SafetyComponent.qml 33.5 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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import QtQuick                  2.3
import QtQuick.Controls         1.2
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import QtQuick.Controls.Styles  1.4
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import QtQuick.Layouts          1.2
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import QtGraphicalEffects       1.0
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import QGroundControl               1.0
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import QGroundControl.FactSystem    1.0
import QGroundControl.FactControls  1.0
import QGroundControl.Controls      1.0
import QGroundControl.ScreenTools   1.0
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import QGroundControl.Palette       1.0
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SetupPage {
    id:             safetyPage
    pageComponent:  pageComponent
    Component {
        id: pageComponent
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        Item {
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            width:      Math.max(availableWidth, outerColumn.width)
            height:     outerColumn.height
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            FactPanelController {
                id:         controller
            }

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            readonly property string hitlParam: "SYS_HITL"

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            property real _margins:         ScreenTools.defaultFontPixelHeight
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            property real _labelWidth:      ScreenTools.defaultFontPixelWidth  * 30
            property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth  * 24
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            property real _imageHeight:     ScreenTools.defaultFontPixelHeight * 3
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            property real _imageWidth:      _imageHeight * 2

            property Fact _enableLogging:       controller.getParameterFact(-1, "SDLOG_MODE")
            property Fact _fenceAction:         controller.getParameterFact(-1, "GF_ACTION")
            property Fact _fenceRadius:         controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
            property Fact _fenceAlt:            controller.getParameterFact(-1, "GF_MAX_VER_DIST")
            property Fact _rtlLandDelay:        controller.getParameterFact(-1, "RTL_LAND_DELAY")
            property Fact _lowBattAction:       controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
            property Fact _rcLossAction:        controller.getParameterFact(-1, "NAV_RCL_ACT")
            property Fact _dlLossAction:        controller.getParameterFact(-1, "NAV_DLL_ACT")
            property Fact _disarmLandDelay:     controller.getParameterFact(-1, "COM_DISARM_LAND")
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            property Fact _collisionPrevention: controller.getParameterFact(-1, "CP_DIST")
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            property Fact _objectAvoidance:     controller.getParameterFact(-1, "COM_OBS_AVOID")
            property Fact _landSpeedMC:         controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
            property bool _hitlAvailable:       controller.parameterExists(-1, hitlParam)
            property Fact _hitlEnabled:         controller.getParameterFact(-1, hitlParam, false)

            ColumnLayout {
                id:         outerColumn
                spacing:    _margins
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                anchors.horizontalCenter:   parent.horizontalCenter
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                QGCLabel {
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                    text:                   qsTr("Low Battery Failsafe Trigger")
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                }
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                Rectangle {
                    width:                  mainRow.width  + (_margins * 2)
                    height:                 mainRow.height + (_margins * 2)
                    color:                  qgcPal.windowShade
                    Row {
                        id:                 mainRow
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            Image {
                                mipmap:             true
                                fillMode:           Image.PreserveAspectFit
                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
                                height:             _imageHeight
                                anchors.centerIn:   parent
                            }
                        }
                        GridLayout {
                            columns:                2
                            anchors.verticalCenter: parent.verticalCenter

                            QGCLabel {
                                text:               qsTr("Failsafe Action:")
                                Layout.minimumWidth:_labelWidth
                                Layout.fillWidth:   true
                            }
                            FactComboBox {
                                fact:               _lowBattAction
                                indexModel:         false
                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
                            }
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                            QGCLabel {
                                text:               qsTr("Battery Warn Level:")
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               controller.getParameterFact(-1, "BAT_LOW_THR")
                                Layout.fillWidth:   true
                            }
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                            QGCLabel {
                                text:               qsTr("Battery Failsafe Level:")
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               controller.getParameterFact(-1, "BAT_CRIT_THR")
                                Layout.fillWidth:   true
                            }
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                            QGCLabel {
                                text:               qsTr("Battery Emergency Level:")
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               controller.getParameterFact(-1, "BAT_EMERGEN_THR")
                                Layout.fillWidth:   true
                            }
                        }
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                    }
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                }
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                QGCLabel {
                    text:                   qsTr("Object Detection")
                }
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                Rectangle {
                    width:                  mainRow.width + (_margins * 2)
                    height:                 odRow.height  + (_margins * 2)
                    color:                  qgcPal.windowShade
                    Row {
                        id:                 odRow
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            QGCColoredImage {
                                color:              qgcPal.text
                                source:             "/qmlimages/ObjectAvoidance.svg"
                                height:             _imageHeight
                                width:              _imageHeight * 2
                                anchors.centerIn:   parent
                            }
                        }
                        GridLayout {
                            columns:                2
                            anchors.verticalCenter: parent.verticalCenter

