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Commit 1aa7b9b9 authored by Lorenz Meier's avatar Lorenz Meier
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Many more fixes on calibration, starts to actually do something

parent bd2ecaaf
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Showing with 196 additions and 48 deletions
files/styles/style-dark.css
View file @ 1aa7b9b9
......@@ -248,6 +248,19 @@ QLabel#noUas {
font-size: 30pt;
}
QMessageBox QLabel {
font-size: 12pt;
}
QLabel#calibrationExplanationLabel {
font-size: 20pt;
}
QLabel#instructionLabel {
color: #FEC654;
font-size: 26pt;
}
QLineEdit {
border: 1px solid #777;
border-radius: 2px;
......
src/ui/QGCPX4VehicleConfig.cc
View file @ 1aa7b9b9
......@@ -1027,9 +1027,9 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>()) {
child->deleteLater();
}
foreach(QWidget* child, ui->sensorLayout->findChildren<QWidget*>()) {
child->deleteLater();
}
// foreach(QWidget* child, ui->sensorLayout->findChildren<QWidget*>()) {
// child->deleteLater();
// }
foreach(QWidget* child, ui->airframeLayout->findChildren<QWidget*>())
{
......
src/ui/px4_configuration/QGCPX4SensorCalibration.cc
View file @ 1aa7b9b9
......@@ -3,16 +3,35 @@
#include <UASManager.h>
#include <QMenu>
#include <QScrollBar>
#include <QDebug>
QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
QWidget(parent),
activeUAS(NULL),
clearAction(new QAction(tr("Clear Text"), this)),
accelStarted(false),
gyroStarted(false),
magStarted(false),
ui(new Ui::QGCPX4SensorCalibration)
{
accelAxes << "x+";
accelAxes << "x-";
accelAxes << "y+";
accelAxes << "y-";
accelAxes << "z+";
accelAxes << "z-";
ui->setupUi(this);
connect(clearAction, SIGNAL(triggered()), ui->textView, SLOT(clear()));
connect(ui->gyroButton, SIGNAL(clicked()), this, SLOT(gyroButtonClicked()));
connect(ui->magButton, SIGNAL(clicked()), this, SLOT(magButtonClicked()));
connect(ui->accelButton, SIGNAL(clicked()), this, SLOT(accelButtonClicked()));
ui->gyroButton->setEnabled(false);
ui->magButton->setEnabled(false);
ui->accelButton->setEnabled(false);
setInstructionImage("./files/images/px4/calibration/accel_z-.png");
setObjectName("PX4_SENSOR_CALIBRATION");
......@@ -21,6 +40,7 @@ QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
setActiveUAS(UASManager::instance()->getActiveUAS());
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
ui->progressBar->setValue(0);
}
QGCPX4SensorCalibration::~QGCPX4SensorCalibration()
......@@ -59,12 +79,90 @@ void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas)
ui->textView->clear();
}
ui->gyroButton->setEnabled(true);
ui->magButton->setEnabled(true);
ui->accelButton->setEnabled(true);
connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
activeUAS = uas;
}
void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int severity, QString text)
{
if (text.startsWith("[cmd]") ||
text.startsWith("[mavlink pm]"))
return;
if (text.contains("progress")) {
qDebug() << "PROGRESS:" << text;
QString percent = text.split("<").last().split(">").first();
qDebug() << "PERCENT CANDIDATE" << percent;
bool ok;
int p = percent.toInt(&ok);
if (ok)
ui->progressBar->setValue(p);
return;
}
if (text.contains("accel")) {
qDebug() << "ACCEL" << text;
if (text.startsWith("accel meas started: ")) {
QString axis = text.split("meas started: ").last().right(2);
qDebug() << "AXIS" << axis << "STR" << text;
setInstructionImage(QString("./files/images/px4/calibration/accel_%1.png").arg(axis));
}
}
if (text.startsWith("meas result for")) {
QString axis = text.split("meas result for ").last().left(2);
qDebug() << "ACCELDONE AXIS" << axis << "STR" << text;
for (int i = 0; i < 6; i++)
{
if (accelAxes[i] == axis)
accelDone[i] = true;
if (!accelDone[i]) {
setInstructionImage(QString("./files/images/px4/calibration/accel_%1.png").arg(accelAxes[i]));
ui->calibrationExplanationLabel->setText(tr("Axis %1 completed. Please rotate to a different axis, e.g. the one shown here.").arg(axis));
}
}
}
if (text.contains("please rotate in a figure 8")) {
ui->calibrationExplanationLabel->setText(tr("Rotate the system around all its axes, e.g. in a figure eight."));
setInstructionImage("./files/images/px4/calibration/mag_calibration_figure8.png");
}
if (text.contains("accel calibration done")) {
accelStarted = false;
// XXX use a confirmation image or something
setInstructionImage("./files/images/px4/calibration/accel_z-.png");
ui->calibrationExplanationLabel->setText(tr("Accelerometer calibration completed. Parameters permanently stored."));
}
if (text.contains("gyro calibration done")) {
gyroStarted = false;
// XXX use a confirmation image or something
setInstructionImage("./files/images/px4/calibration/accel_z-.png");
ui->calibrationExplanationLabel->setText(tr("Gyroscope calibration completed. Parameters permanently stored."));
}
if (text.contains("mag calibration done")) {
magStarted = false;
// XXX use a confirmation image or something
setInstructionImage("./files/images/px4/calibration/accel_z-.png");
ui->calibrationExplanationLabel->setText(tr("Magnetometer calibration completed. Parameters permanently stored."));
}
ui->instructionLabel->setText(QString("%1").arg(text));
// XXX color messages according to severity
QPlainTextEdit *msgWidget = ui->textView;
......@@ -73,22 +171,43 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
msgWidget->setUpdatesEnabled(false);
QScrollBar *scroller = msgWidget->verticalScrollBar();
UASInterface *uas = UASManager::instance()->getUASForId(uasid);
QString uasName(uas->getUASName());
QString colorName(uas->getColor().name());
//change styling based on severity
if (160 == severity ) { //TODO where is the constant for "critical" severity?
