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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.
*
****************************************************************************/
import QtQuick 2.5
import QtQuick.Controls 1.4
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
QGCView {
id: _safetyView
viewPanel: panel
anchors.fill: parent
FactPanelController { id: controller; factPanel: panel }
QGCPalette { id: palette; colorGroupEnabled: enabled }
// Older firmwares use THR_MODE, newer use MOT_THST_HOVER
property bool _throttleMidExists: controller.parameterExists(-1, "THR_MID")
property Fact _hoverTuneParam: controller.getParameterFact(-1, _throttleMidExists ? "THR_MID" : "MOT_THST_HOVER")
property real _hoverTuneMin: _throttleMidExists ? 200 : 0
property real _hoverTuneMax: _throttleMidExists ? 800 : 1
property real _hoverTuneStep: _throttleMidExists ? 10 : 0.01
property Fact _rcFeel: controller.getParameterFact(-1, "RC_FEEL_RP")
property Fact _rateRollP: controller.getParameterFact(-1, "r.ATC_RAT_RLL_P")
property Fact _rateRollI: controller.getParameterFact(-1, "r.ATC_RAT_RLL_I")
property Fact _ratePitchP: controller.getParameterFact(-1, "r.ATC_RAT_PIT_P")
property Fact _ratePitchI: controller.getParameterFact(-1, "r.ATC_RAT_PIT_I")
property Fact _rateClimbP: controller.getParameterFact(-1, "ACCEL_Z_P")
property Fact _rateClimbI: controller.getParameterFact(-1, "ACCEL_Z_I")
property Fact _ch7Opt: controller.getParameterFact(-1, "CH7_OPT")
property Fact _ch8Opt: controller.getParameterFact(-1, "CH8_OPT")
property Fact _ch9Opt: controller.getParameterFact(-1, "CH9_OPT")
property Fact _ch10Opt: controller.getParameterFact(-1, "CH10_OPT")
property Fact _ch11Opt: controller.getParameterFact(-1, "CH11_OPT")
property Fact _ch12Opt: controller.getParameterFact(-1, "CH12_OPT")
readonly property int _firstOptionChannel: 7
readonly property int _lastOptionChannel: 12
property Fact _autoTuneAxes: controller.getParameterFact(-1, "AUTOTUNE_AXES")
property int _autoTuneSwitchChannelIndex: 0
readonly property int _autoTuneOption: 17
property real _margins: ScreenTools.defaultFontPixelHeight
property bool _loadComplete: false
ExclusiveGroup { id: fenceActionRadioGroup }
ExclusiveGroup { id: landLoiterRadioGroup }
ExclusiveGroup { id: returnAltRadioGroup }
Component.onCompleted: {
// Qml Sliders have a strange behavior in which they first set Slider::value to some internal
// setting and then set Slider::value to the bound properties value. If you have an onValueChanged
// handler which updates your property with the new value, this first value change will trash
// your bound values. In order to work around this we don't set the values into the Sliders until
// after Qml load is done. We also don't track value changes until Qml load completes.
throttleHover.value = _hoverTuneParam.value
rollPitch.value = _rateRollP.value
climb.value = _rateClimbP.value
rcFeel.value = _rcFeel.value
_loadComplete = true
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calcAutoTuneChannel()
}
/// The AutoTune switch is stored in one of the RC#_FUNCTION parameters. We need to loop through those
/// to find them and setup the ui accordindly.
function calcAutoTuneChannel() {
_autoTuneSwitchChannelIndex = 0
for (var channel=_firstOptionChannel; channel<=_lastOptionChannel; channel++) {
var optionFact = controller.getParameterFact(-1, "CH" + channel + "_OPT")
if (optionFact.value == _autoTuneOption) {
_autoTuneSwitchChannelIndex = channel - _firstOptionChannel + 1
break
}
}
}
/// We need to clear AutoTune from any previous channel before setting it to a new one
function setChannelAutoTuneOption(channel) {
// First clear any previous settings for AutTune
for (var optionChannel=_firstOptionChannel; optionChannel<=_lastOptionChannel; optionChannel++) {
var optionFact = controller.getParameterFact(-1, "CH" + optionChannel + "_OPT")
if (optionFact.value == _autoTuneOption) {
optionFact.value = 0
}
}
// Now set the function into the new channel
if (channel != 0) {
var optionFact = controller.getParameterFact(-1, "CH" + channel + "_OPT")
optionFact.value = _autoTuneOption
}
Connections { target: _ch7Opt; onValueChanged: calcAutoTuneChannel() }
Connections { target: _ch8Opt; onValueChanged: calcAutoTuneChannel() }
Connections { target: _ch9Opt; onValueChanged: calcAutoTuneChannel() }
Connections { target: _ch10Opt; onValueChanged: calcAutoTuneChannel() }
Connections { target: _ch11Opt; onValueChanged: calcAutoTuneChannel() }
Connections { target: _ch12Opt; onValueChanged: calcAutoTuneChannel() }
QGCViewPanel {
id: panel
anchors.fill: parent
flickableDirection: Flickable.VerticalFlick
QGCLabel {
id: basicLabel
font.family: ScreenTools.demiboldFontFamily
anchors.topMargin: _margins / 2
anchors.left: parent.left
anchors.right: parent.right
anchors.top: basicLabel.bottom
height: basicTuningColumn.y + basicTuningColumn.height + _margins
color: palette.windowShade
Column {
id: basicTuningColumn
