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Commit b0e79c0b authored by DonLakeFlyer's avatar DonLakeFlyer
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parent eb5e3954
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src/AutoPilotPlugins/PX4/SensorsSetup.qml
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......@@ -41,10 +41,10 @@ Item {
readonly property string boardRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.")
readonly property string compassRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.")
readonly property string compassHelp: qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions.\n\nClick Ok to start calibration.")
readonly property string gyroHelp: qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.\n\nClick Ok to start calibration.")
readonly property string accelHelp: qsTr("For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds.\n\nClick Ok to start calibration.")
readonly property string levelHelp: qsTr("To level the horizon you need to place the vehicle in its level flight position and press OK.")
readonly property string compassHelp: qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions.")
readonly property string gyroHelp: qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.")
readonly property string accelHelp: qsTr("For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds.")
readonly property string levelHelp: qsTr("To level the horizon you need to place the vehicle in its level flight position and leave still.")
readonly property string airspeedHelp: qsTr("For Airspeed calibration you will need to keep your airspeed sensor out of any wind and then blow across the sensor. Do not touch the sensor or obstruct any holes during the calibration.")
readonly property string statusTextAreaDefaultText: qsTr("Start the individual calibration steps by clicking one of the buttons to the left.")
......@@ -55,7 +55,6 @@ Item {
// Used to pass help text to the preCalibrationDialog dialog
property string preCalibrationDialogHelp
readonly property int rotationColumnWidth: ScreenTools.defaultFontPixelWidth * 30
readonly property var rotations: [
"ROTATION_NONE",
"ROTATION_YAW_45",
......@@ -110,9 +109,75 @@ Item {
property bool showCompass1Rot: cal_mag1_id.value > 0 && cal_mag1_rot.value >= 0
property bool showCompass2Rot: cal_mag2_id.value > 0 && cal_mag2_rot.value >= 0
property bool _sensorsHaveFixedOrientation: QGroundControl.corePlugin.options.sensorsHaveFixedOrientation
property bool _wifiReliableForCalibration: QGroundControl.corePlugin.options.wifiReliableForCalibration
property int _buttonWidth: ScreenTools.defaultFontPixelWidth * 15
property bool _sensorsHaveFixedOrientation: QGroundControl.corePlugin.options.sensorsHaveFixedOrientation
property bool _wifiReliableForCalibration: QGroundControl.corePlugin.options.wifiReliableForCalibration
property int _buttonWidth: ScreenTools.defaultFontPixelWidth * 15
property string _calMagIdParamFormat: "CAL_MAG#_ID"
property string _calMagRotParamFormat: "CAL_MAG#_ROT"
property bool _allMagsDisabled: controller.parameterExists(-1, "SYS_HAS_MAG") ? controller.getParameterFact(-1, "SYS_HAS_MAG").value === 0 : false
property bool _boardOrientationChangeAllowed: !_sensorsHaveFixedOrientation && setOrientationsDialogShowBoardOrientation
property bool _compassOrientationChangeAllowed: !_sensorsHaveFixedOrientation
property int _arbitrarilyLargeMaxMagIndex: 50
function currentMagParamCount() {
if (_allMagsDisabled) {
return 0
} else {
for (var index=0; index<_arbitrarilyLargeMaxMagIndex; index++) {
var magIdParam = _calMagIdParamFormat.replace("#", index)
if (!controller.parameterExists(-1, magIdParam)) {
return index
}
}
console.warn("SensorSetup.qml:currentMagParamCount internal error")
return -1
}
}
function currentExternalMagCount() {
if (_allMagsDisabled) {
return 0
} else {
var externalMagCount = 0
for (var index=0; index<_arbitrarilyLargeMaxMagIndex; index++) {
var magIdParam = _calMagIdParamFormat.replace("#", index)
if (controller.parameterExists(-1, magIdParam)) {
var calMagIdFact = controller.getParameterFact(-1, magIdParam)
var calMagRotFact = controller.getParameterFact(-1, _calMagRotParamFormat.replace("#", index))
if (calMagIdFact.value > 0 && calMagRotFact.value >= 0) {
externalMagCount++
}
} else {
return externalMagCount
}
}
console.warn("SensorSetup.qml:currentExternalMagCount internal error")
return 0
}
}
function orientationsButtonVisible() {
if (_sensorsHaveFixedOrientation || !showSetOrientations) {
return false
} else if (_boardOrientationChangeAllowed) {
return true
} else if (_compassOrientationChangeAllowed && !_allMagsDisabled) {
for (var index=0; index<_arbitrarilyLargeMaxMagIndex; index++) {
var magIdParam = _calMagIdParamFormat.replace("#", index)
if (controller.parameterExists(-1, magIdParam)) {
var calMagIdFact = controller.parameterExists(-1, magIdParam)
var calMagRotFact = controller.parameterExists(-1, _calMagRotParamFormat.replace("#", index))
if (calMagIdFact.value > 0 && calMagRotFact.value >= 0) {
// Only external compasses can set orientation
return true
}
}
}
return false
} else {
return false
}
}
SensorsComponentController {
id: controller
......@@ -130,7 +195,9 @@ Item {
onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
onMagCalComplete: {
setOrientationsDialogShowBoardOrientation = false
setOrientationsButton.visible = orientationsButtonVisible()
setOrientationsDialogShowBoardOrientation = false
setOrientationsDialogShowReboot = true
mainWindow.showComponentDialog(setOrientationsDialogComponent, qsTr("Compass Calibration Complete"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
}
......@@ -191,43 +258,49 @@ Item {
anchors.fill: parent
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: preCalibrationDialogHelp
}
QGCLabel {
id: boardRotationHelp
width: parent.width
wrapMode: Text.WordWrap
visible: !_sensorsHaveFixedOrientation && (preCalibrationDialogType == "accel" || preCalibrationDialogType == "compass")
text: qsTr("Set autopilot orientation before calibrating.")
}
Column {
width: parent.width
spacing: 5
visible: !_sensorsHaveFixedOrientation
width: parent.width
visible: boardRotationHelp.visible
QGCLabel { text: qsTr("Autopilot Orientation") }
FactComboBox {
sizeToContents: true
model: rotations
fact: sens_board_rot
}
QGCLabel {
id: boardRotationHelp
width: parent.width
wrapMode: Text.WordWrap
visible: (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
text: qsTr("Set autopilot orientation before calibrating.")
}
Column {
visible: boardRotationHelp.visible
QGCLabel { text: qsTr("Autopilot Orientation:") }
FactComboBox {
id: boardRotationCombo
width: rotationColumnWidth;
model: rotations
fact: sens_board_rot
}
text: qsTr("ROTATION_NONE indicates component points in direction of flight.")
}
}
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: preCalibrationDialogHelp
text: qsTr("Click Ok to start calibration.")
}
}
}
}
property bool setOrientationsDialogShowBoardOrientation: true
property bool setOrientationsDialogShowBoardOrientation: true
property bool setOrientationsDialogShowReboot: true
Component {
id: setOrientationsDialogComponent
......@@ -251,13 +324,13 @@ Item {
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: _sensorsHaveFixedOrientation ?
qsTr("Make sure to reboot the vehicle prior to flight.") :
qsTr("Set your compass orientations below and the make sure to reboot the vehicle prior to flight.")
text: qsTr("Reboot the vehicle prior to flight.")
visible: setOrientationsDialogShowReboot
}
QGCButton {
text: qsTr("Reboot Vehicle")
text: qsTr("Reboot Vehicle")
visible: setOrientationsDialogShowReboot
onClicked: {
controller.vehicle.rebootVehicle()
hideDialog()
......@@ -267,104 +340,46 @@ Item {
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: boardRotationText
visible: !_sensorsHaveFixedOrientation
text: qsTr("Adjust orientations as needed.\n\nROTATION_NONE indicates component points in direction of flight.")
visible: _boardOrientationChangeAllowed || (_compassOrientationChangeAllowed && currentExternalMagCount() !== 0)
Component.onCompleted: console.log(_boardOrientationChangeAllowed, _compassOrientationChangeAllowed, currentExternalMagCount())
}
Column {
visible: setOrientationsDialogShowBoardOrientation
visible: _boardOrientationChangeAllowed
QGCLabel {
text: qsTr("Autopilot Orientation:")
text: qsTr("Autopilot Orientation")
}
FactComboBox {
id: boardRotationCombo
width: rotationColumnWidth;
model: rotations
fact: sens_board_rot
}
}
// Compass 0 rotation
Column {
visible: !_sensorsHaveFixedOrientation
Component {
id: compass0ComponentLabel2
QGCLabel {
text: qsTr("External Compass Orientation:")
}
}
Component {
id: compass0ComponentCombo2
FactComboBox {
id: compass0RotationCombo
width: rotationColumnWidth
model: rotations
fact: cal_mag0_rot
}
sizeToContents: true
model: rotations
fact: sens_board_rot
}
Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null }
Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null }
}
// Compass 1 rotation
Column {
visible: !_sensorsHaveFixedOrientation
Repeater {
model: _compassOrientationChangeAllowed ? currentMagParamCount() : 0
Component {
id: compass1ComponentLabel2
Column {
// id > = signals compass available, rot < 0 signals internal compass
visible: calMagIdFact.value > 0 && calMagRotFact.value >= 0
QGCLabel {
text: qsTr("External Compass 1 Orientation:")
}
}
Component {
id: compass1ComponentCombo2
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: cal_mag1_rot
}
}
Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null }
Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null }
}
// Compass 2 rotation
Column {
visible: !_sensorsHaveFixedOrientation
spacing: ScreenTools.defaultFontPixelWidth
Component {
id: compass2ComponentLabel2
property Fact calMagIdFact: controller.getParameterFact(-1, _calMagIdParamFormat.replace("#", index))
property Fact calMagRotFact: controller.getParameterFact(-1, _calMagRotParamFormat.replace("#", index))
QGCLabel {
text: qsTr("Compass 2 Orientation")
text: qsTr("Mag %1 Orientation").arg(index)
}
}
Component {
id: compass2ComponentCombo2
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: cal_mag2_rot
sizeToContents: true
model: rotations
fact: parent.calMagRotFact
}
}
Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel2 : null }
Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo2 : null }
}
} // Column
} // QGCFlickable
......@@ -383,12 +398,11 @@ Item {
spacing: ScreenTools.defaultFontPixelHeight / 2
IndicatorButton {
property bool _hasMag: controller.parameterExists(-1, "SYS_HAS_MAG") ? controller.getParameterFact(-1, "SYS_HAS_MAG").value !== 0 : true
id: compassButton
width: _buttonWidth
text: qsTr("Compass")
indicatorGreen: cal_mag0_id.value !== 0
visible: _hasMag && QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
visible: !_allMagsDisabled && QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
onClicked: {
preCalibrationDialogType = "compass"
......@@ -478,11 +492,12 @@ Item {
QGCButton {
id: setOrientationsButton
width: _buttonWidth
text: qsTr("Set Orientations")
visible: !_sensorsHaveFixedOrientation && showSetOrientations
text: qsTr("Orientations")
visible: orientationsButtonVisible()
onClicked: {
setOrientationsDialogShowBoardOrientation = true
setOrientationsDialogShowBoardOrientation = true
setOrientationsDialogShowReboot = false
mainWindow.showComponentDialog(setOrientationsDialogComponent, qsTr("Set Orientations"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
}
}
......
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