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Commit 465999bf authored by Don Gagne's avatar Don Gagne
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Ardupilot onboard compass cal support

parent b317b17c
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Showing with 594 additions and 317 deletions
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
View file @ 465999bf
......@@ -20,6 +20,7 @@ import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ArduPilot 1.0
SetupPage {
id: sensorsPage
......@@ -29,8 +30,8 @@ SetupPage {
id: sensorsPageComponent
RowLayout {
width: 1000//availableWidth
height: 1000//availableHeight
width: availableWidth
height: availableHeight
spacing: ScreenTools.defaultFontPixelWidth / 2
// Help text which is shown both in the status text area prior to pressing a cal button and in the
......@@ -62,49 +63,12 @@ SetupPage {
readonly property int rotationColumnWidth: 250
property Fact compass1Id: controller.getParameterFact(-1, "COMPASS_DEV_ID")
property Fact compass2Id: controller.getParameterFact(-1, "COMPASS_DEV_ID2")
property Fact compass3Id: controller.getParameterFact(-1, "COMPASS_DEV_ID3")
property Fact compass1ExternalFact: controller.getParameterFact(-1, "COMPASS_EXTERNAL")
property Fact compass1Rot: controller.getParameterFact(-1, "COMPASS_ORIENT")
property Fact boardRot: controller.getParameterFact(-1, "AHRS_ORIENTATION")
property bool accelCalNeeded: controller.accelSetupNeeded
property bool compassCalNeeded: controller.compassSetupNeeded
// The following parameters are not available in olders firmwares
property Fact noFact: Fact { }
property bool compass2ExternalParamAvailable: controller.parameterExists(-1, "COMPASS_EXTERN2")
property bool compass3ExternalParamAvailable: controller.parameterExists(-1, "COMPASS_EXTERN3")
property bool compass2RotParamAvailable: controller.parameterExists(-1, "COMPASS_ORIENT2")
property bool compass3RotParamAvailable: controller.parameterExists(-1, "COMPASS_ORIENT3")
property bool compass1UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE")
property bool compass2UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE2")
property bool compass3UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE3")
property bool accelCalNeeded: controller.accelSetupNeeded
property bool compassCalNeeded: controller.compassSetupNeeded
property Fact noFact: Fact { }
property Fact compass2ExternalFact: compass2ExternalParamAvailable ? controller.getParameterFact(-1, "COMPASS_EXTERN2") : noFact
property Fact compass3ExternalFact: compass3ExternalParamAvailable ? controller.getParameterFact(-1, "COMPASS_EXTERN3") : noFact
property Fact compass2Rot: compass2RotParamAvailable ? controller.getParameterFact(-1, "COMPASS_ORIENT2") : noFact
property Fact compass3Rot: compass3RotParamAvailable ? controller.getParameterFact(-1, "COMPASS_ORIENT3") : noFact
property Fact compass1UseFact: compass1UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE") : noFact
property Fact compass2UseFact: compass2UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE2") : noFact
property Fact compass3UseFact: compass3UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE3") : noFact
// We track these values by binding through a separate property so we can handle missing params
property bool compass1External: compass1ExternalFact.value
property bool compass2External: compass2ExternalParamAvailable ? compass2ExternalFact.value : false // false: Simulate internal so we don't show rotation combos
property bool compass3External: compass3ExternalParamAvailable ? compass3ExternalFact.value : false // false: Simulate internal so we don't show rotation combos
property bool compass1Use: compass1UseParamAvailable ? compass1UseFact.value : true
property bool compass2Use: compass2UseParamAvailable ? compass2UseFact.value : true
property bool compass3Use: compass3UseParamAvailable ? compass3UseFact.value : true
// Id > = signals compass available, rot < 0 signals internal compass
property bool showCompass1: compass1Id.value > 0
property bool showCompass2: compass2Id.value > 0
property bool showCompass3: compass3Id.value > 0
property Fact boardRot: controller.getParameterFact(-1, "AHRS_ORIENTATION")
readonly property int _calTypeCompass: 1 ///< Calibrate compass
readonly property int _calTypeAccel: 2 ///< Calibrate accel
......@@ -114,13 +78,6 @@ SetupPage {
property string _orientationDialogHelp: orientationHelpSet
property int _orientationDialogCalType
function validCompassOffsets(compassParamPrefix) {
var ofsX = controller.getParameterFact(-1, compassParamPrefix + "X")
var ofsY = controller.getParameterFact(-1, compassParamPrefix + "Y")
var ofsZ = controller.getParameterFact(-1, compassParamPrefix + "Z")
return Math.sqrt(ofsX.value^2 + ofsY.value^2 + ofsZ.value^2) < 600
}
function showOrientationsDialog(calType) {
var dialogTitle
var buttons = StandardButton.Ok
......@@ -149,6 +106,11 @@ SetupPage {
showDialog(orientationsDialogComponent, dialogTitle, qgcView.showDialogDefaultWidth, buttons)
}
APMSensorParams {
id: sensorParams
factPanelController: controller
}
APMSensorsComponentController {
id: controller
factPanel: sensorsPage.viewPanel
......@@ -163,6 +125,8 @@ SetupPage {
setOrientationsButton: setOrientationsButton
orientationCalAreaHelpText: orientationCalAreaHelpText
property var rgCompassCalFitness: [ controller.compass1CalFitness, controller.compass2CalFitness, controller.compass3CalFitness ]
onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
onWaitingForCancelChanged: {
......@@ -174,43 +138,16 @@ SetupPage {
}
onCalibrationComplete: {
if (_orientationDialogCalType == _calTypeAccel) {
_postCalibrationDialogText = qsTr("Accelerometer calibration complete.")
