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Commit 4dae48b3 authored by Don Gagne's avatar Don Gagne
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Better setup complete triggers

parent 51b7c3cd
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Showing with 105 additions and 68 deletions
src/AutoPilotPlugins/APM/APMSensorsComponent.cc
View file @ 4dae48b3
......@@ -57,13 +57,7 @@ bool APMSensorsComponent::requiresSetup(void) const
bool APMSensorsComponent::setupComplete(void) const
{
foreach(QString triggerParam, setupCompleteChangedTriggerList()) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
return false;
}
}
return true;
return !compassSetupNeeded() && !accelSetupNeeded();
}
QString APMSensorsComponent::setupStateDescription(void) const
......@@ -82,8 +76,17 @@ 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";
// Compass triggers
triggers << "COMPASS_DEV_ID" << "COMPASS_DEV_ID2" << "COMPASS_DEV_ID3"
<< "COMPASS_OFS_X" << "COMPASS_OFS_X" << "COMPASS_OFS_X"
<< "COMPASS_OFS2_X" << "COMPASS_OFS2_X" << "COMPASS_OFS2_X"
<< "COMPASS_OFS3_X" << "COMPASS_OFS3_X" << "COMPASS_OFS3_X";
// Acceleromter triggers
triggers << "INS_USE" << "INS_USE2" << "INS_USE3"
<< "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z"
<< "INS_ACC2OFFS_X" << "INS_ACC2OFFS_Y" << "INS_ACC2OFFS_Z"
<< "INS_ACC3OFFS_X" << "INS_ACC3OFFS_Y" << "INS_ACC3OFFS_Z";
return triggers;
}
......@@ -114,3 +117,54 @@ QString APMSensorsComponent::prerequisiteSetup(void) const
return QString();
}
bool APMSensorsComponent::compassSetupNeeded(void) const
{
const size_t cCompass = 3;
const size_t cOffset = 3;
QStringList devicesIds;
QStringList rgOffsets[cCompass];
devicesIds << "COMPASS_DEV_ID" << "COMPASS_DEV_ID2" << "COMPASS_DEV_ID3";
rgOffsets[0] << "COMPASS_OFS_X" << "COMPASS_OFS_X" << "COMPASS_OFS_X";
rgOffsets[1] << "COMPASS_OFS2_X" << "COMPASS_OFS2_X" << "COMPASS_OFS2_X";
rgOffsets[2] << "COMPASS_OFS3_X" << "COMPASS_OFS3_X" << "COMPASS_OFS3_X";
for (size_t i=0; i<cCompass; i++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, devicesIds[i])->rawValue().toInt() != 0) {
for (size_t j=0; j<cOffset; j++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
return true;
}
}
}
}
return false;
}
bool APMSensorsComponent::accelSetupNeeded(void) const
{
const size_t cAccel = 3;
const size_t cOffset = 3;
QStringList insUse;
QStringList rgOffsets[cAccel];
insUse << "INS_USE" << "INS_USE2" << "INS_USE3";
rgOffsets[0] << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
rgOffsets[1] << "INS_ACC2OFFS_X" << "INS_ACC2OFFS_Y" << "INS_ACC2OFFS_Z";
rgOffsets[2] << "INS_ACC3OFFS_X" << "INS_ACC3OFFS_Y" << "INS_ACC3OFFS_Z";
for (size_t i=0; i<cAccel; i++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, insUse[i])->rawValue().toInt() != 0) {
for (size_t j=0; j<cOffset; j++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
return true;
}
}
}
}
return false;
}
src/AutoPilotPlugins/APM/APMSensorsComponent.h
View file @ 4dae48b3
......@@ -32,7 +32,10 @@ class APMSensorsComponent : public APMComponent
public:
APMSensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
bool compassSetupNeeded(void) const;
bool accelSetupNeeded(void) const;
// Virtuals from APMComponent
virtual QStringList setupCompleteChangedTriggerList(void) const;
......
