Merge pull request #2864 from DonLakeFlyer/Sensors

Usability plus bug fixes

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

@@ -72,16 +72,7 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
              << "COMPASS_OFS3_X" << "COMPASS_OFS3_X" << "COMPASS_OFS3_X";
 
     // Accelerometer triggers
-    if (_autopilot->parameterExists(FactSystem::defaultComponentId, "INS_USE")) {
-        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";
-    } else {
-        // For older firmwares which don't support the INS_USE parameter we can't determine which secondary accels are in use.
-        // So we just base things off the the first accel.
-        triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
-    }
+    triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
 
     return triggers;
 }
@@ -116,9 +107,9 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
     QStringList rgOffsets[cCompass];
 
     devicesIds << QStringLiteral("COMPASS_DEV_ID") << QStringLiteral("COMPASS_DEV_ID2") << QStringLiteral("COMPASS_DEV_ID3");
-    rgOffsets[0] << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X");
-    rgOffsets[1] << QStringLiteral("COMPASS_OFS2_X") << QStringLiteral("COMPASS_OFS2_X") << QStringLiteral("COMPASS_OFS2_X");
-    rgOffsets[2] << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_X");
+    rgOffsets[0] << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_Y") << QStringLiteral("COMPASS_OFS_Z");
+    rgOffsets[1] << QStringLiteral("COMPASS_OFS2_X") << QStringLiteral("COMPASS_OFS2_Y") << QStringLiteral("COMPASS_OFS2_Z");
+    rgOffsets[2] << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_Y") << QStringLiteral("COMPASS_OFS3_Z");
 
     for (size_t i=0; i<cCompass; i++) {
         if (_autopilot->getParameterFact(FactSystem::defaultComponentId, devicesIds[i])->rawValue().toInt() != 0) {
@@ -135,29 +126,13 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
 
 bool APMSensorsComponent::accelSetupNeeded(void) const
 {
-    const size_t cAccel = 3;
-    const size_t cOffset = 3;
-    QStringList insUse;
-    QStringList rgOffsets[cAccel];
-
-    if (_autopilot->parameterExists(FactSystem::defaultComponentId, "INS_USE")) {
-        insUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
-        rgOffsets[0] << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
-        rgOffsets[1] << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
-        rgOffsets[2] << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
-    } else {
-        // For older firmwares which don't support the INS_USE parameter we can't determine which secondary accels are in use.
-        // So we just base things off the the first accel.
-        rgOffsets[0] << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
-    }
+    QStringList offsets;
 
-    for (size_t i=0; i<cAccel; i++) {
-        if (insUse.count() == 0 || _autopilot->getParameterFact(FactSystem::defaultComponentId, insUse[i])->rawValue().toInt() != 0) {
-            for (size_t j=0; j<cOffset; j++) {
-                if (rgOffsets[i].count() && _autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
-                    return true;
-                }
-            }
+    offsets << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
+
+    foreach(const QString& offset, offsets) {
+        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, offset)->rawValue().toFloat() == 0.0f) {
+            return true;
         }
     }
 

src/AutoPilotPlugins/APM/APMSensorsComponent.qml

@@ -369,6 +369,19 @@ QGCView {
 
             QGCLabel { text: "Calibrate:"; anchors.baseline: compassButton.baseline }
 
+            IndicatorButton {
+                id:             accelButton
+                width:          parent.buttonWidth
+                text:           "Accelerometer"
+                indicatorGreen: !accelCalNeeded
+
+                onClicked: {
+                    preCalibrationDialogType = "accel"
+                    preCalibrationDialogHelp = accelHelp
+                    showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
+                }
+            }
+
             IndicatorButton {
                 id:             compassButton
                 width:          parent.buttonWidth
@@ -388,18 +401,6 @@ QGCView {
                 }
             }
 
-            IndicatorButton {
-                id:             accelButton
-                width:          parent.buttonWidth
-                text:           "Accelerometer"
-                indicatorGreen: !accelCalNeeded
-
-                onClicked: {
-                    preCalibrationDialogType = "accel"
-                    preCalibrationDialogHelp = accelHelp
-                    showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
-                }
-            }
             QGCButton {
                 id:         nextButton
                 showBorder: true

