Re-did sensor calibration, WIP

qgroundcontrol.pro

@@ -292,7 +292,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/configuration/SerialSettingsDialog.ui \
     src/ui/configuration/ApmFirmwareConfig.ui \
     src/ui/px4_configuration/QGCPX4AirframeConfig.ui \
-    src/ui/px4_configuration/QGCPX4MulticopterConfig.ui
+    src/ui/px4_configuration/QGCPX4MulticopterConfig.ui \
+    src/ui/px4_configuration/QGCPX4SensorCalibration.ui
 
 INCLUDEPATH += src \
     src/ui \
@@ -496,7 +497,8 @@ HEADERS += src/MG.h \
     src/ui/QGCPendingParamWidget.h \
     src/ui/px4_configuration/QGCPX4AirframeConfig.h \
     src/ui/QGCBaseParamWidget.h \
-    src/ui/px4_configuration/QGCPX4MulticopterConfig.h
+    src/ui/px4_configuration/QGCPX4MulticopterConfig.h \
+    src/ui/px4_configuration/QGCPX4SensorCalibration.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -717,7 +719,8 @@ SOURCES += src/main.cc \
     src/ui/QGCPendingParamWidget.cc \
     src/ui/px4_configuration/QGCPX4AirframeConfig.cc \
     src/ui/QGCBaseParamWidget.cc \
-    src/ui/px4_configuration/QGCPX4MulticopterConfig.cc
+    src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
+    src/ui/px4_configuration/QGCPX4SensorCalibration.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

qgroundcontrol.qrc

@@ -167,6 +167,14 @@
         <file>files/images/px4/airframes/plane_ert.png</file>
         <file>files/images/px4/airframes/plane_aert.png</file>
         <file>files/images/px4/airframes/quad_h.png</file>
+        <file>files/images/px4/calibration/arrows.png</file>
+        <file>files/images/px4/calibration/accel_x+.png</file>
+        <file>files/images/px4/calibration/accel_x-.png</file>
+        <file>files/images/px4/calibration/accel_y-.png</file>
+        <file>files/images/px4/calibration/accel_z+.png</file>
+        <file>files/images/px4/calibration/accel_z-.png</file>
+        <file>files/images/px4/calibration/accel_y+.png</file>
+        <file>files/images/px4/calibration/mag_calibration_figure8.png</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">files/styles/Vera.ttf</file>

src/ui/QGCPX4VehicleConfig.cc

@@ -21,6 +21,7 @@
 #include "UASParameterCommsMgr.h"
 #include "ui_QGCPX4VehicleConfig.h"
 #include "px4_configuration/QGCPX4AirframeConfig.h"
+#include "px4_configuration/QGCPX4SensorCalibration.h"
 #include <dialog_bare.h>
 
 #define WIDGET_INDEX_FIRMWARE 0
@@ -54,6 +55,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     calibrationEnabled(false),
     configEnabled(false),
     px4AirframeConfig(NULL),
+    px4SensorCalibration(NULL),
     #ifdef QUPGRADE_SUPPORT
     firmwareDialog(NULL),
     #endif
@@ -90,6 +92,9 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     px4AirframeConfig = new QGCPX4AirframeConfig(this);
     ui->airframeLayout->addWidget(px4AirframeConfig);
 
+    px4SensorCalibration = new QGCPX4SensorCalibration(this);
+    ui->sensorLayout->addWidget(px4SensorCalibration);
+
 #ifdef QUPGRADE_SUPPORT
     firmwareDialog = new DialogBare(this);
     ui->firmwareLayout->addWidget(firmwareDialog);
@@ -635,44 +640,6 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
             }
         }
     }
-
-
-    // Load general calibration for autopilot
-    //TODO: Handle this more gracefully, maybe have it scan the directory for multiple calibration entries?
-    tool = new QGCToolWidget("", ui->sensorContents);
-    tool->addUAS(mav);
-    if (tool->loadSettings(autopilotdir.absolutePath() + "/general/calibration/calibration.qgw", false))
-    {
-        toolWidgets.append(tool);
-        QGroupBox *box = new QGroupBox(ui->sensorContents);
-        box->setTitle(tool->objectName());
-        box->setLayout(new QVBoxLayout(box));
-        box->layout()->addWidget(tool);
-        ui->sensorLayout->addWidget(box);
-    } else {
-        delete tool;
-    }
-
-    // Load vehicle-specific autopilot configuration
-    tool = new QGCToolWidget("", ui->sensorContents);
-    tool->addUAS(mav);
-    if (tool->loadSettings(autopilotdir.absolutePath() + "/" +  mav->getSystemTypeName().toLower() + "/calibration/calibration.qgw", false))
-    {
-        toolWidgets.append(tool);
-        QGroupBox *box = new QGroupBox(ui->sensorContents);
-        box->setTitle(tool->objectName());
-        box->setLayout(new QVBoxLayout(box));
-        box->layout()->addWidget(tool);
-        ui->sensorLayout->addWidget(box);
-    } else {
-        delete tool;
-    }
-
-//    //description.txt
-//    QFile sensortipsfile(autopilotdir.absolutePath() + "/general/calibration/description.txt");
-//    sensortipsfile.open(QIODevice::ReadOnly);
-////    ui->sensorTips->setHtml(sensortipsfile.readAll());
-//    sensortipsfile.close();
 }
 void QGCPX4VehicleConfig::menuButtonClicked()
 {
@@ -1056,7 +1023,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
         foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
-        foreach(QWidget* child, ui->sensorContents->findChildren<QWidget*>()) {
+        foreach(QWidget* child, ui->sensorLayout->findChildren<QWidget*>()) {
             child->deleteLater();
         }
 

