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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 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.2
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
QGCView {
id: qgcView
viewPanel: panel
// Help text which is shown both in the status text area prior to pressing a cal button and in the
// pre-calibration dialog.
readonly property string orientationHelpSet: "If the orientation is in the direction of flight, select None."
readonly property string orientationHelpCal: "Before calibrating make sure orientation settings are correct. " + orientationHelpSet
readonly property string compassRotationText: "If the compass or GPS module is mounted in flight direction, leave the default value (None)"
readonly property string compassHelp: "For Compass calibration you will need to rotate your vehicle through a number of positions."
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."
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."
readonly property string statusTextAreaDefaultText: "Start the individual calibration steps by clicking one of the buttons to the left."
// Used to pass help text to the preCalibrationDialog dialog
property string preCalibrationDialogHelp
property string _postCalibrationDialogText
property var _postCalibrationDialogParams
readonly property string _badCompassCalText: "The calibration for Compass %1 appears to be poor. " +
"Check the compass position within your vehicle and re-do the calibration."
readonly property int sideBarH1PointSize: ScreenTools.mediumFontPointSize
readonly property int mainTextH1PointSize: ScreenTools.mediumFontPointSize // Seems to be unused
readonly property int rotationColumnWidth: 250
property Fact compass1Id: controller.getParameterFact(-1, "COMPASS_DEV_ID")
property Fact compass2Id: controller.getParameterFact(-1, "COMPASS_DEV_ID2")
property Fact compass3Id: controller.getParameterFact(-1, "COMPASS_DEV_ID3")
property Fact compass1ExternalFact: controller.getParameterFact(-1, "COMPASS_EXTERNAL")
property Fact compass1Rot: controller.getParameterFact(-1, "COMPASS_ORIENT")
property Fact boardRot: controller.getParameterFact(-1, "AHRS_ORIENTATION")
property bool accelCalNeeded: controller.accelSetupNeeded
property bool compassCalNeeded: controller.compassSetupNeeded
// The following parameters are not available in olders firmwares
property bool compass2ExternalParamAvailable: controller.parameterExists(-1, "COMPASS_EXTERN2")
property bool compass3ExternalParamAvailable: controller.parameterExists(-1, "COMPASS_EXTERN3")
property bool compass2RotParamAvailable: controller.parameterExists(-1, "COMPASS_ORIENT2")
property bool compass3RotParamAvailable: controller.parameterExists(-1, "COMPASS_ORIENT3")
property bool compass1UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE")
property bool compass2UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE2")
property bool compass3UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE3")
property Fact noFact: Fact { }
property Fact compass2ExternalFact: compass2ExternalParamAvailable ? controller.getParameterFact(-1, "COMPASS_EXTERN2") : noFact
property Fact compass3ExternalFact: compass3ExternalParamAvailable ? controller.getParameterFact(-1, "COMPASS_EXTERN3") : noFact
property Fact compass2Rot: compass2RotParamAvailable ? controller.getParameterFact(-1, "COMPASS_ORIENT2") : noFact
property Fact compass3Rot: compass3RotParamAvailable ? controller.getParameterFact(-1, "COMPASS_ORIENT3") : noFact
property Fact compass1UseFact: compass1UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE") : noFact
property Fact compass2UseFact: compass2UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE2") : noFact
