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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
......@@ -33,6 +33,9 @@ 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)
......@@ -51,6 +52,9 @@ public:
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)
......@@ -84,15 +88,15 @@ 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);
void showOrientationCalAreaChanged(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 2.5
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
......@@ -6,6 +6,7 @@ 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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