APMSensorsComponent.qml 36.8 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.Dialogs          1.2
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import QtQuick.Layouts          1.2
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import QGroundControl               1.0
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import QGroundControl.FactSystem    1.0
import QGroundControl.FactControls  1.0
import QGroundControl.Palette       1.0
import QGroundControl.Controls      1.0
import QGroundControl.ScreenTools   1.0
import QGroundControl.Controllers   1.0
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import QGroundControl.ArduPilot     1.0
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SetupPage {
    id:             sensorsPage
    pageComponent:  sensorsPageComponent
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    Component {
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        id:             sensorsPageComponent

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        Item {
            width:  availableWidth
            height: availableHeight
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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 orientationHelpSet:    qsTr("If mounted in the direction of flight, select None.")
            readonly property string orientationHelpCal:    qsTr("Before calibrating make sure rotation settings are correct. ") + orientationHelpSet
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            readonly property string compassRotationText:   qsTr("If the compass or GPS module is mounted in flight direction, leave the default value (None)")
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            readonly property string compassHelp:   qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions.")
            readonly property string gyroHelp:      qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.")
            readonly property string accelHelp:     qsTr("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:     qsTr("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 statusTextAreaDefaultText: qsTr("Start the individual calibration steps by clicking one of the buttons to the left.")
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            // Used to pass help text to the preCalibrationDialog dialog
            property string preCalibrationDialogHelp

            property string _postCalibrationDialogText
            property var    _postCalibrationDialogParams

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            readonly property string _badCompassCalText: qsTr("The calibration for Compass %1 appears to be poor. ") +
                                                         qsTr("Check the compass position within your vehicle and re-do the calibration.")
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            readonly property int sideBarH1PointSize:  ScreenTools.mediumFontPointSize
            readonly property int mainTextH1PointSize: ScreenTools.mediumFontPointSize // Seems to be unused

            readonly property int rotationColumnWidth: 250

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            property Fact noFact: Fact { }
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            property bool accelCalNeeded:                   controller.accelSetupNeeded
            property bool compassCalNeeded:                 controller.compassSetupNeeded
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            property Fact boardRot:                         controller.getParameterFact(-1, "AHRS_ORIENTATION")
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            readonly property int _calTypeCompass:  1   ///< Calibrate compass
            readonly property int _calTypeAccel:    2   ///< Calibrate accel
            readonly property int _calTypeSet:      3   ///< Set orientations only
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            readonly property int _buttonWidth:     ScreenTools.defaultFontPixelWidth * 15
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            property bool   _orientationsDialogShowCompass: true
            property string _orientationDialogHelp:         orientationHelpSet
            property int    _orientationDialogCalType
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            property real   _margins:                       ScreenTools.defaultFontPixelHeight / 2
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            property bool   _compassAutoRotAvailable:       controller.parameterExists(-1, "COMPASS_AUTO_ROT")
            property Fact   _compassAutoRotFact:            controller.getParameterFact(-1, "COMPASS_AUTO_ROT", false /* reportMissing */)
            property bool   _compassAutoRot:                _compassAutoRotAvailable ? _compassAutoRotFact.rawValue == 2 : false
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            function showOrientationsDialog(calType) {
                var dialogTitle
                var buttons = StandardButton.Ok

                _orientationDialogCalType = calType
                switch (calType) {
                case _calTypeCompass:
                    _orientationsDialogShowCompass = true
                    _orientationDialogHelp = orientationHelpCal
                    dialogTitle = qsTr("Calibrate Compass")
                    buttons |= StandardButton.Cancel
                    break
                case _calTypeAccel:
                    _orientationsDialogShowCompass = false
                    _orientationDialogHelp = orientationHelpCal
                    dialogTitle = qsTr("Calibrate Accelerometer")
                    buttons |= StandardButton.Cancel
                    break
                case _calTypeSet:
                    _orientationsDialogShowCompass = true
                    _orientationDialogHelp = orientationHelpSet
                    dialogTitle = qsTr("Sensor Settings")
                    break
                }
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                mainWindow.showComponentDialog(orientationsDialogComponent, dialogTitle, mainWindow.showDialogDefaultWidth, buttons)
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            }
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            APMSensorParams {
                id:                     sensorParams
                factPanelController:    controller
            }

