APM Power Config

qgroundcontrol.pro

@@ -559,9 +559,10 @@ HEADERS+= \
     src/AutoPilotPlugins/APM/APMAirframeComponentController.h \
     src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h \
     src/AutoPilotPlugins/APM/APMComponent.h \
-    src/AutoPilotPlugins/APM/APMRadioComponent.h \
     src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
     src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
+    src/AutoPilotPlugins/APM/APMPowerComponent.h \
+    src/AutoPilotPlugins/APM/APMRadioComponent.h \
     src/AutoPilotPlugins/APM/APMSafetyComponent.h \
     src/AutoPilotPlugins/APM/APMSensorsComponent.h \
     src/AutoPilotPlugins/APM/APMSensorsComponentController.h \
@@ -611,9 +612,10 @@ SOURCES += \
     src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
     src/AutoPilotPlugins/APM/APMAirframeComponentController.cc \
     src/AutoPilotPlugins/APM/APMComponent.cc \
-    src/AutoPilotPlugins/APM/APMRadioComponent.cc \
     src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
     src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
+    src/AutoPilotPlugins/APM/APMPowerComponent.cc \
+    src/AutoPilotPlugins/APM/APMRadioComponent.cc \
     src/AutoPilotPlugins/APM/APMSafetyComponent.cc \
     src/AutoPilotPlugins/APM/APMSensorsComponent.cc \
     src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \

qgroundcontrol.qrc

@@ -106,6 +106,8 @@
         <file alias="RadioComponent.qml">src/AutoPilotPlugins/Common/RadioComponent.qml</file>
         <file alias="PX4RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml</file>
         <file alias="APMNotSupported.qml">src/AutoPilotPlugins/APM/APMNotSupported.qml</file>
+        <file alias="APMPowerComponent.qml">src/AutoPilotPlugins/APM/APMPowerComponent.qml</file>
+        <file alias="APMPowerComponentSummary.qml">src/AutoPilotPlugins/APM/APMPowerComponentSummary.qml</file>
         <file alias="APMRadioComponentSummary.qml">src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml</file>
         <file alias="APMSafetyComponentCopter.qml">src/AutoPilotPlugins/APM/APMSafetyComponentCopter.qml</file>
         <file alias="APMSafetyComponentPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentPlane.qml</file>

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -38,6 +38,7 @@
 #include "APMSafetyComponent.h"
 #include "APMTuningComponent.h"
 #include "APMSensorsComponent.h"
+#include "APMPowerComponent.h"
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
 APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
@@ -45,6 +46,7 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _incorrectParameterVersion(false)
     , _airframeComponent(NULL)
     , _flightModesComponent(NULL)
+    , _powerComponent(NULL)
     , _radioComponent(NULL)
     , _safetyComponent(NULL)
     , _sensorsComponent(NULL)
@@ -83,6 +85,14 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
                 qWarning() << "new APMFlightModesComponent failed";
             }
 
+            _powerComponent = new APMPowerComponent(_vehicle, this);
+            if (_powerComponent) {
+                _powerComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
+            } else {
+                qWarning() << "new APMPowerComponent failed";
+            }
+
             _radioComponent = new APMRadioComponent(_vehicle, this);
             if (_radioComponent) {
                 _radioComponent->setupTriggerSignals();

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -34,6 +34,7 @@ class APMRadioComponent;
 class APMTuningComponent;
 class APMSafetyComponent;
 class APMSensorsComponent;
+class APMPowerComponent;
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -49,6 +50,7 @@ public:
 
     APMAirframeComponent*       airframeComponent   (void) { return _airframeComponent; }
     APMFlightModesComponent*    flightModesComponent(void) { return _flightModesComponent; }
+    APMPowerComponent*          powerComponent      (void) { return _powerComponent; }
     APMRadioComponent*          radioComponent      (void) { return _radioComponent; }
     APMSafetyComponent*         safetyComponent     (void) { return _safetyComponent; }
     APMSensorsComponent*        sensorsComponent    (void) { return _sensorsComponent; }
@@ -64,6 +66,7 @@ private:
 