property Fact compass3UseFact: compass3UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE3") : noFact
// We track these values by binding through a separate property so we can handle missing params
property bool compass1External: compass1ExternalFact.value
property bool compass2External: compass2ExternalParamAvailable ? compass2ExternalFact.value : false // false: Simulate internal so we don't show rotation combos
property bool compass3External: compass3ExternalParamAvailable ? compass3ExternalFact.value : false // false: Simulate internal so we don't show rotation combos
property bool compass1Use: compass1UseParamAvailable ? compass1UseFact.value : true
property bool compass2Use: compass2UseParamAvailable ? compass2UseFact.value : true
property bool compass3Use: compass3UseParamAvailable ? compass3UseFact.value : true
// Id > = signals compass available, rot < 0 signals internal compass
property bool showCompass1Rot: compass1Id.value > 0 && compass1External && compass1Use
property bool showCompass2Rot: compass2Id.value > 0 && compass2External && compass2Use
property bool showCompass3Rot: compass3Id.value > 0 && compass3External && compass3Use
readonly property int _calTypeCompass: 1 ///< Calibrate compass
readonly property int _calTypeAccel: 2 ///< Calibrate accel
readonly property int _calTypeSet: 3 ///< Set orientations only
property bool _orientationsDialogShowCompass: true
property string _orientationDialogHelp: orientationHelpSet
property int _orientationDialogCalType
function validCompassOffsets(compassParamPrefix) {
var ofsX = controller.getParameterFact(-1, compassParamPrefix + "X")
var ofsY = controller.getParameterFact(-1, compassParamPrefix + "Y")
var ofsZ = controller.getParameterFact(-1, compassParamPrefix + "Z")
return Math.sqrt(ofsX.value^2 + ofsY.value^2 + ofsZ.value^2) < 600
}
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("SetOrientations")
break
}
showDialog(orientationsDialogComponent, dialogTitle, qgcView.showDialogDefaultWidth, buttons)
}
APMSensorsComponentController {
id: controller
factPanel: panel
statusLog: statusTextArea
progressBar: progressBar
compassButton: compassButton
accelButton: accelButton
nextButton: nextButton
cancelButton: cancelButton
setOrientationsButton: setOrientationsButton
orientationCalAreaHelpText: orientationCalAreaHelpText
onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
onWaitingForCancelChanged: {
if (controller.waitingForCancel) {
showMessage(qsTr("Calibration Cancel"), qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds."), 0)
} else {
hideDialog()
}
}
onCalibrationComplete: {
if (_orientationDialogCalType == _calTypeAccel) {
_postCalibrationDialogText = qsTr("Accelerometer calibration complete.")
_postCalibrationDialogParams = [ "INS_ACCSCAL_X", "INS_ACCSCAL_Y", "INS_ACCSCAL_Z",
"INS_ACC2SCAL_X", "INS_ACC2SCAL_Y", "INS_ACC2SCAL_Z",
"INS_ACC3SCAL_X", "INS_ACC3SCAL_Y", "INS_ACC3SCAL_Z",
"INS_GYROFFS_X", "INS_GYROFFS_Y", "INS_GYROFFS_Z",
"INS_GYR2OFFS_X", "INS_GYR2OFFS_Y", "INS_GYR2OFFS_Z",
"INS_GYR3OFFS_X", "INS_GYR3OFFS_Y", "INS_GYR3OFFS_Z" ]
} else if (_orientationDialogCalType == _calTypeCompass) {
_postCalibrationDialogText = qsTr("Compass calibration complete. ")
_postCalibrationDialogParams = [];
if (compass1Id.value > 0) {
if (!validCompassOffsets("COMPASS_OFS_")) {
_postCalibrationDialogText += _badCompassCalText.replace("%1", 1)
}
_postCalibrationDialogParams.push("COMPASS_OFS_X")
_postCalibrationDialogParams.push("COMPASS_OFS_Y")
_postCalibrationDialogParams.push("COMPASS_OFS_Z")
}
if (compass2Id.value > 0) {
if (!validCompassOffsets("COMPASS_OFS_")) {
_postCalibrationDialogText += _badCompassCalText.replace("%1", 2)
}
_postCalibrationDialogParams.push("COMPASS_OFS2_X")
