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Commit 7955dc3a authored by Don Gagne's avatar Don Gagne
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Merge pull request #1281 from DonLakeFlyer/SensorConfig 

Sensor config in Qml
parents 73f716be 76065a63
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Showing with 790 additions and 331 deletions
qgroundcontrol.pro
View file @ 7955dc3a
......@@ -337,8 +337,6 @@ FORMS += \
src/ui/configuration/terminalconsole.ui \
src/ui/configuration/SerialSettingsDialog.ui \
src/ui/px4_configuration/QGCPX4AirframeConfig.ui \
src/ui/px4_configuration/QGCPX4MulticopterConfig.ui \
src/ui/px4_configuration/QGCPX4SensorCalibration.ui \
src/ui/px4_configuration/PX4RCCalibration.ui \
src/ui/QGCUASFileView.ui \
src/QGCQmlWidgetHolder.ui \
......@@ -472,8 +470,6 @@ HEADERS += \
src/ui/QGCPendingParamWidget.h \
src/ui/px4_configuration/QGCPX4AirframeConfig.h \
src/ui/QGCBaseParamWidget.h \
src/ui/px4_configuration/QGCPX4MulticopterConfig.h \
src/ui/px4_configuration/QGCPX4SensorCalibration.h \
src/ui/px4_configuration/PX4RCCalibration.h \
src/ui/px4_configuration/RCValueWidget.h \
src/uas/UASManagerInterface.h \
......@@ -617,8 +613,6 @@ SOURCES += \
src/ui/QGCPendingParamWidget.cc \
src/ui/px4_configuration/QGCPX4AirframeConfig.cc \
src/ui/QGCBaseParamWidget.cc \
src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
src/ui/px4_configuration/PX4RCCalibration.cc \
src/ui/px4_configuration/RCValueWidget.cc \
src/uas/QGCUASFileManager.cc \
......@@ -743,6 +737,7 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/FlightModeConfig.h \
src/AutoPilotPlugins/PX4/AirframeComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponentController.h \
src/AutoPilotPlugins/PX4/SafetyComponent.h \
src/AutoPilotPlugins/PX4/PX4ParameterFacts.h \
......@@ -754,6 +749,7 @@ SOURCES += \
src/VehicleSetup/PX4Bootloader.cc \
src/VehicleSetup/PX4FirmwareUpgradeThread.cc \
src/AutoPilotPlugins/AutoPilotPluginManager.cc \
src/AutoPilotPlugins/AutoPilotPlugin.cc \
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
src/AutoPilotPlugins/Generic/GenericParameterFacts.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
......@@ -763,6 +759,7 @@ SOURCES += \
src/AutoPilotPlugins/PX4/FlightModeConfig.cc \
src/AutoPilotPlugins/PX4/AirframeComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
src/AutoPilotPlugins/PX4/SafetyComponent.cc \
src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc \
......
qgroundcontrol.qrc
View file @ 7955dc3a
......@@ -245,9 +245,11 @@
<file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
<file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
<file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
<file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
<file alias="QGroundControl/Controls/qmldir">src/QmlControls/qmldir</file>
<file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
<file alias="QGroundControl/Controls/QGCRadioButton.qml">src/QmlControls/QGCRadioButton.qml</file>
<file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
......@@ -266,6 +268,7 @@
<file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
<file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
<file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>
<file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
<file alias="SensorsComponentSummary.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml</file>
......