//GAudioOutput::instance()->say(text.toLower());
msgWidget->appendHtml(QString("<p style=\"color:#DC143C;background-color:#FFFACD;font-size:large;font-weight:bold\">[%1:%2] %3</p>").arg(uasName).arg(compId).arg(text));
}
else {
msgWidget->appendHtml(QString("<p style=\"color:%1;font-size:smaller\">[%2:%3] %4</p>").arg(colorName).arg(uasName).arg(compId).arg(text));
}
msgWidget->appendHtml(QString("%4").arg(text));
// Ensure text area scrolls correctly
scroller->setValue(scroller->maximum());
msgWidget->setUpdatesEnabled(true);
}
void QGCPX4SensorCalibration::gyroButtonClicked()
{
setInstructionImage("./files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
ui->calibrationExplanationLabel->setText(tr("Please do not move the system at all and wait for calibration to complete."));
}
void QGCPX4SensorCalibration::magButtonClicked()
{
setInstructionImage("./files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
ui->calibrationExplanationLabel->setText(tr("Please put the system in a rest position and wait for instructions."));
}
void QGCPX4SensorCalibration::accelButtonClicked()
{
setInstructionImage("./files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
accelStarted = true;
accelDone[0] = false;
accelDone[1] = false;
accelDone[2] = false;
accelDone[3] = false;
accelDone[4] = false;
accelDone[5] = false;
ui->calibrationExplanationLabel->setText(tr("Please hold the system very still in the shown orientations. Start with the one shown."));
}
void QGCPX4SensorCalibration::contextMenuEvent(QContextMenuEvent* event)
......
src/ui/px4_configuration/QGCPX4SensorCalibration.h
View file @ 1aa7b9b9
......@@ -32,6 +32,10 @@ public slots:
*/
void handleTextMessage(int uasid, int componentid, int severity, QString text);
void gyroButtonClicked();
void magButtonClicked();
void accelButtonClicked();
/**
* @brief Hand context menu event
* @param event
......@@ -44,6 +48,11 @@ protected:
UASInterface* activeUAS;
QAction* clearAction;
QPixmap instructionIcon;
bool accelStarted;
bool accelDone[6];
bool gyroStarted;
bool magStarted;
QStringList accelAxes;
virtual void resizeEvent(QResizeEvent* event);
......
src/ui/px4_configuration/QGCPX4SensorCalibration.ui
View file @ 1aa7b9b9
......@@ -36,35 +36,28 @@ QPushButton#gyroButton, QPushButton#accelButton {
border: 2px solid #465158;
}</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="1,20,3,2,1,1" columnstretch="30,15,5">
<item row="0" column="0">
<widget class="QLabel" name="titleLabel">
<property name="text">
<string>Magnetometer Calibration</string>
</property>
</widget>
</item>
<item row="0" column="1" rowspan="2" colspan="2">
<widget class="QPlainTextEdit" name="textView"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="iconLabel">
<property name="text">
<string/>
<layout class="QGridLayout" name="gridLayout" rowstretch="1,20,3,2,1,1,0" columnstretch="30,15,5">
<item row="6" column="2">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="scaledContents">
<bool>true</bool>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</widget>
</spacer>
</item>
<item row="2" column="0" colspan="2">
<widget class="QLabel" name="instructionLabel">
<item row="0" column="0">
<widget class="QLabel" name="titleLabel">
<property name="text">
<string>To calibrate the system, execute the three calibration steps below.</string>
<string>Magnetometer Calibration</string>
</property>
</widget>
</item>
<item row="3" column="0" colspan="3">
<item row="4" column="0" colspan="3">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -77,14 +70,24 @@ QPushButton#gyroButton, QPushButton#accelButton {
</property>
</spacer>
</item>
<item row="4" column="0" colspan="3">
<item row="3" column="0" colspan="2">
<widget class="QLabel" name="instructionLabel">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0" colspan="3">
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>24</number>
</property>
</widget>
</item>
<item row="5" column="0" colspan="2">
<item row="0" column="1" rowspan="2" colspan="2">
<widget class="QPlainTextEdit" name="textView"/>
</item>
<item row="6" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="magButton">
......@@ -121,18 +124,22 @@ QPushButton#gyroButton, QPushButton#accelButton {
</item>
</layout>
</item>
<item row="5" column="2">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<item row="1" column="0">
<widget class="QLabel" name="iconLabel">
<property name="text">
<string/>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
<property name="scaledContents">
<bool>true</bool>
</property>
</spacer>
</widget>
</item>
<item row="2" column="0" colspan="3">
<widget class="QLabel" name="calibrationExplanationLabel">
<property name="text">
<string>To calibrate the system, execute the three calibration steps below.</string>
</property>
</widget>
</item>
</layout>
</widget>
......
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