                            QGCLabel {
                                text:               qsTr("Collision Prevention:")
                                Layout.minimumWidth:_labelWidth
                                Layout.fillWidth:   true
                            }
                            QGCComboBox {
                                model:              [qsTr("Disabled"), qsTr("Enabled")]
                                enabled:            _collisionPrevention
                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
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                                currentIndex:       _collisionPrevention ? (_collisionPrevention.rawValue > 0 ? 1 : 0) : 0
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                                onActivated: {
                                    if(_collisionPrevention) {
                                        _collisionPrevention.value = index > 0 ? 5 : -1
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                                        console.log('Collision prevention enabled: ' + _collisionPrevention.value)
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                                    }
                                }
                            }
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                            QGCLabel {
                                text:               qsTr("Obstacle Avoidance:")
                                Layout.fillWidth:   true
                            }
                            QGCComboBox {
                                model:              [qsTr("Disabled"), qsTr("Enabled")]
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                                enabled:            _objectAvoidance && _collisionPrevention.rawValue > 0
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                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
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                                currentIndex:       _objectAvoidance ? (_objectAvoidance.value === 0 ? 0 : 1) : 0
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                                onActivated: {
                                    if(_objectAvoidance) {
                                        _objectAvoidance.value = index > 0 ? 1 : 0
                                    }
                                }
                            }
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                            QGCLabel {
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                                text:               qsTr("Minimum Distance: (") + QGroundControl.appSettingsDistanceUnitsString + ")"
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                                Layout.fillWidth:   true
                                Layout.alignment:   Qt.AlignVCenter
                            }
                            QGCSlider {
                                width:              _editFieldWidth
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                                enabled:            _collisionPrevention && _collisionPrevention.rawValue > 0
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                                Layout.minimumWidth:_editFieldWidth
                                Layout.minimumHeight:   ScreenTools.defaultFontPixelHeight * 2
                                Layout.fillWidth:   true
                                Layout.fillHeight:  true
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                                maximumValue:       QGroundControl.metersToAppSettingsDistanceUnits(15)
                                minimumValue:       QGroundControl.metersToAppSettingsDistanceUnits(1)
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                                stepSize:           1
                                displayValue:       true
                                updateValueWhileDragging:   false
                                Layout.alignment:   Qt.AlignVCenter
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                                value: {
                                    if (_collisionPrevention && _collisionPrevention.rawValue > 0) {
                                        return QGroundControl.metersToAppSettingsDistanceUnits(_collisionPrevention.rawValue)
                                    } else {
                                        return 1;
                                    }
                                }
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                                onValueChanged: {
                                    if(_collisionPrevention) {
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                                        //-- Negative means disabled
                                        if(_collisionPrevention.rawValue >= 0) {
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                                            _collisionPrevention.rawValue = QGroundControl.appSettingsDistanceUnitsToMeters(value)
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                                        }
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                                    }
                                }
                            }
                        }
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                    }
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                }
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                QGCLabel {
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                    text:                   qsTr("RC Loss Failsafe Trigger")
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                }
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                Rectangle {
                    width:                  mainRow.width     + (_margins * 2)
                    height:                 rcLossGrid.height + (_margins * 2)
                    color:                  qgcPal.windowShade
                    Row {
                        id:                 rcLossGrid
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            Image {
                                mipmap:             true
                                fillMode:           Image.PreserveAspectFit
                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
                                height:             _imageHeight
                                anchors.centerIn:   parent
                            }
                        }
                        GridLayout {
                            columns:                2
                            anchors.verticalCenter: parent.verticalCenter

                            QGCLabel {
                                text:               qsTr("Failsafe Action:")
                                Layout.minimumWidth:_labelWidth
                                Layout.fillWidth:   true
                            }
                            FactComboBox {
                                fact:               _rcLossAction
                                indexModel:         false
                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
                            }
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                            QGCLabel {
                                text:               qsTr("RC Loss Timeout:")
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               controller.getParameterFact(-1, "COM_RC_LOSS_T")
                                Layout.fillWidth:   true
                            }
                        }
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                    }
                }
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                QGCLabel {
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                    text:                   qsTr("Data Link Loss Failsafe Trigger")
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                }
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                Rectangle {
                    width:                  mainRow.width           + (_margins * 2)
                    height:                 dataLinkLossGrid.height + (_margins * 2)
                    color:                  qgcPal.windowShade
                    Row {
                        id:                 dataLinkLossGrid
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            Image {
                                mipmap:             true
                                fillMode:           Image.PreserveAspectFit
                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
                                height:             _imageHeight
                                anchors.centerIn:   parent
                            }
                        }
                        GridLayout {
                            columns:                2
                            anchors.verticalCenter: parent.verticalCenter