     APMAirframeComponent*       _airframeComponent;
     APMFlightModesComponent*    _flightModesComponent;
+    APMPowerComponent*          _powerComponent;
     APMRadioComponent*          _radioComponent;
     APMSafetyComponent*         _safetyComponent;
     APMSensorsComponent*        _sensorsComponent;

src/AutoPilotPlugins/APM/APMPowerComponent.cc

+/*=====================================================================
+
+ 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/>.
+
+ ======================================================================*/
+
+#include "APMPowerComponent.h"
+#include "APMAutoPilotPlugin.h"
+#include "APMAirframeComponent.h"
+
+APMPowerComponent::APMPowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : APMComponent(vehicle, autopilot, parent),
+    _name("Power")
+{
+}
+
+QString APMPowerComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMPowerComponent::description(void) const
+{
+    return tr("The Power Component is used to setup battery parameters.");
+}
+
+QString APMPowerComponent::iconResource(void) const
+{
+    return "/qmlimages/PowerComponentIcon.png";
+}
+
+bool APMPowerComponent::requiresSetup(void) const
+{
+    return true;
+}
+
+bool APMPowerComponent::setupComplete(void) const
+{
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "BATT_CAPACITY")->rawValue().toInt() != 0;
+}
+
+QStringList APMPowerComponent::setupCompleteChangedTriggerList(void) const
+{
+    QStringList list;
+
+    list << "BATT_CAPACITY";
+
+    return list;
+}
+
+QUrl APMPowerComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMPowerComponent.qml");
+}
+
+QUrl APMPowerComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMPowerComponentSummary.qml");
+}
+
+QString APMPowerComponent::prerequisiteSetup(void) const
+{
+    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
+    Q_ASSERT(plugin);
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    }
+    return QString();
+}

src/AutoPilotPlugins/APM/APMPowerComponent.h

+/*=====================================================================
+ 
+ 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/>.
+ 
+ ======================================================================*/
+
+#ifndef APMPowerComponent_H
+#define APMPowerComponent_H
+
+#include "APMComponent.h"
+
+class APMPowerComponent : public APMComponent
+{
+    Q_OBJECT
+    
+public:
+    APMPowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from PX4Component
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
+    
+    // Virtuals from VehicleComponent
+    virtual QString     name                    (void) const;
+    virtual QString     description             (void) const;
+    virtual QString     iconResource            (void) const;
+    virtual bool        requiresSetup           (void) const;
+    virtual bool        setupComplete           (void) const;
+    virtual QUrl        setupSource             (void) const;
+    virtual QUrl        summaryQmlSource        (void) const;
+    virtual QString     prerequisiteSetup       (void) const;
+    
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMPowerComponent.qml

