diff --git a/qgcresources.qrc b/qgcresources.qrc
index a4bb7bb9f7b05f85374b63b55652e9a2d040e36c..f0f05f141d376122f2ffbfba4f8eeed87cdb3764 100644
--- a/qgcresources.qrc
+++ b/qgcresources.qrc
@@ -49,6 +49,10 @@
src/VehicleSetup/FirmwareUpgradeIcon.png
src/AutoPilotPlugins/PX4/Images/FlightModesComponentIcon.png
src/AutoPilotPlugins/PX4/Images/CameraComponentIcon.png
+ src/AutoPilotPlugins/PX4/Images/GeoFence.svg
+ src/AutoPilotPlugins/PX4/Images/LandMode.svg
+ src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
+ src/AutoPilotPlugins/PX4/Images/LowBattery.svg
src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_01cell.svg
src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_02cell.svg
src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_03cell.svg
@@ -57,7 +61,9 @@
src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_06cell.svg
src/AutoPilotPlugins/PX4/Images/PowerComponentIcon.png
src/AutoPilotPlugins/PX4/Images/RadioComponentIcon.png
+ src/AutoPilotPlugins/PX4/Images/RCLoss.svg
src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg
+ src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg
src/AutoPilotPlugins/PX4/Images/SafetyComponentIcon.png
src/AutoPilotPlugins/PX4/Images/SensorsComponentIcon.png
src/AutoPilotPlugins/PX4/Images/TuningComponentIcon.png
diff --git a/src/AutoPilotPlugins/PX4/Images/GeoFence.svg b/src/AutoPilotPlugins/PX4/Images/GeoFence.svg
new file mode 100644
index 0000000000000000000000000000000000000000..6247fbc93b14a128f8cb6cd5328161988a8d4064
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/GeoFence.svg
@@ -0,0 +1,39 @@
+
+
+
diff --git a/src/AutoPilotPlugins/PX4/Images/LandMode.svg b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
new file mode 100644
index 0000000000000000000000000000000000000000..d6dabab67e323daeeb4551e262252b916d8ba3c9
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
@@ -0,0 +1,27 @@
+
+
+
diff --git a/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg b/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
new file mode 100644
index 0000000000000000000000000000000000000000..5cb700fba2acfb3934876d545002c59d084d4caa
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
@@ -0,0 +1,81 @@
+
+
+
diff --git a/src/AutoPilotPlugins/PX4/Images/LowBattery.svg b/src/AutoPilotPlugins/PX4/Images/LowBattery.svg
new file mode 100644
index 0000000000000000000000000000000000000000..a0d83a8f42589318668fe5093fe7be6f9a1126db
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/LowBattery.svg
@@ -0,0 +1,23 @@
+
+
+
diff --git a/src/AutoPilotPlugins/PX4/Images/RCLoss.svg b/src/AutoPilotPlugins/PX4/Images/RCLoss.svg
new file mode 100644
index 0000000000000000000000000000000000000000..88bcaeffed5f3bbaef396c3576f7998cf3e27be4
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/RCLoss.svg
@@ -0,0 +1,78 @@
+
+
+
diff --git a/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg b/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg
index 2964cb5bf0c892775a51ff6c1e4fc143b84054bc..e6c59e0438d6e937c47eeba50808eb3ef73e5a2a 100644
--- a/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg
+++ b/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg
@@ -1,81 +1,81 @@
-
-
-
+
+
+
diff --git a/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg b/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg
new file mode 100644
index 0000000000000000000000000000000000000000..a1a779d742c1471dd6f06d80976a2ddf59dfa18e
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg
@@ -0,0 +1,129 @@
+
+
+
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index 4105f9944f7e076d3328edad2d6d690a8500e86b..39f3e90c91bfe8d111dd8da237f8e8ca16a97060 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -49,6 +49,8 @@ QGCView {
