diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index da5e40132490e10b744caa4bc7d9024a395bd2ad..9d95909a76994342dec5de2003f3b9112626031b 100644
--- a/qgroundcontrol.pro
+++ b/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 \
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index df569ec384b32ef02d97f20267f5d3d16f40dd07..d48a6f478bd352fc5d2c99173dff4e441430c2ca 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -111,6 +111,8 @@
src/AutoPilotPlugins/PX4/SensorsComponent.qml
src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml
src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml
+ src/AutoPilotPlugins/APM/APMSensorsComponent.qml
+ src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
src/VehicleSetup/SetupParameterEditor.qml
src/VehicleSetup/SetupView.qml
src/test.qml
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
index f29cd98c221544661ec4d544d9e76c09a12a69b8..93d9fe19ee755fa589e35ee0786ca7c183e8dac9 100644
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
@@ -1,5 +1,5 @@
/*=====================================================================
-
+
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT
@@ -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);
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
index 60691ce8bc790f91c270b3bd8a015fbe42ba8dff..93b564812dfdf835e03b932276a1f95d65053bb8 100644
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
+++ b/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
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponent.cc b/src/AutoPilotPlugins/APM/APMSensorsComponent.cc
new file mode 100644
index 0000000000000000000000000000000000000000..da9ed08a5e57a75deecddfa0db0fefa734c0181a
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponent.cc
@@ -0,0 +1,116 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT
+
+ 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 .
+
+ ======================================================================*/
+
+#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(_autopilot);
+ Q_ASSERT(plugin);
+
+ if (!plugin->airframeComponent()->setupComplete()) {
+ return plugin->airframeComponent()->name();
+ }
+
+ return QString();
+}
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponent.h b/src/AutoPilotPlugins/APM/APMSensorsComponent.h
new file mode 100644
index 0000000000000000000000000000000000000000..aa53a5bbec815dd0cf68cf274266b55e2c6fa42c
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponent.h
@@ -0,0 +1,56 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT
+
+ 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 .
+
+ ======================================================================*/
+
+#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
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponent.qml b/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
new file mode 100644
index 0000000000000000000000000000000000000000..4fd3d21a5bd03113d52cf945cf76abcd24dadda9
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
@@ -0,0 +1,565 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT
+
+ 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 .
+
+ ======================================================================*/
+
+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
+
+QGCView {
+ id: rootQGCView
+ viewPanel: panel
+
+ // Help text which is shown both in the status text area prior to pressing a cal button and in the
+ // pre-calibration dialog.
+
+ readonly property string boardRotationText: "If the autopilot is mounted in flight direction, leave the default value (None)"
+ readonly property string compassRotationText: "If the compass or GPS module is mounted in flight direction, leave the default value (None)"
+
+ readonly property string compassHelp: "For Compass calibration you will need to rotate your vehicle through a number of positions. Most users prefer to do this wirelessly with the telemetry link."
+ readonly property string gyroHelp: "For Gyroscope calibration you will need to place your vehicle on a surface and leave it still."
+ readonly property string accelHelp: "For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds."
+ readonly property string levelHelp: "To level the horizon you need to place the vehicle in its level flight position and press OK."
+ readonly property string airspeedHelp: "For Airspeed calibration you will need to keep your airspeed sensor out of any wind and then blow across the sensor."
+
+ readonly property string statusTextAreaDefaultText: "Start the individual calibration steps by clicking one of the buttons above."
+
+ // Used to pass what type of calibration is being performed to the preCalibrationDialog
+ property string preCalibrationDialogType
+
+ // Used to pass help text to the preCalibrationDialog dialog
+ property string preCalibrationDialogHelp
+
+ readonly property int sideBarH1PointSize: ScreenTools.mediumFontPixelSize
+ readonly property int mainTextH1PointSize: ScreenTools.mediumFontPixelSize // Seems to be unused
+
+ readonly property int rotationColumnWidth: 250
+ readonly property var rotations: [
+ "None",
+ "Yaw 45",
+ "Yaw 90",
+ "Yaw 135",
+ "Yaw 180",
+ "Yaw 225",
+ "Yaw 270",
+ "Yaw 315",
+ "Roll 180",
+ "Roll 180. Yaw 45",
+ "Roll 180. Yaw 90",
+ "Roll 180. Yaw 135",
+ "Pitch 180",
+ "Roll 180. Yaw 225",
+ "Roll 180, Yaw 270",
+ "Roll 180, Yaw 315",
+ "Roll 90",
+ "Roll 90, Yaw 45",
+ "Roll 90, Yaw 90",
+ "Roll 90, Yaw 135",
+ "Roll 270",
+ "Roll 270, Yaw 45",
+ "Roll 270, Yaw 90",
+ "Roll 270, Yaw 136",
+ "Pitch 90",
+ "Pitch 270",
+ "Pitch 180, Yaw 90",
+ "Pitch 180, Yaw 270",
+ "Roll 90, Pitch 90",
+ "Roll 180, Pitch 90",
+ "Roll 270, Pitch 90",
+ "Roll 90, Pitch 180",
+ "Roll 270, Pitch 180",
+ "Roll 90, Pitch 270",
+ "Roll 180, Pitch 270",
+ "Roll 270, Pitch 270",
+ "Roll 90, Pitch 180, Yaw 90",
+ "Roll 90, Yaw 270",
+ "Yaw 293, Pitch 68, Roll 90",
+ ]
+
+ property Fact cal_mag0_id: controller.getParameterFact(-1, "COMPASS_DEV_ID")
+ property Fact cal_mag1_id: controller.getParameterFact(-1, "COMPASS_DEV_ID2")
+ property Fact cal_mag2_id: controller.getParameterFact(-1, "COMPASS_DEV_ID3")
+ property Fact cal_mag0_rot: controller.getParameterFact(-1, "COMPASS_ORIENT")
+ property Fact cal_mag1_rot: controller.getParameterFact(-1, "COMPASS_ORIENT2")
+ property Fact cal_mag2_rot: controller.getParameterFact(-1, "COMPASS_ORIENT3")
+
+ property Fact sens_board_rot: controller.getParameterFact(-1, "AHRS_ORIENTATION")
+
+ /*
+ property Fact cal_gyro0_id: controller.getParameterFact(-1, "CAL_GYRO0_ID")
+ property Fact cal_acc0_id: controller.getParameterFact(-1, "CAL_ACC0_ID")
+
+ property Fact sens_board_x_off: controller.getParameterFact(-1, "SENS_BOARD_X_OFF")
+ property Fact sens_dpres_off: controller.getParameterFact(-1, "SENS_DPRES_OFF")
+ */
+
+ 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
+
+ // Id > = signals compass available, rot < 0 signals internal compass
+ property bool showCompass0Rot: cal_mag0_id.value > 0 && cal_mag0_rot.value >= 0
+ property bool showCompass1Rot: cal_mag1_id.value > 0 && cal_mag1_rot.value >= 0
+ property bool showCompass2Rot: cal_mag2_id.value > 0 && cal_mag2_rot.value >= 0
+
+ APMSensorsComponentController {
+ id: controller
+ factPanel: panel
+ statusLog: statusTextArea
+ progressBar: progressBar
+ compassButton: compassButton
+ accelButton: accelButton
+ nextButton: nextButton
+ cancelButton: cancelButton
+ orientationCalAreaHelpText: orientationCalAreaHelpText
+
+ onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
+
+ onSetCompassRotations: {
+ if (showCompass0Rot || showCompass1Rot || showCompass2Rot) {
+ showDialog(compassRotationDialogComponent, "Set Compass Rotation(s)", 50, StandardButton.Ok)
+ }
+ }
+
+ onWaitingForCancelChanged: {
+ if (controller.waitingForCancel) {
+ showMessage("Calibration Cancel", "Waiting for Vehicle to response to Cancel. This may take a few seconds.", 0)
+ } else {
+ hideDialog()
+ }
+ }
+ }
+
+ QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
+
+ Component {
+ id: preCalibrationDialogComponent
+
+ QGCViewDialog {
+ id: preCalibrationDialog
+
+ function accept() {
+ if (preCalibrationDialogType == "gyro") {
+ controller.calibrateGyro()
+ } else if (preCalibrationDialogType == "accel") {
+ controller.calibrateAccel()
+ } else if (preCalibrationDialogType == "level") {
+ controller.calibrateLevel()
+ } else if (preCalibrationDialogType == "compass") {
+ controller.calibrateCompass()
+ } else if (preCalibrationDialogType == "airspeed") {
+ controller.calibrateAirspeed()
+ }
+ preCalibrationDialog.hideDialog()
+ }
+
+ Column {
+ anchors.fill: parent
+ spacing: 5
+
+ QGCLabel {
+ width: parent.width
+ wrapMode: Text.WordWrap
+ text: preCalibrationDialogHelp
+ }
+
+ QGCLabel {
+ width: parent.width
+ wrapMode: Text.WordWrap
+ visible: (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
+ text: boardRotationText
+ }
+
+ FactComboBox {
+ width: rotationColumnWidth
+ model: rotations
+ visible: preCalibrationDialogType != "airspeed" && (preCalibrationDialogType != "gyro")
+ fact: sens_board_rot
+ }
+ }
+ }
+ }
+
+ Component {
+ id: compassRotationDialogComponent
+
