APMSafetyComponentCopter.qml 20.3 KB
Newer Older
Don Gagne's avatar
Don Gagne committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42
/*=====================================================================

 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/>.

 ======================================================================*/

import QtQuick              2.5
import QtQuick.Controls     1.2
import QtGraphicalEffects   1.0

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

QGCView {
    id:                 _safetyView
    viewPanel:          panel
    anchors.fill:       parent

    FactPanelController { id: controller; factPanel: panel }

    QGCPalette { id: palette; colorGroupEnabled: enabled }

43
    property Fact _failsafeBattEnable:  controller.getParameterFact(-1, "FS_BATT_ENABLE")
44 45 46 47 48 49 50 51 52 53 54 55
    property Fact _failsafeBattMah:     controller.getParameterFact(-1, "FS_BATT_MAH")
    property Fact _failsafeBattVoltage: controller.getParameterFact(-1, "FS_BATT_VOLTAGE")
    property Fact _failsafeThrEnable:   controller.getParameterFact(-1, "FS_THR_ENABLE")
    property Fact _failsafeThrValue:    controller.getParameterFact(-1, "FS_THR_VALUE")

    property Fact _fenceAction: controller.getParameterFact(-1, "FENCE_ACTION")
    property Fact _fenceAltMax: controller.getParameterFact(-1, "FENCE_ALT_MAX")
    property Fact _fenceEnable: controller.getParameterFact(-1, "FENCE_ENABLE")
    property Fact _fenceMargin: controller.getParameterFact(-1, "FENCE_MARGIN")
    property Fact _fenceRadius: controller.getParameterFact(-1, "FENCE_RADIUS")
    property Fact _fenceType:   controller.getParameterFact(-1, "FENCE_TYPE")

Don Gagne's avatar
Don Gagne committed
56 57 58 59 60
    property Fact _landSpeedFact:   controller.getParameterFact(-1, "LAND_SPEED")
    property Fact _rtlAltFact:      controller.getParameterFact(-1, "RTL_ALT")
    property Fact _rtlLoitTimeFact: controller.getParameterFact(-1, "RTL_LOIT_TIME")
    property Fact _rtlAltFinalFact: controller.getParameterFact(-1, "RTL_ALT_FINAL")

Don Gagne's avatar
Don Gagne committed
61 62
    property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")

Don Gagne's avatar
Don Gagne committed
63 64
    property real _margins: ScreenTools.defaultFontPixelHeight

65
    ExclusiveGroup { id: fenceActionRadioGroup }
Don Gagne's avatar
Don Gagne committed
66 67 68 69 70 71 72 73 74 75
    ExclusiveGroup { id: landLoiterRadioGroup }
    ExclusiveGroup { id: returnAltRadioGroup }

    QGCViewPanel {
        id:             panel
        anchors.fill:   parent

        Flickable {
            clip:               true
            anchors.fill:       parent
Don Gagne's avatar
Don Gagne committed
76 77
            contentHeight:      armingCheckSettings.y + armingCheckSettings.height
            contentWidth:       armingCheckSettings.x + armingCheckSettings.width
Don Gagne's avatar
Don Gagne committed
78 79

            QGCLabel {
80 81
                id:         failsafeLabel
                text:       "Failsafe Triggers"
Don Gagne's avatar
Don Gagne committed
82 83 84
                font.weight: Font.DemiBold
            }

85
            Rectangle {
86 87 88 89 90
                id:                     failsafeSettings
                anchors.topMargin:      _margins / 2
                anchors.rightMargin:    _margins
                anchors.left:           parent.left
                anchors.top:            failsafeLabel.bottom
Don Gagne's avatar
Don Gagne committed
91
                width:                  throttleEnableCombo.x + throttleEnableCombo.width + _margins
92 93
                height:                 mahField.y + mahField.height + _margins
                color:                  palette.windowShade
94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146

                QGCLabel {
                    id:                 throttleEnableLabel
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.baseline:   throttleEnableCombo.baseline
                    text:               "Throttle failsafe:"
                }

                QGCComboBox {
                    id:                 throttleEnableCombo
                    anchors.topMargin:  _margins
                    anchors.left:       voltageField.left
                    anchors.top:        parent.top
                    width:              voltageField.width
                    model:              ["Disabled", "Always RTL", "Continue with Mission in Auto Mode", "Always Land"]
                    currentIndex:       _failsafeThrEnable.value

                    onActivated: _failsafeThrEnable.value = index
                }

                QGCLabel {
                    id:                 throttlePWMLabel
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.baseline:   throttlePWMField.baseline
                    text:               "PWM threshold:"
                }

                FactTextField {
                    id:                 throttlePWMField
                    anchors.topMargin:  _margins / 2
                    anchors.left:       voltageField.left
                    anchors.top:        throttleEnableCombo.bottom
                    fact:               _failsafeThrValue
                    showUnits:          true
                }

                QGCLabel {
                    id:                 batteryEnableLabel
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.baseline:   batteryEnableCombo.baseline
                    text:               "Battery failsafe:"
                }

                QGCComboBox {
                    id:                 batteryEnableCombo
                    anchors.topMargin:  _margins
                    anchors.left:       voltageField.left
                    anchors.top:        throttlePWMField.bottom
                    width:              voltageField.width
                    model:              ["Disabled", "Land", "Return to Launch"]
147
                    currentIndex:       _failsafeBattEnable.value
148

149
                    onActivated: _failsafeBattEnable.value = index
150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195
                }

                QGCCheckBox {
                    id:                 voltageLabel
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.baseline:   voltageField.baseline
                    text:               "Voltage threshold:"
                    checked:            _failsafeBattVoltage.value != 0

                    onClicked: _failsafeBattVoltage.value = checked ? 10.5 : 0
                }

                FactTextField {
                    id:                 voltageField
                    anchors.topMargin:  _margins / 2
                    anchors.leftMargin: _margins
                    anchors.left:       voltageLabel.right
                    anchors.top:        batteryEnableCombo.bottom
                    fact:               _failsafeBattVoltage
                    showUnits:          true
                }

                QGCCheckBox {
                    id:                 mahLabel
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.baseline:   mahField.baseline
                    text:               "MAH threshold:"
                    checked:            _failsafeBattMah.value != 0

                    onClicked: _failsafeBattMah.value = checked ? 600 : 0
                }

                FactTextField {
                    id:                 mahField
                    anchors.topMargin:  _margins / 2
                    anchors.left:       voltageField.left
                    anchors.top:        voltageField.bottom
                    fact:               _failsafeBattMah
                    showUnits:          true
                }
            } // Rectangle - Failsafe Settings

            QGCLabel {
                id:                 geoFenceLabel
196 197 198 199 200
                anchors.leftMargin: _margins
                anchors.left:       failsafeSettings.right
                anchors.top:        parent.top
                text:               "GeoFence"
                font.weight:        Font.DemiBold
201 202 203 204 205
            }

            Rectangle {
                id:                 geoFenceSettings
                anchors.topMargin:  _margins / 2
206
                anchors.left:       geoFenceLabel.left
207
                anchors.top:        geoFenceLabel.bottom
208 209
                anchors.bottom:     failsafeSettings.bottom
                width:              fenceAltMaxField.x + fenceAltMaxField.width + _margins
210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327
                color:              palette.windowShade

                QGCCheckBox {
                    id:                 circleGeo
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.top:        parent.top
                    text:               "Circle GeoFence enabled"
                    checked:            _fenceEnable.value != 0 && _fenceType.value & 2

                    onClicked: {
                        if (checked) {
                            if (_fenceEnable.value == 1) {
                                _fenceType.value |= 2
                            } else {
                                _fenceEnable.value = 1
                                _fenceType.value = 2
                            }
                        } else if (altitudeGeo.checked) {
                            _fenceType.value &= ~2
                        } else {
                            _fenceEnable.value = 0
                            _fenceType.value = 0
                        }
                    }
                }