_postCalibrationDialogParams = [ "INS_ACCSCAL_X", "INS_ACCSCAL_Y", "INS_ACCSCAL_Z",
"INS_ACC2SCAL_X", "INS_ACC2SCAL_Y", "INS_ACC2SCAL_Z",
"INS_ACC3SCAL_X", "INS_ACC3SCAL_Y", "INS_ACC3SCAL_Z",
"INS_GYROFFS_X", "INS_GYROFFS_Y", "INS_GYROFFS_Z",
"INS_GYR2OFFS_X", "INS_GYR2OFFS_Y", "INS_GYR2OFFS_Z",
"INS_GYR3OFFS_X", "INS_GYR3OFFS_Y", "INS_GYR3OFFS_Z" ]
showDialog(postCalibrationDialogComponent, qsTr("Calibration complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
} else if (_orientationDialogCalType == _calTypeCompass) {
_postCalibrationDialogText = qsTr("Compass calibration complete. ")
_postCalibrationDialogParams = [];
if (compass1Id.value > 0) {
if (!validCompassOffsets("COMPASS_OFS_")) {
_postCalibrationDialogText += _badCompassCalText.replace("%1", 1)
}
_postCalibrationDialogParams.push("COMPASS_OFS_X")
_postCalibrationDialogParams.push("COMPASS_OFS_Y")
_postCalibrationDialogParams.push("COMPASS_OFS_Z")
}
if (compass2Id.value > 0) {
if (!validCompassOffsets("COMPASS_OFS_")) {
_postCalibrationDialogText += _badCompassCalText.replace("%1", 2)
}
_postCalibrationDialogParams.push("COMPASS_OFS2_X")
_postCalibrationDialogParams.push("COMPASS_OFS2_Y")
_postCalibrationDialogParams.push("COMPASS_OFS2_Z")
}
if (compass3Id.value > 0) {
if (!validCompassOffsets("COMPASS_OFS_")) {
_postCalibrationDialogText += _badCompassCalText.replace("%1", 3)
}
_postCalibrationDialogParams.push("COMPASS_OFS3_X")
_postCalibrationDialogParams.push("COMPASS_OFS3_Y")
_postCalibrationDialogParams.push("COMPASS_OFS3_Z")
}
showDialog(postCalibrationDialogComponent, qsTr("Calibration complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
switch (calType) {
case APMSensorsComponentController.CalTypeAccel:
showMessage(qsTr("Calibration complete"), qsTr("Accelerometer calibration complete."), StandardButton.Ok)
break
case APMSensorsComponentController.CalTypeOffboardCompass:
showMessage(qsTr("Calibration complete"), qsTr("Compass calibration complete."), StandardButton.Ok)
break
case APMSensorsComponentController.CalTypeOnboardCompass:
showDialog(postOnboardCompassCalibrationComponent, qsTr("Calibration complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
break
}
}
}
......@@ -218,7 +155,6 @@ SetupPage {
Component.onCompleted: {
var usingUDP = controller.usingUDPLink()
if (usingUDP) {
console.log("onUsingUDPLink")
showMessage("Sensor Calibration", "Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead.", StandardButton.Ok)
}
}
......@@ -226,43 +162,144 @@ SetupPage {
QGCPalette { id: qgcPal; colorGroupEnabled: true }
Component {
id: postCalibrationDialogComponent
id: singleCompassOnboardResultsComponent
QGCViewDialog {
QGCLabel {
id: textLabel
Column {
anchors.left: parent.left
anchors.right: parent.right
spacing: Math.round(ScreenTools.defaultFontPixelHeight / 2)
visible: sensorParams.rgCompassAvailable[index]
property real greenMaxThreshold: 8 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
property real yellowMaxThreshold: 15 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
property real fitnessRange: 25 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
Item {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: _postCalibrationDialogText
height: ScreenTools.defaultFontPixelHeight
Row {
id: fitnessRow
anchors.fill: parent
Rectangle {
width: parent.width * (greenMaxThreshold / fitnessRange)
height: parent.height
color: "green"
}
Rectangle {
width: parent.width * ((yellowMaxThreshold - greenMaxThreshold) / fitnessRange)
height: parent.height
color: "yellow"
}
Rectangle {
width: parent.width * ((fitnessRange - yellowMaxThreshold) / fitnessRange)
height: parent.height
color: "red"
}
}
Rectangle {
height: fitnessRow.height * 0.66
width: height
anchors.verticalCenter: fitnessRow.verticalCenter
x: (fitnessRow.width * (Math.min(Math.max(controller.rgCompassCalFitness[index], 0.0), fitnessRange) / fitnessRange)) - (width / 2)
radius: height / 2
color: "white"
border.color: "black"
}
}
QGCCheckBox {
id: showValues
anchors.topMargin: ScreenTools.defaultFontPixelHeight
anchors.top: textLabel.bottom
text: qsTr("Show values")
Column {
anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
anchors.left: parent.left
anchors.right: parent.right
spacing: Math.round(ScreenTools.defaultFontPixelHeight / 4)
QGCLabel {
text: "Compass " + index + " " +
(sensorParams.rgCompassPrimary[index] ? "(primary" : "(secondary") +
(sensorParams.rgCompassExternalParamAvailable[index] ?
(sensorParams.rgCompassExternal[index] ? ", external" : ", internal" ) :
"") +
")"
}
FactCheckBox {
text: "Use Compass"
fact: sensorParams.rgCompassUseFact[index]
visible: sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index]
}
}
}
}
QGCFlickable {
anchors.topMargin: ScreenTools.defaultFontPixelHeight
anchors.top: showValues.bottom
anchors.bottom: parent.bottom
contentHeight: valueColumn.height
flickableDirection: Flickable.VerticalFlick
visible: showValues.checked
Component {
id: postOnboardCompassCalibrationComponent
Column {
id: valueColumn
QGCViewDialog {
Column {
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelHeight
Repeater {
model: 3
delegate: singleCompassOnboardResultsComponent
}
Repeater {
model: _postCalibrationDialogParams
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("Shown in the indicator bars is the quality of the calibration for each compass.\n\n") +
qsTr("- Green indicates a well functioning compass.\n") +
qsTr("- Yellow indicates a questionable compass or calibration.\n") +
qsTr("- Red indicates a compass which should not be used.\n\n") +
qsTr("YOU MUST REBOOT YOUR VEHICLE AFTER EACH CALIBRATION.")
}
}
}
}
QGCLabel {
text: fact.name +": " + fact.valueString
Component {
id: singleCompassSettingsComponent
property Fact fact: controller.getParameterFact(-1, modelData)
}
Column {
spacing: Math.round(ScreenTools.defaultFontPixelHeight / 2)
visible: sensorParams.rgCompassAvailable[index]
QGCLabel {
text: "Compass " + index + " " +
(sensorParams.rgCompassPrimary[index] ? "(primary" : "(secondary") +
(sensorParams.rgCompassExternalParamAvailable[index] ?