+ QGCViewDialog {
+ id: compassRotationDialog
+
+ Column {
+ anchors.fill: parent
+ spacing: ScreenTools.defaultFontPixelHeight
+
+ QGCLabel {
+ width: parent.width
+ wrapMode: Text.WordWrap
+ text: compassRotationText
+ }
+
+ // Compass 0 rotation
+ Component {
+ id: compass0ComponentLabel
+
+ QGCLabel {
+ font.pixelSize: sideBarH1PointSize
+ text: "External Compass Orientation"
+ }
+
+ }
+ Component {
+ id: compass0ComponentCombo
+
+ FactComboBox {
+ id: compass0RotationCombo
+ width: rotationColumnWidth
+ model: rotations
+ fact: cal_mag0_rot
+ }
+ }
+ Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel : null }
+ Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo : null }
+ // Compass 1 rotation
+ Component {
+ id: compass1ComponentLabel
+
+ QGCLabel { text: "Compass 1 Orientation" }
+ }
+ Component {
+ id: compass1ComponentCombo
+
+ FactComboBox {
+ id: compass1RotationCombo
+ width: rotationColumnWidth
+ model: rotations
+ fact: cal_mag1_rot
+ }
+ }
+ Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel : null }
+ Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo : null }
+
+ // Compass 2 rotation
+ Component {
+ id: compass2ComponentLabel
+
+ QGCLabel { text: "Compass 2 Orientation" }
+ }
+ Component {
+ id: compass2ComponentCombo
+
+ FactComboBox {
+ id: compass1RotationCombo
+ width: rotationColumnWidth
+ model: rotations
+ fact: cal_mag2_rot
+ }
+ }
+ Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel : null }
+ Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo : null }
+ } // Column
+ } // QGCViewDialog
+ } // Component - compassRotationDialogComponent
+
+ QGCViewPanel {
+ id: panel
+ anchors.fill: parent
+
+ Column {
+ anchors.fill: parent
+
+ Row {
+ readonly property int buttonWidth: ScreenTools.defaultFontPixelWidth * 15
+
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ QGCLabel { text: "Calibrate:"; anchors.baseline: compassButton.baseline }
+
+ IndicatorButton {
+ id: compassButton
+ width: parent.buttonWidth
+ text: "Compass - NYI"
+ indicatorGreen: !compassCalNeeded
+
+ onClicked: {
+ preCalibrationDialogType = "compass"
+ preCalibrationDialogHelp = compassHelp
+ showDialog(preCalibrationDialogComponent, "Calibrate Compass", 50, StandardButton.Cancel | StandardButton.Ok)
+ }
+ }
+
+ IndicatorButton {
+ id: accelButton
+ width: parent.buttonWidth
+ text: "Accelerometer"
+ indicatorGreen: !accelCalNeeded
+
+ onClicked: {
+ preCalibrationDialogType = "accel"
+ preCalibrationDialogHelp = accelHelp
+ showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", 50, StandardButton.Cancel | StandardButton.Ok)
+ }
+ }
+ QGCButton {
+ id: nextButton
+ showBorder: true
+ text: "Next"
+ enabled: false
+ onClicked: controller.nextClicked()
+ }
+
+ QGCButton {
+ id: cancelButton
+ showBorder: true
+ text: "Cancel"
+ enabled: false
+ onClicked: controller.cancelCalibration()
+ }
+ }
+
+ Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
+
+ ProgressBar {
+ id: progressBar
+ width: parent.width - rotationColumnWidth
+ }
+
+ Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
+
+ Item {
+ property int calDisplayAreaWidth: parent.width - rotationColumnWidth
+
+ width: parent.width
+ height: parent.height - y
+
+ TextArea {
+ id: statusTextArea
+ width: parent.calDisplayAreaWidth
+ height: parent.height
+ readOnly: true
+ frameVisible: false
+ text: statusTextAreaDefaultText
+
+ style: TextAreaStyle {
+ textColor: qgcPal.text
+ backgroundColor: qgcPal.windowShade
+ }
+ }
+
+ Rectangle {
+ id: orientationCalArea
+ width: parent.calDisplayAreaWidth
+ height: parent.height
+ visible: controller.showOrientationCalArea
+ color: qgcPal.windowShade
+
+ QGCLabel {
+ id: orientationCalAreaHelpText
+ anchors.margins: ScreenTools.defaultFontPixelWidth
+ anchors.top: orientationCalArea.top
+ anchors.left: orientationCalArea.left
+ width: parent.width
+ wrapMode: Text.WordWrap
+ font.pixelSize: ScreenTools.mediumFontPixelSize
+ }
+
+ Flow {
+ anchors.topMargin: ScreenTools.defaultFontPixelWidth
+ anchors.top: orientationCalAreaHelpText.bottom
+ anchors.left: orientationCalAreaHelpText.left
+ width: parent.width
+ height: parent.height - orientationCalAreaHelpText.implicitHeight
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ VehicleRotationCal {
+ visible: controller.orientationCalDownSideVisible
+ calValid: controller.orientationCalDownSideDone
+ calInProgress: controller.orientationCalDownSideInProgress
+ calInProgressText: controller.orientationCalDownSideRotate ? "Rotate" : "Hold Still"
