diff --git a/files/images/px4/calibration/3dr_gps/gps_05.png b/files/images/px4/calibration/3dr_gps/gps_05.png
deleted file mode 100644
index f4c909906ed59c37f07c1767dc7694f01113dee0..0000000000000000000000000000000000000000
Binary files a/files/images/px4/calibration/3dr_gps/gps_05.png and /dev/null differ
diff --git a/files/images/px4/calibration/3dr_gps/gps_06.png b/files/images/px4/calibration/3dr_gps/gps_06.png
index 021fcd497b627e85dfe2eef7e1e9a6d7407819e8..f4c909906ed59c37f07c1767dc7694f01113dee0 100644
Binary files a/files/images/px4/calibration/3dr_gps/gps_06.png and b/files/images/px4/calibration/3dr_gps/gps_06.png differ
diff --git a/files/images/px4/calibration/3dr_gps/gps_07.png b/files/images/px4/calibration/3dr_gps/gps_07.png
new file mode 100644
index 0000000000000000000000000000000000000000..021fcd497b627e85dfe2eef7e1e9a6d7407819e8
Binary files /dev/null and b/files/images/px4/calibration/3dr_gps/gps_07.png differ
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index f6e42aa5e566a89566a9ddbba6a87ec079554dba..4ba6ddc2e5dd410d30082a0b90215f5850d9b9d3 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -190,8 +190,8 @@
files/images/px4/calibration/3dr_gps/gps_18.png
files/images/px4/calibration/3dr_gps/gps_17.png
files/images/px4/calibration/3dr_gps/gps_16.png
+ files/images/px4/calibration/3dr_gps/gps_07.png
files/images/px4/calibration/3dr_gps/gps_06.png
- files/images/px4/calibration/3dr_gps/gps_05.png
files/images/px4/calibration/3dr_gps/gps_04.png
files/images/px4/calibration/3dr_gps/gps_03.png
files/images/px4/calibration/3dr_gps/gps_02.png
diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.cc b/src/ui/px4_configuration/QGCPX4SensorCalibration.cc
index dcb4b12d3ae763af8334517489346025b8ae93e5..5b64bbaa7cb075d482293ec604afd647312c0719 100644
--- a/src/ui/px4_configuration/QGCPX4SensorCalibration.cc
+++ b/src/ui/px4_configuration/QGCPX4SensorCalibration.cc
@@ -9,19 +9,8 @@ QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
QWidget(parent),
activeUAS(NULL),
clearAction(new QAction(tr("Clear Text"), this)),
- accelStarted(false),
- gyroStarted(false),
- magStarted(false),
ui(new Ui::QGCPX4SensorCalibration)
{
- accelAxes << "x+";
- accelAxes << "x-";
- accelAxes << "y+";
- accelAxes << "y-";
- accelAxes << "z+";
- accelAxes << "z-";
-
-
ui->setupUi(this);
connect(clearAction, SIGNAL(triggered()), ui->textView, SLOT(clear()));
@@ -333,10 +322,8 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
text.startsWith("[mavlink pm]"))
return;
- if (text.contains("progress")) {
- qDebug() << "PROGRESS:" << text;
+ if (text.contains("progress <")) {
QString percent = text.split("<").last().split(">").first();
- qDebug() << "PERCENT CANDIDATE" << percent;
bool ok;
int p = percent.toInt(&ok);
if (ok)
@@ -346,97 +333,64 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
ui->instructionLabel->setText(QString("%1").arg(text));
-
- if (text.contains("accel")) {
- qDebug() << "ACCEL" << text;
-
- if (text.startsWith("accel measurement started: ")) {
- QString axis = text.split("measurement started: ").last().left(2);
- qDebug() << "AXIS" << axis << "STR" << text;
- setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(axis));
-
- }
- }
-
- if (text.startsWith("directions left")) {
- for (int i = 0; i < 6; i++)
- {
- if (!text.contains(accelAxes[i])) {
- qDebug() << "FINISHED" << accelAxes[i];
- accelDone[i] = true;
- }
- }
+ if (text.startsWith("accel measurement started: ")) {
+ QString axis = text.split("measurement started: ").last().left(2);
+ setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(axis));
}
- if (text.startsWith("result for")) {
-
- QString axis = text.split("result for ").last().left(2);
-
- qDebug() << "ACCELDONE AXIS" << axis << "STR" << text;
-
- for (int i = 0; i < 6; i++)
- {
- if (axis == accelAxes[i])
- accelDone[i] = true;
-
- if (!accelDone[i]) {
- qDebug() << "NEW AXIS: " << accelAxes[i];
- setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(accelAxes[i]));
- ui->instructionLabel->setText(tr("Axis %1 completed. Please rotate like shown here.").arg(axis));
- break;
- }
- }
+ if (text.startsWith("directions left: ")) {
+ QString axis = text.split("directions left: ").last().left(2);
+ setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(axis));
}
- if (text.contains("please rotate in a figure 8")) {
+ if (text == "rotate in a figure 8") {
setInstructionImage(":/files/images/px4/calibration/mag_calibration_figure8.png");