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            APMSensorsComponentController {
                id:                         controller
                statusLog:                  statusTextArea
                progressBar:                progressBar
                nextButton:                 nextButton
                cancelButton:               cancelButton
                orientationCalAreaHelpText: orientationCalAreaHelpText

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                property var rgCompassCalFitness: [ controller.compass1CalFitness, controller.compass2CalFitness, controller.compass3CalFitness ]

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                onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText

                onWaitingForCancelChanged: {
                    if (controller.waitingForCancel) {
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                        mainWindow.showComponentDialog(waitForCancelDialogComponent, qsTr("Calibration Cancel"), mainWindow.showDialogDefaultWidth, 0)
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                    }
                }
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                onCalibrationComplete: {
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                    switch (calType) {
                    case APMSensorsComponentController.CalTypeAccel:
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                        mainWindow.showComponentDialog(postCalibrationComponent, qsTr("Accelerometer calibration complete"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
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                        break
                    case APMSensorsComponentController.CalTypeOffboardCompass:
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                        mainWindow.showComponentDialog(postCalibrationComponent, qsTr("Compass calibration complete"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
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                        break
                    case APMSensorsComponentController.CalTypeOnboardCompass:
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                        mainWindow.showComponentDialog(postOnboardCompassCalibrationComponent, qsTr("Calibration complete"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
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                        break
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                    }
                }
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                onSetAllCalButtonsEnabled: {
                    buttonColumn.enabled = enabled
                }
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            }

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            Component.onCompleted: {
                var usingUDP = controller.usingUDPLink()
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                var isSub = QGroundControl.multiVehicleManager.activeVehicle.sub;
                if (usingUDP && !isSub) {
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                    mainWindow.showMessageDialog(qsTr("Sensor Calibration"), qsTr("Performing sensor calibration over a WiFi connection can be unreliable. If you run into problems try using a direct USB connection instead."))
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                }
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            }
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            QGCPalette { id: qgcPal; colorGroupEnabled: true }
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            Component {
                id: waitForCancelDialogComponent

                QGCViewMessage {
                    message: qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds.")

                    Connections {
                        target: controller

                        onWaitingForCancelChanged: {
                            if (!controller.waitingForCancel) {
                                hideDialog()
                            }
                        }
                    }
                }
            }

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            Component {
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                id: singleCompassOnboardResultsComponent
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                Column {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    spacing:        Math.round(ScreenTools.defaultFontPixelHeight / 2)
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                    visible:        sensorParams.rgCompassAvailable[index] && sensorParams.rgCompassUseFact[index].value
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                    property real greenMaxThreshold:   8 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
                    property real yellowMaxThreshold:  15 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
                    property real fitnessRange:        25 * (sensorParams.rgCompassExternal[index] ? 1 : 2)

                    Item {
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                        anchors.left:   parent.left
                        anchors.right:  parent.right
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                        height:         ScreenTools.defaultFontPixelHeight

                        Row {
                            id:             fitnessRow
                            anchors.fill:   parent

                            Rectangle {
                                width:  parent.width * (greenMaxThreshold / fitnessRange)
                                height: parent.height
                                color:  "green"
                            }
                            Rectangle {
                                width:  parent.width * ((yellowMaxThreshold - greenMaxThreshold) / fitnessRange)
                                height: parent.height
                                color:  "yellow"
                            }
                            Rectangle {
                                width:  parent.width * ((fitnessRange - yellowMaxThreshold) / fitnessRange)
                                height: parent.height
                                color:  "red"
                            }
                        }

                        Rectangle {
                            height:                 fitnessRow.height * 0.66
                            width:                  height
                            anchors.verticalCenter: fitnessRow.verticalCenter
                            x:                      (fitnessRow.width * (Math.min(Math.max(controller.rgCompassCalFitness[index], 0.0), fitnessRange) / fitnessRange)) - (width / 2)
                            radius:                 height / 2
                            color:                  "white"
                            border.color:           "black"
                        }
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                    }
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                    Column {
                        anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
                        anchors.left:       parent.left
                        anchors.right:      parent.right
                        spacing:            Math.round(ScreenTools.defaultFontPixelHeight / 4)