src/AutoPilotPlugins/AutoPilotPlugin.cc 0 → 100644
View file @ 7955dc3a
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "AutoPilotPlugin.h"
AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) :
QObject(parent),
_uas(uas)
{
Q_ASSERT(_uas);
}
void AutoPilotPlugin::refreshAllParameters(void)
{
Q_ASSERT(_uas);
QGCUASParamManagerInterface* paramMgr = _uas->getParamManager();
Q_ASSERT(paramMgr);
paramMgr->requestParameterList();
}
void AutoPilotPlugin::refreshParameter(const QString& param)
{
Q_ASSERT(_uas);
QGCUASParamManagerInterface* paramMgr = _uas->getParamManager();
Q_ASSERT(paramMgr);
QList<int> compIdList = paramMgr->getComponentForParam(param);
Q_ASSERT(compIdList.count() > 0);
paramMgr->requestParameterUpdate(compIdList[0], param);
}
void AutoPilotPlugin::refreshParametersPrefix(const QString& paramPrefix)
{
foreach(QVariant varFact, parameters()) {
Fact* fact = qvariant_cast<Fact*>(varFact);
Q_ASSERT(fact);
if (fact->name().startsWith(paramPrefix)) {
refreshParameter(fact->name());
}
}
}
src/AutoPilotPlugins/AutoPilotPlugin.h
View file @ 7955dc3a
......@@ -48,10 +48,21 @@ class AutoPilotPlugin : public QObject
Q_OBJECT
public:
AutoPilotPlugin(UASInterface* uas, QObject* parent);
Q_PROPERTY(QVariantMap parameters READ parameters CONSTANT)
Q_PROPERTY(QVariantList components READ components CONSTANT)
Q_PROPERTY(QUrl setupBackgroundImage READ setupBackgroundImage CONSTANT)
/// Re-request the full set of parameters from the autopilot
Q_INVOKABLE void refreshAllParameters(void);
/// Request a refresh on the specific parameter
Q_INVOKABLE void refreshParameter(const QString& param);
// Request a refresh on all parameters that begin with the specified prefix
Q_INVOKABLE void refreshParametersPrefix(const QString& paramPrefix);
// Property accessors
virtual const QVariantList& components(void) = 0;
virtual const QVariantMap& parameters(void) = 0;
......@@ -63,6 +74,8 @@ public:
/// FIXME: Kind of hacky
static void clearStaticData(void);
UASInterface* uas(void) { return _uas; }
signals:
/// Signalled when plugin is ready for use
void pluginReady(void);
......@@ -71,6 +84,7 @@ protected:
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
UASInterface* _uas;
};
#endif
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
View file @ 7955dc3a
......@@ -27,9 +27,9 @@
#include "GenericAutoPilotPlugin.h"
GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* parent) :
AutoPilotPlugin(parent)
AutoPilotPlugin(uas, parent)
{
Q_UNUSED(uas);
Q_ASSERT(uas);
_parameterFacts = new GenericParameterFacts(uas, this);
Q_CHECK_PTR(_parameterFacts);
......
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ 7955dc3a
......@@ -26,6 +26,8 @@
#include "UASManager.h"
#include "QGCUASParamManagerInterface.h"
#include "PX4ParameterFacts.h"
#include "SensorsComponentController.h"
#include "QGCMessageBox.h"
/// @file
/// @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
......@@ -61,21 +63,21 @@ union px4_custom_mode {
};
PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
AutoPilotPlugin(parent),
_uas(uas),
AutoPilotPlugin(uas, parent),
_parameterFacts(NULL),
_airframeComponent(NULL),
_radioComponent(NULL),
_flightModesComponent(NULL),
_sensorsComponent(NULL),
_safetyComponent(NULL)
_safetyComponent(NULL),
_incorrectParameterVersion(false)
{
Q_ASSERT(uas);
_parameterFacts = new PX4ParameterFacts(uas, this);
Q_CHECK_PTR(_parameterFacts);
connect(_parameterFacts, &PX4ParameterFacts::factsReady, this, &PX4AutoPilotPlugin::pluginReady);
connect(_parameterFacts, &PX4ParameterFacts::factsReady, this, &PX4AutoPilotPlugin::_checkForIncorrectParameterVersion);
PX4ParameterFacts::loadParameterFactMetaData();
}
......@@ -191,7 +193,7 @@ bool PX4AutoPilotPlugin::pluginIsReady(void) const
const QVariantList& PX4AutoPilotPlugin::components(void)
{
if (_components.count() == 0) {
if (_components.count() == 0 && !_incorrectParameterVersion) {