                            QGCLabel {
                                text:               qsTr("Failsafe Action:")
                                Layout.minimumWidth:_labelWidth
                                Layout.fillWidth:   true
                            }
                            FactComboBox {
                                fact:               _dlLossAction
                                indexModel:         false
                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
                            }
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                            QGCLabel {
                                text:               qsTr("Data Link Loss Timeout:")
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               controller.getParameterFact(-1, "COM_DL_LOSS_T")
                                Layout.fillWidth:   true
                            }
                        }
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                    }
                }
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                QGCLabel {
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                    text:                   qsTr("Geofence Failsafe Trigger")
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                }
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                Rectangle {
                    width:                  mainRow.width       + (_margins * 2)
                    height:                 geoFenceGrid.height + (_margins * 2)
                    color:                  qgcPal.windowShade
                    Row {
                        id:                 geoFenceGrid
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            Image {
                                mipmap:             true
                                fillMode:           Image.PreserveAspectFit
                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
                                height:             _imageHeight
                                anchors.centerIn:   parent
                            }
                        }
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                        GridLayout {
                            columns:                2
                            anchors.verticalCenter: parent.verticalCenter
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                            QGCLabel {
                                text:               qsTr("Action on breach:")
                                Layout.minimumWidth:_labelWidth
                                Layout.fillWidth:   true
                            }
                            FactComboBox {
                                fact:               _fenceAction
                                indexModel:         false
                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
                            }
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                            QGCCheckBox {
                                id:                 fenceRadiusCheckBox
                                text:               qsTr("Max Radius:")
                                checked:            _fenceRadius.value > 0
                                onClicked:          _fenceRadius.value = checked ? 100 : 0
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               _fenceRadius
                                enabled:            fenceRadiusCheckBox.checked
                                Layout.fillWidth:   true
                            }
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                            QGCCheckBox {
                                id:                 fenceAltMaxCheckBox
                                text:               qsTr("Max Altitude:")
                                checked:            _fenceAlt ? _fenceAlt.value > 0 : false
                                onClicked:          _fenceAlt.value = checked ? 100 : 0
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               _fenceAlt
                                enabled:            fenceAltMaxCheckBox.checked
                                Layout.fillWidth:   true
                            }
                        }
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                    }
                }
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                QGCLabel {
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                    text:               qsTr("Return To Launch Settings")
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                }
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                Rectangle {
                    width:              mainRow.width         + (_margins * 2)
                    height:             returnHomeGrid.height + (_margins * 2)
                    color:              qgcPal.windowShade
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                    Row {
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                        id:                 returnHomeGrid
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            QGCColoredImage {
                                color:              qgcPal.text
                                source:             controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
                                height:             _imageHeight
                                width:              _imageHeight * 2
                                anchors.centerIn:   parent
                            }
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                        }
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                        GridLayout {
                            columns:                    2
                            anchors.verticalCenter:     parent.verticalCenter

                            QGCLabel {
                                text:                   qsTr("Climb to altitude of:")
                                Layout.minimumWidth:    _labelWidth
                                Layout.fillWidth:       true
                            }
                            FactTextField {
                                fact:                   controller.getParameterFact(-1, "RTL_RETURN_ALT")
                                Layout.minimumWidth:    _editFieldWidth
                                Layout.fillWidth:       true
                            }
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                            QGCLabel {
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                                text:                   qsTr("Return to launch, then:")
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                                Layout.columnSpan:      2
                            }
                            Row {
                                Layout.columnSpan:      2
                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
                                QGCRadioButton {
                                    id:                 homeLandRadio
                                    checked:            _rtlLandDelay ? _rtlLandDelay.value === 0 : false
                                    text:               qsTr("Land immediately")
                                    onClicked:          _rtlLandDelay.value = 0
                                }
                            }
                            Row {
                                Layout.columnSpan:      2
                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
                                QGCRadioButton {
                                    id:                 homeLoiterNoLandRadio
                                    checked:            _rtlLandDelay ? _rtlLandDelay.value < 0 : false
                                    text:               qsTr("Loiter and do not land")
                                    onClicked:          _rtlLandDelay.value = -1
                                }
                            }
                            Row {
                                Layout.columnSpan:      2
                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
                                QGCRadioButton {
                                    id:                 homeLoiterLandRadio
                                    checked:            _rtlLandDelay ? _rtlLandDelay.value > 0 : false
                                    text:               qsTr("Loiter and land after specified time")
                                    onClicked:          _rtlLandDelay.value = 60
                                }
                            }
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                            QGCLabel {
                                text:                   qsTr("Loiter Time")
                                Layout.fillWidth:       true
                            }
                            FactTextField {
                                fact:                   controller.getParameterFact(-1, "RTL_LAND_DELAY")
                                enabled:                homeLoiterLandRadio.checked === true
                                Layout.fillWidth:       true
                            }