src/ui/QGCPX4VehicleConfig.h

@@ -15,6 +15,7 @@
 
 class UASParameterCommsMgr;
 class DialogBare;
+class QGCPX4SensorCalibration;
 
 namespace Ui {
 class QGCPX4VehicleConfig;
@@ -322,6 +323,7 @@ protected:
 
     QGCPX4AirframeConfig* px4AirframeConfig;
     DialogBare* firmwareDialog;
+    QGCPX4SensorCalibration* px4SensorCalibration;
     QMessageBox msgBox;
     QPushButton* skipActionButton;
 

src/ui/QGCPX4VehicleConfig.ui

@@ -154,7 +154,7 @@ Config</string>
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>5</number>
+        <number>2</number>
        </property>
        <widget class="QWidget" name="firmwareTab">
         <layout class="QVBoxLayout" name="firmwareLayout">
@@ -918,33 +918,7 @@ Config</string>
           <bold>true</bold>
          </font>
         </property>
-        <layout class="QHBoxLayout" name="horizontalLayout">
-         <item>
-          <widget class="QGCMessageView" name="widget" native="true"/>
-         </item>
-         <item>
-          <widget class="QScrollArea" name="scrollArea_3">
-           <property name="widgetResizable">
-            <bool>true</bool>
-           </property>
-           <widget class="QWidget" name="sensorContents">
-            <property name="geometry">
-             <rect>
-              <x>0</x>
-              <y>0</y>
-              <width>39</width>
-              <height>26</height>
-             </rect>
-            </property>
-            <layout class="QVBoxLayout" name="verticalLayout_10">
-             <item>
-              <layout class="QVBoxLayout" name="sensorLayout"/>
-             </item>
-            </layout>
-           </widget>
-          </widget>
-         </item>
-        </layout>
+        <layout class="QHBoxLayout" name="sensorLayout"/>
        </widget>
        <widget class="QWidget" name="airframeTab">
         <layout class="QHBoxLayout" name="airframeLayout"/>
@@ -1020,8 +994,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>16</width>
-                   <height>16</height>
+                   <width>98</width>
+                   <height>28</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_4">
@@ -1057,8 +1031,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>16</width>
-                   <height>16</height>
+                   <width>98</width>
+                   <height>28</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_5">
@@ -1272,12 +1246,6 @@ Config</string>
    <header>ui/QGCPendingParamWidget.h</header>
    <container>1</container>
   </customwidget>
-  <customwidget>
-   <class>QGCMessageView</class>
-   <extends>QWidget</extends>
-   <header location="global">QGCMessageView.h</header>
-   <container>1</container>
-  </customwidget>
   <customwidget>
    <class>QGCParamWidget</class>
    <extends>QWidget</extends>

