingletonType<ScreenTools>("QGroundControl.ScreenTools", 1, 0, "ScreenTools", screenToolsSingletonFactory);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 95622e68e6b5916f11e18c5a47f8eac8340c2b26..fabee6ee23a516d5409c35bfcc42b53450d1b234 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1455,6 +1455,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
int airspeedCal = 0;
int radioCal = 0;
int accelCal = 0;
+ int escCal = 0;
switch (calType) {
case StartCalibrationGyro:
@@ -1475,6 +1476,9 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
case StartCalibrationLevel:
accelCal = 2;
break;
+ case StartCalibrationEsc:
+ escCal = 1;
+ break;
}
mavlink_message_t msg;
@@ -1491,7 +1495,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
radioCal, // radio cal
accelCal, // accel cal
airspeedCal, // airspeed cal
- 0); // unused
+ escCal); // esc cal
sendMessage(msg);
}
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index ecdf0683a73ca02db3f74ab3fefc8c70b7014fd7..c538a4ce4ce2fba9f64b1587c267d5d77ec959c3 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -244,7 +244,8 @@ public:
StartCalibrationMag,
StartCalibrationAirspeed,
StartCalibrationAccel,
- StartCalibrationLevel
+ StartCalibrationLevel,
+ StartCalibrationEsc
};
/// Starts the specified calibration