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Commit 1c03185a authored by Don Gagne's avatar Don Gagne
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Merge pull request #1595 from DonLakeFlyer/CalESC 

ESC Calibration
parents b47ca636 588dc6a0
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Showing with 509 additions and 228 deletions
QGCApplication.pro
View file @ 1c03185a
......@@ -565,6 +565,7 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/FlightModesComponent.h \
src/AutoPilotPlugins/PX4/FlightModesComponentController.h \
src/AutoPilotPlugins/PX4/PowerComponent.h \
src/AutoPilotPlugins/PX4/PowerComponentController.h \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
src/AutoPilotPlugins/PX4/PX4Component.h \
src/AutoPilotPlugins/PX4/PX4ParameterLoader.h \
......@@ -593,6 +594,7 @@ SOURCES += \
src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \
src/AutoPilotPlugins/PX4/PowerComponent.cc \
src/AutoPilotPlugins/PX4/PowerComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/PX4Component.cc \
src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc \
......
src/AutoPilotPlugins/PX4/PowerComponent.qml
View file @ 1c03185a
......@@ -27,266 +27,318 @@
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
Rectangle {
QGCPalette { id: palette; colorGroupEnabled: true }
id: powerSettings
width: 600
height: 600
color: palette.window
property int firstColumnWidth: 220
property int textEditWidth: 80
property Fact battNumCells: Fact { name: "BAT_N_CELLS" }
property Fact battHighVolt: Fact { name: "BAT_V_CHARGED" }
property Fact battLowVolt: Fact { name: "BAT_V_EMPTY" }
property alias battHigh: battHighRow
property alias battLow: battLowRow
function getBatteryImage()
{
switch(battNumCells.value) {
case 1: return "/qml/PowerComponentBattery_01cell.svg";
case 2: return "/qml/PowerComponentBattery_02cell.svg"
case 3: return "/qml/PowerComponentBattery_03cell.svg"
case 4: return "/qml/PowerComponentBattery_04cell.svg"
case 5: return "/qml/PowerComponentBattery_05cell.svg"
case 6: return "/qml/PowerComponentBattery_06cell.svg"
default: return "/qml/PowerComponentBattery_01cell.svg";
}
}
function drawArrowhead(ctx, x, y, radians)
{
ctx.save();
ctx.beginPath();
ctx.translate(x,y);
ctx.rotate(radians);
ctx.moveTo(0,0);
ctx.lineTo(5,10);
ctx.lineTo(-5,10);
ctx.closePath();
ctx.restore();
ctx.fill();
}
function drawLineWithArrow(ctx, x1, y1, x2, y2)
{
ctx.beginPath();
ctx.moveTo(x1, y1);
ctx.lineTo(x2, y2);
ctx.stroke();
var rd = Math.atan((y2 - y1) / (x2 - x1));
rd += ((x2 > x1) ? 90 : -90) * Math.PI/180;
drawArrowhead(ctx, x2, y2, rd);
}
Column {
anchors.fill: parent
spacing: 10
QGCLabel {
text: "POWER CONFIG"
font.pointSize: ScreenTools.fontPointFactor * (20);
}
QGCLabel {
text: "Battery"
color: palette.text
font.pointSize: ScreenTools.fontPointFactor * (20);
}
Rectangle {
width: parent.width
height: 120
color: palette.windowShade
QGCView {
id: rootQGCView
viewComponent: view
Component {
id: view
QGCViewPanel {
id: viewPanel
QGCPalette { id: palette; colorGroupEnabled: enabled }
width: 600
height: 600
color: palette.window
property int firstColumnWidth: 220
property int textEditWidth: 80
property Fact battNumCells: Fact { name: "BAT_N_CELLS"; onFactMissing: showMissingFactOverlay(name) }
property Fact battHighVolt: Fact { name: "BAT_V_CHARGED"; onFactMissing: showMissingFactOverlay(name) }
property Fact battLowVolt: Fact { name: "BAT_V_EMPTY"; onFactMissing: showMissingFactOverlay(name) }
property alias battHigh: battHighRow
property alias battLow: battLowRow
function getBatteryImage()
{
switch(battNumCells.value) {
case 1: return "/qml/PowerComponentBattery_01cell.svg";
case 2: return "/qml/PowerComponentBattery_02cell.svg"
case 3: return "/qml/PowerComponentBattery_03cell.svg"
case 4: return "/qml/PowerComponentBattery_04cell.svg"