+/*=====================================================================
+
+ 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/>.
+
+ ======================================================================*/
+
+import QtQuick          2.5
+import QtQuick.Controls 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
+
+QGCView {
+    id:         rootQGCView
+    viewPanel:  panel
+
+    property Fact battAmpPerVolt:   controller.getParameterFact(-1, "BATT_AMP_PERVOLT")
+    property Fact battCapacity:     controller.getParameterFact(-1, "BATT_CAPACITY")
+    property Fact battCurrPin:      controller.getParameterFact(-1, "BATT_CURR_PIN")
+    property Fact battMonitor:      controller.getParameterFact(-1, "BATT_MONITOR")
+    property Fact battVoltMult:     controller.getParameterFact(-1, "BATT_VOLT_MULT")
+    property Fact battVoltPin:      controller.getParameterFact(-1, "BATT_VOLT_PIN")
+
+    property real _margins:         ScreenTools.defaultFontPixelHeight
+    property bool _showAdvanced:    sensorCombo.currentIndex == sensorModel.count - 1
+
+    Component.onCompleted: calcSensor()
+
+    function calcSensor() {
+        for (var i=0; i<sensorModel.count - 1; i++) {
+            if (sensorModel.get(i).voltPin == battVoltPin.value &&
+                    sensorModel.get(i).currPin == battCurrPin.value &&
+                    Math.abs(sensorModel.get(i).voltMult - battVoltMult.value) < 0.001 &&
+                    Math.abs(sensorModel.get(i).ampPerVolt - battAmpPerVolt.value) < 0.0001) {
+                sensorCombo.currentIndex = i
+                return
+            }
+        }
+        sensorCombo.currentIndex = sensorModel.count - 1
+    }
+
+    QGCPalette { id: palette; colorGroupEnabled: panel.enabled }
+
+    FactPanelController { id: controller; factPanel: panel }
+
+    ListModel {
+        id: sensorModel
+
+        ListElement {
+            text:       "Power Module 90A"
+            voltPin:    2
+            currPin:    3
+            voltMult:   10.1
+            ampPerVolt: 17.0
+        }
+
+        ListElement {
+            text:       "Power Module HV"
+            voltPin:    2
+            currPin:    3
+            voltMult:   12.02
+            ampPerVolt: 39.877
+        }
+
+        ListElement {
+            text:       "3DR Iris"
+            voltPin:    2
+            currPin:    3
+            voltMult:   12.02
+            ampPerVolt: 17.0
+        }
+
+        ListElement {
+            text:       "Other"
+        }
+    }
+
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
+
+        Flickable {
+            anchors.fill:       parent
+            clip:               true
+            contentWidth:       capacityField.x + capacityField.width + _margins
+            contentHeight:      (_showAdvanced ? ampPerVoltField.y + ampPerVoltField.height : sensorCombo.y + sensorCombo.height) + _margins
+
+            QGCLabel {
+                id:                 monitorLabel
+                anchors.margins:    _margins
+                anchors.left:       parent.left
+                anchors.baseline:   monitorCombo.baseline
+                text:               "Battery monitor:"
+            }
+
+            FactComboBox {
+                id:                 monitorCombo
+                anchors.topMargin:  _margins
+                anchors.top:        parent.top
+                anchors.left:       capacityField.left
+                width:              capacityField.width
+                fact:               battMonitor
+                indexModel:         false
+            }
+
+            QGCLabel {
+                id:                 capacityLabel
+                anchors.margins:    _margins
+                anchors.left:       parent.left
+                anchors.baseline:   capacityField.baseline
+                text:               "Battery capacity:"
+            }
+
+            FactTextField {
+                id:                 capacityField
+                anchors.leftMargin: _margins
+                anchors.topMargin:  _margins / 2
+                anchors.top:        monitorCombo.bottom
+                anchors.left:       capacityLabel.right
+                width:              ScreenTools.defaultFontPixelWidth * 25
+                fact:               battCapacity
+            }
+
+            QGCLabel {
+                id:                 sensorLabel
+                anchors.margins:    _margins
+                anchors.left:       parent.left
+                anchors.baseline:   sensorCombo.baseline
+                text:               "Power sensor:"
+            }
+
+            QGCComboBox {
+                id:                 sensorCombo
+                anchors.topMargin:  _margins
+                anchors.top:        capacityField.bottom
+                anchors.left:       capacityField.left
+                width:              capacityField.width
+                model:              sensorModel
+
+                onActivated: {
+                    if (index < sensorModel.count - 1) {
+                        battVoltPin.value = sensorModel.get(index).voltPin
+                        battCurrPin.value = sensorModel.get(index).currPin
+                        battVoltMult.value = sensorModel.get(index).voltMult
+                        battAmpPerVolt.value = sensorModel.get(index).ampPerVolt
+                    } else {
+
+                    }
+                }
+            }
+
+            QGCLabel {
+                id:                 currPinLabel
+                anchors.margins:    _margins
+                anchors.left:       parent.left
+                anchors.baseline:   currPinCombo.baseline
+                text:               "Current pin:"
+                visible:            _showAdvanced
+            }
+
+            FactComboBox {
+                id:                 currPinCombo
+                anchors.topMargin:  _margins
+                anchors.top:        sensorCombo.bottom
+                anchors.left:       capacityField.left
+                width:              capacityField.width
+                fact:               battCurrPin
+                indexModel:         false
+                visible:            _showAdvanced
+            }
+
+            QGCLabel {
+                id:                 voltPinLabel
+                anchors.margins:    _margins
+                anchors.left:       parent.left
+                anchors.baseline:   voltPinCombo.baseline
+                text:               "Voltage pin:"
+                visible:            _showAdvanced
+            }
+
+            FactComboBox {
+                id:                 voltPinCombo
+                anchors.topMargin:  _margins / 2
+                anchors.top:        currPinCombo.bottom
+                anchors.left:       capacityField.left
+                width:              capacityField.width
+                fact:               battVoltPin
+                indexModel:         false
+                visible:            _showAdvanced
+            }
+
+            QGCLabel {
+                id:                 voltMultLabel
+                anchors.margins:    _margins
+                anchors.left:       parent.left
+                anchors.baseline:   voltMultField.baseline
+                text:               "Voltage multiplier:"
+                visible:            _showAdvanced
+            }
+
+            FactTextField {
+                id:                 voltMultField
+                anchors.topMargin:  _margins / 2
+                anchors.top:        voltPinCombo.bottom
+                anchors.left:       capacityField.left
+                width:              capacityField.width
+                fact:               battVoltMult
+                visible:            _showAdvanced
+            }
+
+            QGCLabel {
+                id:                 ampPerVoltLabel
+                anchors.margins:    _margins
+                anchors.left:       parent.left
+                anchors.baseline:   ampPerVoltField.baseline
+                text:               "Amps per volt:"
+                visible:            _showAdvanced
+            }
+
+            FactTextField {
+                id:                 ampPerVoltField
+                anchors.topMargin:  _margins / 2
+                anchors.top:        voltMultField.bottom
+                anchors.left:       capacityField.left
+                width:              capacityField.width
+                fact:               battAmpPerVolt
+                visible:            _showAdvanced
+            }
+        } // Flickable
+    } // QGCViewPanel
+} // QGCView