(sensorParams.rgCompassExternal[index] ? ", external" : ", internal" ) :
"") +
")"
}
Column {
anchors.margins: ScreenTools.defaultFontPixelWidth * 2
anchors.left: parent.left
spacing: Math.round(ScreenTools.defaultFontPixelHeight / 4)
FactCheckBox {
text: "Use Compass"
fact: sensorParams.rgCompassUseFact[index]
visible: sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index]
}
Column {
visible: sensorParams.rgCompassExternal[index] && sensorParams.rgCompassRotParamAvailable[index]
QGCLabel { text: qsTr("Orientation:") }
FactComboBox {
width: rotationColumnWidth
indexModel: false
fact: sensorParams.rgCompassRotFact[index]
}
}
}
......@@ -304,9 +341,7 @@ SetupPage {
}
Column {
QGCLabel {
text: qsTr("Autopilot Orientation:")
}
QGCLabel { text: qsTr("Autopilot Orientation:") }
FactComboBox {
width: rotationColumnWidth
......@@ -315,73 +350,9 @@ SetupPage {
}
}
Column {
visible: _orientationsDialogShowCompass && showCompass1
FactCheckBox {
text: "Use Compass 1"
fact: compass1UseFact
}
Column {
visible: showCompass1Rot
QGCLabel {
text: qsTr("Compass 1 Orientation:")
}
FactComboBox {
width: rotationColumnWidth
indexModel: false
fact: compass1Rot
}
}
}
Column {
visible: _orientationsDialogShowCompass && showCompass2
FactCheckBox {
text: "Use Compass 2"
fact: compass2UseFact
}
Column {
visible: showCompass1Rot
QGCLabel {
text: qsTr("Compass 2 Orientation:")
}
FactComboBox {
width: rotationColumnWidth
indexModel: false
fact: compass2Rot
}
}
}
Column {
visible: _orientationsDialogShowCompass && showCompass3
FactCheckBox {
text: "Use Compass 3"
fact: compass3UseFact
}
Column {
visible: showCompass3Rot
QGCLabel {
text: qsTr("Compass 3 Orientation:")
}
FactComboBox {
width: rotationColumnWidth
indexModel: false
fact: compass3Rot
}
}
Repeater {
model: _orientationsDialogShowCompass ? 3 : 0
delegate: singleCompassSettingsComponent
}
} // Column
} // QGCFlickable
......@@ -474,6 +445,7 @@ SetupPage {
} // QGCViewDialog
} // Component - levelHorizonDialogComponent
/// Left button column
Column {
spacing: ScreenTools.defaultFontPixelHeight / 2
Layout.alignment: Qt.AlignLeft | Qt.AlignTop
......@@ -551,6 +523,7 @@ SetupPage {
}
} // Column - Buttons
/// Right column - cal area
Column {
anchors.top: parent.top
anchors.bottom: parent.bottom
......
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
View file @ 465999bf
......@@ -19,47 +19,48 @@
#include <QQmlProperty>
QGC_LOGGING_CATEGORY(APMSensorsComponentControllerLog, "APMSensorsComponentControllerLog")
APMSensorsComponentController::APMSensorsComponentController(void) :
_statusLog(NULL),
_progressBar(NULL),
_compassButton(NULL),
_accelButton(NULL),
_compassMotButton(NULL),
_levelButton(NULL),
_nextButton(NULL),
_cancelButton(NULL),
_setOrientationsButton(NULL),
_showOrientationCalArea(false),
_magCalInProgress(false),
_accelCalInProgress(false),
_compassMotCalInProgress(false),
_levelInProgress(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)
QGC_LOGGING_CATEGORY(APMSensorsComponentControllerVerboseLog, "APMSensorsComponentControllerVerboseLog")
const char* APMSensorsComponentController::_compassCalFitnessParam = "COMPASS_CAL_FIT";
APMSensorsComponentController::APMSensorsComponentController(void)
: _statusLog(NULL)
, _progressBar(NULL)
, _compassButton(NULL)
, _accelButton(NULL)
, _compassMotButton(NULL)
, _levelButton(NULL)
, _nextButton(NULL)
, _cancelButton(NULL)
, _setOrientationsButton(NULL)
, _showOrientationCalArea(false)
, _calTypeInProgress(CalTypeNone)
, _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)
, _restoreCompassCalFitness(false)
{
_compassCal.setVehicle(_vehicle);
connect(&_compassCal, &APMCompassCal::vehicleTextMessage, this, &APMSensorsComponentController::_handleUASTextMessage);
......@@ -72,6 +73,11 @@ APMSensorsComponentController::APMSensorsComponentController(void) :
connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
}
APMSensorsComponentController::~APMSensorsComponentController()
{
_restorePreviousCompassCalFitness();
}
/// Appends the specified text to the status log area in the ui
void APMSensorsComponentController::_appendStatusLog(const QString& text)
{
......@@ -96,10 +102,10 @@ void APMSensorsComponentController::_startLogCalibration(void)
_compassMotButton->setEnabled(false);
_levelButton->setEnabled(false);
_setOrientationsButton->setEnabled(false);
if (_accelCalInProgress || _compassMotCalInProgress) {
if (_calTypeInProgress == CalTypeAccel || _calTypeInProgress == CalTypeCompassMot) {
_nextButton->setEnabled(true);
}