case 5: return "/qml/PowerComponentBattery_05cell.svg"
case 6: return "/qml/PowerComponentBattery_06cell.svg"
default: return "/qml/PowerComponentBattery_01cell.svg";
}
}
function drawArrowhead(ctx, x, y, radians)
{
ctx.save();
ctx.beginPath();
ctx.translate(x,y);
ctx.rotate(radians);
ctx.moveTo(0,0);
ctx.lineTo(5,10);
ctx.lineTo(-5,10);
ctx.closePath();
ctx.restore();
ctx.fill();
}
function drawLineWithArrow(ctx, x1, y1, x2, y2)
{
ctx.beginPath();
ctx.moveTo(x1, y1);
ctx.lineTo(x2, y2);
ctx.stroke();
var rd = Math.atan((y2 - y1) / (x2 - x1));
rd += ((x2 > x1) ? 90 : -90) * Math.PI/180;
drawArrowhead(ctx, x2, y2, rd);
}
PowerComponentController {
id: controller
factPanel: viewPanel
onOldFirmware: showMessage("ESC Calibration", "QGroundControl cannot perform ESC Calibration with this version of firmware. You will need to upgrade to a newer firmware.", StandardButton.Ok)
onNewerFirmware: showMessage("ESC Calibration", "QGroundControl cannot perform ESC Calibration with this version of firmware. You will need to upgrade QGroundControl.", StandardButton.Ok)
onBatteryConnected: showMessage("ESC Calibration", "Performing calibration. This will take a few seconds..", 0)
onCalibrationFailed: showMessage("ESC Calibration failed", errorMessage, StandardButton.Ok)
onCalibrationSuccess: showMessage("ESC Calibration", "Calibration complete. You can disconnect your battery now if you like.", StandardButton.Ok)
onConnectBattery: showMessage("ESC Calibration", "WARNING: Props must be removed from vehicle prior to performing ESC calibration.\n\nConnect the battery now and calibration will begin.", 0)
onDisconnectBattery: showMessage("ESC Calibration failed", "You must disconnect the battery prior to performing ESC Calibration. Disconnect your battery and try again.", StandardButton.Ok)
}
Column {
id: batteryColumn
anchors.fill: parent
spacing: 10
anchors.verticalCenter: parent.verticalCenter
x: (parent.x + 20)
Row {
spacing: 10
QGCLabel {
text: "POWER CONFIG"
font.pointSize: ScreenTools.largeFontPointSize
}
QGCLabel {
text: "Battery"
color: palette.text
font.pointSize: ScreenTools.mediumFontPointSize
}
Rectangle {
width: parent.width
height: 120
color: palette.windowShade
Column {
id: voltageCol
id: batteryColumn
spacing: 10
anchors.verticalCenter: parent.verticalCenter
x: (parent.x + 20)
Row {
spacing: 10
QGCLabel { text: "Number of Cells (in Series)"; width: firstColumnWidth; anchors.baseline: cellsField.baseline}
FactTextField {
id: cellsField
width: textEditWidth
fact: Fact { name: "BAT_N_CELLS" }
showUnits: true
Column {
id: voltageCol
spacing: 10
Row {
spacing: 10
QGCLabel { text: "Number of Cells (in Series)"; width: firstColumnWidth; anchors.baseline: cellsField.baseline}
FactTextField {
id: cellsField
width: textEditWidth
fact: Fact { name: "BAT_N_CELLS"; onFactMissing: showMissingFactOverlay(name) }
showUnits: true
}
}
Row {
id: battHighRow
spacing: 10
QGCLabel { text: "Full Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battHighField.baseline}
FactTextField {
id: battHighField
width: textEditWidth
fact: Fact { name: "BAT_V_CHARGED"; onFactMissing: showMissingFactOverlay(name) }
showUnits: true
}
}
Row {
id: battLowRow
spacing: 10
QGCLabel { text: "Empty Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battLowField.baseline}
FactTextField {
id: battLowField
width: textEditWidth
fact: Fact { name: "BAT_V_EMPTY"; onFactMissing: showMissingFactOverlay(name) }
showUnits: true
}
}
}
}
Row {
id: battHighRow
spacing: 10
QGCLabel { text: "Full Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battHighField.baseline}
FactTextField {
id: battHighField
width: textEditWidth
fact: Fact { name: "BAT_V_CHARGED" }
showUnits: true
Canvas {
id: arrows
height: voltageCol.height
width: 40
antialiasing: true
Connections {
target: ScreenTools