                QGCCheckBox {
                    id:                 altitudeGeo
                    anchors.topMargin:  _margins / 2
                    anchors.left:       circleGeo.left
                    anchors.top:        circleGeo.bottom
                    text:               "Altitude GeoFence enabled"
                    checked:            _fenceEnable.value != 0 && _fenceType.value & 1

                    onClicked: {
                        if (checked) {
                            if (_fenceEnable.value == 1) {
                                _fenceType.value |= 1
                            } else {
                                _fenceEnable.value = 1
                                _fenceType.value = 1
                            }
                        } else if (circleGeo.checked) {
                            _fenceType.value &= ~1
                        } else {
                            _fenceEnable.value = 0
                            _fenceType.value = 0
                        }
                    }
                }

                QGCRadioButton {
                    id:                 geoReportRadio
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.top:        altitudeGeo.bottom
                    text:               "Report only"
                    exclusiveGroup:     fenceActionRadioGroup
                    checked:            _fenceAction.value == 0

                    onClicked: _fenceAction.value = 0
                }

                QGCRadioButton {
                    id:                 geoRTLRadio
                    anchors.topMargin:  _margins / 2
                    anchors.left:       circleGeo.left
                    anchors.top:        geoReportRadio.bottom
                    text:               "RTL or Land"
                    exclusiveGroup:     fenceActionRadioGroup
                    checked:            _fenceAction.value == 1

                    onClicked: _fenceAction.value = 1
                }

                QGCLabel {
                    id:                 fenceRadiusLabel
                    anchors.left:       circleGeo.left
                    anchors.baseline:   fenceRadiusField.baseline
                    text:               "Max radius:"
                }

                FactTextField {
                    id:                 fenceRadiusField
                    anchors.topMargin:  _margins
                    anchors.left:       fenceAltMaxField.left
                    anchors.top:        geoRTLRadio.bottom
                    fact:               _fenceRadius
                    showUnits:          true
                }

                QGCLabel {
                    id:                 fenceAltMaxLabel
                    anchors.left:       circleGeo.left
                    anchors.baseline:   fenceAltMaxField.baseline
                    text:               "Max altitude:"
                }

                FactTextField {
                    id:                 fenceAltMaxField
                    anchors.topMargin:  _margins / 2
                    anchors.leftMargin: _margin
                    anchors.left:       fenceAltMaxLabel.right
                    anchors.top:        fenceRadiusField.bottom
                    fact:               _fenceAltMax
                    showUnits:          true
                }
            } // Rectangle - GeoFence Settings

            QGCLabel {
                id:                 rtlLabel
                anchors.topMargin:  _margins
                anchors.top:        geoFenceSettings.bottom
                text:               "Return to Launch"
                font.weight:        Font.DemiBold
            }

Don Gagne's avatar
Don Gagne committed
328
            Rectangle {
329
                id:                 rtlSettings
Don Gagne's avatar
Don Gagne committed
330 331 332
                anchors.topMargin:  _margins / 2
                anchors.left:       parent.left
                anchors.top:        rtlLabel.bottom
333
                width:              rltAltFinalField.x + rltAltFinalField.width + _margins
Don Gagne's avatar
Don Gagne committed
334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396
                height:             rltAltFinalField.y + rltAltFinalField.height + _margins
                color:              palette.windowShade

                Image {
                    id:                 icon
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.top:        parent.top
                    height:             ScreenTools.defaultFontPixelWidth * 20
                    width:              ScreenTools.defaultFontPixelWidth * 20
                    mipmap:             true
                    fillMode:           Image.PreserveAspectFit
                    visible:            false
                    source:             "/qmlimages/ReturnToHomeAltitude.svg"
                }

                ColorOverlay {
                    anchors.fill:   icon
                    source:         icon
                    color:          palette.text
                }