_cancelButton->setEnabled(false);
_cancelButton->setEnabled(_calTypeInProgress == CalTypeOnboardCompass);
}
void APMSensorsComponentController::_startVisualCalibration(void)
......@@ -156,11 +162,15 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
_nextButton->setEnabled(false);
_cancelButton->setEnabled(false);
if (_calTypeInProgress == CalTypeOnboardCompass) {
_restorePreviousCompassCalFitness();
}
if (code == StopCalibrationSuccess) {
_resetInternalState();
_progressBar->setProperty("value", 1);
if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("COMPASS_LEARN"))) {
_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("COMPASS_LEARN"))->setRawValue(0);
if (parameterExists(FactSystem::defaultComponentId, QStringLiteral("COMPASS_LEARN"))) {
getParameterFact(FactSystem::defaultComponentId, QStringLiteral("COMPASS_LEARN"))->setRawValue(0);
}
} else {
_progressBar->setProperty("value", 0);
......@@ -175,11 +185,11 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
case StopCalibrationSuccess:
_orientationCalAreaHelpText->setProperty("text", "Calibration complete");
emit resetStatusTextArea();
emit calibrationComplete();
emit calibrationComplete(_calTypeInProgress);
break;
case StopCalibrationSuccessShowLog:
emit calibrationComplete();
emit calibrationComplete(_calTypeInProgress);
break;
case StopCalibrationCancelled:
......@@ -194,21 +204,95 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
break;
}
_magCalInProgress = false;
_accelCalInProgress = false;
_compassMotCalInProgress = false;
_levelInProgress = false;
_calTypeInProgress = CalTypeNone;
}
void APMSensorsComponentController::_mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle)
{
Q_UNUSED(component);
Q_UNUSED(noReponseFromVehicle);
if (_vehicle->id() != vehicleId) {
return;
}
if (command == MAV_CMD_DO_CANCEL_MAG_CAL) {
disconnect(_vehicle, &Vehicle::mavCommandResult, this, &APMSensorsComponentController::_mavCommandResult);
if (result == MAV_RESULT_ACCEPTED) {
// Onboard mag cal is supported
_calTypeInProgress = CalTypeOnboardCompass;
_rgCompassCalProgress[0] = 0;
_rgCompassCalProgress[1] = 0;
_rgCompassCalProgress[2] = 0;
_rgCompassCalComplete[0] = false;
_rgCompassCalComplete[1] = false;
_rgCompassCalComplete[2] = false;
_startLogCalibration();
uint8_t compassBits = 0;
if (getParameterFact(FactSystem::defaultComponentId, "COMPASS_DEV_ID")->rawValue().toInt() > 0) {
compassBits |= 1 << 0;
qCDebug(APMSensorsComponentControllerLog) << "Performing onboard compass cal for compass 1";
} else {
_rgCompassCalComplete[0] = true;
_rgCompassCalSucceeded[0] = true;
_rgCompassCalFitness[0] = 0;
}
if (getParameterFact(FactSystem::defaultComponentId, "COMPASS_DEV_ID2")->rawValue().toInt() > 0) {
compassBits |= 1 << 1;
qCDebug(APMSensorsComponentControllerLog) << "Performing onboard compass cal for compass 2";
} else {
_rgCompassCalComplete[1] = true;
_rgCompassCalSucceeded[1] = MAG_CAL_SUCCESS;
_rgCompassCalFitness[1] = 0;
}
if (getParameterFact(FactSystem::defaultComponentId, "COMPASS_DEV_ID3")->rawValue().toInt() > 0) {
compassBits |= 1 << 2;
qCDebug(APMSensorsComponentControllerLog) << "Performing onboard compass cal for compass 3";
} else {
_rgCompassCalComplete[2] = true;
_rgCompassCalSucceeded[2] = MAG_CAL_SUCCESS;
_rgCompassCalFitness[2] = 0;
}
// We bump up the fitness value so calibration will always succeed
Fact* compassCalFitness = getParameterFact(FactSystem::defaultComponentId, _compassCalFitnessParam);
_restoreCompassCalFitness = true;
_previousCompassCalFitness = compassCalFitness->rawValue().toFloat();
getParameterFact(FactSystem::defaultComponentId, _compassCalFitnessParam)->setRawValue(100.0);
_appendStatusLog(tr("Rotate the vehicle randomly around all axes until the progress bar fills all the way to the right ."));
_vehicle->sendMavCommand(_vehicle->defaultComponentId(),
MAV_CMD_DO_START_MAG_CAL,
true, // showError
compassBits, // which compass(es) to calibrate
0, // no retry on failure
1, // save values after complete
0, // no delayed start
0); // no auto-reboot
} else {
// Onboard mag cal is not supported
_compassCal.startCalibration();
}
} else if (command == MAV_CMD_DO_START_MAG_CAL && result != MAV_RESULT_ACCEPTED) {
_restorePreviousCompassCalFitness();
}
}
void APMSensorsComponentController::calibrateCompass(void)
{
_startLogCalibration();
_compassCal.startCalibration();
// First we need to determine if the vehicle support onboard compass cal. There isn't an easy way to
// do this. A hack is to send the mag cancel command and see if it is accepted.
