Merge pull request #2385 from DonLakeFlyer/APMSensorCal

APM accel calibration

qgroundcontrol.pro

@@ -554,6 +554,8 @@ HEADERS+= \
     src/AutoPilotPlugins/APM/APMRadioComponent.h \
     src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
     src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
+    src/AutoPilotPlugins/APM/APMSensorsComponent.h \
+    src/AutoPilotPlugins/APM/APMSensorsComponentController.h \
     src/AutoPilotPlugins/Common/RadioComponentController.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/AirframeComponent.h \
@@ -601,6 +603,8 @@ SOURCES += \
     src/AutoPilotPlugins/APM/APMRadioComponent.cc \
     src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
     src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
+    src/AutoPilotPlugins/APM/APMSensorsComponent.cc \
+    src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
     src/AutoPilotPlugins/Common/RadioComponentController.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \

qgroundcontrol.qrc

@@ -111,6 +111,8 @@
         <file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>
         <file alias="SensorsComponentSummary.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml</file>
         <file alias="SensorsComponentSummaryFixedWing.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml</file>
+        <file alias="APMSensorsComponent.qml">src/AutoPilotPlugins/APM/APMSensorsComponent.qml</file>
+        <file alias="APMSensorsComponentSummary.qml">src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml</file>
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
         <file alias="test.qml">src/test.qml</file>

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
  
  (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
@@ -50,19 +50,36 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 
         if (parametersReady()) {
             _airframeComponent = new APMAirframeComponent(_vehicle, this);
-            Q_CHECK_PTR(_airframeComponent);
-            _airframeComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+            if (_airframeComponent) {
+                _airframeComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+            } else {
+                qWarning() << "new APMAirframeComponent failed";
+            }
 
             _flightModesComponent = new APMFlightModesComponent(_vehicle, this);
-            Q_CHECK_PTR(_flightModesComponent);
-            _flightModesComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
+            if (_flightModesComponent) {
+                _flightModesComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
+            } else {
+                qWarning() << "new APMFlightModesComponent failed";
+            }
 
             _radioComponent = new APMRadioComponent(_vehicle, this);
-            Q_CHECK_PTR(_radioComponent);
-            _radioComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
+            if (_radioComponent) {
+                _radioComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
+            } else {
+                qWarning() << "new APMRadioComponent failed";
+            }
+
+            _sensorsComponent = new APMSensorsComponent(_vehicle, this);
+            if (_sensorsComponent) {
+                _sensorsComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
+            } else {
+                qWarning() << "new APMSensorsComponent failed";
+            }
         } else {
             qWarning() << "Call to vehicleCompenents prior to parametersReady";
         }
@@ -76,17 +93,17 @@ void APMAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
 {
 #if 0
     I believe APM has parameter version stamp, we should check that
-    
-    // Check for older parameter version set
-    // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
-    // should be used instead.
-    if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) {
+
+            // Check for older parameter version set
+            // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
+            // should be used instead.
+            if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) {
         _incorrectParameterVersion = true;
         qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
                               "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
-	}
+    }
 #endif
-	
+
     _parametersReady = true;
     _missingParameters = missingParameters;
     emit missingParametersChanged(_missingParameters);

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -27,8 +27,9 @@
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
 #include "APMAirframeComponent.h"
-#include "APMRadioComponent.h"
 #include "APMFlightModesComponent.h"
+#include "APMRadioComponent.h"
+#include "APMSensorsComponent.h"
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -45,6 +46,7 @@ public:
     APMAirframeComponent*       airframeComponent   (void) { return _airframeComponent; }
     APMFlightModesComponent*    flightModesComponent(void) { return _flightModesComponent; }
     APMRadioComponent*          radioComponent      (void) { return _radioComponent; }
+    APMSensorsComponent*        sensorsComponent    (void) { return _sensorsComponent; }
 
