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Commit ae9d9af4 authored by Lorenz Meier's avatar Lorenz Meier
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Merge branch 'config' of github.com:mavlink/qgroundcontrol into config

parents 8dc537df 17fc6302
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Showing with 359 additions and 38 deletions
files/styles/style-dark.css
View file @ ae9d9af4
......@@ -208,6 +208,27 @@ QGCToolBar .QWidget {
background-color: transparent;
}
QGCPX4SensorCalibration QLabel#magLabel {
font-size: 15pt;
font-weight: bold;
border-radius: 4px;
min-height: 25px;
}
QGCPX4SensorCalibration QLabel#gyroLabel {
font-size: 15pt;
font-weight: bold;
border-radius: 4px;
min-height: 25px;
}
QGCPX4SensorCalibration QLabel#accelLabel {
font-size: 15pt;
font-weight: bold;
border-radius: 4px;
min-height: 25px;
}
QGCToolWidgetItem {
border: 1px solid #666;
border-radius: 3px;
......@@ -409,12 +430,9 @@ QPushButton#viewModeGeneric, QPushButton#viewModePX4, QPushButton#viewModeAPM, Q
}
QPushButton#magButton, QPushButton#gyroButton, QPushButton#accelButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
border-radius: 8px;
min-height: 30px;
max-height: 50px;
min-width: 60px;
border: 3px solid #465158;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #757575, stop: 1 #333);
border-radius: 5px;
border: 1px solid #000000;
}
QWidget#containerWidget {
......
src/ui/px4_configuration/QGCPX4SensorCalibration.cc
View file @ ae9d9af4
......@@ -33,7 +33,67 @@ QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
ui->magButton->setEnabled(false);
ui->accelButton->setEnabled(false);
ui->autopilotComboBox->setEnabled(false);
ui->magComboBox->setEnabled(false);
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
setAutopilotImage(":/files/images/px4/calibration/accel_z-.png");
setGpsImage(":/files/images/px4/calibration/accel_z-.png");
// Fill combo boxes
ui->autopilotComboBox->addItem(tr("Default Orientation"), 0);
ui->autopilotComboBox->addItem(tr("ROTATION_YAW_45"), 1);
ui->autopilotComboBox->addItem(tr("ROTATION_YAW_90"), 2);
ui->autopilotComboBox->addItem(tr("ROTATION_YAW_135"), 3);
ui->autopilotComboBox->addItem(tr("ROTATION_YAW_180"), 4);
ui->autopilotComboBox->addItem(tr("ROTATION_YAW_225"), 5);
ui->autopilotComboBox->addItem(tr("ROTATION_YAW_270"), 6);
ui->autopilotComboBox->addItem(tr("ROTATION_YAW_315"), 7);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180"), 8);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_45"), 9);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_90"), 10);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_135"), 11);
ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_180"), 12);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_225"), 13);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_270"), 14);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_315"), 15);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90"), 16);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_45"), 17);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_90"), 18);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_135"), 19);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270"), 20);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_45"), 21);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_90"), 22);
ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_135"), 23);
ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_90"), 24);
ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_270"), 25);
ui->magComboBox->addItem(tr("Default Orientation"), 0);
ui->magComboBox->addItem(tr("ROTATION_YAW_45"), 1);
ui->magComboBox->addItem(tr("ROTATION_YAW_90"), 2);
ui->magComboBox->addItem(tr("ROTATION_YAW_135"), 3);
ui->magComboBox->addItem(tr("ROTATION_YAW_180"), 4);
ui->magComboBox->addItem(tr("ROTATION_YAW_225"), 5);
ui->magComboBox->addItem(tr("ROTATION_YAW_270"), 6);
ui->magComboBox->addItem(tr("ROTATION_YAW_315"), 7);
ui->magComboBox->addItem(tr("ROTATION_ROLL_180"), 8);
ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_45"), 9);
ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_90"), 10);
ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_135"), 11);
ui->magComboBox->addItem(tr("ROTATION_PITCH_180"), 12);
ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_225"), 13);
ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_270"), 14);
ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_315"), 15);
ui->magComboBox->addItem(tr("ROTATION_ROLL_90"), 16);
ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_45"), 17);
ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_90"), 18);
ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_135"), 19);
ui->magComboBox->addItem(tr("ROTATION_ROLL_270"), 20);
ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_45"), 21);
ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_90"), 22);
ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_135"), 23);
ui->magComboBox->addItem(tr("ROTATION_PITCH_90"), 24);
ui->magComboBox->addItem(tr("ROTATION_PITCH_270"), 25);
setObjectName("PX4_SENSOR_CALIBRATION");
......@@ -42,6 +102,11 @@ QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
setActiveUAS(UASManager::instance()->getActiveUAS());
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
ui->progressBar->setValue(0);
connect(ui->autopilotComboBox, SIGNAL(activated(int)), this, SLOT(setAutopilotOrientation(int)));
connect(ui->magComboBox, SIGNAL(activated(int)), this, SLOT(setGpsOrientation(int)));
// XXX ask for params (if not loaded)
}
QGCPX4SensorCalibration::~QGCPX4SensorCalibration()
......@@ -49,6 +114,106 @@ QGCPX4SensorCalibration::~QGCPX4SensorCalibration()
delete ui;
}
void QGCPX4SensorCalibration::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
Q_UNUSED(uas);
Q_UNUSED(component);
int index = (int)value.toFloat();
if (parameterName.contains("SENS_BOARD_ROT"))
{
ui->autopilotComboBox->setCurrentIndex(index);
setAutopilotImage(index);
ui->autopilotComboBox->setEnabled(true);
}
if (parameterName.contains("SENS_EXT_MAG_ROT"))
{
ui->magComboBox->setCurrentIndex(index);
setGpsImage(index);
ui->magComboBox->setEnabled(true);
}
// Check mag calibration naively
if (parameterName.contains("SENS_MAG_XOFF")) {
float offset = value.toFloat();
if (offset < 0.000001f && offset > -0.000001f) {
// Must be zero, not good
setMagCalibrated(false);
} else {
setMagCalibrated(true);
}
}
// Check gyro calibration naively
if (parameterName.contains("SENS_GYRO_XOFF")) {
float offset = value.toFloat();
if (offset < 0.000001f && offset > -0.000001f) {
// Must be zero, not good
setGyroCalibrated(false);
} else {
setGyroCalibrated(true);
}
}
// Check accel calibration naively
if (parameterName.contains("SENS_ACC_XOFF")) {
float offset = value.toFloat();
if (offset < 0.000001f && offset > -0.000001f) {
// Must be zero, not good
setAccelCalibrated(false);
} else {
setAccelCalibrated(true);
}
}
}
void QGCPX4SensorCalibration::setMagCalibrated(bool calibrated)
{
if (calibrated) {
ui->magLabel->setText(tr("MAG CALIBRATED"));
ui->magLabel->setStyleSheet("QLabel { color: #FFFFFF;"
"background-color: #20AA20;"
"}");
} else {
ui->magLabel->setText(tr("MAG UNCALIBRATED"));
ui->magLabel->setStyleSheet("QLabel { color: #FFFFFF;"
"background-color: #FF0037;"
"}");
}
}
void QGCPX4SensorCalibration::setGyroCalibrated(bool calibrated)
{
if (calibrated) {
ui->gyroLabel->setText(tr("GYRO CALIBRATED"));
ui->gyroLabel->setStyleSheet("QLabel { color: #FFFFFF;"
"background-color: #20AA20;"
"}");
} else {
ui->gyroLabel->setText(tr("GYRO UNCALIBRATED"));
ui->gyroLabel->setStyleSheet("QLabel { color: #FFFFFF;"
"background-color: #FF0037;"
"}");
}
}
void QGCPX4SensorCalibration::setAccelCalibrated(bool calibrated)
{
if (calibrated) {
ui->accelLabel->setText(tr("ACCEL CALIBRATED"));
ui->accelLabel->setStyleSheet("QLabel { color: #FFFFFF;"
"background-color: #20AA20;"
"}");
} else {
ui->accelLabel->setText(tr("ACCEL UNCALIBRATED"));
ui->accelLabel->setStyleSheet("QLabel { color: #FFFFFF;"
"background-color: #FF0037;"
"}");
}
}
void QGCPX4SensorCalibration::setInstructionImage(const QString &path)
{
instructionIcon.load(path);
......@@ -56,7 +221,53 @@ void QGCPX4SensorCalibration::setInstructionImage(const QString &path)
int w = ui->iconLabel->width();
int h = ui->iconLabel->height();
ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio));
ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
}
void QGCPX4SensorCalibration::setAutopilotImage(int index)
{
setAutopilotImage(QString(":/files/images/px4/calibration/pixhawk_%1.png").arg(index));
}
void QGCPX4SensorCalibration::setGpsImage(int index)
{
setGpsImage(QString(":/files/images/px4/calibration/gps_%1.png").arg(index));
}
void QGCPX4SensorCalibration::setAutopilotOrientation(int index)
{
if (activeUAS) {
activeUAS->getParamManager()->setPendingParam(0, "SENS_BOARD_ROT", (int)index);
activeUAS->getParamManager()->sendPendingParameters(true);
}
}
void QGCPX4SensorCalibration::setGpsOrientation(int index)
{
if (activeUAS) {
activeUAS->getParamManager()->setPendingParam(0, "SENS_EXT_MAG_ROT", (int)index);
activeUAS->getParamManager()->sendPendingParameters(true);
}
}
void QGCPX4SensorCalibration::setAutopilotImage(const QString &path)
{
autopilotIcon.load(path);
int w = ui->autopilotLabel->width();
int h = ui->autopilotLabel->height();
ui->autopilotLabel->setPixmap(autopilotIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
}
void QGCPX4SensorCalibration::setGpsImage(const QString &path)
{
gpsIcon.load(path);
int w = ui->gpsLabel->width();
int h = ui->gpsLabel->height();
ui->gpsLabel->setPixmap(gpsIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
}
void QGCPX4SensorCalibration::resizeEvent(QResizeEvent* event)
......@@ -64,8 +275,15 @@ void QGCPX4SensorCalibration::resizeEvent(QResizeEvent* event)
int w = ui->iconLabel->width();
int h = ui->iconLabel->height();
ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
int wa = ui->autopilotLabel->width();
int ha = ui->autopilotLabel->height();
ui->autopilotLabel->setPixmap(autopilotIcon.scaled(wa, ha, Qt::KeepAspectRatio, Qt::SmoothTransformation));
ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio));
int wg = ui->gpsLabel->width();
int hg = ui->gpsLabel->height();
ui->gpsLabel->setPixmap(gpsIcon.scaled(wg, hg, Qt::KeepAspectRatio, Qt::SmoothTransformation));
QWidget::resizeEvent(event);
}
......@@ -76,7 +294,8 @@ void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas)
return;
if (activeUAS) {
disconnect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
disconnect(activeUAS, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
disconnect(activeUAS, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant)));
ui->textView->clear();
}
......@@ -85,6 +304,7 @@ void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas)
ui->accelButton->setEnabled(true);
connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
connect(uas, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant)));
activeUAS = uas;
}
......@@ -161,12 +381,16 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
accelStarted = false;
// XXX use a confirmation image or something
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
if (activeUAS)
activeUAS->requestParameter(0, "SENS_ACC_XOFF");
}
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")
......@@ -174,6 +398,8 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
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");
}
if (text.contains("accel calibration started")) {
......
src/ui/px4_configuration/QGCPX4SensorCalibration.h
View file @ ae9d9af4
......@@ -42,12 +42,28 @@ public slots:
*/
virtual void contextMenuEvent(QContextMenuEvent* event);
void setAutopilotOrientation(int index);
void setGpsOrientation(int index);
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
protected slots:
void setInstructionImage(const QString &path);
void setAutopilotImage(const QString &path);
void setGpsImage(const int index);
void setAutopilotImage(const int index);
void setGpsImage(const QString &path);
protected:
UASInterface* activeUAS;
QAction* clearAction;
QPixmap instructionIcon;
QPixmap autopilotIcon;
QPixmap gpsIcon;
bool accelStarted;
bool accelDone[6];
bool gyroStarted;
......@@ -55,6 +71,10 @@ protected:
QStringList accelAxes;
virtual void resizeEvent(QResizeEvent* event);
void setMagCalibrated(bool calibrated);
void setGyroCalibrated(bool calibrated);
void setAccelCalibrated(bool calibrated);
private:
Ui::QGCPX4SensorCalibration *ui;
......
src/ui/px4_configuration/QGCPX4SensorCalibration.ui
View file @ ae9d9af4
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>531</width>
<height>448</height>
<width>657</width>
<height>598</height>
</rect>
</property>
<property name="windowTitle">
......@@ -36,8 +36,29 @@ QPushButton#gyroButton, QPushButton#accelButton {
border: 2px solid #465158;
}</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="1,0,0,0,0,0,0" columnstretch="30,0,0">
<item row="4" column="0" colspan="3">
<layout class="QGridLayout" name="gridLayout" rowstretch="1,0,0,0,0,0,0,0,0,0" columnstretch="30,8,8,15">
<item row="3" column="0" colspan="2">
<widget class="QLabel" name="label">
<property name="text">
<string>Autopilot and GPS / Compass Orientation</string>
</property>
</widget>
</item>
<item row="7" column="0" colspan="3">
<widget class="QLabel" name="instructionLabel">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>24</number>
</property>
</widget>
</item>
<item row="8" column="0" colspan="4">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -45,12 +66,12 @@ QPushButton#gyroButton, QPushButton#accelButton {
<property name="sizeHint" stdset="0">
<size>
<width>498</width>
<height>21</height>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item row="6" column="2">
<item row="9" column="2">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -63,19 +84,51 @@ QPushButton#gyroButton, QPushButton#accelButton {
</property>
</spacer>
</item>
<item row="3" column="0" colspan="2">
<widget class="QLabel" name="instructionLabel">
<item row="5" column="0">
<widget class="QComboBox" name="autopilotComboBox"/>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="magComboBox"/>
</item>
<item row="0" column="2" rowspan="7" colspan="2">
<widget class="QPlainTextEdit" name="textView"/>
</item>
<item row="0" column="0" rowspan="2">
<widget class="QLabel" name="iconLabel">
<property name="text">
<string/>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="magButton">
<item row="9" column="0" colspan="2">
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="2">
<widget class="QLabel" name="accelLabel">
<property name="text">
<string>Magnetometer</string>
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="gyroLabel">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="gyroButton">
<property name="text">
<string>Gyroscope</string>
</property>
<property name="icon">
<iconset resource="../../../qgroundcontrol.qrc">
......@@ -83,10 +136,10 @@ QPushButton#gyroButton, QPushButton#accelButton {
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="gyroButton">
<item row="1" column="0">
<widget class="QPushButton" name="magButton">
<property name="text">
<string>Gyroscope</string>
<string>Magnetometer</string>
</property>
<property name="icon">
<iconset resource="../../../qgroundcontrol.qrc">
......@@ -94,7 +147,7 @@ QPushButton#gyroButton, QPushButton#accelButton {
</property>
</widget>
</item>
<item>
<item row="1" column="2">
<widget class="QPushButton" name="accelButton">
<property name="text">
<string>Accelerometer</string>
......@@ -105,28 +158,32 @@ QPushButton#gyroButton, QPushButton#accelButton {
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="magLabel">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0" rowspan="2">
<widget class="QLabel" name="iconLabel">
<item row="4" column="0">
<widget class="QLabel" name="autopilotLabel">
<property name="text">
<string/>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>24</number>
<item row="4" column="1">
<widget class="QLabel" name="gpsLabel">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1" rowspan="3" colspan="2">
<widget class="QPlainTextEdit" name="textView"/>
</item>
</layout>
</widget>
<resources>
......
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