property Fact _fenceRadius: controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
property Fact _fenceAlt: controller.getParameterFact(-1, "GF_MAX_VER_DIST")
property Fact _rtlLandDelay: controller.getParameterFact(-1, "RTL_LAND_DELAY")
+ property Fact _lowBattAction: controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
+ property Fact _rcLossAction: controller.getParameterFact(-1, "NAV_RCL_ACT")
QGCViewPanel {
id: panel
@@ -57,10 +59,414 @@ QGCView {
QGCFlickable {
clip: true
anchors.fill: parent
- contentHeight: screenBottom.y + screenBottom.height
+ contentHeight: mainCol.height
contentWidth: parent.width
flickableDirection: Flickable.VerticalFlick
+ Column {
+ id: mainCol
+ spacing: _margins
+
+ QGCLabel {
+ id: rtlLabel
+ text: qsTr("Return Home Settings")
+ font.weight: Font.DemiBold
+ }
+
+ Rectangle {
+ id: rtlSettings
+ color: palette.windowShade
+ width: rtlRow.width + _margins * 2
+ height: rtlRow.height + _margins * 2
+ Row {
+ id: rtlRow
+ spacing: _margins
+ anchors.verticalCenter: parent.verticalCenter
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ QGCColoredImage {
+ id: icon
+ height: ScreenTools.defaultFontPixelWidth * 10
+ width: ScreenTools.defaultFontPixelWidth * 20
+ mipmap: true
+ fillMode: Image.PreserveAspectFit
+ source: controller.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
+ anchors.verticalCenter: parent.verticalCenter
+ }
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ Column {
+ spacing: _margins * 0.5
+ Row {
+ QGCLabel {
+ id: climbLabel
+ anchors.baseline: climbField.baseline
+ width: ScreenTools.defaultFontPixelWidth * 22
+ text: qsTr("Climb to altitude of:")
+ }
+ FactTextField {
+ id: climbField
+ fact: controller.getParameterFact(-1, "RTL_RETURN_ALT")
+ showUnits: true
+ }
+ }
+ QGCLabel {
+ id: returnHomeLabel
+ text: "Return home, then:"
+ }
+ Row {
+ Item {
+ height: 1
+ width: _margins
+ }
+ Column {
+ spacing: _margins * 0.5
+ ExclusiveGroup { id: homeLoiterGroup }
+ QGCRadioButton {
+ id: homeLandRadio
+ checked: _rtlLandDelay.value < 0
+ exclusiveGroup: homeLoiterGroup
+ text: "Land immediately"
+ onClicked: _rtlLandDelay.value = 0
+ }
+ QGCRadioButton {
+ id: homeLoiterNoLandRadio
+ checked: _rtlLandDelay.value < 0
+ exclusiveGroup: homeLoiterGroup
+ text: "Loiter, do not land"
+ onClicked: _rtlLandDelay.value = -1
+ }
+ QGCRadioButton {
+ id: homeLoiterLandRadio
+ checked: _rtlLandDelay.value >= 0
+ exclusiveGroup: homeLoiterGroup
+ text: qsTr("Loiter and land after specified time")
+ onClicked: _rtlLandDelay.value = 60
+ }
+ }
+ }
+ Item {
+ width: 1
+ height: _margins
+ }
+ Row {
+ QGCLabel {
+ text: qsTr("Loiter Time")
+ width: ScreenTools.defaultFontPixelWidth * 22
+ anchors.baseline: landDelayField.baseline
+ color: palette.text
+ enabled: homeLoiterLandRadio.checked === true
+ }
+ FactTextField {
+ id: landDelayField
+ fact: controller.getParameterFact(-1, "RTL_LAND_DELAY")
+ showUnits: true
+ enabled: homeLoiterLandRadio.checked === true
+ }
+ }
+ Row {
+ QGCLabel {
+ text: qsTr("Loiter Altitude")
+ width: ScreenTools.defaultFontPixelWidth * 22
+ anchors.baseline: descendField.baseline
+ color: palette.text
+ enabled: homeLoiterLandRadio.checked === true
+ }
+ FactTextField {
+ id: descendField
+ fact: controller.getParameterFact(-1, "RTL_DESCEND_ALT")
+ enabled: homeLoiterLandRadio.checked === true
+ showUnits: true
+ }
+ }
+ }
+ }
+ }
+
+ QGCLabel {
+ text: qsTr("Land Mode")
+ font.weight: Font.DemiBold
+ }
+
+ Rectangle {
+ color: palette.windowShade
+ width: rtlSettings.width
+ height: landModeRow.height + _margins * 2
+ Row {
+ id: landModeRow
+ spacing: _margins
+ anchors.verticalCenter: parent.verticalCenter
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ QGCColoredImage {
