Merge pull request #5277 from DonLakeFlyer/APMMissingCal

ArduPilot: Support perflight barometer/airspeed calibration

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -27,14 +27,8 @@ APMSensorsComponentController::APMSensorsComponentController(void)
     : _sensorsComponent(NULL)
     , _statusLog(NULL)
     , _progressBar(NULL)
-    , _compassButton(NULL)
-    , _accelButton(NULL)
-    , _compassMotButton(NULL)
-    , _levelButton(NULL)
-    , _calibratePressureButton(NULL)
     , _nextButton(NULL)
     , _cancelButton(NULL)
-    , _setOrientationsButton(NULL)
     , _showOrientationCalArea(false)
     , _calTypeInProgress(CalTypeNone)
     , _orientationCalDownSideDone(false)
@@ -110,12 +104,7 @@ void APMSensorsComponentController::_startLogCalibration(void)
     
     connect(_uas, &UASInterface::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
     
-    _compassButton->setEnabled(false);
-    _accelButton->setEnabled(false);
-    _compassMotButton->setEnabled(false);
-    _levelButton->setEnabled(false);
-    _calibratePressureButton->setEnabled(false);
-    _setOrientationsButton->setEnabled(false);
+    emit setAllCalButtonsEnabled(false);
     if (_calTypeInProgress == CalTypeAccel || _calTypeInProgress == CalTypeCompassMot) {
         _nextButton->setEnabled(true);
     }
@@ -124,13 +113,9 @@ void APMSensorsComponentController::_startLogCalibration(void)
 
 void APMSensorsComponentController::_startVisualCalibration(void)
 {
-    _compassButton->setEnabled(false);
-    _accelButton->setEnabled(false);
-    _compassMotButton->setEnabled(false);
-    _levelButton->setEnabled(false);
-    _calibratePressureButton->setEnabled(false);
-    _setOrientationsButton->setEnabled(false);
+    emit setAllCalButtonsEnabled(false);
     _cancelButton->setEnabled(true);
+    _nextButton->setEnabled(false);
 
     _resetInternalState();
     
@@ -169,12 +154,7 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
 
     disconnect(_uas, &UASInterface::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
     
-    _compassButton->setEnabled(true);
-    _accelButton->setEnabled(true);
-    _compassMotButton->setEnabled(true);
-    _levelButton->setEnabled(true);
-    _calibratePressureButton->setEnabled(true);
-    _setOrientationsButton->setEnabled(true);
+    emit setAllCalButtonsEnabled(true);
     _nextButton->setEnabled(false);
     _cancelButton->setEnabled(false);
 

src/AutoPilotPlugins/APM/APMSensorsComponentController.h

@@ -34,14 +34,8 @@ public:
     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* 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)
     Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText)
 
     Q_PROPERTY(bool compassSetupNeeded  READ compassSetupNeeded NOTIFY setupNeededChanged)
@@ -135,6 +129,7 @@ signals:
     void compass1CalFitnessChanged(double compass1CalFitness);
     void compass2CalFitnessChanged(double compass2CalFitness);
     void compass3CalFitnessChanged(double compass3CalFitness);
+    void setAllCalButtonsEnabled(bool enabled);
 
 private slots:
     void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
@@ -168,14 +163,8 @@ private:
 
     QQuickItem* _statusLog;
     QQuickItem* _progressBar;
-    QQuickItem* _compassButton;
-    QQuickItem* _accelButton;
-    QQuickItem* _compassMotButton;
-    QQuickItem* _levelButton;
-    QQuickItem* _calibratePressureButton;
     QQuickItem* _nextButton;
     QQuickItem* _cancelButton;
-    QQuickItem* _setOrientationsButton;
     QQuickItem* _orientationCalAreaHelpText;
     
     bool _showOrientationCalArea;

src/AutoPilotPlugins/Common/RadioComponent.qml

@@ -418,7 +418,6 @@ SetupPage {
 
                 QGCButton {
                     text:       qsTr("Copy Trims")
-                    visible:    QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
                     onClicked:  showDialog(copyTrimsDialogComponent, dialogTitle, radioPage.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
                 }
 

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -132,11 +132,6 @@ bool ArduSubFirmwarePlugin::supportsJSButton(void)
     return true;
 }
 
-bool ArduSubFirmwarePlugin::supportsCalibratePressure(void)
-{
-    return true;
-}
-
 bool ArduSubFirmwarePlugin::supportsMotorInterference(void)
 {
     return false;

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -79,8 +79,6 @@ public:
 
     bool supportsJSButton(void);
 
-    bool supportsCalibratePressure(void);
-
     bool supportsMotorInterference(void);
 
     QString brandImageIndoor(const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImageSub"); }

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -139,11 +139,6 @@ bool FirmwarePlugin::supportsRadio(void)
     return true;
 }
 
-bool FirmwarePlugin::supportsCalibratePressure(void)
-{
-    return false;
-}
-
 bool FirmwarePlugin::supportsMotorInterference(void)
 {
     return true;

src/FirmwarePlugin/FirmwarePlugin.h

@@ -170,10 +170,6 @@ 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);
-
     /// Returns true if the firmware supports calibrating motor interference offsets for the compass
     /// (CompassMot). Default is true.
     virtual bool supportsMotorInterference(void);

src/Vehicle/Vehicle.cc

@@ -1964,11 +1964,6 @@ bool Vehicle::supportsJSButton(void) const
     return _firmwarePlugin->supportsJSButton();
 }
 
-bool Vehicle::supportsCalibratePressure(void) const
-{
-    return _firmwarePlugin->supportsCalibratePressure();
-}
-
 bool Vehicle::supportsMotorInterference(void) const
 {
     return _firmwarePlugin->supportsMotorInterference();

src/Vehicle/Vehicle.h

@@ -282,7 +282,6 @@ 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               supportsMotorInterference READ supportsMotorInterference                              CONSTANT)
     Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                                      NOTIFY autoDisconnectChanged)
     Q_PROPERTY(QString              prearmError             READ prearmError            WRITE setPrearmError            NOTIFY prearmErrorChanged)
@@ -519,7 +518,6 @@ public:
     bool supportsThrottleModeCenterZero(void) const;
     bool supportsRadio(void) const;
     bool supportsJSButton(void) const;
-    bool supportsCalibratePressure(void) const;
     bool supportsMotorInterference(void) const;
 
     void setGuidedMode(bool guidedMode);