Skip to content

Q
qgroundcontrol
Commit 42783643 authored by Jacob Walser's avatar Jacob Walser
Browse files
Options

Add calibrate pressure button in sensors page, enabled only for ArduSub

parent 12ac1893
Show whitespace changes
Inline Side-by-side
Showing with 100 additions and 1 deletion
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
View file @ 42783643
......@@ -14,6 +14,7 @@ import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
......@@ -120,6 +121,7 @@ SetupPage {
accelButton: accelButton
compassMotButton: motorInterferenceButton
levelButton: levelHorizonButton
calibratePressureButton: calibratePressureButton
nextButton: nextButton
cancelButton: cancelButton
setOrientationsButton: setOrientationsButton
......@@ -445,6 +447,26 @@ SetupPage {
} // QGCViewDialog
} // Component - levelHorizonDialogComponent
Component {
id: calibratePressureDialogComponent
QGCViewDialog {
id: calibratePressureDialog
function accept() {
controller.calibratePressure()
calibratePressureDialog.hideDialog()
}
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("Pressure calibration will set the depth to zero at the current pressure reading.")
}
} // QGCViewDialog
} // Component - calibratePressureDialogComponent
/// Left button column
Column {
spacing: ScreenTools.defaultFontPixelHeight / 2
......@@ -492,6 +514,20 @@ SetupPage {
}
}
QGCButton {
id: calibratePressureButton
width: parent.buttonWidth
text: _calibratePressureText
visible: _activeVehicle ? _activeVehicle.supportsCalibratePressure : false
readonly property string _calibratePressureText: qsTr("Calibrate Pressure")
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
onClicked: {
showDialog(calibratePressureDialogComponent, _calibratePressureText, qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
QGCButton {
id: motorInterferenceButton
width: parent.buttonWidth
......
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
View file @ 42783643
......@@ -30,6 +30,7 @@ APMSensorsComponentController::APMSensorsComponentController(void)
, _accelButton(NULL)
, _compassMotButton(NULL)
, _levelButton(NULL)
, _calibratePressureButton(NULL)
, _nextButton(NULL)
, _cancelButton(NULL)
, _setOrientationsButton(NULL)
......@@ -101,6 +102,7 @@ void APMSensorsComponentController::_startLogCalibration(void)
_accelButton->setEnabled(false);
_compassMotButton->setEnabled(false);
_levelButton->setEnabled(false);
_calibratePressureButton->setEnabled(false);
_setOrientationsButton->setEnabled(false);
if (_calTypeInProgress == CalTypeAccel || _calTypeInProgress == CalTypeCompassMot) {
_nextButton->setEnabled(true);
......@@ -114,6 +116,7 @@ void APMSensorsComponentController::_startVisualCalibration(void)
_accelButton->setEnabled(false);
_compassMotButton->setEnabled(false);
_levelButton->setEnabled(false);
_calibratePressureButton->setEnabled(false);
_setOrientationsButton->setEnabled(false);
_cancelButton->setEnabled(true);
......@@ -158,6 +161,7 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
_accelButton->setEnabled(true);
_compassMotButton->setEnabled(true);
_levelButton->setEnabled(true);
_calibratePressureButton->setEnabled(true);
_setOrientationsButton->setEnabled(true);
_nextButton->setEnabled(false);
_cancelButton->setEnabled(false);
......@@ -318,6 +322,15 @@ void APMSensorsComponentController::levelHorizon(void)
_uas->startCalibration(UASInterface::StartCalibrationLevel);
}
void APMSensorsComponentController::calibratePressure(void)
{
_calTypeInProgress = CalTypePressure;
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Requesting pressure calibration..."));
_uas->startCalibration(UASInterface::StartCalibrationPressure);
}
void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
{
Q_UNUSED(compId);
......@@ -628,6 +641,24 @@ void APMSensorsComponentController::_handleCommandAck(mavlink_message_t& message
}
}
}
if (_calTypeInProgress == CalTypePressure) {
mavlink_command_ack_t commandAck;
mavlink_msg_command_ack_decode(&message, &commandAck);
if (commandAck.command == MAV_CMD_PREFLIGHT_CALIBRATION) {
switch (commandAck.result) {
case MAV_RESULT_ACCEPTED:
_appendStatusLog(tr("Pressure calibration success"));
_stopCalibration(StopCalibrationSuccessShowLog);
break;
default:
_appendStatusLog(tr("Pressure calibration fail"));
_stopCalibration(StopCalibrationFailed);
break;
}
}
}
}
void APMSensorsComponentController::_handleMagCalProgress(mavlink_message_t& message)
......
src/AutoPilotPlugins/APM/APMSensorsComponentController.h
View file @ 42783643
......@@ -38,6 +38,7 @@ public:
Q_PROPERTY(QQuickItem* accelButton MEMBER _accelButton)
Q_PROPERTY(QQuickItem* compassMotButton MEMBER _compassMotButton)
Q_PROPERTY(QQuickItem* levelButton MEMBER _levelButton)