+ height: ScreenTools.defaultFontPixelWidth * 10
+ width: ScreenTools.defaultFontPixelWidth * 20
+ mipmap: true
+ fillMode: Image.PreserveAspectFit
+ source: controller.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
+ anchors.verticalCenter: parent.verticalCenter
+ }
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ Column {
+ spacing: _margins * 0.5
+ anchors.verticalCenter: parent.verticalCenter
+ Row {
+ visible: !controller.fixedWing
+ QGCLabel {
+ anchors.baseline: landVelField.baseline
+ width: ScreenTools.defaultFontPixelWidth * 22
+ text: qsTr("Land Velocity:")
+ }
+ FactTextField {
+ id: landVelField
+ fact: controller.getParameterFact(-1, "MPC_LAND_SPEED")
+ showUnits: true
+ }
+ }
+ Row {
+ QGCLabel {
+ anchors.baseline: disarmField.baseline
+ width: ScreenTools.defaultFontPixelWidth * 22
+ text: qsTr("Disarm After:")
+ }
+ FactTextField {
+ id: disarmField
+ fact: controller.getParameterFact(-1, "COM_DISARM_LAND")
+ showUnits: true
+ }
+ }
+ }
+ }
+ }
+
+ QGCLabel {
+ text: qsTr("Low Battery Trigger")
+ font.weight: Font.DemiBold
+ }
+
+ Rectangle {
+ color: palette.windowShade
+ width: rtlSettings.width
+ height: lowBattRow.height + _margins * 2
+ Row {
+ id: lowBattRow
+ spacing: _margins
+ anchors.verticalCenter: parent.verticalCenter
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ QGCColoredImage {
+ height: ScreenTools.defaultFontPixelWidth * 10
+ width: ScreenTools.defaultFontPixelWidth * 20
+ mipmap: true
+ fillMode: Image.PreserveAspectFit
+ source: "/qmlimages/LowBattery.svg"
+ anchors.verticalCenter: parent.verticalCenter
+ }
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ Column {
+ spacing: _margins * 0.5
+ anchors.verticalCenter: parent.verticalCenter
+ Row {
+ visible: !controller.fixedWing
+ QGCLabel {
+ anchors.baseline: lowBattCombo.baseline
+ width: ScreenTools.defaultFontPixelWidth * 22
+ text: qsTr("Action:")
+ }
+ FactComboBox {
+ id: lowBattCombo
+ width: climbField.width
+ model: [ qsTr("No Action"), qsTr("Return To Land") ]
+ fact: _lowBattAction
+ }
+ }
+ Row {
+ QGCLabel {
+ anchors.baseline: batLowLevelField.baseline
+ width: ScreenTools.defaultFontPixelWidth * 22
+ text: qsTr("Battery Low Level:")
+ }
+ FactTextField {
+ id: batLowLevelField
+ fact: controller.getParameterFact(-1, "COM_DISARM_LAND")
+ showUnits: true
+ }
+ }
+ }
+ }
+ }
+
+
+
+
+
+
+
+
+
+
+
+ Rectangle {
+ color: palette.windowShade
+ width: rtlSettings.width
+ height: _triggerCol.height + _margins * 2
+ Column {
+ id: _triggerCol
+ spacing: _margins
+ anchors.verticalCenter: parent.verticalCenter
+ Row {
+ id: rcLossRow
+ spacing: _margins
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ QGCLabel {
+ text: qsTr("RC Loss")
+ font.weight: Font.DemiBold
+ width: ScreenTools.defaultFontPixelWidth * 20
+ }
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ Column {
+ spacing: _margins * 0.5
+ Row {
+ QGCLabel {
+ anchors.baseline: rcLossCombo.baseline
+ width: ScreenTools.defaultFontPixelWidth * 22
+ text: qsTr("Action:")
+ }
+ FactComboBox {
+ id: rcLossCombo
+ width: climbField.width
+ model: [ qsTr("Loiter"), qsTr("Return To Land"), qsTr("Land at current position") ]
+ fact: _rcLossAction
+ }
+ }
+ Row {
+ QGCLabel {
+ anchors.baseline: rcLossField.baseline
+ width: ScreenTools.defaultFontPixelWidth * 22
+ text: qsTr("RC Loss Timeout:")
+ }
+ FactTextField {
+ id: rcLossField
+ fact: controller.getParameterFact(-1, "COM_RC_LOSS_T")
+ showUnits: true
+ }
+ }
+ /*
+ This is defined in the parameter specification but it is not clear how it is used.
+ The actions above (RTL, Loiter, and Land At Current Position) makes its meaning
+ ambiguous. Loiter before RTL and/or Land At Current Position? What if the action
+ is set to "Loiter"? What happens after the timeout?