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
font.family: ScreenTools.demiboldFontFamily
text: qsTr("How much throttle is needed to maintain a steady hover")
}
Slider {
id: throttleHover
anchors.left: parent.left
anchors.right: parent.right
minimumValue: _hoverTuneMin
maximumValue: _hoverTuneMax
stepSize: _hoverTuneStep
tickmarksEnabled: true
onValueChanged: {
if (_loadComplete) {
}
}
}
}
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
text: qsTr("Roll/Pitch Sensitivity")
font.family: ScreenTools.demiboldFontFamily
text: qsTr("Slide to the right if the copter is sluggish or slide to the left if the copter is twitchy")
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}
Slider {
id: rollPitch
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0.08
maximumValue: 0.4
stepSize: 0.01
tickmarksEnabled: true
onValueChanged: {
if (_loadComplete) {
_rateRollP.value = value
_rateRollI.value = value
_ratePitchP.value = value
_ratePitchI.value = value
}
}
}
}
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
font.family: ScreenTools.demiboldFontFamily
text: qsTr("Slide to the right to climb more aggressively or slide to the left to climb more gently")
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}
Slider {
id: climb
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0.3
maximumValue: 1.0
stepSize: 0.02
tickmarksEnabled: true
value: _rateClimbP.value
onValueChanged: {
if (_loadComplete) {
_rateClimbP.value = value
_rateClimbI.value = value * 2
}
}
}
}
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
text: qsTr("RC Roll/Pitch Feel")
font.family: ScreenTools.demiboldFontFamily
text: qsTr("Slide to the left for soft control, slide to the right for crisp control")
}
Slider {
id: rcFeel
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0
maximumValue: 100
stepSize: 5.0
tickmarksEnabled: true
onValueChanged: {
if (_loadComplete) {
_rcFeel.value = value
}
}
}
}
}
} // Rectangle - Basic tuning
Flow {
id: flowLayout
anchors.topMargin: _margins / 2
width: panel.width // parent.width doesn't work here for some reason!
Rectangle {
height: autoTuneLabel.height + autoTuneRect.height
width: autoTuneRect.width
color: palette.window
QGCLabel {
id: autoTuneLabel
text: qsTr("AutoTune")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: autoTuneRect
width: autoTuneColumn.x + autoTuneColumn.width + _margins
height: autoTuneColumn.y + autoTuneColumn.height + _margins
anchors.top: autoTuneLabel.bottom
color: palette.windowShade
Column {
id: autoTuneColumn
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
spacing: _margins
QGCLabel { text: qsTr("Axes to AutoTune:") }
FactBitmask { fact: _autoTuneAxes }
}
Row {
spacing: _margins
QGCLabel {
anchors.baseline: autoTuneChannelCombo.baseline
text: qsTr("Channel for AutoTune switch:")
}
QGCComboBox {
id: autoTuneChannelCombo
width: ScreenTools.defaultFontPixelWidth * 14
model: [qsTr("None"), qsTr("Channel 7"), qsTr("Channel 8"), qsTr("Channel 9"), qsTr("Channel 10"), qsTr("Channel 11"), qsTr("Channel 12") ]
currentIndex: _autoTuneSwitchChannelIndex
onActivated: {
var channel = index
if (channel > 0) {
channel += 6
}
setChannelAutoTuneOption(channel)
}
} // Rectangle - AutoTune
} // Rectangle - AutoTuneWrap
Rectangle {
height: inFlightTuneLabel.height + channel6TuningOption.height
width: channel6TuningOption.width
color: palette.window
QGCLabel {
id: inFlightTuneLabel
text: qsTr("In Flight Tuning")
font.family: ScreenTools.demiboldFontFamily
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Rectangle {
id: channel6TuningOption
width: channel6TuningOptColumn.width + (_margins * 2)
height: channel6TuningOptColumn.height + ScreenTools.defaultFontPixelHeight
anchors.top: inFlightTuneLabel.bottom
color: qgcPal.windowShade
Column {
id: channel6TuningOptColumn
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelHeight
Row {
spacing: ScreenTools.defaultFontPixelWidth
property Fact nullFact: Fact { }
QGCLabel {
anchors.baseline: optCombo.baseline
text: qsTr("Channel Option 6 (Tuning):")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
}
FactComboBox {
id: optCombo
width: ScreenTools.defaultFontPixelWidth * 15
fact: controller.getParameterFact(-1, "TUNE")
indexModel: false
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
property Fact nullFact: Fact { }
QGCLabel {
anchors.baseline: tuneMinField.baseline
text: qsTr("Min:")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
}
FactTextField {
id: tuneMinField
validator: DoubleValidator {bottom: 0; top: 32767;}
fact: controller.getParameterFact(-1, "TUNE_LOW")
}
QGCLabel {
anchors.baseline: tuneMaxField.baseline
text: qsTr("Max:")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
}
FactTextField {
id: tuneMaxField
validator: DoubleValidator {bottom: 0; top: 32767;}
fact: controller.getParameterFact(-1, "TUNE_HIGH")
}
}
} // Column - Channel 6 Tuning option
} // Rectangle - Channel 6 Tuning options
} // Rectangle - Channel 6 Tuning options wrap
} // Flow - Tune