From a5981a149c9cd5410b93d25b9c38771ec49d87d9 Mon Sep 17 00:00:00 2001
From: Don Gagne <Don@don-laptop.local>
Date: Tue, 2 Jan 2018 18:01:50 -0800
Subject: [PATCH] Respect FW_ARSP_MODE value

---
 src/AutoPilotPlugins/PX4/SensorsComponent.cc   | 15 ++++++++-------
 src/AutoPilotPlugins/PX4/SensorsComponent.h    |  5 +++--
 .../PX4/SensorsComponentSummaryFixedWing.qml   | 18 ++++++++++++------
 src/AutoPilotPlugins/PX4/SensorsSetup.qml      |  1 +
 4 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.cc b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
index 60f0758f1..7fbc76bd0 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
@@ -16,8 +16,9 @@
 #include "QGCQmlWidgetHolder.h"
 #include "SensorsComponentController.h"
 
-const char* SensorsComponent::_airspeedBreaker =    "CBRK_AIRSPD_CHK";
-const char* SensorsComponent::_airspeedCal =        "SENS_DPRES_OFF";
+const char* SensorsComponent::_airspeedBreakerParam =   "CBRK_AIRSPD_CHK";
+const char* SensorsComponent::_airspeedDisabledParam =  "FW_ARSP_MODE";
+const char* SensorsComponent::_airspeedCalParam =       "SENS_DPRES_OFF";
 
 SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     VehicleComponent(vehicle, autopilot, parent),
@@ -55,10 +56,10 @@ bool SensorsComponent::setupComplete(void) const
     }
 
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
-        if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
-            if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedCal)->rawValue().toFloat() == 0.0f) {
-                return false;
-            }
+        if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedDisabledParam)->rawValue().toBool() &&
+                _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedBreakerParam)->rawValue().toInt() != 162128 &&
+                _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedCalParam)->rawValue().toFloat() == 0.0f) {
+            return false;
         }
     }
 
@@ -71,7 +72,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
     
     triggers << _deviceIds;
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
-        triggers << _airspeedCal << _airspeedBreaker;
+        triggers << _airspeedCalParam << _airspeedBreakerParam;
     }
     
     return triggers;
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.h b/src/AutoPilotPlugins/PX4/SensorsComponent.h
index da29a3848..9201c5e8e 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.h
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.h
@@ -41,8 +41,9 @@ private:
     QVariantList    _summaryItems;
     QStringList     _deviceIds;
 
-    static const char* _airspeedBreaker;
-    static const char* _airspeedCal;
+    static const char* _airspeedDisabledParam;
+    static const char* _airspeedBreakerParam;
+    static const char* _airspeedCalParam;
 };
 
 #endif
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml b/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml
index 760a75f9b..4c8887700 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml
@@ -18,10 +18,15 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact mag0IdFact:       controller.getParameterFact(-1, "CAL_MAG0_ID")
-    property Fact gyro0IdFact:      controller.getParameterFact(-1, "CAL_GYRO0_ID")
-    property Fact accel0IdFact:     controller.getParameterFact(-1, "CAL_ACC0_ID")
-    property Fact dpressOffFact:    controller.getParameterFact(-1, "SENS_DPRES_OFF")
+    property Fact mag0IdFact:           controller.getParameterFact(-1, "CAL_MAG0_ID")
+    property Fact gyro0IdFact:          controller.getParameterFact(-1, "CAL_GYRO0_ID")
+    property Fact accel0IdFact:         controller.getParameterFact(-1, "CAL_ACC0_ID")
+    property Fact dpressOffFact:        controller.getParameterFact(-1, "SENS_DPRES_OFF")
+    property Fact airspeedDisabledFact: controller.getParameterFact(-1, "FW_ARSP_MODE")
+    property Fact airspeedBreakerFact:  controller.getParameterFact(-1, "CBRK_AIRSPD_CHK")
+
+    property bool _airspeedVisible:     airspeedDisabledFact.value == false && airspeedBreakerFact.value != 162128
+    property bool _airspeedCalRequired: _airspeedVisible && dpressOffFact.value == 0
 
     Column {
         anchors.fill:       parent
@@ -42,8 +47,9 @@ FactPanel {
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Airspeed:")
-            valueText: dpressOffFact ? (dpressOffFact.value === 0 ? qsTr("Setup required") : qsTr("Ready")) : ""
+            labelText:  qsTr("Airspeed:")
+            visible:    _airspeedVisible
+            valueText: _airspeedCalRequired ? qsTr("Setup required") : qsTr("Ready")
         }
     }
 }
diff --git a/src/AutoPilotPlugins/PX4/SensorsSetup.qml b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
index 157dcd4da..8a46c11ec 100644
--- a/src/AutoPilotPlugins/PX4/SensorsSetup.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
@@ -410,6 +410,7 @@ Item {
                 width:          _buttonWidth
                 text:           qsTr("Airspeed")
                 visible:        (controller.vehicle.fixedWing || controller.vehicle.vtol) &&
+                                controller.getParameterFact(-1, "FW_ARSP_MODE").value == false &&
                                 controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value != 162128 &&
                                 QGroundControl.corePlugin.options.showSensorCalibrationAirspeed &&
                                 showSensorCalibrationAirspeed
-- 
2.22.0