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
@@ -57,6 +59,7 @@ private:
     APMAirframeComponent*       _airframeComponent;
     APMFlightModesComponent*    _flightModesComponent;
     APMRadioComponent*          _radioComponent;
+    APMSensorsComponent*        _sensorsComponent;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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 "APMSensorsComponent.h"
+#include "APMAutoPilotPlugin.h"
+#include "APMSensorsComponentController.h"
+
+// These two list must be kept in sync
+
+APMSensorsComponent::APMSensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    APMComponent(vehicle, autopilot, parent),
+    _name(tr("Sensors"))
+{
+
+}
+
+QString APMSensorsComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMSensorsComponent::description(void) const
+{
+    return tr("The Sensors Component allows you to calibrate the sensors within your vehicle. "
+              "Prior to flight you must calibrate the Magnetometer, Gyroscope and Accelerometer.");
+}
+
+QString APMSensorsComponent::iconResource(void) const
+{
+    return "/qmlimages/SensorsComponentIcon.png";
+}
+
+bool APMSensorsComponent::requiresSetup(void) const
+{
+    return true;
+}
+
+bool APMSensorsComponent::setupComplete(void) const
+{
+    foreach(QString triggerParam, setupCompleteChangedTriggerList()) {
+        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
+            return false;
+        }
+    }
+
+    return true;
+}
+
+QString APMSensorsComponent::setupStateDescription(void) const
+{
+    const char* stateDescription;
+    
+    if (requiresSetup()) {
+        stateDescription = "Requires calibration";
+    } else {
+        stateDescription = "Calibrated";
+    }
+    return QString(stateDescription);
+}
+
+QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
+{
+    QStringList triggers;
+    
+    triggers << "COMPASS_OFS_X" << "COMPASS_OFS_X" << "COMPASS_OFS_X"
+             << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
+
+    return triggers;
+}
+
+QStringList APMSensorsComponent::paramFilterList(void) const
+{
+    return QStringList();
+}
+
+QUrl APMSensorsComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMSensorsComponent.qml");
+}
+
+QUrl APMSensorsComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMSensorsComponentSummary.qml");
+}
+
+QString APMSensorsComponent::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/APMSensorsComponent.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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 APMSensorsComponent_H
+#define APMSensorsComponent_H
+
+#include "APMComponent.h"
+
+class APMSensorsComponent : public APMComponent
+{
+    Q_OBJECT
+    
+public:
+    APMSensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from APMComponent
+    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 QString setupStateDescription(void) const;
+    virtual QUrl setupSource(void) const;
+    virtual QStringList paramFilterList(void) const;
+    virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
+    
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMSensorsComponentController.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 APMSensorsComponentController_H
+#define APMSensorsComponentController_H
+
+#include <QObject>
+
+#include "UASInterface.h"
+#include "FactPanelController.h"
+#include "QGCLoggingCategory.h"
+
+Q_DECLARE_LOGGING_CATEGORY(APMSensorsComponentControllerLog)
+
+/// Sensors Component MVC Controller for SensorsComponent.qml.
+class APMSensorsComponentController : public FactPanelController
+{
+    Q_OBJECT
+    
+public:
+    APMSensorsComponentController(void);
+    
+    Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
+    
+    Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
+    Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
+    
+    Q_PROPERTY(QQuickItem* compassButton MEMBER _compassButton)
+    Q_PROPERTY(QQuickItem* accelButton MEMBER _accelButton)
+    Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
+    Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
+    Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText)
+    
+    Q_PROPERTY(bool showOrientationCalArea MEMBER _showOrientationCalArea NOTIFY showOrientationCalAreaChanged)
+    
+    Q_PROPERTY(bool orientationCalDownSideDone MEMBER _orientationCalDownSideDone NOTIFY orientationCalSidesDoneChanged)
+    Q_PROPERTY(bool orientationCalUpsideDownSideDone MEMBER _orientationCalUpsideDownSideDone NOTIFY orientationCalSidesDoneChanged)
+    Q_PROPERTY(bool orientationCalLeftSideDone MEMBER _orientationCalLeftSideDone NOTIFY orientationCalSidesDoneChanged)
+    Q_PROPERTY(bool orientationCalRightSideDone MEMBER _orientationCalRightSideDone NOTIFY orientationCalSidesDoneChanged)
+    Q_PROPERTY(bool orientationCalNoseDownSideDone MEMBER _orientationCalNoseDownSideDone NOTIFY orientationCalSidesDoneChanged)
+    Q_PROPERTY(bool orientationCalTailDownSideDone MEMBER _orientationCalTailDownSideDone NOTIFY orientationCalSidesDoneChanged)
+    
+    Q_PROPERTY(bool orientationCalDownSideVisible MEMBER _orientationCalDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
+    Q_PROPERTY(bool orientationCalUpsideDownSideVisible MEMBER _orientationCalUpsideDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
+    Q_PROPERTY(bool orientationCalLeftSideVisible MEMBER _orientationCalLeftSideVisible NOTIFY orientationCalSidesVisibleChanged)
+    Q_PROPERTY(bool orientationCalRightSideVisible MEMBER _orientationCalRightSideVisible NOTIFY orientationCalSidesVisibleChanged)
+    Q_PROPERTY(bool orientationCalNoseDownSideVisible MEMBER _orientationCalNoseDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
+    Q_PROPERTY(bool orientationCalTailDownSideVisible MEMBER _orientationCalTailDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
+    
