SensorsComponent.qml 25.2 KB
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/*=====================================================================

 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/>.

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

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import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
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import QtQuick.Dialogs 1.2
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import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
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import QGroundControl.ScreenTools 1.0
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import QGroundControl.Controllers 1.0
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QGCView {
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    id:         qgcView
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    viewPanel:  panel
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    // Help text which is shown both in the status text area prior to pressing a cal button and in the
    // pre-calibration dialog.

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    readonly property string boardRotationText: "If the autopilot is mounted in flight direction, leave the default value (ROTATION_NONE)"
    readonly property string compassRotationText: "If the compass or GPS module is mounted in flight direction, leave the default value (ROTATION_NONE)"

    readonly property string compassHelp:   "For Compass calibration you will need to rotate your vehicle through a number of positions. Most users prefer to do this wirelessly with the telemetry link."
    readonly property string gyroHelp:      "For Gyroscope calibration you will need to place your vehicle on a surface and leave it still."
    readonly property string accelHelp:     "For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds."
    readonly property string levelHelp:     "To level the horizon you need to place the vehicle in its level flight position and press OK."
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    readonly property string airspeedHelp:  "For Airspeed calibration you will need to keep your airspeed sensor out of any wind and then blow across the sensor."

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    readonly property string statusTextAreaDefaultText: "Start the individual calibration steps by clicking one of the buttons above."
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    // Used to pass what type of calibration is being performed to the preCalibrationDialog
    property string preCalibrationDialogType

    // Used to pass help text to the preCalibrationDialog dialog
    property string preCalibrationDialogHelp

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    readonly property int rotationColumnWidth: 250
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    readonly property var rotations: [
        "ROTATION_NONE",
        "ROTATION_YAW_45",
        "ROTATION_YAW_90",
        "ROTATION_YAW_135",
        "ROTATION_YAW_180",
        "ROTATION_YAW_225",
        "ROTATION_YAW_270",
        "ROTATION_YAW_315",
        "ROTATION_ROLL_180",
        "ROTATION_ROLL_180_YAW_45",
        "ROTATION_ROLL_180_YAW_90",
        "ROTATION_ROLL_180_YAW_135",
        "ROTATION_PITCH_180",
        "ROTATION_ROLL_180_YAW_225",
        "ROTATION_ROLL_180_YAW_270",
        "ROTATION_ROLL_180_YAW_315",
        "ROTATION_ROLL_90",
        "ROTATION_ROLL_90_YAW_45",
        "ROTATION_ROLL_90_YAW_90",
        "ROTATION_ROLL_90_YAW_135",
        "ROTATION_ROLL_270",
        "ROTATION_ROLL_270_YAW_45",
        "ROTATION_ROLL_270_YAW_90",
        "ROTATION_ROLL_270_YAW_135",
        "ROTATION_PITCH_90",
        "ROTATION_PITCH_270",
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        "ROTATION_ROLL_270_YAW_270",
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        "ROTATION_ROLL_180_PITCH_270",
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        "ROTATION_PITCH_90_YAW_180",
        "ROTATION_ROLL_90_PITCH_90"
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    ]

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    property Fact cal_mag0_id:      controller.getParameterFact(-1, "CAL_MAG0_ID")
    property Fact cal_mag1_id:      controller.getParameterFact(-1, "CAL_MAG1_ID")
    property Fact cal_mag2_id:      controller.getParameterFact(-1, "CAL_MAG2_ID")
    property Fact cal_mag0_rot:     controller.getParameterFact(-1, "CAL_MAG0_ROT")
    property Fact cal_mag1_rot:     controller.getParameterFact(-1, "CAL_MAG1_ROT")
    property Fact cal_mag2_rot:     controller.getParameterFact(-1, "CAL_MAG2_ROT")

    property Fact cal_gyro0_id:     controller.getParameterFact(-1, "CAL_GYRO0_ID")
    property Fact cal_acc0_id:      controller.getParameterFact(-1, "CAL_ACC0_ID")

    property Fact sens_board_rot:   controller.getParameterFact(-1, "SENS_BOARD_ROT")
    property Fact sens_board_x_off: controller.getParameterFact(-1, "SENS_BOARD_X_OFF")
    property Fact sens_dpres_off:   controller.getParameterFact(-1, "SENS_DPRES_OFF")
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    // Id > = signals compass available, rot < 0 signals internal compass
    property bool showCompass0Rot: cal_mag0_id.value > 0 && cal_mag0_rot.value >= 0
    property bool showCompass1Rot: cal_mag1_id.value > 0 && cal_mag1_rot.value >= 0
    property bool showCompass2Rot: cal_mag2_id.value > 0 && cal_mag2_rot.value >= 0

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    SensorsComponentController {
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        id:                         controller
        factPanel:                  panel
        statusLog:                  statusTextArea
        progressBar:                progressBar
        compassButton:              compassButton
        gyroButton:                 gyroButton
        accelButton:                accelButton
        airspeedButton:             airspeedButton
        levelButton:                levelButton
        cancelButton:               cancelButton
        orientationCalAreaHelpText: orientationCalAreaHelpText
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        onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText

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        onSetCompassRotations: {
            if (showCompass0Rot || showCompass1Rot || showCompass2Rot) {
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                showDialog(compassRotationDialogComponent, "Set Compass Rotation(s)", qgcView.showDialogDefaultWidth, StandardButton.Ok)
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            }
        }
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        onWaitingForCancelChanged: {
            if (controller.waitingForCancel) {
                showMessage("Calibration Cancel", "Waiting for Vehicle to response to Cancel. This may take a few seconds.", 0)
            } else {
                hideDialog()
            }
        }
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    }

    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)
        }
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    }

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    QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }

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    Component {
        id: preCalibrationDialogComponent
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        QGCViewDialog {
            id: preCalibrationDialog
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            function accept() {
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                if (preCalibrationDialogType == "gyro") {
                    controller.calibrateGyro()
                } else if (preCalibrationDialogType == "accel") {
                    controller.calibrateAccel()
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                } else if (preCalibrationDialogType == "level") {
                    controller.calibrateLevel()
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                } else if (preCalibrationDialogType == "compass") {
                    controller.calibrateCompass()
                } else if (preCalibrationDialogType == "airspeed") {
                    controller.calibrateAirspeed()
                }
                preCalibrationDialog.hideDialog()
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            }
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            Column {
                anchors.fill: parent
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                spacing:                5
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                QGCLabel {
                    width:      parent.width
                    wrapMode:   Text.WordWrap
                    text:       preCalibrationDialogHelp
                }
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                QGCLabel {
                    width:      parent.width
                    wrapMode:   Text.WordWrap
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                    visible:    (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
                    text:       boardRotationText
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                }
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                FactComboBox {
                    width:      rotationColumnWidth
                    model:      rotations
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                    visible:    preCalibrationDialogType != "airspeed" && (preCalibrationDialogType != "gyro")
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                    fact:       sens_board_rot
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                }
            }
        }
    }

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    Component {
        id: compassRotationDialogComponent

        QGCViewDialog {
            id: compassRotationDialog

            Column {
                anchors.fill: parent
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                spacing:      ScreenTools.defaultFontPixelHeight
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                QGCLabel {
                    width:      parent.width
                    wrapMode:   Text.WordWrap
                    text:       compassRotationText
                }
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                // Compass 0 rotation
                Component {
                    id: compass0ComponentLabel
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                    QGCLabel {
                        text: "External Compass Orientation"
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                    }
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                }
                Component {
                    id: compass0ComponentCombo

                    FactComboBox {
                        id:     compass0RotationCombo
                        width:  rotationColumnWidth
                        model:  rotations
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                        fact:   cal_mag0_rot
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                    }
                }
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                Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel : null }
                Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo : null }
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                // Compass 1 rotation
                Component {
                    id: compass1ComponentLabel

                    QGCLabel { text: "Compass 1 Orientation" }
                }
                Component {
                    id: compass1ComponentCombo

                    FactComboBox {
                        id:     compass1RotationCombo
                        width:  rotationColumnWidth
                        model:  rotations
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                        fact:   cal_mag1_rot
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                    }
                }
                Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel : null }
                Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo : null }

                // Compass 2 rotation
                Component {
                    id: compass2ComponentLabel

                    QGCLabel { text: "Compass 2 Orientation" }
                }
                Component {
                    id: compass2ComponentCombo

                    FactComboBox {
                        id:     compass1RotationCombo
                        width:  rotationColumnWidth
                        model:  rotations
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                        fact:   cal_mag2_rot
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                    }
                }
                Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel : null }
                Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo : null }
            } // Column
        } // QGCViewDialog
    } // Component - compassRotationDialogComponent