connect(_vehicle, &Vehicle::mavCommandResult, this, &APMSensorsComponentController::_mavCommandResult);
_vehicle->sendMavCommand(_vehicle->defaultComponentId(), MAV_CMD_DO_CANCEL_MAG_CAL, false /* showError */);
// Now we wait for the result to come back
}
void APMSensorsComponentController::calibrateAccel(void)
{
_accelCalInProgress = true;
_calTypeInProgress = CalTypeAccel;
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_uas->startCalibration(UASInterface::StartCalibrationAccel);
......@@ -216,7 +300,7 @@ void APMSensorsComponentController::calibrateAccel(void)
void APMSensorsComponentController::calibrateMotorInterference(void)
{
_compassMotCalInProgress = true;
_calTypeInProgress = CalTypeCompassMot;
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Raise the throttle slowly to between 50% ~ 75% (the props will spin!) for 5 ~ 10 seconds."));
......@@ -227,7 +311,7 @@ void APMSensorsComponentController::calibrateMotorInterference(void)
void APMSensorsComponentController::levelHorizon(void)
{
_levelInProgress = true;
_calTypeInProgress = CalTypeLevelHorizon;
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Hold the vehicle in its level flight position."));
......@@ -252,8 +336,7 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
QString percent = text.split("<").last().split(">").first();
bool ok;
int p = percent.toInt(&ok);
if (ok) {
Q_ASSERT(_progressBar);
if (ok && _progressBar) {
_progressBar->setProperty("value", (float)(p / 100.0));
}
return;
......@@ -317,7 +400,7 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
_orientationCalAreaHelpText->setProperty("text", "Place your vehicle into one of the Incomplete orientations shown below and hold it still");
if (text == "accel") {
_accelCalInProgress = true;
_calTypeInProgress = CalTypeAccel;
_orientationCalDownSideVisible = true;
_orientationCalUpsideDownSideVisible = true;
_orientationCalLeftSideVisible = true;
......@@ -325,7 +408,7 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
_orientationCalTailDownSideVisible = true;
_orientationCalNoseDownSideVisible = true;
} else if (text == "mag") {
_magCalInProgress = true;
_calTypeInProgress = CalTypeOffboardCompass;
_orientationCalDownSideVisible = true;
_orientationCalUpsideDownSideVisible = true;
_orientationCalLeftSideVisible = true;
......@@ -349,37 +432,37 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
if (side == QLatin1Literal("down")) {
_orientationCalDownSideInProgress = true;
if (_magCalInProgress) {
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalDownSideRotate = true;
}
} else if (side == QLatin1Literal("up")) {
_orientationCalUpsideDownSideInProgress = true;
if (_magCalInProgress) {
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalUpsideDownSideRotate = true;
}
} else if (side == QLatin1Literal("left")) {
_orientationCalLeftSideInProgress = true;
if (_magCalInProgress) {
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalLeftSideRotate = true;
}
} else if (side == QLatin1Literal("right")) {
_orientationCalRightSideInProgress = true;
if (_magCalInProgress) {
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalRightSideRotate = true;
}
} else if (side == QLatin1Literal("front")) {
_orientationCalNoseDownSideInProgress = true;
if (_magCalInProgress) {
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalNoseDownSideRotate = true;
}
} else if (side == QLatin1Literal("back")) {
_orientationCalTailDownSideInProgress = true;
if (_magCalInProgress) {
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalTailDownSideRotate = true;
}
}
if (_magCalInProgress) {
if (_calTypeInProgress == CalTypeOffboardCompass) {
_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");
......@@ -472,17 +555,23 @@ void APMSensorsComponentController::_hideAllCalAreas(void)
void APMSensorsComponentController::cancelCalibration(void)
{
_waitingForCancel = true;
emit waitingForCancelChanged();
_cancelButton->setEnabled(false);
if (_magCalInProgress) {
if (_calTypeInProgress == CalTypeOffboardCompass) {
_waitingForCancel = true;
emit waitingForCancelChanged();
_compassCal.cancelCalibration();
} else if (_calTypeInProgress == CalTypeOnboardCompass) {
_vehicle->sendMavCommand(_vehicle->defaultComponentId(), MAV_CMD_DO_CANCEL_MAG_CAL, true /* showError */);
_stopCalibration(StopCalibrationCancelled);
} else {
_waitingForCancel = true;
emit waitingForCancelChanged();
// The firmware doesn't always allow us to cancel calibration. The best we can do is wait
// for it to timeout.
_uas->stopCalibration();
}
}
void APMSensorsComponentController::nextClicked(void)
......@@ -500,7 +589,7 @@ void APMSensorsComponentController::nextClicked(void)
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
if (_compassMotCalInProgress) {
if (_calTypeInProgress == CalTypeCompassMot) {
_stopCalibration(StopCalibrationSuccess);
}
}
......@@ -520,15 +609,9 @@ bool APMSensorsComponentController::usingUDPLink(void)
return _vehicle->priorityLink()->getLinkConfiguration()->type() == LinkConfiguration::TypeUdp;
}
void APMSensorsComponentController::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
void APMSensorsComponentController::_handleCommandAck(mavlink_message_t& message)
{
Q_UNUSED(link);
if (message.sysid != _vehicle->id()) {
return;
}
if (message.msgid == MAVLINK_MSG_ID_COMMAND_ACK && _levelInProgress) {
if (_calTypeInProgress == CalTypeLevelHorizon) {
mavlink_command_ack_t commandAck;
mavlink_msg_command_ack_decode(&message, &commandAck);
......@@ -546,3 +629,108 @@ void APMSensorsComponentController::_mavlinkMessageReceived(LinkInterface* link,
}
}
}
void APMSensorsComponentController::_handleMagCalProgress(mavlink_message_t& message)
{
if (_calTypeInProgress == CalTypeOnboardCompass) {
mavlink_mag_cal_progress_t magCalProgress;
mavlink_msg_mag_cal_progress_decode(&message, &magCalProgress);
qCDebug(APMSensorsComponentControllerVerboseLog) << "_handleMagCalProgress id:mask:pct"
<< magCalProgress.compass_id << magCalProgress.cal_mask << magCalProgress.completion_pct;
// How many compasses are we calibrating?
