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APMSensorParams.qml 6.97 KB
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Don Gagne's avatar
Ardupilot onboard compass cal support
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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.
 *
 ****************************************************************************/
DonLakeFlyer's avatar
Changes imports back to v5.5 level
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DonLakeFlyer committed
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import QtQuick 2.3
Don Gagne's avatar
Ardupilot onboard compass cal support
465999bf
 
Don Gagne committed
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import QGroundControl.FactSystem 1.0

/// This is used to handle the various differences between firmware versions and missing parameters in each in a standard way.
Item {
    property var factPanelController  ///< Must be specified by consumer of control

    property Fact _noFact: Fact { }

    property Fact compassPrimaryFact:               factPanelController.getParameterFact(-1, "COMPASS_PRIMARY")
    property bool compass1Primary:                  compassPrimaryFact.rawValue == 0
    property bool compass2Primary:                  compassPrimaryFact.rawValue == 1
    property bool compass3Primary:                  compassPrimaryFact.rawValue == 2
    property var  rgCompassPrimary:                 [ compass1Primary, compass2Primary, compass3Primary ]

    property Fact compass1Id:                       factPanelController.getParameterFact(-1, "COMPASS_DEV_ID")
    property Fact compass2Id:                       factPanelController.getParameterFact(-1, "COMPASS_DEV_ID2")
    property Fact compass3Id:                       factPanelController.getParameterFact(-1, "COMPASS_DEV_ID3")

    property bool compass1Available:                compass1Id.value > 0
    property bool compass2Available:                compass2Id.value > 0
    property bool compass3Available:                compass3Id.value > 0
    property var  rgCompassAvailable:               [ compass1Available, compass2Available, compass3Available ]

    property bool compass1RotParamAvailable:        factPanelController.parameterExists(-1, "COMPASS_ORIENT")
    property bool compass2RotParamAvailable:        factPanelController.parameterExists(-1, "COMPASS_ORIENT2")
    property bool compass3RotParamAvailable:        factPanelController.parameterExists(-1, "COMPASS_ORIENT3")
    property var  rgCompassRotParamAvailable:       [ compass1RotParamAvailable, compass2RotParamAvailable, compass3RotParamAvailable ]

    property Fact compass1RotFact:                  compass2RotParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_ORIENT") : _noFact
    property Fact compass2RotFact:                  compass2RotParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_ORIENT2") : _noFact
    property Fact compass3RotFact:                  compass3RotParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_ORIENT3") : _noFact
    property var  rgCompassRotFact:                 [ compass1RotFact, compass2RotFact, compass3RotFact ]

    property bool compass1UseParamAvailable:        factPanelController.parameterExists(-1, "COMPASS_USE")
    property bool compass2UseParamAvailable:        factPanelController.parameterExists(-1, "COMPASS_USE2")
    property bool compass3UseParamAvailable:        factPanelController.parameterExists(-1, "COMPASS_USE3")
    property var  rgCompassUseParamAvailable:       [ compass1UseParamAvailable, compass2UseParamAvailable, compass3UseParamAvailable ]

    property Fact compass1UseFact:                  compass1UseParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_USE") : _noFact
    property Fact compass2UseFact:                  compass2UseParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_USE2") : _noFact
    property Fact compass3UseFact:                  compass3UseParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_USE3") : _noFact
    property var  rgCompassUseFact:                 [ compass1UseFact, compass2UseFact, compass3UseFact ]

    property bool compass1Use:                      compass1UseParamAvailable ? compass1UseFact.value : true
    property bool compass2Use:                      compass2UseParamAvailable ? compass2UseFact.value : true
    property bool compass3Use:                      compass3UseParamAvailable ? compass3UseFact.value : true

    property bool compass1ExternalParamAvailable:   factPanelController.parameterExists(-1, "COMPASS_EXTERNAL")
    property bool compass2ExternalParamAvailable:   factPanelController.parameterExists(-1, "COMPASS_EXTERN2")
    property bool compass3ExternalParamAvailable:   factPanelController.parameterExists(-1, "COMPASS_EXTERN3")
    property var  rgCompassExternalParamAvailable:  [ compass1ExternalParamAvailable, compass2ExternalParamAvailable, compass3ExternalParamAvailable ]

    property Fact compass1ExternalFact:             compass1ExternalParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_EXTERNAL") : _noFact
    property Fact compass2ExternalFact:             compass2ExternalParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_EXTERN2") : _noFact
    property Fact compass3ExternalFact:             compass3ExternalParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_EXTERN3") : _noFact

    property bool compass1External:                 !!compass1ExternalFact.rawValue
    property bool compass2External:                 !!compass2ExternalFact.rawValue
    property bool compass3External:                 !!compass3ExternalFact.rawValue
    property var  rgCompassExternal:                [ compass1External, compass2External, compass3External ]

    property Fact compass1OfsXFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS_X")
    property Fact compass1OfsYFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS_Y")
    property Fact compass1OfsZFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS_Z")
    property Fact compass2OfsXFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS2_X")
    property Fact compass2OfsYFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS2_Y")
    property Fact compass2OfsZFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS2_Z")
    property Fact compass3OfsXFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS3_X")
    property Fact compass3OfsYFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS3_Y")
    property Fact compass3OfsZFact:                 factPanelController.getParameterFact(-1, "COMPASS_OFS3_Z")

    property bool compass1Calibrated:               compass1Available ? compass1OfsXFact.value != 0.0  && compass1OfsYFact.value != 0.0  &&compass1OfsZFact.value != 0.0 : false
    property bool compass2Calibrated:               compass2Available ? compass2OfsXFact.value != 0.0  && compass2OfsYFact.value != 0.0  &&compass2OfsZFact.value != 0.0 : false
    property bool compass3Calibrated:               compass3Available ? compass3OfsXFact.value != 0.0  && compass3OfsYFact.value != 0.0  &&compass3OfsZFact.value != 0.0 : false
    property var  rgCompassCalibrated:              [ compass1Calibrated, compass2Calibrated, compass3Calibrated ]
}