+ imageSource: controller.orientationCalDownSideRotate ? "qrc:///qmlimages/VehicleDownRotate.png" : "qrc:///qmlimages/VehicleDown.png"
+ }
+ VehicleRotationCal {
+ visible: controller.orientationCalUpsideDownSideVisible
+ calValid: controller.orientationCalUpsideDownSideDone
+ calInProgress: controller.orientationCalUpsideDownSideInProgress
+ calInProgressText: controller.orientationCalUpsideDownSideRotate ? "Rotate" : "Hold Still"
+ imageSource: "qrc:///qmlimages/VehicleUpsideDown.png"
+ }
+ VehicleRotationCal {
+ visible: controller.orientationCalNoseDownSideVisible
+ calValid: controller.orientationCalNoseDownSideDone
+ calInProgress: controller.orientationCalNoseDownSideInProgress
+ calInProgressText: controller.orientationCalNoseDownSideRotate ? "Rotate" : "Hold Still"
+ imageSource: controller.orientationCalNoseDownSideRotate ? "qrc:///qmlimages/VehicleNoseDownRotate.png" : "qrc:///qmlimages/VehicleNoseDown.png"
+ }
+ VehicleRotationCal {
+ visible: controller.orientationCalTailDownSideVisible
+ calValid: controller.orientationCalTailDownSideDone
+ calInProgress: controller.orientationCalTailDownSideInProgress
+ calInProgressText: controller.orientationCalTailDownSideRotate ? "Rotate" : "Hold Still"
+ imageSource: "qrc:///qmlimages/VehicleTailDown.png"
+ }
+ VehicleRotationCal {
+ visible: controller.orientationCalLeftSideVisible
+ calValid: controller.orientationCalLeftSideDone
+ calInProgress: controller.orientationCalLeftSideInProgress
+ calInProgressText: controller.orientationCalLeftSideRotate ? "Rotate" : "Hold Still"
+ imageSource: controller.orientationCalLeftSideRotate ? "qrc:///qmlimages/VehicleLeftRotate.png" : "qrc:///qmlimages/VehicleLeft.png"
+ }
+ VehicleRotationCal {
+ visible: controller.orientationCalRightSideVisible
+ calValid: controller.orientationCalRightSideDone
+ calInProgress: controller.orientationCalRightSideInProgress
+ calInProgressText: controller.orientationCalRightSideRotate ? "Rotate" : "Hold Still"
+ imageSource: "qrc:///qmlimages/VehicleRight.png"
+ }
+ }
+ }
+
+ Column {
+ anchors.leftMargin: ScreenTools.defaultFontPixelWidth
+ anchors.left: orientationCalArea.right
+ x: parent.width - rotationColumnWidth
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ Column {
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ QGCLabel {
+ font.pixelSize: sideBarH1PointSize
+ text: "Autopilot Orientation"
+ }
+
+ QGCLabel {
+ width: parent.width
+ wrapMode: Text.WordWrap
+ text: boardRotationText
+ }
+
+ FactComboBox {
+ id: boardRotationCombo
+ width: rotationColumnWidth;
+ model: rotations
+ fact: sens_board_rot
+ }
+ }
+
+ Column {
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ // Compass 0 rotation
+ Component {
+ id: compass0ComponentLabel2
+
+ QGCLabel {
+ font.pixelSize: sideBarH1PointSize
+ text: "External Compass Orientation"
+ }
+ }
+
+ Component {
+ id: compass0ComponentCombo2
+
+ FactComboBox {
+ id: compass0RotationCombo
+ width: rotationColumnWidth
+ model: rotations
+ fact: cal_mag0_rot
+ }
+ }
+
+ Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null }
+ Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null }
+ }
+
+ Column {
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ // Compass 1 rotation
+ Component {
+ id: compass1ComponentLabel2
+
+ QGCLabel {
+ font.pixelSize: sideBarH1PointSize
+ text: "External Compass 1 Orientation"
+ }
+ }
+
+ Component {
+ id: compass1ComponentCombo2
+
+ FactComboBox {
+ id: compass1RotationCombo
+ width: rotationColumnWidth
+ model: rotations
+ fact: cal_mag1_rot
+ }
+ }
+
+ Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null }
+ Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null }
+ }
+
+ Column {
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ // Compass 2 rotation
+ Component {
+ id: compass2ComponentLabel2
+
+ QGCLabel {
+ font.pixelSize: sidebarH1PointSize
+ text: "Compass 2 Orientation"
+ }
+ }
+
+ Component {
+ id: compass2ComponentCombo2
+
+ FactComboBox {
+ id: compass1RotationCombo
+ width: rotationColumnWidth
+ model: rotations
+ fact: cal_mag2_rot
+ }
+ }
+ Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel2 : null }
+ Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo2 : null }
+ }
+ }
+ }
+ }
+ } // QGCViewPanel
+} // QGCView
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
new file mode 100644
index 0000000000000000000000000000000000000000..2a267d33c227f5b9ae372914383ef293272b3a62
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
@@ -0,0 +1,469 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT
+
+ 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 .