+    Q_PROPERTY(bool orientationCalDownSideInProgress MEMBER _orientationCalDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+    Q_PROPERTY(bool orientationCalUpsideDownSideInProgress MEMBER _orientationCalUpsideDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+    Q_PROPERTY(bool orientationCalLeftSideInProgress MEMBER _orientationCalLeftSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+    Q_PROPERTY(bool orientationCalRightSideInProgress MEMBER _orientationCalRightSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+    Q_PROPERTY(bool orientationCalNoseDownSideInProgress MEMBER _orientationCalNoseDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+    Q_PROPERTY(bool orientationCalTailDownSideInProgress MEMBER _orientationCalTailDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+    
+    Q_PROPERTY(bool orientationCalDownSideRotate MEMBER _orientationCalDownSideRotate NOTIFY orientationCalSidesRotateChanged)
+    Q_PROPERTY(bool orientationCalUpsideDownSideRotate MEMBER _orientationCalUpsideDownSideRotate NOTIFY orientationCalSidesRotateChanged)
+    Q_PROPERTY(bool orientationCalLeftSideRotate MEMBER _orientationCalLeftSideRotate NOTIFY orientationCalSidesRotateChanged)
+    Q_PROPERTY(bool orientationCalRightSideRotate MEMBER _orientationCalRightSideRotate NOTIFY orientationCalSidesRotateChanged)
+    Q_PROPERTY(bool orientationCalNoseDownSideRotate MEMBER _orientationCalNoseDownSideRotate NOTIFY orientationCalSidesRotateChanged)
+    Q_PROPERTY(bool orientationCalTailDownSideRotate MEMBER _orientationCalTailDownSideRotate NOTIFY orientationCalSidesRotateChanged)
+    
+    Q_PROPERTY(bool waitingForCancel MEMBER _waitingForCancel NOTIFY waitingForCancelChanged)
+    
+    Q_INVOKABLE void calibrateCompass(void);
+    Q_INVOKABLE void calibrateGyro(void);
+    Q_INVOKABLE void calibrateAccel(void);
+    Q_INVOKABLE void calibrateLevel(void);
+    Q_INVOKABLE void calibrateAirspeed(void);
+    Q_INVOKABLE void cancelCalibration(void);
+    Q_INVOKABLE void nextClicked(void);
+
+    bool fixedWing(void);
+    
+signals:
+    void showGyroCalAreaChanged(void);
+    void showOrientationCalAreaChanged(void);
+    void orientationCalSidesDoneChanged(void);
+    void orientationCalSidesVisibleChanged(void);
+    void orientationCalSidesInProgressChanged(void);
+    void orientationCalSidesRotateChanged(void);
+    void resetStatusTextArea(void);
+    void waitingForCancelChanged(void);
+    void setCompassRotations(void);
+    
+private slots:
+    void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
+    
+private:
+    void _startLogCalibration(void);
+    void _startVisualCalibration(void);
+    void _appendStatusLog(const QString& text);
+    void _refreshParams(void);
+    void _hideAllCalAreas(void);
+    void _resetInternalState(void);
+    
+    enum StopCalibrationCode {
+        StopCalibrationSuccess,
+        StopCalibrationFailed,
+        StopCalibrationCancelled
+    };
+    void _stopCalibration(StopCalibrationCode code);
+    
+    void _updateAndEmitShowOrientationCalArea(bool show);
+
+    QQuickItem* _statusLog;
+    QQuickItem* _progressBar;
+    QQuickItem* _compassButton;
+    QQuickItem* _accelButton;
+    QQuickItem* _nextButton;
+    QQuickItem* _cancelButton;
+    QQuickItem* _orientationCalAreaHelpText;
+    
+    bool _showGyroCalArea;
+    bool _showOrientationCalArea;
+    
+    bool _gyroCalInProgress;
+    bool _magCalInProgress;
+    bool _accelCalInProgress;
+    
+    bool _orientationCalDownSideDone;
+    bool _orientationCalUpsideDownSideDone;
+    bool _orientationCalLeftSideDone;
+    bool _orientationCalRightSideDone;
+    bool _orientationCalNoseDownSideDone;
+    bool _orientationCalTailDownSideDone;
+    
+    bool _orientationCalDownSideVisible;
+    bool _orientationCalUpsideDownSideVisible;
+    bool _orientationCalLeftSideVisible;
+    bool _orientationCalRightSideVisible;
+    bool _orientationCalNoseDownSideVisible;
+    bool _orientationCalTailDownSideVisible;
+    
+    bool _orientationCalDownSideInProgress;
+    bool _orientationCalUpsideDownSideInProgress;
+    bool _orientationCalLeftSideInProgress;
+    bool _orientationCalRightSideInProgress;
+    bool _orientationCalNoseDownSideInProgress;
+    bool _orientationCalTailDownSideInProgress;
+    
+    bool _orientationCalDownSideRotate;
+    bool _orientationCalUpsideDownSideRotate;
+    bool _orientationCalLeftSideRotate;
+    bool _orientationCalRightSideRotate;
+    bool _orientationCalNoseDownSideRotate;
+    bool _orientationCalTailDownSideRotate;
+    
+    bool _waitingForCancel;
+    
+    static const int _supportedFirmwareCalVersion = 2;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
+
+/*
+    IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummary.qml
+*/
+
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact ins_accoffs_x:    controller.getParameterFact(-1, "INS_ACCOFFS_X")
+    property Fact ins_accoffs_y:    controller.getParameterFact(-1, "INS_ACCOFFS_Y")
+    property Fact ins_accoffs_z:    controller.getParameterFact(-1, "INS_ACCOFFS_Z")
+
+    property Fact compass_ofs_x:    controller.getParameterFact(-1, "COMPASS_OFS_X")
+    property Fact compass_ofs_y:    controller.getParameterFact(-1, "COMPASS_OFS_Y")
+    property Fact compass_ofs_z:    controller.getParameterFact(-1, "COMPASS_OFS_Z")
+
+    property bool accelCalNeeded:   ins_accoffs_x.value == 0 && ins_accoffs_y.value == 0 && ins_accoffs_z.value == 0
+    property bool compassCalNeeded: compass_ofs_x.value == 0 && compass_ofs_y.value == 0 && compass_ofs_y.value == 0
+
+    Column {
+        anchors.fill:       parent
+        anchors.margins:    8
+
+        VehicleSummaryRow {
+            labelText: "Compass:"
+            valueText: compassCalNeeded ? "Setup required" : "Ready"
+        }
+
+        VehicleSummaryRow {
+            labelText: "Accelerometer:"
+            valueText: accelCalNeeded ? "Setup required" : "Ready"
+        }
+    }
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -292,22 +292,34 @@ void APMFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
         mavlink_msg_param_set_encode(message->sysid, message->compid, message, &paramSet);
     }
 