_postCalibrationDialogParams.push("COMPASS_OFS2_Y")
_postCalibrationDialogParams.push("COMPASS_OFS2_Z")
}
if (compass3Id.value > 0) {
if (!validCompassOffsets("COMPASS_OFS_")) {
_postCalibrationDialogText += _badCompassCalText.replace("%1", 3)
}
_postCalibrationDialogParams.push("COMPASS_OFS3_X")
_postCalibrationDialogParams.push("COMPASS_OFS3_Y")
_postCalibrationDialogParams.push("COMPASS_OFS3_Z")
}
}
showDialog(postCalibrationDialogComponent, qsTr("Calibration complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
}
}
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)
}
}
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
Component {
id: postCalibrationDialogComponent
QGCViewDialog {
QGCLabel {
id: textLabel
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: _postCalibrationDialogText
}
QGCCheckBox {
id: showValues
anchors.topMargin: ScreenTools.defaultFontPixelHeight
anchors.top: textLabel.bottom
text: qsTr("Show values")
}
QGCFlickable {
anchors.topMargin: ScreenTools.defaultFontPixelHeight
anchors.top: showValues.bottom
anchors.bottom: parent.bottom
contentHeight: valueColumn.height
flickableDirection: Flickable.VerticalFlick
visible: showValues.checked
Column {
id: valueColumn
Repeater {
model: _postCalibrationDialogParams
QGCLabel {
text: fact.name +": " + fact.valueString
property Fact fact: controller.getParameterFact(-1, modelData)
}
}
}
}
}
}
Component {
id: orientationsDialogComponent
QGCViewDialog {
id: orientationsDialog
function accept() {
if (_orientationDialogCalType == _calTypeAccel) {
controller.calibrateAccel()
} else if (_orientationDialogCalType == _calTypeCompass) {
controller.calibrateCompass()
}
orientationsDialog.hideDialog()
}
QGCFlickable {
anchors.fill: parent
contentHeight: columnLayout.height
clip: true
Column {
id: columnLayout
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: _orientationDialogHelp
}
Column {
QGCLabel {
text: qsTr("Autopilot Orientation:")
}
FactComboBox {
width: rotationColumnWidth
indexModel: false
fact: boardRot
}
}
Column {
visible: _orientationsDialogShowCompass
Component {
id: compass1ComponentLabel
QGCLabel {
text: qsTr("Compass 1 Orientation:")
}
}
Component {
id: compass1ComponentCombo
FactComboBox {
width: rotationColumnWidth
indexModel: false
fact: compass1Rot
}
}
Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel : null }
Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo : null }
}
Column {
visible: _orientationsDialogShowCompass
Component {
id: compass2ComponentLabel
QGCLabel {
text: qsTr("Compass 2 Orientation:")
}
}
Component {
id: compass2ComponentCombo
FactComboBox {
width: rotationColumnWidth
indexModel: false
fact: compass2Rot
}
}
Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel : null }
Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo : null }
}
Column {
visible: _orientationsDialogShowCompass
Component {
id: compass3ComponentLabel
QGCLabel {
text: qsTr("Compass 3 Orientation")
}
}
Component {
id: compass3ComponentCombo
FactComboBox {
width: rotationColumnWidth
indexModel: false
fact: compass3Rot
}
}
Loader { sourceComponent: showCompass3Rot ? compass3ComponentLabel : null }
Loader { sourceComponent: showCompass3Rot ? compass3ComponentCombo : null }
}
} // Column
} // QGCFlickable
} // QGCViewDialog
} // Component - orientationsDialogComponent
QGCViewPanel {
id: panel
anchors.fill: parent
Column {
id: buttonColumn
spacing: ScreenTools.defaultFontPixelHeight / 2
readonly property int buttonWidth: ScreenTools.defaultFontPixelWidth * 15
IndicatorButton {
id: accelButton
width: parent.buttonWidth
text: qsTr("Accelerometer")
indicatorGreen: !accelCalNeeded
onClicked: showOrientationsDialog(_calTypeAccel)
}
IndicatorButton {
id: compassButton
width: parent.buttonWidth
text: qsTr("Compass")