+
+ ======================================================================*/
+
+#include "APMSensorsComponentController.h"
+#include "QGCMAVLink.h"
+#include "UAS.h"
+#include "QGCApplication.h"
+
+#include
+#include
+
+QGC_LOGGING_CATEGORY(APMSensorsComponentControllerLog, "APMSensorsComponentControllerLog")
+
+APMSensorsComponentController::APMSensorsComponentController(void) :
+ _statusLog(NULL),
+ _progressBar(NULL),
+ _compassButton(NULL),
+ _accelButton(NULL),
+ _nextButton(NULL),
+ _cancelButton(NULL),
+ _showOrientationCalArea(false),
+ _gyroCalInProgress(false),
+ _magCalInProgress(false),
+ _accelCalInProgress(false),
+ _orientationCalDownSideDone(false),
+ _orientationCalUpsideDownSideDone(false),
+ _orientationCalLeftSideDone(false),
+ _orientationCalRightSideDone(false),
+ _orientationCalNoseDownSideDone(false),
+ _orientationCalTailDownSideDone(false),
+ _orientationCalDownSideVisible(false),
+ _orientationCalUpsideDownSideVisible(false),
+ _orientationCalLeftSideVisible(false),
+ _orientationCalRightSideVisible(false),
+ _orientationCalNoseDownSideVisible(false),
+ _orientationCalTailDownSideVisible(false),
+ _orientationCalDownSideInProgress(false),
+ _orientationCalUpsideDownSideInProgress(false),
+ _orientationCalLeftSideInProgress(false),
+ _orientationCalRightSideInProgress(false),
+ _orientationCalNoseDownSideInProgress(false),
+ _orientationCalTailDownSideInProgress(false),
+ _orientationCalDownSideRotate(false),
+ _orientationCalUpsideDownSideRotate(false),
+ _orientationCalLeftSideRotate(false),
+ _orientationCalRightSideRotate(false),
+ _orientationCalNoseDownSideRotate(false),
+ _orientationCalTailDownSideRotate(false),
+ _waitingForCancel(false)
+{
+
+}
+
+/// Appends the specified text to the status log area in the ui
+void APMSensorsComponentController::_appendStatusLog(const QString& text)
+{
+ Q_ASSERT(_statusLog);
+
+ QVariant returnedValue;
+ QVariant varText = text;
+ QMetaObject::invokeMethod(_statusLog,
+ "append",
+ Q_RETURN_ARG(QVariant, returnedValue),
+ Q_ARG(QVariant, varText));
+}
+
+void APMSensorsComponentController::_startLogCalibration(void)
+{
+ _hideAllCalAreas();
+
+ connect(_uas, &UASInterface::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
+
+ _compassButton->setEnabled(false);
+ _accelButton->setEnabled(false);
+ _nextButton->setEnabled(true);
+ _cancelButton->setEnabled(false);
+}
+
+void APMSensorsComponentController::_startVisualCalibration(void)
+{
+ _compassButton->setEnabled(false);
+ _accelButton->setEnabled(false);
+ _cancelButton->setEnabled(true);
+
+ _resetInternalState();
+
+ _progressBar->setProperty("value", 0);
+}
+
+void APMSensorsComponentController::_resetInternalState(void)
+{
+ _orientationCalDownSideDone = true;
+ _orientationCalUpsideDownSideDone = true;
+ _orientationCalLeftSideDone = true;
+ _orientationCalRightSideDone = true;
+ _orientationCalTailDownSideDone = true;
+ _orientationCalNoseDownSideDone = true;
+ _orientationCalDownSideInProgress = false;
+ _orientationCalUpsideDownSideInProgress = false;
+ _orientationCalLeftSideInProgress = false;
+ _orientationCalRightSideInProgress = false;
+ _orientationCalNoseDownSideInProgress = false;
+ _orientationCalTailDownSideInProgress = false;
+ _orientationCalDownSideRotate = false;
+ _orientationCalUpsideDownSideRotate = false;
+ _orientationCalLeftSideRotate = false;
+ _orientationCalRightSideRotate = false;
+ _orientationCalNoseDownSideRotate = false;
+ _orientationCalTailDownSideRotate = false;
+
+ emit orientationCalSidesRotateChanged();
+ emit orientationCalSidesDoneChanged();
+ emit orientationCalSidesInProgressChanged();
+}
+
+void APMSensorsComponentController::_stopCalibration(APMSensorsComponentController::StopCalibrationCode code)
+{
+ disconnect(_uas, &UASInterface::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
+