src/AutoPilotPlugins/APM/APMPowerComponentController.cc

+/*=====================================================================
+ 
+ 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/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "PowerComponentController.h"
+#include "QGCMAVLink.h"
+#include "UAS.h"
+
+#include <QVariant>
+#include <QQmlProperty>
+
+PowerComponentController::PowerComponentController(void)
+{
+
+}
+
+PowerComponentController::~PowerComponentController()
+{
+    _stopCalibration();
+}
+
+void PowerComponentController::calibrateEsc(void)
+{
+    _warningMessages.clear();
+    connect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+    _uas->startCalibration(UASInterface::StartCalibrationEsc);
+}
+
+void PowerComponentController::busConfigureActuators(void)
+{
+    _warningMessages.clear();
+    connect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+    _uas->startBusConfig(UASInterface::StartBusConfigActuators);
+}
+
+void PowerComponentController::stopBusConfigureActuators(void)
+{
+    disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+    _uas->startBusConfig(UASInterface::EndBusConfigActuators);
+}
+
+void PowerComponentController::_stopCalibration(void)
+{
+    disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+}
+
+void PowerComponentController::_stopBusConfig(void)
+{
+    _stopCalibration();
+}
+
+void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
+{
+    Q_UNUSED(compId);
+    Q_UNUSED(severity);
+    
+    UASInterface* uas = _autopilot->vehicle()->uas();
+    Q_ASSERT(uas);
+    if (uasId != uas->getUASID()) {
+        return;
+    }
+    
+    // All calibration messages start with [cal]
+    QString calPrefix("[cal] ");
+    if (!text.startsWith(calPrefix)) {
+        return;
+    }
+    text = text.right(text.length() - calPrefix.length());
+
+    // Make sure we can understand this firmware rev
+    QString calStartPrefix("calibration started: ");
+    if (text.startsWith(calStartPrefix)) {
+        text = text.right(text.length() - calStartPrefix.length());
+        
+        // Split version number and cal type
+        QStringList parts = text.split(" ");
+        if (parts.count() != 2) {
+            emit incorrectFirmwareRevReporting();
+            return;
+        }
+        
+#if 0
+        // FIXME: Cal version check is not working. Needs to be able to cancel, calibration
+        
+        int firmwareRev = parts[0].toInt();
+        if (firmwareRev < _neededFirmwareRev) {
+            emit oldFirmware();
+            return;
+        }
+        if (firmwareRev > _neededFirmwareRev) {
+            emit newerFirmware();
+            return;
+        }
+#endif
+    }
+
+    if (text == "Connect battery now") {
+        emit connectBattery();
+        return;
+    }
+    
+    if (text == "Battery connected") {
+        emit batteryConnected();
+        return;
+    }
+
+    
+    QString failedPrefix("calibration failed: ");
+    if (text.startsWith(failedPrefix)) {
+        QString failureText = text.right(text.length() - failedPrefix.length());
+        if (failureText.startsWith("Disconnect battery")) {
+            emit disconnectBattery();
+            return;
+        }
+        
+        _stopCalibration();
+        emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
+        return;
+    }
+    
+    QString calCompletePrefix("calibration done:");
+    if (text.startsWith(calCompletePrefix)) {
+        _stopCalibration();
+        emit calibrationSuccess(_warningMessages);
+        return;
+    }
+    
+    QString warningPrefix("config warning: ");
+    if (text.startsWith(warningPrefix)) {
+        _warningMessages << text.right(text.length() - warningPrefix.length());
+    }
+
+    QString busFailedPrefix("bus conf fail:");
+    if (text.startsWith(busFailedPrefix)) {
+
+        _stopBusConfig();
+        emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
+        return;
+    }
+
+    QString busCompletePrefix("bus conf done:");
+    if (text.startsWith(calCompletePrefix)) {
+        _stopBusConfig();
+        emit calibrationSuccess(_warningMessages);
+        return;
+    }
+
+    QString busWarningPrefix("bus conf warn: ");
+    if (text.startsWith(busWarningPrefix)) {
+        _warningMessages << text.right(text.length() - warningPrefix.length());
+    }
+}