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -77,11 +77,6 @@ APMSensorsComponentController::APMSensorsComponentController(void) :
     connect(_sensorsComponent, &VehicleComponent::setupCompleteChanged, this, &APMSensorsComponentController::setupNeededChanged);
 }
 
-APMSensorsComponentController::~APMSensorsComponentController()
-{
-    _vehicle->setConnectionLostEnabled(true);
-}
-
 /// Appends the specified text to the status log area in the ui
 void APMSensorsComponentController::_appendStatusLog(const QString& text)
 {

src/AutoPilotPlugins/APM/APMSensorsComponentController.h

@@ -41,7 +41,6 @@ class APMSensorsComponentController : public FactPanelController
     
 public:
     APMSensorsComponentController(void);
-    ~APMSensorsComponentController();
 
     Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
     

src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml

@@ -20,7 +20,28 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     APMSensorsComponentController { id: controller; factPanel: panel }
 
-    property bool accelCalNeeded:   controller.accelSetupNeeded
+    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
+
     property bool compassCalNeeded: controller.compassSetupNeeded
 
     Column {
@@ -28,13 +49,26 @@ FactPanel {
         anchors.margins:    8
 
         VehicleSummaryRow {
-            labelText: "Compass:"
-            valueText: compassCalNeeded ? "Setup required" : "Ready"
+            labelText: "Compass 1:"
+            visible:    compass1Available
+            valueText:  compass1Calibrated ? "Ready" : "Setup required"
+        }
+
+        VehicleSummaryRow {
+            labelText: "Compass 2:"
+            visible:    compass2Available
+            valueText:  compass2Calibrated ? "Ready" : "Setup required"
+        }
+
+        VehicleSummaryRow {
+            labelText: "Compass 3:"
+            visible:    compass3Available
+            valueText:  compass3Calibrated ? "Ready" : "Setup required"
         }
 
         VehicleSummaryRow {
             labelText: "Accelerometer:"
-            valueText: accelCalNeeded ? "Setup required" : "Ready"
+            valueText: controller.accelSetupNeeded ? "Setup required" : "Ready"
         }
     }
 }

src/AutoPilotPlugins/PX4/SensorsComponent.qml

@@ -130,7 +130,7 @@ QGCView {
 
         onSetCompassRotations: {
             if (showCompass0Rot || showCompass1Rot || showCompass2Rot) {
-            showDialog(compassRotationDialogComponent, "Set Compass Rotation(s)", qgcView.showDialogDefaultWidth, StandardButton.Ok)
+                showDialog(compassRotationDialogComponent, "Set Compass Rotation(s)", qgcView.showDialogDefaultWidth, StandardButton.Ok)
             }
         }
 

src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml

@@ -20,6 +20,8 @@ FactPanel {
     FactPanelController { id: controller; factPanel: panel }
 
     property Fact mag0IdFact:   controller.getParameterFact(-1, "CAL_MAG0_ID")
+    property Fact mag1IdFact:   controller.getParameterFact(-1, "CAL_MAG1_ID")
+    property Fact mag2IdFact:   controller.getParameterFact(-1, "CAL_MAG2_ID")
     property Fact gyro0IdFact:  controller.getParameterFact(-1, "CAL_GYRO0_ID")
     property Fact accel0IdFact: controller.getParameterFact(-1, "CAL_ACC0_ID")
 
@@ -28,10 +30,22 @@ FactPanel {
         anchors.margins:    8
 
         VehicleSummaryRow {
-            labelText: "Compass:"
+            labelText: "Compass 0:"
             valueText: mag0IdFact ? (mag0IdFact.value === 0 ? "Setup required" : "Ready") : ""
         }
 
+        VehicleSummaryRow {
+            labelText:  "Compass 1:"
+            visible:    mag1IdFact.value !== 0
+            valueText:  "Ready"
+        }
+
+        VehicleSummaryRow {
+            labelText:  "Compass 2:"
+            visible:    mag2IdFact.value !== 0
+            valueText:  "Ready"
+        }
+
         VehicleSummaryRow {
             labelText: "Gyro:"
             valueText: gyro0IdFact ? (gyro0IdFact.value === 0 ? "Setup required" : "Ready") : ""