int compassCalCount = 0;
for (int i=0; i<3; i++) {
if (magCalProgress.cal_mask & (1 << i)) {
compassCalCount++;
}
}
if (magCalProgress.compass_id < 3) {
// Each compass gets a portion of the overall progress
_rgCompassCalProgress[magCalProgress.compass_id] = magCalProgress.completion_pct / compassCalCount;
}
if (_progressBar) {
_progressBar->setProperty("value", (float)(_rgCompassCalProgress[0] + _rgCompassCalProgress[1] + _rgCompassCalProgress[2]) / 100.0);
}
}
}
void APMSensorsComponentController::_handleMagCalReport(mavlink_message_t& message)
{
if (_calTypeInProgress == CalTypeOnboardCompass) {
mavlink_mag_cal_report_t magCalReport;
mavlink_msg_mag_cal_report_decode(&message, &magCalReport);
qCDebug(APMSensorsComponentControllerVerboseLog) << "_handleMagCalReport id:mask:status:fitness"
<< magCalReport.compass_id << magCalReport.cal_mask << magCalReport.cal_status << magCalReport.fitness;
bool additionalCompassCompleted = false;
if (magCalReport.compass_id < 3 && !_rgCompassCalComplete[magCalReport.compass_id]) {
if (magCalReport.cal_status == MAG_CAL_SUCCESS) {
_appendStatusLog(tr("Compass %1 calibration complete").arg(magCalReport.compass_id));
} else {
_appendStatusLog(tr("Compass %1 calibration below quality threshold").arg(magCalReport.compass_id));
}
_rgCompassCalComplete[magCalReport.compass_id] = true;
_rgCompassCalSucceeded[magCalReport.compass_id] = magCalReport.cal_status == MAG_CAL_SUCCESS;
_rgCompassCalFitness[magCalReport.compass_id] = magCalReport.fitness;
additionalCompassCompleted = true;
}
if (_rgCompassCalComplete[0] && _rgCompassCalComplete[1] &&_rgCompassCalComplete[2]) {
for (int i=0; i<3; i++) {
qCDebug(APMSensorsComponentControllerLog) << QString("Onboard compass call report #%1: succeed:fitness %2:%3").arg(i).arg(_rgCompassCalSucceeded[i]).arg(_rgCompassCalFitness[i]);
}
emit compass1CalFitnessChanged(_rgCompassCalFitness[0]);
emit compass2CalFitnessChanged(_rgCompassCalFitness[1]);
emit compass3CalFitnessChanged(_rgCompassCalFitness[2]);
emit compass1CalSucceededChanged(_rgCompassCalSucceeded[0]);
emit compass2CalSucceededChanged(_rgCompassCalSucceeded[1]);
emit compass3CalSucceededChanged(_rgCompassCalSucceeded[2]);
if (_rgCompassCalSucceeded[0] && _rgCompassCalSucceeded[1] && _rgCompassCalSucceeded[2]) {
_appendStatusLog(tr("All compasses calibrated successfully"));
_appendStatusLog(tr("YOU MUST REBOOT YOUR VEHICLE NOW FOR NEW SETTINGS TO TAKE AFFECT"));
_stopCalibration(StopCalibrationSuccessShowLog);
} else {
_appendStatusLog(tr("Compass calibration failed"));
_appendStatusLog(tr("YOU MUST REBOOT YOUR VEHICLE NOW AND RETRY COMPASS CALIBRATION PRIOR TO FLIGHT"));
_stopCalibration(StopCalibrationFailed);
}
} else if (additionalCompassCompleted) {
_appendStatusLog(tr("Continue rotating..."));
}
}
}
void APMSensorsComponentController::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
Q_UNUSED(link);
if (message.sysid != _vehicle->id()) {
return;
}
switch (message.msgid) {
case MAVLINK_MSG_ID_COMMAND_ACK:
_handleCommandAck(message);
break;
case MAVLINK_MSG_ID_MAG_CAL_PROGRESS:
_handleMagCalProgress(message);
break;
case MAVLINK_MSG_ID_MAG_CAL_REPORT:
_handleMagCalReport(message);
break;
}
}
void APMSensorsComponentController::_restorePreviousCompassCalFitness(void)
{
if (_restoreCompassCalFitness) {
_restoreCompassCalFitness = false;
getParameterFact(FactSystem::defaultComponentId, _compassCalFitnessParam)->setRawValue(_previousCompassCalFitness);
}
}
src/AutoPilotPlugins/APM/APMSensorsComponentController.h
View file @ 465999bf
......@@ -20,6 +20,7 @@
#include "APMCompassCal.h"
Q_DECLARE_LOGGING_CATEGORY(APMSensorsComponentControllerLog)
Q_DECLARE_LOGGING_CATEGORY(APMSensorsComponentControllerVerboseLog)
/// Sensors Component MVC Controller for SensorsComponent.qml.
class APMSensorsComponentController : public FactPanelController
......@@ -28,6 +29,7 @@ class APMSensorsComponentController : public FactPanelController
public:
APMSensorsComponentController(void);
~APMSensorsComponentController();
Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
......@@ -75,7 +77,15 @@ public:
Q_PROPERTY(bool orientationCalTailDownSideRotate MEMBER _orientationCalTailDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool waitingForCancel MEMBER _waitingForCancel NOTIFY waitingForCancelChanged)
Q_PROPERTY(bool compass1CalSucceeded READ compass1CalSucceeded NOTIFY compass1CalSucceededChanged)
Q_PROPERTY(bool compass2CalSucceeded READ compass2CalSucceeded NOTIFY compass2CalSucceededChanged)
Q_PROPERTY(bool compass3CalSucceeded READ compass3CalSucceeded NOTIFY compass3CalSucceededChanged)
Q_PROPERTY(double compass1CalFitness READ compass1CalFitness NOTIFY compass1CalFitnessChanged)
Q_PROPERTY(double compass2CalFitness READ compass2CalFitness NOTIFY compass2CalFitnessChanged)
Q_PROPERTY(double compass3CalFitness READ compass3CalFitness NOTIFY compass3CalFitnessChanged)
Q_INVOKABLE void calibrateCompass(void);
Q_INVOKABLE void calibrateAccel(void);
Q_INVOKABLE void calibrateMotorInterference(void);
......@@ -86,7 +96,25 @@ public:
bool compassSetupNeeded(void) const;
bool accelSetupNeeded(void) const;
typedef enum {
CalTypeAccel,
CalTypeOnboardCompass,
CalTypeOffboardCompass,
CalTypeLevelHorizon,
CalTypeCompassMot,
CalTypeNone
} CalType_t;
Q_ENUM(CalType_t)
bool compass1CalSucceeded(void) const { return _rgCompassCalSucceeded[0]; }
bool compass2CalSucceeded(void) const { return _rgCompassCalSucceeded[1]; }
bool compass3CalSucceeded(void) const { return _rgCompassCalSucceeded[2]; }
double compass1CalFitness(void) const { return _rgCompassCalFitness[0]; }
double compass2CalFitness(void) const { return _rgCompassCalFitness[1]; }
double compass3CalFitness(void) const { return _rgCompassCalFitness[2]; }
signals:
void showGyroCalAreaChanged(void);
void showOrientationCalAreaChanged(void);
......@@ -97,11 +125,18 @@ signals:
void resetStatusTextArea(void);
void waitingForCancelChanged(void);
void setupNeededChanged(void);
void calibrationComplete(void);
void calibrationComplete(CalType_t calType);
void compass1CalSucceededChanged(bool compass1CalSucceeded);
void compass2CalSucceededChanged(bool compass2CalSucceeded);
void compass3CalSucceededChanged(bool compass3CalSucceeded);
void compass1CalFitnessChanged(double compass1CalFitness);
void compass2CalFitnessChanged(double compass2CalFitness);
void compass3CalFitnessChanged(double compass3CalFitness);
private slots:
void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
private:
void _startLogCalibration(void);
......@@ -110,7 +145,11 @@ private:
void _refreshParams(void);
void _hideAllCalAreas(void);
void _resetInternalState(void);
void _handleCommandAck(mavlink_message_t& message);
void _handleMagCalProgress(mavlink_message_t& message);
void _handleMagCalReport(mavlink_message_t& message);
void _restorePreviousCompassCalFitness(void);
enum StopCalibrationCode {
StopCalibrationSuccess,
StopCalibrationSuccessShowLog,
......@@ -137,11 +176,13 @@ private:
bool _showOrientationCalArea;
bool _magCalInProgress;
bool _accelCalInProgress;
bool _compassMotCalInProgress;
bool _levelInProgress;
CalType_t _calTypeInProgress;
uint8_t _rgCompassCalProgress[3];
bool _rgCompassCalComplete[3];
bool _rgCompassCalSucceeded[3];
float _rgCompassCalFitness[3];
bool _orientationCalDownSideDone;
bool _orientationCalUpsideDownSideDone;
bool _orientationCalLeftSideDone;
......@@ -171,6 +212,10 @@ private:
bool _orientationCalTailDownSideRotate;
bool _waitingForCancel;
bool _restoreCompassCalFitness;
float _previousCompassCalFitness;
static const char* _compassCalFitnessParam;
static const int _supportedFirmwareCalVersion = 2;
};
......