src/AutoPilotPlugins/APM/APMPowerComponentController.h

+/*=====================================================================
+ 
+ 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/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef PowerComponentController_H
+#define PowerComponentController_H
+
+#include <QObject>
+#include <QQuickItem>
+
+#include "UASInterface.h"
+#include "FactPanelController.h"
+
+/// Power Component MVC Controller for PowerComponent.qml.
+class PowerComponentController : public FactPanelController
+{
+    Q_OBJECT
+    
+public:
+    PowerComponentController(void);
+    ~PowerComponentController();
+    
+    Q_INVOKABLE void calibrateEsc(void);
+    Q_INVOKABLE void busConfigureActuators(void);
+    Q_INVOKABLE void stopBusConfigureActuators(void);
+    
+signals:
+    void oldFirmware(void);
+    void newerFirmware(void);
+    void incorrectFirmwareRevReporting(void);
+    void connectBattery(void);
+    void disconnectBattery(void);
+    void batteryConnected(void);
+    void calibrationFailed(const QString& errorMessage);
+    void calibrationSuccess(const QStringList& warningMessages);
+    
+private slots:
+    void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
+    
+private:
+    void _stopCalibration(void);
+    void _stopBusConfig(void);
+    
+    QStringList _warningMessages;
+    static const int _neededFirmwareRev = 1;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMPowerComponentSummary.qml

+/*=====================================================================
+
+ 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/>.
+
+ ======================================================================*/
+
+import QtQuick          2.5
+import QtQuick.Controls 1.2
+
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact battCapacity: controller.getParameterFact(-1, "BATT_CAPACITY")
+    property Fact battMonitor:  controller.getParameterFact(-1, "BATT_MONITOR")
+
+    Column {
+        anchors.fill:       parent
+        anchors.margins:    8
+
+        VehicleSummaryRow {
+            labelText: "Battery monitor:"
+            valueText: battMonitor.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: "Battery capacity:"
+            valueText: battCapacity.valueString
+        }
+    }
+}

src/AutoPilotPlugins/PX4/SafetyComponent.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "SafetyComponent.h"
-#include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
 
 SafetyComponent::SafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :

src/FactSystem/FactControls/FactTextField.qml

@@ -11,11 +11,13 @@ import QGroundControl.Controls 1.0
 QGCTextField {
     id: _textField
 
+    text:       fact.valueString
+    unitsLabel: fact.units
+    showUnits:  true
+
     property Fact   fact:           null
     property string _validateString
 
-    text:               fact.valueString
-    unitsLabel:         fact.units
 
     // At this point all Facts are numeric
     inputMethodHints:   Qt.ImhFormattedNumbersOnly