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
View file @ 4dae48b3
......@@ -112,24 +112,8 @@ QGCView {
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
property bool accelCalNeeded: controller.accelSetupNeeded
property bool compassCalNeeded: controller.compassSetupNeeded
// Id > = signals compass available, rot < 0 signals internal compass
property bool showCompass0Rot: cal_mag0_id.value > 0 && cal_mag0_rot.value >= 0
......
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
View file @ 4dae48b3
......@@ -25,6 +25,7 @@
#include "QGCMAVLink.h"
#include "UAS.h"
#include "QGCApplication.h"
#include "APMAutoPilotPlugin.h"
#include <QVariant>
#include <QQmlProperty>
......@@ -68,7 +69,10 @@ APMSensorsComponentController::APMSensorsComponentController(void) :
_orientationCalTailDownSideRotate(false),
_waitingForCancel(false)
{
APMAutoPilotPlugin * apmPlugin = qobject_cast<APMAutoPilotPlugin*>(_vehicle->autopilotPlugin());
_sensorsComponent = apmPlugin->sensorsComponent();
connect(apmPlugin, &APMAutoPilotPlugin::setupCompleteChanged, this, &APMSensorsComponentController::setupNeededChanged);
}
/// Appends the specified text to the status log area in the ui
......@@ -180,12 +184,6 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
_gyroCalInProgress = false;
}
void APMSensorsComponentController::calibrateGyro(void)
{
_startLogCalibration();
_uas->startCalibration(UASInterface::StartCalibrationGyro);
}
void APMSensorsComponentController::calibrateCompass(void)
{
_startLogCalibration();
......@@ -198,18 +196,6 @@ void APMSensorsComponentController::calibrateAccel(void)
_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);
......@@ -467,3 +453,13 @@ void APMSensorsComponentController::nextClicked(void)
_vehicle->sendMessage(msg);
}
bool APMSensorsComponentController::compassSetupNeeded(void) const
{
return _sensorsComponent->compassSetupNeeded();
}
bool APMSensorsComponentController::accelSetupNeeded(void) const
{
return _sensorsComponent->accelSetupNeeded();
}
src/AutoPilotPlugins/APM/APMSensorsComponentController.h
View file @ 4dae48b3
......@@ -29,6 +29,7 @@
#include "UASInterface.h"
#include "FactPanelController.h"
#include "QGCLoggingCategory.h"
#include "APMSensorsComponent.h"
Q_DECLARE_LOGGING_CATEGORY(APMSensorsComponentControllerLog)
......@@ -50,7 +51,10 @@ public:
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText)
Q_PROPERTY(bool compassSetupNeeded READ compassSetupNeeded NOTIFY setupNeededChanged)
Q_PROPERTY(bool accelSetupNeeded READ accelSetupNeeded NOTIFY setupNeededChanged)
Q_PROPERTY(bool showOrientationCalArea MEMBER _showOrientationCalArea NOTIFY showOrientationCalAreaChanged)
Q_PROPERTY(bool orientationCalDownSideDone MEMBER _orientationCalDownSideDone NOTIFY orientationCalSidesDoneChanged)
......@@ -84,14 +88,14 @@ public:
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);
bool compassSetupNeeded(void) const;
bool accelSetupNeeded(void) const;
signals:
void showGyroCalAreaChanged(void);
......@@ -103,6 +107,7 @@ signals:
void resetStatusTextArea(void);
void waitingForCancelChanged(void);
void setCompassRotations(void);
void setupNeededChanged(void);
private slots:
void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
......@@ -124,6 +129,8 @@ private:
void _updateAndEmitShowOrientationCalArea(bool show);
APMSensorsComponent* _sensorsComponent;
QQuickItem* _statusLog;
QQuickItem* _progressBar;
QQuickItem* _compassButton;
......
src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
View file @ 4dae48b3
import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QtQuick 2.5
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
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controllers 1.0
/*
IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummary.qml
......@@ -17,18 +18,10 @@ FactPanel {
color: qgcPal.windowShadeDark
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
FactPanelController { id: controller; factPanel: panel }
APMSensorsComponentController { 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
property bool accelCalNeeded: controller.accelSetupNeeded
property bool compassCalNeeded: controller.compassSetupNeeded
Column {
anchors.fill: parent
......
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