Q_ASSERT(_uas);
_airframeComponent = new AirframeComponent(_uas, this);
......@@ -227,3 +229,13 @@ QUrl PX4AutoPilotPlugin::setupBackgroundImage(void)
{
return QUrl::fromUserInput("qrc:/qml/px4fmu_2.x.png");
}
void PX4AutoPilotPlugin::_checkForIncorrectParameterVersion(void)
{
if (parameters().contains("SENS_GYRO_XOFF")) {
_incorrectParameterVersion = true;
QGCMessageBox::warning(tr("Setup"), tr("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
"Please perform a Firmware Upgrade if you wish to use Vehicle Setup."));
}
emit pluginReady();
}
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
View file @ 7955dc3a
......@@ -65,8 +65,10 @@ public:
SensorsComponent* sensorsComponent(void) { return _sensorsComponent; }
SafetyComponent* safetyComponent(void) { return _safetyComponent; }
private slots:
void _checkForIncorrectParameterVersion(void);
private:
UASInterface* _uas;
PX4ParameterFacts* _parameterFacts;
QVariantList _components;
AirframeComponent* _airframeComponent;
......@@ -74,6 +76,7 @@ private:
FlightModesComponent* _flightModesComponent;
SensorsComponent* _sensorsComponent;
SafetyComponent* _safetyComponent;
bool _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
};
#endif
src/AutoPilotPlugins/PX4/SensorsComponent.cc
View file @ 7955dc3a
......@@ -25,25 +25,21 @@
/// @author Don Gagne <don@thegagnes.com>
#include "SensorsComponent.h"
#include "QGCPX4SensorCalibration.h"
#include "PX4AutoPilotPlugin.h"
#include "QGCQmlWidgetHolder.h"
#include "SensorsComponentController.h"
// These two list must be kept in sync
/// @brief Parameters which signal a change in setupComplete state
static const char* triggerParamsV1[] = { "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS_ACC_XOFF", NULL };
static const char* triggerParamsV2[] = { "CAL_MAG0_ID", "CAL_GYRO0_ID", "CAL_ACC0_ID", NULL };
static const char* triggerParamsV1FixedWing[] = { "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS_ACC_XOFF", "SENS_DPRES_OFF", NULL };
static const char* triggerParamsV2FixedWing[] = { "CAL_MAG0_ID", "CAL_GYRO0_ID", "CAL_ACC0_ID", "SENS_DPRES_OFF", NULL };
static const char* triggerParams[] = { "CAL_MAG0_ID", "CAL_GYRO0_ID", "CAL_ACC0_ID", NULL };
static const char* triggerParamsFixedWing[] = { "CAL_MAG0_ID", "CAL_GYRO0_ID", "CAL_ACC0_ID", "SENS_DPRES_OFF", NULL };
SensorsComponent::SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
PX4Component(uas, autopilot, parent),
_name(tr("Sensors"))
{
// Determine what set of parameters are available. This is a temporary hack for now. Will need real parameter
// mapping in the future.
QVariant value;
_paramsV1 = _paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "SENS_MAG_XOFF", value);
}
QString SensorsComponent::name(void) const
......@@ -104,29 +100,31 @@ QString SensorsComponent::setupStateDescription(void) const
const char** SensorsComponent::setupCompleteChangedTriggerList(void) const
{
if (_uas->getSystemType() == MAV_TYPE_FIXED_WING) {
return _paramsV1 ? triggerParamsV1FixedWing : triggerParamsV2FixedWing;
} else {
return _paramsV1 ? triggerParamsV1 : triggerParamsV2;
}
return _uas->getSystemType() == MAV_TYPE_FIXED_WING ? triggerParamsFixedWing : triggerParams;
}
QStringList SensorsComponent::paramFilterList(void) const
{
QStringList list;
if (_paramsV1) {
list << "SENS_*";
} else {
list << "CAL_*";
}
list << "SENS_*" << "CAL_*";
return list;
}
QWidget* SensorsComponent::setupWidget(void) const
{
return new QGCPX4SensorCalibration;
QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
Q_CHECK_PTR(holder);
holder->setAutoPilot(_autopilot);
SensorsComponentController* controller = new SensorsComponentController(_autopilot, holder);
holder->setContextPropertyObject("controller", controller);
holder->setSource(QUrl::fromUserInput("qrc:/qml/SensorsComponent.qml"));
return holder;
}
QUrl SensorsComponent::summaryQmlSource(void) const
......