+ _compassButton->setEnabled(true);
+ _accelButton->setEnabled(true);
+ _nextButton->setEnabled(false);
+ _cancelButton->setEnabled(false);
+
+ if (code == StopCalibrationSuccess) {
+ _resetInternalState();
+ _progressBar->setProperty("value", 1);
+ } else {
+ _progressBar->setProperty("value", 0);
+ }
+
+ _waitingForCancel = false;
+ emit waitingForCancelChanged();
+
+ _refreshParams();
+
+ switch (code) {
+ case StopCalibrationSuccess:
+ _orientationCalAreaHelpText->setProperty("text", "Calibration complete");
+ emit resetStatusTextArea();
+ if (_magCalInProgress) {
+ emit setCompassRotations();
+ }
+ break;
+
+ case StopCalibrationCancelled:
+ emit resetStatusTextArea();
+ _hideAllCalAreas();
+ break;
+
+ default:
+ // Assume failed
+ _hideAllCalAreas();
+ qgcApp()->showMessage("Calibration failed. Calibration log will be displayed.");
+ break;
+ }
+
+ _magCalInProgress = false;
+ _accelCalInProgress = false;
+ _gyroCalInProgress = false;
+}
+
+void APMSensorsComponentController::calibrateGyro(void)
+{
+ _startLogCalibration();
+ _uas->startCalibration(UASInterface::StartCalibrationGyro);
+}
+
+void APMSensorsComponentController::calibrateCompass(void)
+{
+ _startLogCalibration();
+ _uas->startCalibration(UASInterface::StartCalibrationMag);
+}
+
+void APMSensorsComponentController::calibrateAccel(void)
+{
+ _startLogCalibration();
+ _uas->startCalibration(UASInterface::StartCalibrationAccel);
+}
+
+void APMSensorsComponentController::calibrateLevel(void)
+{
+ _startLogCalibration();
+ _uas->startCalibration(UASInterface::StartCalibrationLevel);
+}
+
+void APMSensorsComponentController::calibrateAirspeed(void)
+{
+ _startLogCalibration();
+ _uas->startCalibration(UASInterface::StartCalibrationAirspeed);
+}
+
+void APMSensorsComponentController::_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;
+ }
+
+ if (text.startsWith("PreArm:") || text.startsWith("EKF") || text.startsWith("Arm") || text.startsWith("Initialising")) {
+ return;
+ }
+
+ QString anyKey("and press any");
+ if (text.contains(anyKey)) {
+ text = text.left(text.indexOf(anyKey)) + "and click Next to continue.";
+ }
+
+ _appendStatusLog(text);
+ qCDebug(APMSensorsComponentControllerLog) << text << severity;
+
+ if (text.contains("Calibration successful")) {
+ _stopCalibration(StopCalibrationSuccess);
+ return;
+ }
+
+ if (text.contains("FAILED")) {
+ _stopCalibration(StopCalibrationFailed);
+ return;
+ }
+
+/*
+ // All calibration messages start with [cal]
+ QString calPrefix("[cal] ");
+ if (!text.startsWith(calPrefix)) {
+ return;
+ }
+ text = text.right(text.length() - calPrefix.length());
+
+ QString calStartPrefix("calibration started: ");
+ if (text.startsWith(calStartPrefix)) {
+ text = text.right(text.length() - calStartPrefix.length());
+
+ _startVisualCalibration();
+
+ text = parts[1];
+ if (text == "accel" || text == "mag" || text == "gyro") {
+ // Reset all progress indication
+ _orientationCalDownSideDone = false;
+ _orientationCalUpsideDownSideDone = false;
+ _orientationCalLeftSideDone = false;
+ _orientationCalRightSideDone = false;
+ _orientationCalTailDownSideDone = false;
+ _orientationCalNoseDownSideDone = false;
+ _orientationCalDownSideInProgress = false;
+ _orientationCalUpsideDownSideInProgress = false;
+ _orientationCalLeftSideInProgress = false;
+ _orientationCalRightSideInProgress = false;
+ _orientationCalNoseDownSideInProgress = false;
+ _orientationCalTailDownSideInProgress = false;
+
+ // Reset all visibility
+ _orientationCalDownSideVisible = false;
+ _orientationCalUpsideDownSideVisible = false;
+ _orientationCalLeftSideVisible = false;
+ _orientationCalRightSideVisible = false;
+ _orientationCalTailDownSideVisible = false;
+ _orientationCalNoseDownSideVisible = false;
+
+ _orientationCalAreaHelpText->setProperty("text", "Place your vehicle into one of the Incomplete orientations shown below and hold it still");