                            QGCLabel {
                                text:                   qsTr("Loiter Altitude")
                                Layout.fillWidth:       true
                            }
                            FactTextField {
                                fact:                   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
                                enabled:                homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
                                Layout.fillWidth:       true
                            }
                        }
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                    }
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                }
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                QGCLabel {
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                    text:               qsTr("Land Mode Settings")
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                }
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                Rectangle {
                    width:              mainRow.width       + (_margins * 2)
                    height:             landModeGrid.height + (_margins * 2)
                    color:              qgcPal.windowShade
                    Row {
                        id:                 landModeGrid
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            QGCColoredImage {
                                color:              qgcPal.text
                                source:             controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
                                height:             _imageHeight
                                width:              _imageHeight
                                anchors.centerIn:   parent
                            }
                        }
                        GridLayout {
                            columns:                2
                            anchors.verticalCenter: parent.verticalCenter

                            QGCLabel {
                                id:                 landVelocityLabel
                                text:               qsTr("Landing Descent Rate:")
                                visible:            controller.vehicle && !controller.vehicle.fixedWing
                                Layout.minimumWidth:_labelWidth
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               _landSpeedMC
                                visible:            controller.vehicle && !controller.vehicle.fixedWing
                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
                            }
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                            QGCCheckBox {
                                id:                 disarmDelayCheckBox
                                text:               qsTr("Disarm After:")
                                checked:            _disarmLandDelay.value > 0
                                onClicked:          _disarmLandDelay.value = checked ? 2 : 0
                                Layout.fillWidth:   true
                            }
                            FactTextField {
                                fact:               _disarmLandDelay
                                enabled:            disarmDelayCheckBox.checked
                                Layout.fillWidth:   true
                            }
                        }
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                    }
                }
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                QGCLabel {
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                    text:               qsTr("Vehicle Telemetry Logging")
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                }

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                Rectangle {
                    width:              mainRow.width      + (_margins * 2)
                    height:             loggingGrid.height + (_margins * 2)
                    color:              qgcPal.windowShade
                    Row {
                        id:                 loggingGrid
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            Image {
                                mipmap:             true
                                fillMode:           Image.PreserveAspectFit
                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
                                height:             _imageHeight
                                anchors.centerIn:   parent
                            }
                        }
                        GridLayout {
                            columns:                2
                            anchors.verticalCenter: parent.verticalCenter
                            QGCLabel {
                                text:               qsTr("Telemetry logging to vehicle storage:")
                                Layout.minimumWidth:_labelWidth
                                Layout.fillWidth:   true
                            }
                            QGCComboBox {
                                model:              [qsTr("Disabled"), qsTr("Enabled")]
                                enabled:            _enableLogging
                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
                                Component.onCompleted: {
                                    currentIndex = _enableLogging ? (_enableLogging.value >= 0 ? 1 : 0) : 0
                                }
                                onActivated: {
                                    if(_enableLogging) {
                                        _enableLogging.value = index > 0 ? 0 : -1
                                    }
                                }
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                            }
                        }
                    }
                }

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                QGCLabel {
                    text:               qsTr("Hardware in the Loop Simulation")
                    visible:            _hitlAvailable
                }

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                Rectangle {
                    width:              mainRow.width   + (_margins * 2)
                    height:             hitlGrid.height + (_margins * 2)
                    color:              qgcPal.windowShade
                    visible:            _hitlAvailable
                    Row {
                        id:                 hitlGrid
                        spacing:            _margins
                        anchors.centerIn:   parent
                        Item {
                            width:                  _imageWidth
                            height:                 _imageHeight
                            anchors.verticalCenter: parent.verticalCenter
                            QGCColoredImage {
                                color:              qgcPal.text
                                source:             "/qmlimages/HITL.svg"
                                height:             _imageHeight
                                width:              _imageHeight
                                anchors.centerIn:   parent
                            }
                        }
                        GridLayout {
                            columns:                2
                            anchors.verticalCenter: parent.verticalCenter
                            QGCLabel {
                                text:               qsTr("HITL Enabled:")
                                Layout.minimumWidth:_labelWidth
                                Layout.fillWidth:   true
                            }
                            FactComboBox {
                                fact:               _hitlEnabled
                                indexModel:         false
                                Layout.minimumWidth:_editFieldWidth
                                Layout.fillWidth:   true
                            }
                        }
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                    }
                }
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            }
        }
    }
}