src/AutoPilotPlugins/PX4/SensorsComponent.h
View file @ 7955dc3a
......@@ -55,7 +55,6 @@ public:
private:
const QString _name;
QVariantList _summaryItems;
bool _paramsV1;
};
#endif
src/AutoPilotPlugins/PX4/SensorsComponent.qml 0 → 100644
View file @ 7955dc3a
import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
Rectangle {
property QGCPalette qgcPal: QGCPalette { colorGroupEnabled: true }
readonly property int rotationColumnWidth: 200
readonly property var rotations: [
"ROTATION_NONE",
"ROTATION_YAW_45",
"ROTATION_YAW_90",
"ROTATION_YAW_135",
"ROTATION_YAW_180",
"ROTATION_YAW_225",
"ROTATION_YAW_270",
"ROTATION_YAW_315",
"ROTATION_ROLL_180",
"ROTATION_ROLL_180_YAW_45",
"ROTATION_ROLL_180_YAW_90",
"ROTATION_ROLL_180_YAW_135",
"ROTATION_PITCH_180",
"ROTATION_ROLL_180_YAW_225",
"ROTATION_ROLL_180_YAW_270",
"ROTATION_ROLL_180_YAW_315",
"ROTATION_ROLL_90",
"ROTATION_ROLL_90_YAW_45",
"ROTATION_ROLL_90_YAW_90",
"ROTATION_ROLL_90_YAW_135",
"ROTATION_ROLL_270",
"ROTATION_ROLL_270_YAW_45",
"ROTATION_ROLL_270_YAW_90",
"ROTATION_ROLL_270_YAW_135",
"ROTATION_PITCH_90",
"ROTATION_PITCH_270",
"ROTATION_ROLL_270_YAW_270"
]
width: 600
height: 600
color: qgcPal.window
// We use this bogus loader just so we can get an onLoaded signal to hook to in order to
// finish controller initialization.
Component {
id: loadSignal;
Item { }
}
Loader {
sourceComponent: loadSignal
onLoaded: controller.statusLog = statusTextArea
}
Column {
anchors.fill: parent
QGCLabel {
text: "SENSORS CONFIG"
font.pointSize: 20
}
Item { height: 20; width: 10 } // spacer
Item {
readonly property int calibrationAreaHeight: 300
width: parent.width
height: calibrationAreaHeight
TextArea {
id: statusTextArea
width: parent.width - rotationColumnWidth
height: parent.height
readOnly: true
frameVisible: false
text: qsTr("Sensor config is a work in progress which currently supports textual instructions only. Updated visuals coming soon.")
style: TextAreaStyle {
textColor: qgcPal.text
backgroundColor: qgcPal.windowShade
}
}
Column {
// Compass rotation parameter < 0 indicates either internal compass, or no compass. So in
// both those cases we do not show a rotation combo.
property bool showCompass0: autopilot.parameters["CAL_MAG0_ROT"].value >= 0
property bool showCompass1: autopilot.parameters["CAL_MAG1_ROT"].value >= 0
property bool showCompass2: autopilot.parameters["CAL_MAG2_ROT"].value >= 0
x: parent.width - rotationColumnWidth
QGCLabel { text: "Autpilot Orientation" }
FactComboBox {
width: rotationColumnWidth;
model: rotations
fact: autopilot.parameters["SENS_BOARD_ROT"]
}
// Compass 0 rotation
Component {
id: compass0ComponentLabel
QGCLabel { text: "Compass Orientation" }
}
Component {
id: compass0ComponentCombo
FactComboBox {
width: rotationColumnWidth
model: rotations
fact: autopilot.parameters["CAL_MAG0_ROT"]
}
}
Loader { sourceComponent: parent.showCompass0 ? compass0ComponentLabel : null }
Loader { sourceComponent: parent.showCompass0 ? compass0ComponentCombo : null }
// Compass 1 rotation
Component {
id: compass1ComponentLabel
QGCLabel { text: "Compass 1 Orientation" }
}
Component {
id: compass1ComponentCombo
FactComboBox {
width: rotationColumnWidth
model: rotations
fact: autopilot.parameters["CAL_MAG1_ROT"]
}
}
Loader { sourceComponent: parent.showCompass1 ? compass1ComponentLabel : null }
Loader { sourceComponent: parent.showCompass1 ? compass1ComponentCombo : null }
// Compass 2 rotation
Component {
id: compass2ComponentLabel
QGCLabel { text: "Compass 2 Orientation" }
}
Component {
id: compass2ComponentCombo
FactComboBox {
width: rotationColumnWidth
model: rotations
fact: autopilot.parameters["CAL_MAG2_ROT"]
}
}
Loader { sourceComponent: parent.showCompass2 ? compass2ComponentLabel : null }
Loader { sourceComponent: parent.showCompass2 ? compass2ComponentCombo : null }
}