+
+ if (text == "accel") {
+ _accelCalInProgress = true;
+ _orientationCalDownSideVisible = true;
+ _orientationCalUpsideDownSideVisible = true;
+ _orientationCalLeftSideVisible = true;
+ _orientationCalRightSideVisible = true;
+ _orientationCalTailDownSideVisible = true;
+ _orientationCalNoseDownSideVisible = true;
+ } else if (text == "mag") {
+ _magCalInProgress = true;
+ _orientationCalDownSideVisible = true;
+ _orientationCalUpsideDownSideVisible = true;
+ _orientationCalLeftSideVisible = true;
+ _orientationCalRightSideVisible = true;
+ _orientationCalTailDownSideVisible = true;
+ _orientationCalNoseDownSideVisible = true;
+ } else if (text == "gyro") {
+ _gyroCalInProgress = true;
+ _orientationCalDownSideVisible = true;
+ } else {
+ Q_ASSERT(false);
+ }
+ emit orientationCalSidesDoneChanged();
+ emit orientationCalSidesVisibleChanged();
+ emit orientationCalSidesInProgressChanged();
+ _updateAndEmitShowOrientationCalArea(true);
+ }
+ return;
+ }
+
+ if (text.endsWith("orientation detected")) {
+ QString side = text.section(" ", 0, 0);
+ qDebug() << "Side started" << side;
+
+ if (side == "down") {
+ _orientationCalDownSideInProgress = true;
+ if (_magCalInProgress) {
+ _orientationCalDownSideRotate = true;
+ }
+ } else if (side == "up") {
+ _orientationCalUpsideDownSideInProgress = true;
+ if (_magCalInProgress) {
+ _orientationCalUpsideDownSideRotate = true;
+ }
+ } else if (side == "left") {
+ _orientationCalLeftSideInProgress = true;
+ if (_magCalInProgress) {
+ _orientationCalLeftSideRotate = true;
+ }
+ } else if (side == "right") {
+ _orientationCalRightSideInProgress = true;
+ if (_magCalInProgress) {
+ _orientationCalRightSideRotate = true;
+ }
+ } else if (side == "front") {
+ _orientationCalNoseDownSideInProgress = true;
+ if (_magCalInProgress) {
+ _orientationCalNoseDownSideRotate = true;
+ }
+ } else if (side == "back") {
+ _orientationCalTailDownSideInProgress = true;
+ if (_magCalInProgress) {
+ _orientationCalTailDownSideRotate = true;
+ }
+ }
+
+ if (_magCalInProgress) {
+ _orientationCalAreaHelpText->setProperty("text", "Rotate the vehicle continuously as shown in the diagram until marked as Completed");
+ } else {
+ _orientationCalAreaHelpText->setProperty("text", "Hold still in the current orientation");
+ }
+
+ emit orientationCalSidesInProgressChanged();
+ emit orientationCalSidesRotateChanged();
+ return;
+ }
+
+ if (text.endsWith("side done, rotate to a different side")) {
+ QString side = text.section(" ", 0, 0);
+ qDebug() << "Side finished" << side;
+
+ if (side == "down") {
+ _orientationCalDownSideInProgress = false;
+ _orientationCalDownSideDone = true;
+ _orientationCalDownSideRotate = false;
+ } else if (side == "up") {
+ _orientationCalUpsideDownSideInProgress = false;
+ _orientationCalUpsideDownSideDone = true;
+ } else if (side == "left") {
+ _orientationCalLeftSideInProgress = false;
+ _orientationCalLeftSideDone = true;
+ _orientationCalLeftSideRotate = false;
+ } else if (side == "right") {
+ _orientationCalRightSideInProgress = false;
+ _orientationCalRightSideDone = true;
+ } else if (side == "front") {
+ _orientationCalNoseDownSideInProgress = false;
+ _orientationCalNoseDownSideDone = true;
+ _orientationCalNoseDownSideRotate = false;
+ } else if (side == "back") {
+ _orientationCalTailDownSideInProgress = false;
+ _orientationCalTailDownSideDone = true;
+ }
+
+ _orientationCalAreaHelpText->setProperty("text", "Place you vehicle into one of the orientations shown below and hold it still");
+
+ emit orientationCalSidesInProgressChanged();
+ emit orientationCalSidesDoneChanged();
+ emit orientationCalSidesRotateChanged();
+ return;
+ }
+
+ if (text.startsWith("calibration cancelled")) {
+ _stopCalibration(_waitingForCancel ? StopCalibrationCancelled : StopCalibrationFailed);
+ return;
+ }
+
+ */
+}
+