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    QGCViewPanel {
        id:             panel
        anchors.fill:   parent
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        Column {
            anchors.fill: parent
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            Row {
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                readonly property int buttonWidth: ScreenTools.defaultFontPixelWidth * 15
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                spacing: ScreenTools.defaultFontPixelWidth
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                QGCLabel { text: "Calibrate:"; anchors.baseline: compassButton.baseline }
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                IndicatorButton {
                    id:             compassButton
                    width:          parent.buttonWidth
                    text:           "Compass"
                    indicatorGreen: cal_mag0_id.value != 0
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                    onClicked: {
                        preCalibrationDialogType = "compass"
                        preCalibrationDialogHelp = compassHelp
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                        showDialog(preCalibrationDialogComponent, "Calibrate Compass", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
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                    }
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                }
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                IndicatorButton {
                    id:             gyroButton
                    width:          parent.buttonWidth
                    text:           "Gyroscope"
                    indicatorGreen: cal_gyro0_id.value != 0
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                    onClicked: {
                        preCalibrationDialogType = "gyro"
                        preCalibrationDialogHelp = gyroHelp
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                        showDialog(preCalibrationDialogComponent, "Calibrate Gyro", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
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                    }
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                }
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                IndicatorButton {
                    id:             accelButton
                    width:          parent.buttonWidth
                    text:           "Accelerometer"
                    indicatorGreen: cal_acc0_id.value != 0
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                    onClicked: {
                        preCalibrationDialogType = "accel"
                        preCalibrationDialogHelp = accelHelp
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                        showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
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                    }
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                }
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                IndicatorButton {
                    id:             levelButton
                    width:          parent.buttonWidth
                    text:           "Level Horizon"
                    indicatorGreen: sens_board_x_off.value != 0
                    enabled:        cal_acc0_id.value != 0 && cal_gyro0_id.value != 0

                    onClicked: {
                        preCalibrationDialogType = "level"
                        preCalibrationDialogHelp = levelHelp
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                        showDialog(preCalibrationDialogComponent, "Level Horizon", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
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                    }
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                }
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                IndicatorButton {
                    id:             airspeedButton
                    width:          parent.buttonWidth
                    text:           "Airspeed"
                    visible:        controller.fixedWing
                    indicatorGreen: sens_dpres_off.value != 0

                    onClicked: {
                        preCalibrationDialogType = "airspeed"
                        preCalibrationDialogHelp = airspeedHelp
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                        showDialog(preCalibrationDialogComponent, "Calibrate Airspeed", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
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                    }
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                }
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                QGCButton {
                    id:         cancelButton
                    text:       "Cancel"
                    enabled:    false
                    onClicked:  controller.cancelCalibration()
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                }
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            }
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            Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
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            ProgressBar {
                id: progressBar
                width: parent.width - rotationColumnWidth
            }
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            Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
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            Item {
                property int calDisplayAreaWidth: parent.width - rotationColumnWidth
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                width:  parent.width
                height: parent.height - y
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                TextArea {
                    id:             statusTextArea
                    width:          parent.calDisplayAreaWidth
                    height:         parent.height
                    readOnly:       true
                    frameVisible:   false
                    text:           statusTextAreaDefaultText
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                    style: TextAreaStyle {
                        textColor: qgcPal.text
                        backgroundColor: qgcPal.windowShade
                    }
                }

                Rectangle {
                    id:         orientationCalArea
                    width:      parent.calDisplayAreaWidth
                    height:     parent.height
                    visible:    controller.showOrientationCalArea
                    color:      qgcPal.windowShade

                    QGCLabel {
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                        id:                 orientationCalAreaHelpText
                        anchors.margins:    ScreenTools.defaultFontPixelWidth
                        anchors.top:        orientationCalArea.top
                        anchors.left:       orientationCalArea.left
                        width:              parent.width
                        wrapMode:           Text.WordWrap
                        font.pixelSize:     ScreenTools.mediumFontPixelSize
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                    }