onRepaintRequestedChanged: {
arrows.requestPaint();
}
}
onPaint: {
var y0 = voltageCol.mapFromItem(battHigh, 0, battHigh.height / 2).y;
var y1 = voltageCol.mapFromItem(battLow, 0, battLow.height / 2).y;
var context = getContext("2d");
context.reset();
context.strokeStyle = palette.button;
context.fillStyle = palette.button;
drawLineWithArrow(context, 0, y0, width, height * 0.25);
drawLineWithArrow(context, 0, y1, width, height * 0.85);
}
}
}
Row {
id: battLowRow
spacing: 10
QGCLabel { text: "Empty Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battLowField.baseline}
FactTextField {
id: battLowField
width: textEditWidth
fact: Fact { name: "BAT_V_EMPTY" }
showUnits: true
QGCColoredImage {
height: voltageCol.height
width: voltageCol.height * 0.75
source: getBatteryImage();
fillMode: Image.PreserveAspectFit
smooth: true
color: palette.button
cache: false
}
Item { width: 20; height: 1; }
Column {
spacing: 10
anchors.verticalCenter: parent.verticalCenter
Row {
spacing: 10
QGCLabel {
text: "Battery Max:"
color: palette.text
width: 80
}
QGCLabel {
text: (battNumCells.value * battHighVolt.value).toFixed(1) + ' V'
color: palette.text
}
}
Row {
spacing: 10
QGCLabel {
text: "Battery Min:"
color: palette.text
width: 80
}
QGCLabel {
text: (battNumCells.value * battLowVolt.value).toFixed(1) + ' V'
color: palette.text
}
}
}
}
}
Canvas {
id: arrows
height: voltageCol.height
width: 40
antialiasing: true
Connections {
target: ScreenTools
onRepaintRequestedChanged: {
arrows.requestPaint();
}
}
QGCLabel {
text: "ESC Calibration"
font.pointSize: ScreenTools.mediumFontPointSize
}
Rectangle {
width: parent.width
height: 80
color: palette.windowShade
Column {
anchors.margins: 10
anchors.fill: parent
spacing: 10
QGCLabel {
text: "WARNING: Props must be removed from vehicle prior to performing ESC calibration."
}
onPaint: {
var y0 = voltageCol.mapFromItem(battHigh, 0, battHigh.height / 2).y;
var y1 = voltageCol.mapFromItem(battLow, 0, battLow.height / 2).y;
var context = getContext("2d");
context.reset();
context.strokeStyle = palette.button;
context.fillStyle = palette.button;
drawLineWithArrow(context, 0, y0, width, height * 0.25);
drawLineWithArrow(context, 0, y1, width, height * 0.85);
QGCButton {
text: "Calibrate"
onClicked: controller.calibrateEsc()
}
}
QGCColoredImage {
height: voltageCol.height
width: voltageCol.height * 0.75
source: getBatteryImage();
fillMode: Image.PreserveAspectFit
smooth: true
color: palette.button
cache: false
}
/*
* This is disabled for now
Row {
width: parent.width
spacing: 30
visible: showAdvanced.checked
Column {
spacing: 10
width: (parent.width / 2) - 5
QGCLabel {
text: "Propeller Function"
color: palette.text
font.pointSize: ScreenTools.fontPointFactor * (20);
}
Rectangle {
width: parent.width
height: 160
color: palette.windowShade
}
}
Item { width: 20; height: 1; }
Column {
spacing: 10
anchors.verticalCenter: parent.verticalCenter
Row {
spacing: 10
QGCLabel {
text: "Battery Max:"
color: palette.text
width: 80
}
QGCLabel {
text: (battNumCells.value * battHighVolt.value).toFixed(1) + ' V'
color: palette.text
}
width: (parent.width / 2) - 5
QGCLabel {
text: "Magnetometer Distortion"
color: palette.text
font.pointSize: ScreenTools.fontPointFactor * (20);
}
Row {
spacing: 10
QGCLabel {
text: "Battery Min:"
color: palette.text
width: 80
}
QGCLabel {
text: (battNumCells.value * battLowVolt.value).toFixed(1) + ' V'
color: palette.text
}
Rectangle {
width: parent.width
height: 160
color: palette.windowShade
}
}
}
}
}
/*
* This is disabled for now
Row {
width: parent.width
spacing: 30
visible: showAdvanced.checked
Column {
spacing: 10
width: (parent.width / 2) - 5
QGCLabel {
text: "Propeller Function"
color: palette.text
font.pointSize: ScreenTools.fontPointFactor * (20);
}
Rectangle {
width: parent.width
height: 160