src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
View file @ 465999bf
......@@ -7,6 +7,7 @@ import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ArduPilot 1.0
/*
IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummary.qml
......@@ -18,55 +19,35 @@ FactPanel {
color: qgcPal.windowShadeDark
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
APMSensorsComponentController { id: controller; factPanel: panel }
property Fact compass1IdFact: controller.getParameterFact(-1, "COMPASS_DEV_ID")
property Fact compass2IdFact: controller.getParameterFact(-1, "COMPASS_DEV_ID2")
property Fact compass3IdFact: controller.getParameterFact(-1, "COMPASS_DEV_ID3")
property Fact compass1OfsXFact: controller.getParameterFact(-1, "COMPASS_OFS_X")
property Fact compass1OfsYFact: controller.getParameterFact(-1, "COMPASS_OFS_Y")
property Fact compass1OfsZFact: controller.getParameterFact(-1, "COMPASS_OFS_Z")
property Fact compass2OfsXFact: controller.getParameterFact(-1, "COMPASS_OFS2_X")
property Fact compass2OfsYFact: controller.getParameterFact(-1, "COMPASS_OFS2_Y")
property Fact compass2OfsZFact: controller.getParameterFact(-1, "COMPASS_OFS2_Z")
property Fact compass3OfsXFact: controller.getParameterFact(-1, "COMPASS_OFS3_X")
property Fact compass3OfsYFact: controller.getParameterFact(-1, "COMPASS_OFS3_Y")
property Fact compass3OfsZFact: controller.getParameterFact(-1, "COMPASS_OFS3_Z")
property bool compass1Available: compass1IdFact.value !== 0
property bool compass2Available: compass2IdFact.value !== 0
property bool compass3Available: compass3IdFact.value !== 0
property bool compass1Calibrated: compass1Available ? compass1OfsXFact.value != 0.0 && compass1OfsYFact.value != 0.0 &&compass1OfsZFact.value != 0.0 : false
property bool compass2Calibrated: compass2Available ? compass2OfsXFact.value != 0.0 && compass2OfsYFact.value != 0.0 &&compass2OfsZFact.value != 0.0 : false
property bool compass3Calibrated: compass3Available ? compass3OfsXFact.value != 0.0 && compass3OfsYFact.value != 0.0 &&compass3OfsZFact.value != 0.0 : false
APMSensorsComponentController { id: controller; factPanel: panel }
property bool compassCalNeeded: controller.compassSetupNeeded
APMSensorParams {
id: sensorParams
factPanelController: controller
}
Column {
anchors.fill: parent
VehicleSummaryRow {
labelText: qsTr("Compass 1:")
visible: compass1Available
valueText: compass1Calibrated ? qsTr("Ready") : qsTr("Setup required")
}
VehicleSummaryRow {
labelText: qsTr("Compass 2:")
visible: compass2Available
valueText: compass2Calibrated ? qsTr("Ready") : qsTr("Setup required")
}
VehicleSummaryRow {
labelText: qsTr("Compass 3:")
visible: compass3Available
valueText: compass3Calibrated ? qsTr("Ready") : qsTr("Setup required")
Repeater {
model: 3
VehicleSummaryRow {
labelText: qsTr("Compass ") + (index + 1) + ":"
valueText: sensorParams.rgCompassAvailable[index] ?
(sensorParams.rgCompassCalibrated[index] ?
(sensorParams.rgCompassPrimary[index] ? "Primary" : "Secondary") +
(sensorParams.rgCompassExternalParamAvailable[index] ?
(sensorParams.rgCompassExternal[index] ? ", External" : ", Internal" ) :
"") :
qsTr("Setup required")) :
qsTr("Not installed")
}
}
VehicleSummaryRow {
labelText: qsTr("Accelerometer:")
labelText: qsTr("Accelerometer(s):")
valueText: controller.accelSetupNeeded ? qsTr("Setup required") : qsTr("Ready")
}
}
......
src/FirmwarePlugin/APM/APMSensorParams.qml 0 → 100644
View file @ 465999bf
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.2
import QGroundControl.FactSystem 1.0
/// This is used to handle the various differences between firmware versions and missing parameters in each in a standard way.