                    Flow {
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                        anchors.topMargin:  ScreenTools.defaultFontPixelWidth
                        anchors.top:        orientationCalAreaHelpText.bottom
                        anchors.left:       orientationCalAreaHelpText.left
                        width:              parent.width
                        height:             parent.height - orientationCalAreaHelpText.implicitHeight
                        spacing:            ScreenTools.defaultFontPixelWidth
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                        VehicleRotationCal {
                            visible:            controller.orientationCalDownSideVisible
                            calValid:           controller.orientationCalDownSideDone
                            calInProgress:      controller.orientationCalDownSideInProgress
                            calInProgressText:  controller.orientationCalDownSideRotate ? "Rotate" : "Hold Still"
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                            imageSource:        controller.orientationCalDownSideRotate ? "qrc:///qmlimages/VehicleDownRotate.png" : "qrc:///qmlimages/VehicleDown.png"
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                        }
                        VehicleRotationCal {
                            visible:            controller.orientationCalUpsideDownSideVisible
                            calValid:           controller.orientationCalUpsideDownSideDone
                            calInProgress:      controller.orientationCalUpsideDownSideInProgress
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                            calInProgressText:  controller.orientationCalUpsideDownSideRotate ? "Rotate" : "Hold Still"
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                            imageSource:        controller.orientationCalUpsideDownSideRotate ? "qrc:///qmlimages/VehicleUpsideDownRotate.png" : "qrc:///qmlimages/VehicleUpsideDown.png"
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                        }
                        VehicleRotationCal {
                            visible:            controller.orientationCalNoseDownSideVisible
                            calValid:           controller.orientationCalNoseDownSideDone
                            calInProgress:      controller.orientationCalNoseDownSideInProgress
                            calInProgressText:  controller.orientationCalNoseDownSideRotate ? "Rotate" : "Hold Still"
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                            imageSource:        controller.orientationCalNoseDownSideRotate ? "qrc:///qmlimages/VehicleNoseDownRotate.png" : "qrc:///qmlimages/VehicleNoseDown.png"
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                        }
                        VehicleRotationCal {
                            visible:            controller.orientationCalTailDownSideVisible
                            calValid:           controller.orientationCalTailDownSideDone
                            calInProgress:      controller.orientationCalTailDownSideInProgress
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                            calInProgressText:  controller.orientationCalTailDownSideRotate ? "Rotate" : "Hold Still"
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                            imageSource:        controller.orientationCalTailDownSideRotate ? "qrc:///qmlimages/VehicleTailDownRotate.png" : "qrc:///qmlimages/VehicleTailDown.png"
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                        }
                        VehicleRotationCal {
                            visible:            controller.orientationCalLeftSideVisible
                            calValid:           controller.orientationCalLeftSideDone
                            calInProgress:      controller.orientationCalLeftSideInProgress
                            calInProgressText:  controller.orientationCalLeftSideRotate ? "Rotate" : "Hold Still"
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                            imageSource:        controller.orientationCalLeftSideRotate ? "qrc:///qmlimages/VehicleLeftRotate.png" : "qrc:///qmlimages/VehicleLeft.png"
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                        }
                        VehicleRotationCal {
                            visible:            controller.orientationCalRightSideVisible
                            calValid:           controller.orientationCalRightSideDone
                            calInProgress:      controller.orientationCalRightSideInProgress
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                            calInProgressText:  controller.orientationCalRightSideRotate ? "Rotate" : "Hold Still"
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                            imageSource:        controller.orientationCalRightSideRotate ? "qrc:///qmlimages/VehicleRightRotate.png" : "qrc:///qmlimages/VehicleRight.png"
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                        }
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                    }
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                }

                Column {
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                    anchors.leftMargin: ScreenTools.defaultFontPixelWidth
                    anchors.left:       orientationCalArea.right
                    x:                  parent.width - rotationColumnWidth
                    spacing:            ScreenTools.defaultFontPixelWidth
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                    Column {
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                        spacing: ScreenTools.defaultFontPixelWidth
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                        QGCLabel {
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                            text: "Autopilot Orientation"
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                        }

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                        QGCLabel {
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                            width:      parent.width
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                            wrapMode:   Text.WordWrap
                            text: boardRotationText
                        }

                        FactComboBox {
                            id:     boardRotationCombo
                            width:  rotationColumnWidth;
                            model:  rotations
                            fact:   sens_board_rot
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                        }
                    }
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                    Column {
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                        spacing: ScreenTools.defaultFontPixelWidth
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                        // Compass 0 rotation
                        Component {
                            id: compass0ComponentLabel2
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                            QGCLabel {
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                                text: "External Compass Orientation"
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                            }
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                        }
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                        Component {
                            id: compass0ComponentCombo2
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                            FactComboBox {
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                                id:     compass0RotationCombo
                                width:  rotationColumnWidth
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                                model:  rotations
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                                fact:   cal_mag0_rot
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                            }
                        }
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                        Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null }
                        Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null }
                    }
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                    Column {
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                        spacing: ScreenTools.defaultFontPixelWidth

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                        // Compass 1 rotation
                        Component {
                            id: compass1ComponentLabel2
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                            QGCLabel {
                                text: "External Compass 1 Orientation"
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                            }
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                        }
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                        Component {
                            id: compass1ComponentCombo2
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                            FactComboBox {
                                id:     compass1RotationCombo
                                width:  rotationColumnWidth
                                model:  rotations
                                fact:   cal_mag1_rot
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                            }
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                        }
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                        Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null }
                        Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null }
                    }
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                    Column {
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                        spacing: ScreenTools.defaultFontPixelWidth

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                        // Compass 2 rotation
                        Component {
                            id: compass2ComponentLabel2
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                            QGCLabel {
                                text: "Compass 2 Orientation"
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                            }
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                        }
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                        Component {
                            id: compass2ComponentCombo2

                            FactComboBox {
                                id:     compass1RotationCombo
                                width:  rotationColumnWidth
                                model:  rotations
                                fact:   cal_mag2_rot
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                            }
                        }
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                        Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel2 : null }
                        Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo2 : null }
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                    }
                }
            }
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        }
    } // QGCViewPanel
} // QGCView