+void APMSensorsComponentController::_refreshParams(void)
+{
+ QStringList fastRefreshList;
+
+ fastRefreshList << "COMPASS_OFS_X" << "COMPASS_OFS_X" << "COMPASS_OFS_X"
+ << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
+ foreach (QString paramName, fastRefreshList) {
+ _autopilot->refreshParameter(FactSystem::defaultComponentId, paramName);
+ }
+
+ // Now ask for all to refresh
+ _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "COMPASS_");
+ _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "INS_");
+}
+
+bool APMSensorsComponentController::fixedWing(void)
+{
+ switch (_vehicle->vehicleType()) {
+ case MAV_TYPE_FIXED_WING:
+ case MAV_TYPE_VTOL_DUOROTOR:
+ case MAV_TYPE_VTOL_QUADROTOR:
+ case MAV_TYPE_VTOL_TILTROTOR:
+ case MAV_TYPE_VTOL_RESERVED2:
+ case MAV_TYPE_VTOL_RESERVED3:
+ case MAV_TYPE_VTOL_RESERVED4:
+ case MAV_TYPE_VTOL_RESERVED5:
+ return true;
+ default:
+ return false;
+ }
+}
+
+void APMSensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)
+{
+ _showOrientationCalArea = show;
+ emit showOrientationCalAreaChanged();
+}
+
+void APMSensorsComponentController::_hideAllCalAreas(void)
+{
+ _updateAndEmitShowOrientationCalArea(false);
+}
+
+void APMSensorsComponentController::cancelCalibration(void)
+{
+ // The firmware doesn't allow us to cancel calibration. The best we can do is wait
+ // for it to timeout.
+ _waitingForCancel = true;
+ emit waitingForCancelChanged();
+ _cancelButton->setEnabled(false);
+ _uas->stopCalibration();
+}
+
+void APMSensorsComponentController::nextClicked(void)
+{
+ mavlink_message_t msg;
+ mavlink_command_ack_t ack;
+
+ ack.command = 0;
+ ack.result = 1;
+ mavlink_msg_command_ack_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &msg, &ack);
+
+ _vehicle->sendMessage(msg);
+}
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentController.h b/src/AutoPilotPlugins/APM/APMSensorsComponentController.h
new file mode 100644
index 0000000000000000000000000000000000000000..aba7ea3b7b1a6ae3b9d1f0765cafe2b233e6ab5b
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentController.h
@@ -0,0 +1,175 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT
+
+ 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 .
+
+ ======================================================================*/
+
+#ifndef APMSensorsComponentController_H
+#define APMSensorsComponentController_H
+
+#include
+
+#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
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml b/src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
new file mode 100644
index 0000000000000000000000000000000000000000..de5e5381874f736efd7a23aaba007bc6d2131f36
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
@@ -0,0 +1,47 @@
+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"
+ }
+ }
+}
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 3246a99367dde0a736d2b9e9a005a7cc2c5cf30a..fb646a506be1c1d3c30825a9beea052f3f360e1d 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/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, ¶mSet);
}
- 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
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
index 9836c75f336fb94fa2625df07f08f5363cd63218..a092f61cd3eb54a29c2830978c5176e34c738bd2 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/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;
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index e75d1c3064a9510b3d1c8c08d0f916167f8a2e35..1b0cc0a265eb90b8063c9e34978a02b418d43a34 100644
--- a/src/QGCApplication.cc
+++ b/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"
@@ -379,6 +380,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
+ qmlRegisterType ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "PowerComponentController");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "RadioComponentController");