-    if (message->msgid == MAVLINK_MSG_ID_STATUSTEXT)
-    {
-        if (!_firmwareVersion.isValid()) {
+    if (message->msgid == MAVLINK_MSG_ID_STATUSTEXT) {
+        mavlink_statustext_t statusText;
+        mavlink_msg_statustext_decode(message, &statusText);
+
+        // APM user facing calibration messages come through as high severity, we need to parse them out
+        // and lower the severity on them so that they don't pop in the users face.
+
+        if (!_firmwareVersion.isValid() || statusText.severity < MAV_SEVERITY_NOTICE) {
             QByteArray b;
             b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
             mavlink_msg_statustext_get_text(message, b.data());
             // Ensure NUL-termination
             b[b.length()-1] = '\0';
-            QString text = QString(b);
-            qCDebug(APMFirmwarePluginLog) << text;
-
-            // if don't know firmwareVersion yet, try and see this message contains it
-            if (text.contains(APM_COPTER_REXP) || text.contains(APM_PLANE_REXP) || text.contains(APM_ROVER_REXP)) {
-                // found version string
-                _firmwareVersion = APMFirmwareVersion(text);
-                _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(_firmwareVersion);
+            QString messageText = QString(b);
+            qCDebug(APMFirmwarePluginLog) << messageText;
+
+            if (!_firmwareVersion.isValid()) {
+                // if don't know firmwareVersion yet, try and see if this message contains it
+                if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP)) {
+                    // found version string
+                    _firmwareVersion = APMFirmwareVersion(messageText);
+                    _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(_firmwareVersion);
+                }
+            }
+
+            if (messageText.contains("Place vehicle") || messageText.contains("Calibration successful")) {
+                _adjustCalibrationMessageSeverity(message);
+                return;
             }
         }
 