indicatorGreen: !compassCalNeeded
onClicked: {
if (controller.accelSetupNeeded) {
showMessage(qsTr("Calibrate Compass"), qsTr("Accelerometer must be calibrated prior to Compass."), StandardButton.Ok)
} else {
showOrientationsDialog(_calTypeCompass)
}
}
}
QGCButton {
id: nextButton
width: parent.buttonWidth
text: qsTr("Next")
enabled: false
onClicked: controller.nextClicked()
}
QGCButton {
id: cancelButton
width: parent.buttonWidth
text: qsTr("Cancel")
enabled: false
onClicked: controller.cancelCalibration()
}
QGCButton {
id: setOrientationsButton
width: parent.buttonWidth
text: qsTr("Set Orientations")
onClicked: showOrientationsDialog(_calTypeSet)
}
} // Column - Buttons
Column {
anchors.leftMargin: ScreenTools.defaultFontPixelWidth / 2
anchors.left: buttonColumn.right
anchors.right: parent.right
anchors.top: parent.top
anchors.bottom: parent.bottom
ProgressBar {
id: progressBar
anchors.left: parent.left
anchors.right: parent.right
}
Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
Item {
id: centerPanel
width: parent.width
height: parent.height - y
TextArea {
id: statusTextArea
anchors.fill: parent
readOnly: true
frameVisible: false
text: statusTextAreaDefaultText
style: TextAreaStyle {
textColor: qgcPal.text
backgroundColor: qgcPal.windowShade
}
}
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
}
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")
imageSource: controller.orientationCalDownSideRotate ? "qrc:///qmlimages/VehicleDownRotate.png" : "qrc:///qmlimages/VehicleDown.png"
}
VehicleRotationCal {
width: parent.indicatorWidth
height: parent.indicatorHeight
visible: controller.orientationCalUpsideDownSideVisible
calValid: controller.orientationCalUpsideDownSideDone
calInProgress: controller.orientationCalUpsideDownSideInProgress
calInProgressText: controller.orientationCalUpsideDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
imageSource: controller.orientationCalUpsideDownSideRotate ? "qrc:///qmlimages/VehicleUpsideDownRotate.png" : "qrc:///qmlimages/VehicleUpsideDown.png"
}
VehicleRotationCal {
width: parent.indicatorWidth
height: parent.indicatorHeight
visible: controller.orientationCalNoseDownSideVisible
calValid: controller.orientationCalNoseDownSideDone
calInProgress: controller.orientationCalNoseDownSideInProgress
calInProgressText: controller.orientationCalNoseDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
imageSource: controller.orientationCalNoseDownSideRotate ? "qrc:///qmlimages/VehicleNoseDownRotate.png" : "qrc:///qmlimages/VehicleNoseDown.png"
}
VehicleRotationCal {
width: parent.indicatorWidth
height: parent.indicatorHeight
visible: controller.orientationCalTailDownSideVisible
calValid: controller.orientationCalTailDownSideDone
calInProgress: controller.orientationCalTailDownSideInProgress
calInProgressText: controller.orientationCalTailDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
imageSource: controller.orientationCalTailDownSideRotate ? "qrc:///qmlimages/VehicleTailDownRotate.png" : "qrc:///qmlimages/VehicleTailDown.png"
}
VehicleRotationCal {
width: parent.indicatorWidth
height: parent.indicatorHeight
visible: controller.orientationCalLeftSideVisible
calValid: controller.orientationCalLeftSideDone
calInProgress: controller.orientationCalLeftSideInProgress
calInProgressText: controller.orientationCalLeftSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
imageSource: controller.orientationCalLeftSideRotate ? "qrc:///qmlimages/VehicleLeftRotate.png" : "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: controller.orientationCalRightSideRotate ? "qrc:///qmlimages/VehicleRightRotate.png" : "qrc:///qmlimages/VehicleRight.png"
}
}
}
} // Item - Cal display area
} // Column - cal display
} // QGCViewPanel
} // QGCView