}
Item { height: 20; width: 10 } // spacer
Row {
readonly property int buttonWidth: 120
spacing: 20
QGCLabel { text: "Calibrate:"; anchors.baseline: firstButton.baseline }
IndicatorButton {
id: firstButton
width: parent.buttonWidth
text: "Compass"
indicatorGreen: autopilot.parameters["CAL_MAG0_ID"].value != 0
onClicked: controller.calibrateCompass()
}
IndicatorButton {
width: parent.buttonWidth
text: "Gyroscope"
indicatorGreen: autopilot.parameters["CAL_GYRO0_ID"].value != 0
onClicked: controller.calibrateGyro()
}
IndicatorButton {
width: parent.buttonWidth
text: "Acceleromter"
indicatorGreen: autopilot.parameters["CAL_ACC0_ID"].value != 0
onClicked: controller.calibrateAccel()
}
IndicatorButton {
width: parent.buttonWidth
text: "Airspeed"
visible: controller.fixedWing
indicatorGreen: autopilot.parameters["SENS_DPRES_OFF"].value != 0
onClicked: controller.calibrateAirspeed()
}
}
}
}
src/AutoPilotPlugins/PX4/SensorsComponentController.cc 0 → 100644
View file @ 7955dc3a
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "SensorsComponentController.h"
#include "QGCMAVLink.h"
#include "UASManager.h"
#include <QVariant>
#include <QQmlProperty>
SensorsComponentController::SensorsComponentController(AutoPilotPlugin* autopilot, QObject* parent) :
QObject(parent),
_autopilot(autopilot)
{
Q_ASSERT(autopilot);
}
/// Appends the specified text to the status log area in the ui
void SensorsComponentController::_appendStatusLog(const QString& text)
{
Q_ASSERT(_statusLog);
QVariant returnedValue;
QVariant varText = text;
QMetaObject::invokeMethod(_statusLog,
"append",
Q_RETURN_ARG(QVariant, returnedValue),
Q_ARG(QVariant, varText));
}
void SensorsComponentController::calibrateGyro(void)
{
_beginTextLogging();
UASInterface* uas = _autopilot->uas();
Q_ASSERT(uas);
uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
}
void SensorsComponentController::calibrateCompass(void)
{
_beginTextLogging();
UASInterface* uas = _autopilot->uas();
Q_ASSERT(uas);
uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
}
void SensorsComponentController::calibrateAccel(void)
{
_beginTextLogging();
UASInterface* uas = _autopilot->uas();
Q_ASSERT(uas);
uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0);
}
void SensorsComponentController::calibrateAirspeed(void)
{
_beginTextLogging();
UASInterface* uas = _autopilot->uas();
Q_ASSERT(uas);
uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0);
}
void SensorsComponentController::_beginTextLogging(void)
{
UASInterface* uas = _autopilot->uas();
Q_ASSERT(uas);
connect(uas, &UASInterface::textMessageReceived, this, &SensorsComponentController::_handleUASTextMessage);
}
void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
{
Q_UNUSED(compId);
Q_UNUSED(severity);
UASInterface* uas = _autopilot->uas();
Q_ASSERT(uas);
if (uasId != uas->getUASID()) {
return;
}
QStringList ignorePrefixList;
ignorePrefixList << "[cmd]" << "[mavlink pm]" << "[ekf check]";
foreach (QString ignorePrefix, ignorePrefixList) {
if (text.startsWith(ignorePrefix)) {
return;
}
}
_appendStatusLog(text);
if (text.endsWith(" calibration: done") || text.endsWith(" calibration: failed")) {
_refreshParams();
}
}
void SensorsComponentController::_refreshParams(void)
{
#if 0
// FIXME: Not sure if firmware issue yet
_autopilot->refreshParametersPrefix("CAL_");
_autopilot->refreshParametersPrefix("SENS_");
#else
// Sending too many parameter requests like above doesn't seem to work. So for now,
// ask for everything back
_autopilot->refreshAllParameters();
#endif
}
bool SensorsComponentController::fixedWing(void)
{
UASInterface* uas = _autopilot->uas();
Q_ASSERT(uas);
return uas->getSystemType() == MAV_TYPE_FIXED_WING;
}
src/AutoPilotPlugins/PX4/SensorsComponentController.h 0 → 100644
View file @ 7955dc3a
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,