Q_PROPERTY(QQuickItem* calibratePressureButton MEMBER _calibratePressureButton)
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* setOrientationsButton MEMBER _setOrientationsButton)
......@@ -90,6 +91,7 @@ public:
Q_INVOKABLE void calibrateAccel(void);
Q_INVOKABLE void calibrateMotorInterference(void);
Q_INVOKABLE void levelHorizon(void);
Q_INVOKABLE void calibratePressure(void);
Q_INVOKABLE void cancelCalibration(void);
Q_INVOKABLE void nextClicked(void);
Q_INVOKABLE bool usingUDPLink(void);
......@@ -103,6 +105,7 @@ public:
CalTypeOffboardCompass,
CalTypeLevelHorizon,
CalTypeCompassMot,
CalTypePressure,
CalTypeNone
} CalType_t;
Q_ENUM(CalType_t)
......@@ -169,6 +172,7 @@ private:
QQuickItem* _accelButton;
QQuickItem* _compassMotButton;
QQuickItem* _levelButton;
QQuickItem* _calibratePressureButton;
QQuickItem* _nextButton;
QQuickItem* _cancelButton;
QQuickItem* _setOrientationsButton;
......
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
View file @ 42783643
......@@ -72,3 +72,8 @@ bool ArduSubFirmwarePlugin::supportsJSButton(void)
{
return true;
}
bool ArduSubFirmwarePlugin::supportsCalibratePressure(void)
{
return true;
}
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
View file @ 42783643
......@@ -79,6 +79,8 @@ public:
bool supportsJSButton(void);
bool supportsCalibratePressure(void);
QString brandImage(const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImageSub"); }
};
......
src/FirmwarePlugin/FirmwarePlugin.cc
View file @ 42783643
......@@ -127,6 +127,11 @@ bool FirmwarePlugin::supportsRadio(void)
return true;
}
bool FirmwarePlugin::supportsCalibratePressure(void)
{
return false;
}
bool FirmwarePlugin::supportsJSButton(void)
{
return false;
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ 42783643
......@@ -163,6 +163,10 @@ public:
/// to be assigned via parameters in firmware. Default is false.
virtual bool supportsJSButton(void);
/// Returns true if the firmware supports calibrating the pressure sensor so the altitude will read
/// zero at the current pressure. Default is false.
virtual bool supportsCalibratePressure(void);
/// Called before any mavlink message is processed by Vehicle such that the firmwre plugin
/// can adjust any message characteristics. This is handy to adjust or differences in mavlink
/// spec implementations such that the base code can remain mavlink generic.
......
src/Vehicle/Vehicle.cc
View file @ 42783643
......@@ -1742,6 +1742,11 @@ bool Vehicle::supportsJSButton(void) const
return _firmwarePlugin->supportsJSButton();
}
bool Vehicle::supportsCalibratePressure(void) const
{
return _firmwarePlugin->supportsCalibratePressure();
}
void Vehicle::_setCoordinateValid(bool coordinateValid)
{
if (coordinateValid != _coordinateValid) {
......
src/Vehicle/Vehicle.h
View file @ 42783643
......@@ -253,6 +253,7 @@ public:
Q_PROPERTY(bool supportsThrottleModeCenterZero READ supportsThrottleModeCenterZero CONSTANT)
Q_PROPERTY(bool supportsJSButton READ supportsJSButton CONSTANT)
Q_PROPERTY(bool supportsRadio READ supportsRadio CONSTANT)
Q_PROPERTY(bool supportsCalibratePressure READ supportsCalibratePressure CONSTANT)
Q_PROPERTY(bool autoDisconnect MEMBER _autoDisconnect NOTIFY autoDisconnectChanged)
Q_PROPERTY(QString prearmError READ prearmError WRITE setPrearmError NOTIFY prearmErrorChanged)
Q_PROPERTY(int motorCount READ motorCount CONSTANT)
......@@ -474,6 +475,7 @@ public:
bool supportsThrottleModeCenterZero(void) const;
bool supportsRadio(void) const;
bool supportsJSButton(void) const;
bool supportsCalibratePressure(void) const;
void setFlying(bool flying);
void setGuidedMode(bool guidedMode);
......
src/uas/UAS.cc
View file @ 42783643
......@@ -528,6 +528,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
int airspeedCal = 0;
int radioCal = 0;
int accelCal = 0;
int pressureCal = 0;
int escCal = 0;
switch (calType) {
......@@ -552,6 +553,9 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
case StartCalibrationLevel:
accelCal = 2;
break;
case StartCalibrationPressure:
pressureCal = 1;
break;
case StartCalibrationEsc:
escCal = 1;
break;
......@@ -576,7 +580,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
0, // 0=first transmission of command
gyroCal, // gyro cal
magCal, // mag cal
0, // ground pressure
pressureCal, // ground pressure
radioCal, // radio cal
accelCal, // accel cal
airspeedCal, // PX4: airspeed cal, ArduPilot: compass mot
......
src/uas/UASInterface.h
View file @ 42783643
......@@ -111,6 +111,7 @@ public:
StartCalibrationAirspeed,
StartCalibrationAccel,
StartCalibrationLevel,
StartCalibrationPressure,
StartCalibrationEsc,
StartCalibrationCopyTrims,
StartCalibrationUavcanEsc,
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment