Merge remote-tracking branch 'origin/master' into messageHandler

src/AutoPilotPlugins/PX4/SafetyComponent.cc

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2014 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
@@ -67,7 +67,7 @@ bool SafetyComponent::setupComplete(void) const
 QString SafetyComponent::setupStateDescription(void) const
 {
     const char* stateDescription;
-    
+
     if (requiresSetup()) {
         stateDescription = "Requires setup";
     } else {
@@ -84,7 +84,7 @@ const char** SafetyComponent::setupCompleteChangedTriggerList(void) const
 QStringList SafetyComponent::paramFilterList(void) const
 {
     QStringList list;
-    
+
     return list;
 }
 
@@ -92,11 +92,11 @@ QWidget* SafetyComponent::setupWidget(void) const
 {
     QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
     Q_CHECK_PTR(holder);
-    
+
     holder->setAutoPilot(_autopilot);
-    
+
     holder->setSource(QUrl::fromUserInput("qrc:/qml/SafetyComponent.qml"));
-    
+
     return holder;
 }
 
@@ -109,10 +109,10 @@ QString SafetyComponent::prerequisiteSetup(void) const
 {
     PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
     Q_ASSERT(plugin);
-    
+
     if (!plugin->airframeComponent()->setupComplete()) {
         return plugin->airframeComponent()->name();
     }
-    
+
     return QString();
 }

src/AutoPilotPlugins/PX4/SafetyComponent.qml

@@ -10,37 +10,76 @@ Rectangle {
     QGCPalette { id: palette; colorGroup: QGCPalette.Active }
 
     width: 600
-    height: 400
+    height: 600
     color: palette.window
+    property var leftColWidth: 350
 
     Column {
         anchors.fill: parent
-        spacing: 20
-
+        spacing: 40
+        //-----------------------------------------------------------------
+        //-- Return Home Triggers
         Column {
-            spacing: 10
-
-            Label { text: "Return to Land setup"; color: palette.windowText; font.pointSize: 20 }
+            spacing: 18
+            Label { text: "Triggers For Return Home"; color: palette.windowText; font.pointSize: 20 }
             Row {
-                Label { text: "Climb to minimum altitude of "; color: palette.windowText; anchors.baseline: climbField.baseline }
-                FactTextField { id: climbField; fact: autopilot.parameters["RTL_RETURN_ALT"]; showUnits: true }
+                Label {
+                    width: leftColWidth
+                    text: "RC Transmitter Signal Loss - Return Home After"
+                    color: palette.windowText
+                    anchors.baseline: rcLossField.baseline
+                }
+                FactTextField {
+                    id: rcLossField
+                    fact: autopilot.parameters["COM_RC_LOSS_T"]
+                    showUnits: true
+                }
             }
             Row {
-                Label { text: "When Home is reached, descend to altitude of "; color: palette.windowText; anchors.baseline: descendField.baseline }
-                FactTextField { id: descendField; fact: autopilot.parameters["RTL_DESCEND_ALT"]; showUnits: true }
+                FactCheckBox {
+                    id: telemetryLossCheckbox
+                    fact: autopilot.parameters["COM_DL_LOSS_EN"]
+                    width: leftColWidth
+                    checkedValue: 1
+                    uncheckedValue: 0
+                    text: "Telemetry Signal Timeout - Return Home After"
+                    anchors.baseline: telemetryLossField.baseline
+                }
+                FactTextField {
+                    id: telemetryLossField
+                    fact: autopilot.parameters["COM_DL_LOSS_T"];
+                    showUnits: true
+                }
+            }
+        }
+        //-----------------------------------------------------------------
+        //-- Return Home Options
+        Column {
+            spacing: 18
+            Label { text: "Return Home Options"; color: palette.windowText; font.pointSize: 20 }
+            Row {
+                Label {
+                    width: leftColWidth
+                    text: "Climb to minimum altitude of "
+                    color: palette.windowText
+                    anchors.baseline: climbField.baseline
+                }
+                FactTextField {
+                    id: climbField
+                    fact: autopilot.parameters["RTL_RETURN_ALT"]
+                    showUnits: true
+                }
             }
             Row {
                 CheckBox {
                     id: homeLoiterCheckbox
                     property Fact fact: autopilot.parameters["RTL_LAND_DELAY"]
-
+                    width: leftColWidth
                     checked: fact.value > 0
                     text: "Loiter at Home altitude for "
-
                     onClicked: {
                         fact.value = checked ? 60 : -1
                     }
-
                     style: CheckBoxStyle {
                         label: Text {
                             color: palette.windowText
@@ -52,47 +91,43 @@ Rectangle {
                     fact: autopilot.parameters["RTL_LAND_DELAY"];
                     showUnits: true
                     anchors.baseline: homeLoiterCheckbox.baseline
+                    enabled: homeLoiterCheckbox.checked == true
                 }
             }
-        }
-
-        Column {
-            spacing: 10
-
-            Label { text: "Return to Land Triggers"; color: palette.windowText; font.pointSize: 20 }
+            //-------------------------------------------------------------
+            //-- Visible only if loiter above is checked
+            //   TODO The "enabled" property could be used instead but it
+            //   would have to handle a different "disabled" palette.
             Row {
-                FactCheckBox {
-                    id: telemetryLossCheckbox
-                    fact: autopilot.parameters["COM_DL_LOSS_EN"]
-                    checkedValue: 1
-                    uncheckedValue: 0
-                    text: "Telemetry signal timeout - Return to Land"
-                    anchors.baseline: telemetryLossField.baseline
+                Label {
+                    width: leftColWidth;
+                    text: "When Home is reached, loiter at an altitude of ";
+                    color: palette.windowText;
+                    anchors.baseline: descendField.baseline
+                    visible: homeLoiterCheckbox.checked == true
                 }
-                Label { text: " after "; color: palette.windowText; anchors.baseline: telemetryLossField.baseline }
                 FactTextField {
-                    id: telemetryLossField
-                    fact: autopilot.parameters["NAV_DLL_N"];
+                    id: descendField;
+                    fact: autopilot.parameters["RTL_DESCEND_ALT"];
+                    visible: homeLoiterCheckbox.checked == true
                     showUnits: true
                 }
             }
-            Row {
-                Label { text: "RC Transmitter signal loss - Return to Land after "; color: palette.windowText; anchors.baseline: rcLossField.baseline }
-                FactTextField { id: rcLossField; fact: autopilot.parameters["COM_RC_LOSS_T"]; showUnits: true }
-            }
         }
 
         Text {
             width: parent.width
+            font.pointSize: 14
             text: "Warning: You have an advanced safety configuration set using the NAV_RCL_OBC parameter. The above settings may not apply.";
-            visible: autopilot.parameters["NAV_RCL_OBC"].value == 1
+            visible: autopilot.parameters["NAV_RCL_OBC"].value != 0
             color: palette.windowText
             wrapMode: Text.Wrap
         }
         Text {
             width: parent.width
+            font.pointSize: 14
             text: "Warning: You have an advanced safety configuration set using the NAV_DLL_OBC parameter. The above settings may not apply.";
-            visible: autopilot.parameters["NAV_DLL_OBC"].value == 1
+            visible: autopilot.parameters["NAV_DLL_OBC"].value != 0
             color: palette.windowText
             wrapMode: Text.Wrap
         }