color: palette.windowShade
*/
//-- Advanced Settings
QGCCheckBox {
id: showAdvanced
text: "Show Advanced Settings"
}
}
Column {
spacing: 10
width: (parent.width / 2) - 5
QGCLabel {
text: "Magnetometer Distortion"
text: "Advanced Power Settings"
color: palette.text
font.pointSize: ScreenTools.fontPointFactor * (20);
visible: showAdvanced.checked
}
Rectangle {
width: parent.width
height: 160
height: 40
color: palette.windowShade
}
}
}
*/
//-- Advanced Settings
QGCCheckBox {
id: showAdvanced
text: "Show Advanced Settings"
}
QGCLabel {
text: "Advanced Power Settings"
color: palette.text
font.pointSize: ScreenTools.fontPointFactor * (20);
visible: showAdvanced.checked
}
Rectangle {
width: parent.width
height: 40
color: palette.windowShade
visible: showAdvanced.checked
Column {
id: advBatteryColumn
spacing: 10
anchors.verticalCenter: parent.verticalCenter
x: (parent.x + 20)
Row {
spacing: 10
QGCLabel { text: "Voltage Drop on Full Load (per cell)"; width: firstColumnWidth; anchors.baseline: battDropField.baseline}
FactTextField {
id: battDropField
width: textEditWidth
fact: Fact { name: "BAT_V_LOAD_DROP" }
showUnits: true
visible: showAdvanced.checked
Column {
id: advBatteryColumn
spacing: 10
anchors.verticalCenter: parent.verticalCenter
x: (parent.x + 20)
Row {
spacing: 10
QGCLabel { text: "Voltage Drop on Full Load (per cell)"; width: firstColumnWidth; anchors.baseline: battDropField.baseline}
FactTextField {
id: battDropField
width: textEditWidth
fact: Fact { name: "BAT_V_LOAD_DROP"; onFactMissing: showMissingFactOverlay(name) }
showUnits: true
}
}
}
}
}
}
}
} // Column
} // QGCViewPanel
} // Component - view
}
src/AutoPilotPlugins/PX4/PowerComponentController.cc 0 → 100644
View file @ 1c03185a
/*=====================================================================
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 "UASManager.h"
#include "QGCMessageBox.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::_stopCalibration(void)
{
disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
}
void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
{
Q_UNUSED(compId);
Q_UNUSED(severity);
UASInterface* uas = _autopilot->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;
}
int firmwareRev = parts[0].toInt();
if (firmwareRev < _neededFirmwareRev) {
emit oldFirmware();
return;
}
if (firmwareRev > _neededFirmwareRev) {
emit newerFirmware();
return;
}
}
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("calibration warning: ");
if (text.startsWith(warningPrefix)) {
_warningMessages << text.right(text.length() - warningPrefix.length());
}
}
src/AutoPilotPlugins/PX4/PowerComponentController.h 0 → 100644
View file @ 1c03185a
/*=====================================================================
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);
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);
QStringList _warningMessages;
static const int _neededFirmwareRev = 1;
};
#endif
src/QGCApplication.cc
View file @ 1c03185a
......@@ -65,6 +65,7 @@
#include "FlightModesComponentController.h"
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
#include "PowerComponentController.h"
#include "ScreenTools.h"
#include "MavManager.h"
......@@ -322,6 +323,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<FlightModesComponentController>("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
qmlRegisterType<AirframeComponentController>("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
qmlRegisterType<SensorsComponentController>("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
qmlRegisterType<PowerComponentController>("QGroundControl.Controllers", 1, 0, "PowerComponentController");
//-- Create QML Singleton Interfaces
qmlRegisterSingletonType<ScreenTools>("QGroundControl.ScreenTools", 1, 0, "ScreenTools", screenToolsSingletonFactory);
......