@@ -362,6 +374,14 @@ void APMFirmwarePlugin::_adjustSeverity(mavlink_message_t* message) const
     mavlink_msg_statustext_encode(message->sysid, message->compid, message, &statusText);
 }
 
+void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* message) const
+{
+    mavlink_statustext_t statusText;
+    mavlink_msg_statustext_decode(message, &statusText);
+    statusText.severity = MAV_SEVERITY_INFO;
+    mavlink_msg_statustext_encode(message->sysid, message->compid, message, &statusText);
+}
+
 void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
 {
     // Streams are not started automatically on APM stack

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -100,6 +100,7 @@ protected:
     
 private:
     void _adjustSeverity(mavlink_message_t* message) const;
+    void _adjustCalibrationMessageSeverity(mavlink_message_t* message) const;
     static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion);
 
     APMFirmwareVersion      _firmwareVersion;

src/QGCApplication.cc

@@ -65,6 +65,7 @@
 #include "APMFlightModesComponentController.h"
 #include "AirframeComponentController.h"
 #include "SensorsComponentController.h"
+#include "APMSensorsComponentController.h"
 #include "PowerComponentController.h"
 #include "RadioComponentController.h"
 #include "ScreenToolsController.h"
@@ -381,6 +382,7 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
     qmlRegisterType<FlightModesComponentController>     ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
     qmlRegisterType<AirframeComponentController>        ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
+    qmlRegisterType<APMSensorsComponentController>      ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
     qmlRegisterType<SensorsComponentController>         ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
     qmlRegisterType<PowerComponentController>           ("QGroundControl.Controllers", 1, 0, "PowerComponentController");
     qmlRegisterType<RadioComponentController>           ("QGroundControl.Controllers", 1, 0, "RadioComponentController");

src/comm/APMArduCopterMockLink.params

@@ -97,9 +97,9 @@
 1	1	COMPASS_OFS3_X	0	9
 1	1	COMPASS_OFS3_Y	0	9
 1	1	COMPASS_OFS3_Z	0	9
-1	1	COMPASS_OFS_X	0	9
-1	1	COMPASS_OFS_Y	0	9
-1	1	COMPASS_OFS_Z	0	9
+1	1	COMPASS_OFS_X	10	9
+1	1	COMPASS_OFS_Y	10	9
+1	1	COMPASS_OFS_Z	10	9
 1	1	COMPASS_ORIENT	0	2
 1	1	COMPASS_ORIENT2	0	2
 1	1	COMPASS_ORIENT3	0	2
@@ -200,9 +200,9 @@
 1	1	INS_ACC3SCAL_Y	0	9
 1	1	INS_ACC3SCAL_Z	0	9
 1	1	INS_ACCEL_FILTER	20	2
-1	1	INS_ACCOFFS_X	0	9
-1	1	INS_ACCOFFS_Y	0	9
-1	1	INS_ACCOFFS_Z	0	9
+1	1	INS_ACCOFFS_X	10	9
+1	1	INS_ACCOFFS_Y	10	9
+1	1	INS_ACCOFFS_Z	10	9
 1	1	INS_ACCSCAL_X	1	9
 1	1	INS_ACCSCAL_Y	1	9
 1	1	INS_ACCSCAL_Z	1	9

src/comm/APMArduPlaneMockLink.params

@@ -121,9 +121,9 @@
 1	1	COMPASS_OFS3_X	0	9
 1	1	COMPASS_OFS3_Y	0	9
 1	1	COMPASS_OFS3_Z	0	9
-1	1	COMPASS_OFS_X	0	9
-1	1	COMPASS_OFS_Y	0	9
-1	1	COMPASS_OFS_Z	0	9
+1	1	COMPASS_OFS_X	10	9
+1	1	COMPASS_OFS_Y	10	9
+1	1	COMPASS_OFS_Z	10	9
 1	1	COMPASS_ORIENT	0	2
 1	1	COMPASS_ORIENT2	0	2
 1	1	COMPASS_ORIENT3	0	2
@@ -244,9 +244,9 @@
 1	1	INS_ACC3SCAL_Y	0	9
 1	1	INS_ACC3SCAL_Z	0	9
 1	1	INS_ACCEL_FILTER	20	2
-1	1	INS_ACCOFFS_X	0	9
-1	1	INS_ACCOFFS_Y	0	9
-1	1	INS_ACCOFFS_Z	0	9
+1	1	INS_ACCOFFS_X	10	9
+1	1	INS_ACCOFFS_Y	10	9
+1	1	INS_ACCOFFS_Z	10	9
 1	1	INS_ACCSCAL_X	1	9
 1	1	INS_ACCSCAL_Y	1	9
 1	1	INS_ACCSCAL_Z	1	9