                        QGCLabel {
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                            text: qsTr("Compass ") + (index+1) + " " +
                                  (sensorParams.rgCompassPrimary[index] ? qsTr("(primary") : qsTr("(secondary")) +
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                                  (sensorParams.rgCompassExternalParamAvailable[index] ?
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                                       (sensorParams.rgCompassExternal[index] ? qsTr(", external") : qsTr(", internal" )) :
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                                       "") +
                                  ")"
                        }

                        FactCheckBox {
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                            text:       qsTr("Use Compass")
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                            fact:       sensorParams.rgCompassUseFact[index]
                            visible:    sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index]
                        }
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                    }
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                }
            }
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            Component {
                id: postOnboardCompassCalibrationComponent
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                QGCViewDialog {
                    Column {
                        anchors.margins:    ScreenTools.defaultFontPixelWidth
                        anchors.left:       parent.left
                        anchors.right:      parent.right
                        spacing:            ScreenTools.defaultFontPixelHeight

                        Repeater {
                            model:      3
                            delegate:   singleCompassOnboardResultsComponent
                        }
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                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("Shown in the indicator bars is the quality of the calibration for each compass.\n\n") +
                                            qsTr("- Green indicates a well functioning compass.\n") +
                                            qsTr("- Yellow indicates a questionable compass or calibration.\n") +
                                            qsTr("- Red indicates a compass which should not be used.\n\n") +
                                            qsTr("YOU MUST REBOOT YOUR VEHICLE AFTER EACH CALIBRATION.")
                        }
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                        QGCButton {
                            text:       qsTr("Reboot Vehicle")
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                            onClicked: {
                                controller.vehicle.rebootVehicle()
                                hideDialog()
                            }
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                        }
                    }
                }
            }

            Component {
                id: postCalibrationComponent

                QGCViewDialog {
                    Column {
                        anchors.margins:    ScreenTools.defaultFontPixelWidth
                        anchors.left:       parent.left
                        anchors.right:      parent.right
                        spacing:            ScreenTools.defaultFontPixelHeight

                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("YOU MUST REBOOT YOUR VEHICLE AFTER EACH CALIBRATION.")
                        }

                        QGCButton {
                            text:       qsTr("Reboot Vehicle")
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                            onClicked: {
                                controller.vehicle.rebootVehicle()
                                hideDialog()
                            }
                       }
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                    }
                }
            }
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            Component {
                id: singleCompassSettingsComponent
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                Column {
                    spacing: Math.round(ScreenTools.defaultFontPixelHeight / 2)
                    visible: sensorParams.rgCompassAvailable[index]

                    QGCLabel {
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                        text: qsTr("Compass ") + (index+1) + " " +
                              (sensorParams.rgCompassPrimary[index] ? qsTr("(primary") :qsTr( "(secondary")) +
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                              (sensorParams.rgCompassExternalParamAvailable[index] ?
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                                   (sensorParams.rgCompassExternal[index] ? qsTr(", external") : qsTr(", internal") ) :
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                                   "") +
                              ")"
                    }

                    Column {
                        anchors.margins:    ScreenTools.defaultFontPixelWidth * 2
                        anchors.left:       parent.left
                        spacing:            Math.round(ScreenTools.defaultFontPixelHeight / 4)

                        FactCheckBox {
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                            text:       qsTr("Use Compass")
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                            fact:       sensorParams.rgCompassUseFact[index]
                            visible:    sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index]
                        }

                        Column {
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                            visible: !_compassAutoRot && sensorParams.rgCompassExternal[index] && sensorParams.rgCompassRotParamAvailable[index]
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                            QGCLabel { text: qsTr("Orientation:") }

                            FactComboBox {
                                width:      rotationColumnWidth
                                indexModel: false
                                fact:       sensorParams.rgCompassRotFact[index]
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                            }
                        }
                    }
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                }
            }
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            Component {
                id: orientationsDialogComponent
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                QGCViewDialog {
                    id: orientationsDialog

                    function accept() {
                        if (_orientationDialogCalType == _calTypeAccel) {
                            controller.calibrateAccel()
                        } else if (_orientationDialogCalType == _calTypeCompass) {
                            controller.calibrateCompass()
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                        }
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                        orientationsDialog.hideDialog()
                    }