src/ui/px4_configuration/QGCPX4SensorCalibration.cc

+#include "QGCPX4SensorCalibration.h"
+#include "ui_QGCPX4SensorCalibration.h"
+#include <UASManager.h>
+#include <QMenu>
+#include <QScrollBar>
+
+QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
+    QWidget(parent),
+    activeUAS(NULL),
+    clearAction(new QAction(tr("Clear Text"), this)),
+    ui(new Ui::QGCPX4SensorCalibration)
+{
+    ui->setupUi(this);
+    connect(clearAction, SIGNAL(triggered()), ui->textView, SLOT(clear()));
+
+    setInstructionImage("./files/images/px4/calibration/accel_z-.png");
+
+    setObjectName("PX4_SENSOR_CALIBRATION");
+
+    setStyleSheet("QScrollArea { border: 0px; } QPlainTextEdit { border: 0px }");
+
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+}
+
+QGCPX4SensorCalibration::~QGCPX4SensorCalibration()
+{
+    delete ui;
+}
+
+void QGCPX4SensorCalibration::setInstructionImage(const QString &path)
+{
+    instructionIcon.load(path);
+
+    int w = ui->iconLabel->width();
+    int h = ui->iconLabel->height();
+
+    ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio));
+}
+
+void QGCPX4SensorCalibration::resizeEvent(QResizeEvent* event)
+{
+
+    int w = ui->iconLabel->width();
+    int h = ui->iconLabel->height();
+
+    ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio));
+
+    QWidget::resizeEvent(event);
+}
+
+void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas)
+{
+    if (!uas)
+        return;
+
+    if (activeUAS) {
+        disconnect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
+        ui->textView->clear();
+    }
+
+    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)
+{
+    // XXX color messages according to severity
+
+    QPlainTextEdit *msgWidget = ui->textView;
+
+    //turn off updates while we're appending content to avoid breaking the autoscroll behavior
+    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));
+    }
+
+    // Ensure text area scrolls correctly
+    scroller->setValue(scroller->maximum());
+    msgWidget->setUpdatesEnabled(true);
+
+}
+
+void QGCPX4SensorCalibration::contextMenuEvent(QContextMenuEvent* event)
+{
+    QMenu menu(this);
+    menu.addAction(clearAction);
+    menu.exec(event->globalPos());
+}

src/ui/px4_configuration/QGCPX4SensorCalibration.h

+#ifndef QGCPX4SENSORCALIBRATION_H
+#define QGCPX4SENSORCALIBRATION_H
+
+#include <QWidget>
+#include <UASInterface.h>
+#include <QAction>
+
+namespace Ui {
+class QGCPX4SensorCalibration;
+}
+
+class QGCPX4SensorCalibration : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCPX4SensorCalibration(QWidget *parent = 0);
+    ~QGCPX4SensorCalibration();
+
+public slots:
+    /**
+     * @brief Set currently active UAS
+     * @param uas the current active UAS
+     */
+    void setActiveUAS(UASInterface* uas);
+    /**
+     * @brief Handle text message from current active UAS
+     * @param uasid
+     * @param componentid
+     * @param severity
+     * @param text
+     */
+    void handleTextMessage(int uasid, int componentid, int severity, QString text);
+
+    /**
+     * @brief Hand context menu event
+     * @param event
+     */
+    virtual void contextMenuEvent(QContextMenuEvent* event);
+
+    void setInstructionImage(const QString &path);
+
+protected:
+    UASInterface* activeUAS;
+    QAction* clearAction;
+    QPixmap instructionIcon;
+
+    virtual void resizeEvent(QResizeEvent* event);
+    
+private:
+    Ui::QGCPX4SensorCalibration *ui;
+};
+
+#endif // QGCPX4SENSORCALIBRATION_H

src/ui/px4_configuration/QGCPX4SensorCalibration.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCPX4SensorCalibration</class>
+ <widget class="QWidget" name="QGCPX4SensorCalibration">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>531</width>
+    <height>448</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QPushButton#magButton {
+   background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
+    border-radius: 8px;
+    min-height: 25px;
+    max-height: 30px;
+    min-width: 60px;
+    max-width: 140px;
+	margin: 5px;
+    border: 2px solid #465158;
+}
+
+QPushButton#gyroButton, QPushButton#accelButton {
+   background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #D3795D, stop: 1 #A81154);
+    border-radius: 8px;
+    min-height: 25px;
+    max-height: 30px;
+    min-width: 60px;
+    max-width: 140px;
+	margin: 5px;
+    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/>
+     </property>
+     <property name="scaledContents">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QLabel" name="instructionLabel">
+     <property name="text">
+      <string>To calibrate the system, execute the three calibration steps below.</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="3">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>498</width>
+       <height>21</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="4" 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">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QPushButton" name="magButton">
+       <property name="text">
+        <string>Magnetometer</string>
+       </property>
+       <property name="icon">
+        <iconset resource="../../../qgroundcontrol.qrc">
+         <normaloff>:/files/images/px4/calibration/arrows.png</normaloff>:/files/images/px4/calibration/arrows.png</iconset>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="gyroButton">
+       <property name="text">
+        <string>Gyroscope</string>
+       </property>
+       <property name="icon">
+        <iconset resource="../../../qgroundcontrol.qrc">
+         <normaloff>:/files/images/px4/calibration/arrows.png</normaloff>:/files/images/px4/calibration/arrows.png</iconset>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="accelButton">
+       <property name="text">
+        <string>Accelerometer</string>
+       </property>
+       <property name="icon">
+        <iconset resource="../../../qgroundcontrol.qrc">
+         <normaloff>:/files/images/px4/calibration/arrows.png</normaloff>:/files/images/px4/calibration/arrows.png</iconset>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="5" column="2">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="../../../qgroundcontrol.qrc"/>
+ </resources>
+ <connections/>
+</ui>