+ Row {
+ QGCLabel {
+ anchors.baseline: rcLossLoiterField.baseline
+ width: ScreenTools.defaultFontPixelWidth * 22
+ text: qsTr("RC Loss Loiter Period:")
+ }
+ FactTextField {
+ id: rcLossLoiterField
+ fact: controller.getParameterFact(-1, "NAV_RCL_LT")
+ showUnits: true
+ }
+ }
+ */
+ }
+ }
+ Item {
+ width: 1
+ height: _margins
+ }
+ Row {
+ id: geofenceRow
+ spacing: _margins
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ QGCLabel {
+ text: qsTr("GeoFence")
+ font.weight: Font.DemiBold
+ width: ScreenTools.defaultFontPixelWidth * 20
+ }
+ Item {
+ width: _margins * 0.5
+ height: 1
+ }
+ Column {
+ spacing: _margins * 0.5
+ Row {
+ QGCLabel {
+ id: fenceActionLabel
+ anchors.baseline: fenceActionCombo.baseline
+ text: qsTr("Action on breach:")
+ width: ScreenTools.defaultFontPixelWidth * 22
+ }
+ FactComboBox {
+ id: fenceActionCombo
+ width: fenceAltMaxField.width
+ model: [ qsTr("None"), qsTr("Warning"), qsTr("Loiter"), qsTr("Return Home"), qsTr("Flight termination") ]
+ fact: _fenceAction
+ }
+ }
+ Row {
+ QGCCheckBox {
+ id: fenceRadiusCheckBox
+ anchors.baseline: fenceRadiusField.baseline
+ text: qsTr("Max radius:")
+ checked: _fenceRadius.value >= 0
+ onClicked: _fenceRadius.value = checked ? 100 : -1
+ width: ScreenTools.defaultFontPixelWidth * 22
+ }
+ FactTextField {
+ id: fenceRadiusField
+ showUnits: true
+ fact: _fenceRadius
+ enabled: fenceRadiusCheckBox.checked
+ }
+ }
+ Row {
+ QGCCheckBox {
+ id: fenceAltMaxCheckBox
+ anchors.baseline: fenceAltMaxField.baseline
+ text: qsTr("Max altitude:")
+ checked: _fenceAlt.value >= 0
+ onClicked: _fenceAlt.value = checked ? 100 : -1
+ width: ScreenTools.defaultFontPixelWidth * 22
+ }
+ FactTextField {
+ id: fenceAltMaxField
+ showUnits: true
+ fact: _fenceAlt
+ enabled: fenceAltMaxCheckBox.checked
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+
+ /*
+
QGCLabel {
id: triggerLabel
text: qsTr("Triggers For Return Home")
@@ -116,196 +522,7 @@ QGCView {
}
} // Rectangle - Trigger settings
- QGCLabel {
- id: geoFenceLabel
- anchors.leftMargin: _margins
- anchors.left: triggerSettings.right
- anchors.top: parent.top
- text: qsTr("GeoFence")
- font.weight: Font.DemiBold
- }
-
- Rectangle {
- id: geoFenceSettings
- anchors.topMargin: _margins / 2
- anchors.left: geoFenceLabel.left
- anchors.top: geoFenceLabel.bottom
- width: fenceActionCombo.x + fenceActionCombo.width + _margins
- height: fenceAltMaxField.y + fenceAltMaxField.height + _margins
- color: palette.windowShade
-
- QGCLabel {
- id: fenceActionLabel
- anchors.margins: _margins
- anchors.left: parent.left
- anchors.baseline: fenceActionCombo.baseline
- text: qsTr("Action on breach:")
- }
-
- FactComboBox {
- id: fenceActionCombo
- anchors.margins: _margins
- anchors.left: fenceActionLabel.right
- anchors.top: parent.top
- width: fenceAltMaxField.width
- model: [ qsTr("None"), qsTr("Warning"), qsTr("Loiter"), qsTr("Return Home"), qsTr("Flight termination") ]
- fact: _fenceAction
- }
-
- QGCCheckBox {
- id: fenceRadiusCheckBox
- anchors.left: fenceActionLabel.left
- anchors.baseline: fenceRadiusField.baseline
- text: qsTr("Max radius:")
- checked: _fenceRadius.value >= 0
-
- onClicked: _fenceRadius.value = checked ? 100 : -1
- }
-
- FactTextField {
- id: fenceRadiusField
- anchors.topMargin: _margins
- anchors.left: fenceActionCombo.left
- anchors.top: fenceActionCombo.bottom
- showUnits: true
- fact: _fenceRadius
- enabled: fenceRadiusCheckBox.checked