                    QGCFlickable {
                        anchors.fill:   parent
                        contentHeight:  columnLayout.height
                        clip:           true
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                        Column {
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                            id:                 columnLayout
                            anchors.margins:    ScreenTools.defaultFontPixelWidth
                            anchors.left:       parent.left
                            anchors.right:      parent.right
                            anchors.top:        parent.top
                            spacing:            ScreenTools.defaultFontPixelHeight
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                            QGCLabel {
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                                width:      parent.width
                                wrapMode:   Text.WordWrap
                                text:       _orientationDialogHelp
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                            }

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                            Column {
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                                QGCLabel { text: qsTr("Autopilot Rotation:") }
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                                FactComboBox {
                                    width:      rotationColumnWidth
                                    indexModel: false
                                    fact:       boardRot
                                }
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                            }

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                            Repeater {
                                model:      _orientationsDialogShowCompass ? 3 : 0
                                delegate:   singleCompassSettingsComponent
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                            }
                        } // Column
                    } // QGCFlickable
                } // QGCViewDialog
            } // Component - orientationsDialogComponent
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            Component {
                id: compassMotDialogComponent
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                QGCViewDialog {
                    id: compassMotDialog
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                    function accept() {
                        controller.calibrateMotorInterference()
                        compassMotDialog.hideDialog()
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                    }

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                    QGCFlickable {
                        anchors.fill:   parent
                        contentHeight:  columnLayout.height
                        clip:           true
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                        Column {
                            id:                 columnLayout
                            anchors.margins:    ScreenTools.defaultFontPixelWidth
                            anchors.left:       parent.left
                            anchors.right:      parent.right
                            anchors.top:        parent.top
                            spacing:            ScreenTools.defaultFontPixelHeight
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                            QGCLabel {
                                anchors.left:   parent.left
                                anchors.right:  parent.right
                                wrapMode:       Text.WordWrap
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                                text:           qsTr("This is recommended for vehicles that have only an internal compass and on vehicles where there is significant interference on the compass from the motors, power wires, etc. ") +
                                                qsTr("CompassMot only works well if you have a battery current monitor because the magnetic interference is linear with current drawn. ") +
                                                qsTr("It is technically possible to set-up CompassMot using throttle but this is not recommended.")
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                            }
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                            QGCLabel {
                                anchors.left:   parent.left
                                anchors.right:  parent.right
                                wrapMode:       Text.WordWrap
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                                text:           qsTr("Disconnect your props, flip them over and rotate them one position around the frame. ") +
                                                qsTr("In this configuration they should push the copter down into the ground when the throttle is raised.")
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                            }
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                            QGCLabel {
                                anchors.left:   parent.left
                                anchors.right:  parent.right
                                wrapMode:       Text.WordWrap
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                                text:           qsTr("Secure the copter (perhaps with tape) so that it does not move.")
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                            }
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                            QGCLabel {
                                anchors.left:   parent.left
                                anchors.right:  parent.right
                                wrapMode:       Text.WordWrap
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                                text:           qsTr("Turn on your transmitter and keep throttle at zero.")
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                            }
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                            QGCLabel {
                                anchors.left:   parent.left
                                anchors.right:  parent.right
                                wrapMode:       Text.WordWrap
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                                text:           qsTr("Click Ok to start CompassMot calibration.")
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                            }
                        } // Column
                    } // QGCFlickable
                } // QGCViewDialog
            } // Component - compassMotDialogComponent
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            Component {
                id: levelHorizonDialogComponent

                QGCViewDialog {
                    id: levelHorizonDialog

                    function accept() {
                        controller.levelHorizon()
                        levelHorizonDialog.hideDialog()
                    }

                    QGCLabel {
                        anchors.left:   parent.left
                        anchors.right:  parent.right
                        wrapMode:       Text.WordWrap
                        text:           qsTr("To level the horizon you need to place the vehicle in its level flight position and press Ok.")
                    }
                } // QGCViewDialog
            } // Component - levelHorizonDialogComponent

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            Component {
                id: calibratePressureDialogComponent

                QGCViewDialog {
                    id: calibratePressureDialog

                    function accept() {
                        controller.calibratePressure()
                        calibratePressureDialog.hideDialog()
                    }