src/QmlControls/ScreenTools.cc
View file @ 1c03185a
......@@ -31,6 +31,8 @@
#include <QFontMetrics>
const double ScreenTools::_defaultFontPointSize = 13;
const double ScreenTools::_mediumFontPointSize = 16;
const double ScreenTools::_largeFontPointSize = 20;
ScreenTools::ScreenTools()
{
......@@ -92,7 +94,7 @@ void ScreenTools::_updatePixelSize()
void ScreenTools::_updateFontSize()
{
emit fontPointFactorChanged();
emit defaultFontPointSizeChanged();
emit fontSizesChanged();
}
double ScreenTools::fontPointFactor()
......@@ -109,3 +111,13 @@ double ScreenTools::defaultFontPointSize(void)
{
return _defaultFontPointSize * MainWindow::fontPointFactor();
}
double ScreenTools::mediumFontPointSize(void)
{
return _mediumFontPointSize * MainWindow::fontPointFactor();
}
double ScreenTools::largeFontPointSize(void)
{
return _largeFontPointSize * MainWindow::fontPointFactor();
}
src/QmlControls/ScreenTools.h
View file @ 1c03185a
......@@ -85,8 +85,13 @@ public:
Q_PROPERTY(double fontPointFactor READ fontPointFactor NOTIFY fontPointFactorChanged)
//! Returns the pixel size factor
Q_PROPERTY(double pixelSizeFactor READ pixelSizeFactor NOTIFY pixelSizeFactorChanged)
//! Returns the system wide default font point size (properly scaled)
Q_PROPERTY(double defaultFontPointSize READ defaultFontPointSize NOTIFY defaultFontPointSizeChanged)
Q_PROPERTY(double defaultFontPointSize READ defaultFontPointSize NOTIFY fontSizesChanged)
//! Returns the system wide default font point size (properly scaled)
Q_PROPERTY(double mediumFontPointSize READ mediumFontPointSize NOTIFY fontSizesChanged)
//! Returns the system wide default font point size (properly scaled)
Q_PROPERTY(double largeFontPointSize READ largeFontPointSize NOTIFY fontSizesChanged)
//! Utility for adjusting font point size. Not dynamic (no signals)
Q_INVOKABLE qreal adjustFontPointSize(qreal pointSize);
......@@ -113,6 +118,8 @@ public:
double fontPointFactor ();
double pixelSizeFactor ();
double defaultFontPointSize(void);
double mediumFontPointSize(void);
double largeFontPointSize(void);
#if defined (__android__)
bool isAndroid () { return true; }
......@@ -128,7 +135,7 @@ signals:
void repaintRequestedChanged();
void pixelSizeFactorChanged();
void fontPointFactorChanged();
void defaultFontPointSizeChanged();
void fontSizesChanged();
private slots:
void _updateCanvas();
......@@ -137,7 +144,8 @@ private slots:
private:
static const double _defaultFontPointSize;
static const double _mediumFontPointSize;
static const double _largeFontPointSize;
};
#endif
src/uas/UAS.cc
View file @ 1c03185a
......@@ -1455,6 +1455,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
int airspeedCal = 0;
int radioCal = 0;
int accelCal = 0;
int escCal = 0;
switch (calType) {
case StartCalibrationGyro:
......@@ -1475,6 +1476,9 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
case StartCalibrationLevel:
accelCal = 2;
break;
case StartCalibrationEsc:
escCal = 1;
break;
}
mavlink_message_t msg;
......@@ -1491,7 +1495,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
radioCal, // radio cal
accelCal, // accel cal
airspeedCal, // airspeed cal
0); // unused
escCal); // esc cal
sendMessage(msg);
}
......
src/uas/UASInterface.h
View file @ 1c03185a
......@@ -244,7 +244,8 @@ public:
StartCalibrationMag,
StartCalibrationAirspeed,
StartCalibrationAccel,
StartCalibrationLevel
StartCalibrationLevel,
StartCalibrationEsc
};
/// Starts the specified calibration
......
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