}
- if (text.contains("accel calibration done")) {
- accelStarted = false;
+ if (text.endsWith(" calibration: done") || text.endsWith(" calibration: failed")) {
// XXX use a confirmation image or something
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
- if (activeUAS) {
- activeUAS->requestParameter(0, "SENS_ACC_XOFF");
- activeUAS->requestParameter(0, "SENS_BOARD_ROT");
+ if (text.endsWith(" calibration: done")) {
+ ui->progressBar->setValue(100);
+ } else {
+ ui->progressBar->setValue(0);
}
- }
-
- if (text.contains("gyro calibration done")) {
- gyroStarted = false;
- // XXX use a confirmation image or something
- setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
- if (activeUAS)
- activeUAS->requestParameter(0, "SENS_GYRO_XOFF");
- }
- if (text.contains("mag calibration done")
- || text.contains("magnetometer calibration completed")) {
- magStarted = false;
- // XXX use a confirmation image or something
- setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
if (activeUAS) {
- activeUAS->requestParameter(0, "SENS_MAG_XOFF");
- activeUAS->requestParameter(0, "SENS_EXT_MAG_ROT");
+ if (text.startsWith("accel ")) {
+ activeUAS->requestParameter(0, "SENS_ACC_XOFF");
+ activeUAS->requestParameter(0, "SENS_ACC_YOFF");
+ activeUAS->requestParameter(0, "SENS_ACC_ZOFF");
+ activeUAS->requestParameter(0, "SENS_ACC_XSCALE");
+ activeUAS->requestParameter(0, "SENS_ACC_YSCALE");
+ activeUAS->requestParameter(0, "SENS_ACC_ZSCALE");
+ activeUAS->requestParameter(0, "SENS_BOARD_ROT");
+ }
+ if (text.startsWith("gyro ")) {
+ activeUAS->requestParameter(0, "SENS_GYRO_XOFF");
+ activeUAS->requestParameter(0, "SENS_GYRO_YOFF");
+ activeUAS->requestParameter(0, "SENS_GYRO_ZOFF");
+ activeUAS->requestParameter(0, "SENS_GYRO_XSCALE");
+ activeUAS->requestParameter(0, "SENS_GYRO_YSCALE");
+ activeUAS->requestParameter(0, "SENS_GYRO_ZSCALE");
+ activeUAS->requestParameter(0, "SENS_BOARD_ROT");
+ }
+ if (text.startsWith("mag ")) {
+ activeUAS->requestParameter(0, "SENS_MAG_XOFF");
+ activeUAS->requestParameter(0, "SENS_MAG_YOFF");
+ activeUAS->requestParameter(0, "SENS_MAG_ZOFF");
+ activeUAS->requestParameter(0, "SENS_MAG_XSCALE");
+ activeUAS->requestParameter(0, "SENS_MAG_YSCALE");
+ activeUAS->requestParameter(0, "SENS_MAG_ZSCALE");
+ activeUAS->requestParameter(0, "SENS_EXT_MAG_ROT");
+ }
}
}
- if (text.contains("accel calibration started")) {
- accelStarted = true;
- setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
- }
-
- if (text.contains("gyro calibration started")) {
- gyroStarted = true;
+ if (text.endsWith(" calibration: started")) {
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
}
- if (text.contains("mag calibration started")) {
- magStarted = false;
- setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
- }
-
-
// XXX color messages according to severity
QPlainTextEdit *msgWidget = ui->textView;
@@ -457,7 +411,6 @@ void QGCPX4SensorCalibration::gyroButtonClicked()
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
- ui->instructionLabel->setText(tr("Please do not move the system at all."));
}
void QGCPX4SensorCalibration::magButtonClicked()
@@ -465,7 +418,6 @@ void QGCPX4SensorCalibration::magButtonClicked()
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
- ui->instructionLabel->setText(tr("Please put the system in a rest position."));
}
void QGCPX4SensorCalibration::accelButtonClicked()
@@ -473,15 +425,6 @@ void QGCPX4SensorCalibration::accelButtonClicked()
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
- accelStarted = true;
- accelDone[0] = false;
- accelDone[1] = false;
- accelDone[2] = false;
- accelDone[3] = false;
- accelDone[4] = false;
- accelDone[5] = false;
-
- ui->instructionLabel->setText(tr("Please hold the system very still in the shown orientations."));
}
void QGCPX4SensorCalibration::contextMenuEvent(QContextMenuEvent* event)
diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.h b/src/ui/px4_configuration/QGCPX4SensorCalibration.h
index 35d0dc2fd873d1c417307e8b8ce36eca8ed1d9f5..fecb8b8b27cc4ab9dbc7f7341debcd80a3ebe527 100644
--- a/src/ui/px4_configuration/QGCPX4SensorCalibration.h
+++ b/src/ui/px4_configuration/QGCPX4SensorCalibration.h
@@ -64,11 +64,6 @@ protected:
QPixmap instructionIcon;
QPixmap autopilotIcon;
QPixmap gpsIcon;
- bool accelStarted;
- bool accelDone[6];
- bool gyroStarted;
- bool magStarted;
- QStringList accelAxes;
virtual void resizeEvent(QResizeEvent* event);