- }
-
- QGCCheckBox {
- id: fenceAltMaxCheckBox
- anchors.left: fenceActionLabel.left
- anchors.baseline: fenceAltMaxField.baseline
- text: qsTr("Max altitude:")
- checked: _fenceAlt.value >= 0
-
- onClicked: _fenceAlt.value = checked ? 100 : -1
- }
-
- FactTextField {
- id: fenceAltMaxField
- anchors.topMargin: _margins / 2
- anchors.left: fenceActionCombo.left
- anchors.top: fenceRadiusField.bottom
- showUnits: true
- fact: _fenceAlt
- enabled: fenceAltMaxCheckBox.checked
- }
- } // Rectangle - GeoFence Settings
-
- QGCLabel {
- id: rtlLabel
- anchors.topMargin: _margins
- anchors.top: triggerSettings.bottom
- text: qsTr("Return Home Settings")
- font.weight: Font.DemiBold
- }
-
- Rectangle {
- id: rtlSettings
- anchors.topMargin: _margins / 2
- anchors.left: parent.left
- anchors.top: rtlLabel.bottom
- width: landDelayField.x + landDelayField.width + _margins
- height: descendField.y + descendField.height + _margins
- color: palette.windowShade
-
- Image {
- id: icon
- anchors.margins: _margins
- anchors.left: parent.left
- anchors.top: parent.top
- height: ScreenTools.defaultFontPixelWidth * 10
- width: ScreenTools.defaultFontPixelWidth * 20
- mipmap: true
- fillMode: Image.PreserveAspectFit
- visible: false
- source: "/qmlimages/ReturnToHomeAltitude.svg"
- }
-
- ColorOverlay {
- anchors.fill: icon
- source: icon
- color: palette.text
- }
-
- QGCLabel {
- id: climbLabel
- anchors.margins: _margins
- anchors.left: icon.right
- anchors.baseline: climbField.baseline
- text: qsTr("Climb to altitude of")
- }
-
- FactTextField {
- id: climbField
- anchors.topMargin: _margins
- anchors.top: parent.top
- anchors.left: landDelayField.left
- fact: controller.getParameterFact(-1, "RTL_RETURN_ALT")
- showUnits: true
- }
-
- QGCLabel {
- id: returnHomeLabel
- anchors.topMargin: _margins
- anchors.top: climbField.bottom
- anchors.left: climbLabel.left
- text: "Return Home, then:"
- }
-
- ExclusiveGroup { id: homeLoiterGroup }
-
- QGCRadioButton {
- id: homeLoiterNoLandRadio
- anchors.topMargin: _margins
- anchors.top: returnHomeLabel.bottom
- anchors.left: climbLabel.left
- checked: _rtlLandDelay.value < 0
- exclusiveGroup: homeLoiterGroup
- text: "Loiter at Home altitude, do not land"
-
- onClicked: _rtlLandDelay.value = -1
- }
-
- QGCRadioButton {
- id: homeLoiterLandRadio
- anchors.baseline: landDelayField.baseline
- anchors.left: climbLabel.left
- checked: _rtlLandDelay.value >= 0
- exclusiveGroup: homeLoiterGroup
- text: qsTr("Loiter at Home altitude for")
- onClicked: _rtlLandDelay.value = 60
- }
-
- FactTextField {
- id: landDelayField
- anchors.margins: _margins
- anchors.left: homeLoiterLandRadio.right
- anchors.top: homeLoiterNoLandRadio.bottom
- fact: controller.getParameterFact(-1, "RTL_LAND_DELAY")
- showUnits: true
- enabled: homeLoiterLandRadio.checked === true
- }
- QGCLabel {
- text: qsTr("Home loiter altitude")
- anchors.baseline: descendField.baseline
- anchors.left: climbLabel.left
- color: palette.text
- enabled: homeLoiterLandRadio.checked === true
- }
-
- FactTextField {
- id: descendField
- anchors.topMargin: _margins
- anchors.left: landDelayField.left
- anchors.top: landDelayField.bottom
- fact: controller.getParameterFact(-1, "RTL_DESCEND_ALT")
- enabled: homeLoiterLandRadio.checked === true
- showUnits: true
- }
- }
QGCLabel {
id: navRclObc
@@ -341,6 +558,10 @@ QGCView {
width: 1
height: 1
}
+*/
+
+
} // QGCFlickable
} // QGCViewPanel
} // QGCView
+