Item {
property var factPanelController ///< Must be specified by consumer of control
property Fact _noFact: Fact { }
property Fact compassPrimaryFact: factPanelController.getParameterFact(-1, "COMPASS_PRIMARY")
property bool compass1Primary: compassPrimaryFact.rawValue == 0
property bool compass2Primary: compassPrimaryFact.rawValue == 1
property bool compass3Primary: compassPrimaryFact.rawValue == 2
property var rgCompassPrimary: [ compass1Primary, compass2Primary, compass3Primary ]
property Fact compass1Id: factPanelController.getParameterFact(-1, "COMPASS_DEV_ID")
property Fact compass2Id: factPanelController.getParameterFact(-1, "COMPASS_DEV_ID2")
property Fact compass3Id: factPanelController.getParameterFact(-1, "COMPASS_DEV_ID3")
property bool compass1Available: compass1Id.value > 0
property bool compass2Available: compass2Id.value > 0
property bool compass3Available: compass3Id.value > 0
property var rgCompassAvailable: [ compass1Available, compass2Available, compass3Available ]
property bool compass1RotParamAvailable: factPanelController.parameterExists(-1, "COMPASS_ORIENT")
property bool compass2RotParamAvailable: factPanelController.parameterExists(-1, "COMPASS_ORIENT2")
property bool compass3RotParamAvailable: factPanelController.parameterExists(-1, "COMPASS_ORIENT3")
property var rgCompassRotParamAvailable: [ compass1RotParamAvailable, compass2RotParamAvailable, compass3RotParamAvailable ]
property Fact compass1RotFact: compass2RotParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_ORIENT") : _noFact
property Fact compass2RotFact: compass2RotParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_ORIENT2") : _noFact
property Fact compass3RotFact: compass3RotParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_ORIENT3") : _noFact
property var rgCompassRotFact: [ compass1RotFact, compass2RotFact, compass3RotFact ]
property bool compass1UseParamAvailable: factPanelController.parameterExists(-1, "COMPASS_USE")
property bool compass2UseParamAvailable: factPanelController.parameterExists(-1, "COMPASS_USE2")
property bool compass3UseParamAvailable: factPanelController.parameterExists(-1, "COMPASS_USE3")
property var rgCompassUseParamAvailable: [ compass1UseParamAvailable, compass2UseParamAvailable, compass3UseParamAvailable ]
property Fact compass1UseFact: compass1UseParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_USE") : _noFact
property Fact compass2UseFact: compass2UseParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_USE2") : _noFact
property Fact compass3UseFact: compass3UseParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_USE3") : _noFact
property var rgCompassUseFact: [ compass1UseFact, compass2UseFact, compass3UseFact ]
property bool compass1Use: compass1UseParamAvailable ? compass1UseFact.value : true
property bool compass2Use: compass2UseParamAvailable ? compass2UseFact.value : true
property bool compass3Use: compass3UseParamAvailable ? compass3UseFact.value : true
property bool compass1ExternalParamAvailable: factPanelController.parameterExists(-1, "COMPASS_EXTERNAL")
property bool compass2ExternalParamAvailable: factPanelController.parameterExists(-1, "COMPASS_EXTERN2")
property bool compass3ExternalParamAvailable: factPanelController.parameterExists(-1, "COMPASS_EXTERN3")
property var rgCompassExternalParamAvailable: [ compass1ExternalParamAvailable, compass2ExternalParamAvailable, compass3ExternalParamAvailable ]
property Fact compass1ExternalFact: compass1ExternalParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_EXTERNAL") : _noFact
property Fact compass2ExternalFact: compass2ExternalParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_EXTERN2") : _noFact
property Fact compass3ExternalFact: compass3ExternalParamAvailable ? factPanelController.getParameterFact(-1, "COMPASS_EXTERN3") : _noFact
property bool compass1External: !!compass1ExternalFact.rawValue
property bool compass2External: !!compass2ExternalFact.rawValue
property bool compass3External: !!compass3ExternalFact.rawValue
property var rgCompassExternal: [ compass1External, compass2External, compass3External ]
property Fact compass1OfsXFact: factPanelController.getParameterFact(-1, "COMPASS_OFS_X")
property Fact compass1OfsYFact: factPanelController.getParameterFact(-1, "COMPASS_OFS_Y")
property Fact compass1OfsZFact: factPanelController.getParameterFact(-1, "COMPASS_OFS_Z")
property Fact compass2OfsXFact: factPanelController.getParameterFact(-1, "COMPASS_OFS2_X")
property Fact compass2OfsYFact: factPanelController.getParameterFact(-1, "COMPASS_OFS2_Y")
property Fact compass2OfsZFact: factPanelController.getParameterFact(-1, "COMPASS_OFS2_Z")
property Fact compass3OfsXFact: factPanelController.getParameterFact(-1, "COMPASS_OFS3_X")
property Fact compass3OfsYFact: factPanelController.getParameterFact(-1, "COMPASS_OFS3_Y")
property Fact compass3OfsZFact: factPanelController.getParameterFact(-1, "COMPASS_OFS3_Z")
property bool compass1Calibrated: compass1Available ? compass1OfsXFact.value != 0.0 && compass1OfsYFact.value != 0.0 &&compass1OfsZFact.value != 0.0 : false
property bool compass2Calibrated: compass2Available ? compass2OfsXFact.value != 0.0 && compass2OfsYFact.value != 0.0 &&compass2OfsZFact.value != 0.0 : false
property bool compass3Calibrated: compass3Available ? compass3OfsXFact.value != 0.0 && compass3OfsYFact.value != 0.0 &&compass3OfsZFact.value != 0.0 : false
property var rgCompassCalibrated: [ compass1Calibrated, compass2Calibrated, compass3Calibrated ]
}
src/FirmwarePlugin/APM/QGroundControl.ArduPilot.qmldir 0 → 100644
View file @ 465999bf
Module QGroundControl.ArduPilot
APMSensorParams 1.0 APMSensorParams.qml
src/comm/MockLink.cc
View file @ 465999bf
......@@ -188,14 +188,14 @@ void MockLink::_loadParams(void)
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
if (_vehicleType == MAV_TYPE_FIXED_WING) {
paramFile.setFileName(":/unittest/APMArduPlaneMockLink.params");
paramFile.setFileName(":/MockLink/APMArduPlaneMockLink.params");
} else if (_vehicleType == MAV_TYPE_SUBMARINE ) {
paramFile.setFileName(":/unittest/APMArduSubMockLink.params");
paramFile.setFileName(":/MockLink/APMArduSubMockLink.params");
} else {
paramFile.setFileName(":/unittest/APMArduCopterMockLink.params");
paramFile.setFileName(":/MockLink/APMArduCopterMockLink.params");
}
} else {
paramFile.setFileName(":/unittest/PX4MockLink.params");
paramFile.setFileName(":/MockLink/PX4MockLink.params");
}
......
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