                    QGCLabel {
                        anchors.left:   parent.left
                        anchors.right:  parent.right
                        wrapMode:       Text.WordWrap
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                        text:           _helpText

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                        readonly property string _altText:      activeVehicle.sub ? qsTr("depth") : qsTr("altitude")
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                        readonly property string _helpText:     qsTr("Pressure calibration will set the %1 to zero at the current pressure reading. %2").arg(_altText).arg(_helpTextFW)
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                        readonly property string _helpTextFW:   activeVehicle.fixedWing ? qsTr("To calibrate the airspeed sensor shield it from the wind. Do not touch the sensor or obstruct any holes during the calibration.") : ""
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                    }
                } // QGCViewDialog
            } // Component - calibratePressureDialogComponent

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            QGCFlickable {
                id:             buttonFlickable
                anchors.left:   parent.left
                anchors.top:    parent.top
                anchors.bottom: parent.bottom
                width:          _buttonWidth
                contentHeight:  nextCancelColumn.y + nextCancelColumn.height + _margins
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                // Calibration button column - Calibratin buttons are kept in a separate column from Next/Cancel buttons
                // so we can enable/disable them all as a group
                Column {
                    id:                 buttonColumn
                    spacing:            _margins
                    Layout.alignment:   Qt.AlignLeft | Qt.AlignTop
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                    IndicatorButton {
                        width:          _buttonWidth
                        text:           qsTr("Accelerometer")
                        indicatorGreen: !accelCalNeeded
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                        onClicked: showOrientationsDialog(_calTypeAccel)
                    }

                    IndicatorButton {
                        width:          _buttonWidth
                        text:           qsTr("Compass")
                        indicatorGreen: !compassCalNeeded
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                        onClicked: {
                            if (controller.accelSetupNeeded) {
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                                mainWindow.showMessageDialog(qsTr("Calibrate Compass"), qsTr("Accelerometer must be calibrated prior to Compass."))
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                            } else {
                                showOrientationsDialog(_calTypeCompass)
                            }
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                        }
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                    }

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                    QGCButton {
                        width:  _buttonWidth
                        text:   _levelHorizonText
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                        readonly property string _levelHorizonText: qsTr("Level Horizon")
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                        onClicked: {
                            if (controller.accelSetupNeeded) {
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                                mainWindow.showMessageDialog(_levelHorizonText, qsTr("Accelerometer must be calibrated prior to Level Horizon."))
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                            } else {
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                                mainWindow.showComponentDialog(levelHorizonDialogComponent, _levelHorizonText, mainWindow.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
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                            }
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                        }
                    }

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                    QGCButton {
                        width:      _buttonWidth
                        text:       _calibratePressureText
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                        onClicked:  mainWindow.showComponentDialog(calibratePressureDialogComponent, _calibratePressureText, mainWindow.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
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                        readonly property string _calibratePressureText: activeVehicle.fixedWing ? qsTr("Cal Baro/Airspeed") : qsTr("Calibrate Pressure")
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                    }
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                    QGCButton {
                        width:      _buttonWidth
                        text:       qsTr("CompassMot")
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                        visible:    activeVehicle ? activeVehicle.supportsMotorInterference : false
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                        onClicked:  mainWindow.showComponentDialog(compassMotDialogComponent, qsTr("CompassMot - Compass Motor Interference Calibration"), mainWindow.showDialogFullWidth, StandardButton.Cancel | StandardButton.Ok)
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                    }
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                    QGCButton {
                        width:      _buttonWidth
                        text:       qsTr("Sensor Settings")
                        onClicked:  showOrientationsDialog(_calTypeSet)
                    }
                } // Column - Cal Buttons
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                Column {
                    id:                 nextCancelColumn
                    anchors.topMargin:  buttonColumn.spacing
                    anchors.top:        buttonColumn.bottom
                    anchors.left:       buttonColumn.left
                    spacing:            buttonColumn.spacing