                QGCRadioButton {
                    id:                 returnAtCurrentRadio
                    anchors.leftMargin: _margins
                    anchors.left:       icon.right
                    anchors.top:        icon.top
                    text:               "Return at current altitude"
                    checked:            _rtlAltFact.value == 0
                    exclusiveGroup:     returnAltRadioGroup

                    onClicked: _rtlAltFact.value = 0
                }

                QGCRadioButton {
                    id:                 returnAltRadio
                    anchors.topMargin:  _margins
                    anchors.left:       returnAtCurrentRadio.left
                    anchors.top:        returnAtCurrentRadio.bottom
                    text:               "Return at specified altitude:"
                    exclusiveGroup:     returnAltRadioGroup
                    checked:            _rtlAltFact.value != 0

                    onClicked: _rtlAltFact.value = 1500
                }

                FactTextField {
                    id:                 rltAltField
                    anchors.leftMargin: _margins
                    anchors.left:       returnAltRadio.right
                    anchors.baseline:   returnAltRadio.baseline
                    fact:               _rtlAltFact
                    showUnits:          true
                    enabled:            returnAltRadio.checked
                }

                QGCCheckBox {
                    id:                 homeLoiterCheckbox
                    anchors.left:       returnAtCurrentRadio.left
                    anchors.baseline:   landDelayField.baseline
                    checked:            _rtlLoitTimeFact.value > 0
                    text:               "Loiter above Home for:"

397
                    onClicked: _rtlLoitTimeFact.value = (checked ? 60 : 0)
Don Gagne's avatar
Don Gagne committed
398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450
                }

                FactTextField {
                    id:                 landDelayField
                    anchors.topMargin:  _margins * 1.5
                    anchors.left:       rltAltField.left
                    anchors.top:        rltAltField.bottom
                    fact:               _rtlLoitTimeFact
                    showUnits:          true
                    enabled:            homeLoiterCheckbox.checked === true
                }

                QGCRadioButton {
                    id:                 landRadio
                    anchors.left:       returnAtCurrentRadio.left
                    anchors.baseline:   landSpeedField.baseline
                    text:               "Land with descent speed:"
                    checked:            _rtlAltFinalFact.value == 0
                    exclusiveGroup:     landLoiterRadioGroup

                    onClicked: _rtlAltFinalFact.value = 0
                }

                FactTextField {
                    id:                 landSpeedField
                    anchors.topMargin:  _margins * 1.5
                    anchors.top:        landDelayField.bottom
                    anchors.left:       rltAltField.left
                    fact:               _landSpeedFact
                    showUnits:          true
                    enabled:            landRadio.checked
                }

                QGCRadioButton {
                    id:                 finalLoiterRadio
                    anchors.left:       returnAtCurrentRadio.left
                    anchors.baseline:   rltAltFinalField.baseline
                    text:               "Final loiter altitude:"
                    exclusiveGroup:     landLoiterRadioGroup

                    onClicked: _rtlAltFinalFact.value = _rtlAltFact.value
                }

                FactTextField {
                    id:                 rltAltFinalField
                    anchors.topMargin:  _margins / 2
                    anchors.left:       rltAltField.left
                    anchors.top:        landSpeedField.bottom
                    fact:               _rtlAltFinalFact
                    enabled:            finalLoiterRadio.checked
                    showUnits:          true
                }
            } // Rectangle - RTL Settings
Don Gagne's avatar
Don Gagne committed
451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477

            QGCLabel {
                id:                 armingCheckLabel
                anchors.topMargin:  _margins
                anchors.left:       parent.left
                anchors.top:        rtlSettings.bottom
                text:               "Arming Checks"
                font.weight:        Font.DemiBold
            }

            Rectangle {
                id:                 armingCheckSettings
                anchors.topMargin:  _margins / 2
                anchors.left:       parent.left
                anchors.top:        armingCheckLabel.bottom
                width:              armingCheckColumn.x + armingCheckColumn.width + _margins
                height:             armingCheckColumn.y + armingCheckColumn.height + _margins
                color:              palette.windowShade

                Column {
                    id:         armingCheckColumn
                    spacing:    _margins

                    QGCLabel { text: "Be very careful when turning off arming checks. Could lead to loss of Vehicle control." }
                    FactBitmask { fact: _armingCheck }
                }
            }
Don Gagne's avatar
Don Gagne committed
478 479 480
        } // Flickable
    } // QGCViewPanel
} // QGCView