                    QGCButton {
                        id:         nextButton
                        width:      _buttonWidth
                        text:       qsTr("Next")
                        enabled:    false
                        onClicked:  controller.nextClicked()
                    }
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                    QGCButton {
                        id:         cancelButton
                        width:      _buttonWidth
                        text:       qsTr("Cancel")
                        enabled:    false
                        onClicked:  controller.cancelCalibration()
                    }
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                }
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            } // QGCFlickable - buttons
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            /// Right column - cal area
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            Column {
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                anchors.leftMargin: _margins
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                anchors.top:        parent.top
                anchors.bottom:     parent.bottom
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                anchors.left:       buttonFlickable.right
                anchors.right:      parent.right
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                ProgressBar {
                    id:             progressBar
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                }
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                Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
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                Item {
                    id:     centerPanel
                    width:  parent.width
                    height: parent.height - y
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                    TextArea {
                        id:             statusTextArea
                        anchors.fill:   parent
                        readOnly:       true
                        frameVisible:   false
                        text:           statusTextAreaDefaultText
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                        style: TextAreaStyle {
                            textColor:          qgcPal.text
                            backgroundColor:    qgcPal.windowShade
                        }
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                    }
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                    Rectangle {
                        id:             orientationCalArea
                        anchors.fill:   parent
                        visible:        controller.showOrientationCalArea
                        color:          qgcPal.windowShade

                        QGCLabel {
                            id:                 orientationCalAreaHelpText
                            anchors.margins:    ScreenTools.defaultFontPixelWidth
                            anchors.top:        orientationCalArea.top
                            anchors.left:       orientationCalArea.left
                            width:              parent.width
                            wrapMode:           Text.WordWrap
                            font.pointSize:     ScreenTools.mediumFontPointSize
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                        }
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                        Flow {
                            anchors.topMargin:  ScreenTools.defaultFontPixelWidth
                            anchors.top:        orientationCalAreaHelpText.bottom
                            anchors.bottom:     parent.bottom
                            anchors.left:       parent.left
                            anchors.right:      parent.right
                            spacing:            ScreenTools.defaultFontPixelWidth

                            property real indicatorWidth:   (width / 3) - (spacing * 2)
                            property real indicatorHeight:  (height / 2) - spacing

                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
                                visible:            controller.orientationCalDownSideVisible
                                calValid:           controller.orientationCalDownSideDone
                                calInProgress:      controller.orientationCalDownSideInProgress
                                calInProgressText:  controller.orientationCalDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
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                                imageSource:        "qrc:///qmlimages/VehicleDown.png"
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                            }
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
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                                visible:            controller.orientationCalLeftSideVisible
                                calValid:           controller.orientationCalLeftSideDone
                                calInProgress:      controller.orientationCalLeftSideInProgress
                                calInProgressText:  controller.orientationCalLeftSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
                                imageSource:        "qrc:///qmlimages/VehicleLeft.png"
                            }
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
                                visible:            controller.orientationCalRightSideVisible
                                calValid:           controller.orientationCalRightSideDone
                                calInProgress:      controller.orientationCalRightSideInProgress
                                calInProgressText:  controller.orientationCalRightSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
                                imageSource:        "qrc:///qmlimages/VehicleRight.png"
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                            }
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
                                visible:            controller.orientationCalNoseDownSideVisible
                                calValid:           controller.orientationCalNoseDownSideDone
                                calInProgress:      controller.orientationCalNoseDownSideInProgress
                                calInProgressText:  controller.orientationCalNoseDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
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                                imageSource:        "qrc:///qmlimages/VehicleNoseDown.png"
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                            }
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
                                visible:            controller.orientationCalTailDownSideVisible
                                calValid:           controller.orientationCalTailDownSideDone
                                calInProgress:      controller.orientationCalTailDownSideInProgress
                                calInProgressText:  controller.orientationCalTailDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
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                                imageSource:        "qrc:///qmlimages/VehicleTailDown.png"
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                            }
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
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                                visible:            controller.orientationCalUpsideDownSideVisible
                                calValid:           controller.orientationCalUpsideDownSideDone
                                calInProgress:      controller.orientationCalUpsideDownSideInProgress
                                calInProgressText:  controller.orientationCalUpsideDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
                                imageSource:        "qrc:///qmlimages/VehicleUpsideDown.png"
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                            }
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                        }
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                    }
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                } // Item - Cal display area
            } // Column - cal display
        } // Row
    } // Component - sensorsPageComponent
} // SetupPage