src/AutoPilotPlugins/PX4/SensorsSetup.qml

@@ -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",
@@ -113,6 +112,72 @@ Item {
     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: {
+            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
 
-                Column {
+                QGCLabel {
                     width:      parent.width
-                    spacing:        5
-                    visible:        !_sensorsHaveFixedOrientation
+                    wrapMode:   Text.WordWrap
+                    text:       preCalibrationDialogHelp
+                }
 
                 QGCLabel {
                     id:         boardRotationHelp
                     width:      parent.width
                     wrapMode:   Text.WordWrap
-                        visible:    (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
+                    visible:    !_sensorsHaveFixedOrientation && (preCalibrationDialogType == "accel" || preCalibrationDialogType == "compass")
                     text:       qsTr("Set autopilot orientation before calibrating.")
                 }
 
                 Column {
+                    width:      parent.width
                     visible:    boardRotationHelp.visible
-
-                        QGCLabel { text: qsTr("Autopilot Orientation:") }
+                    QGCLabel { text: qsTr("Autopilot Orientation") }
 
                     FactComboBox {
-                            id:     boardRotationCombo
-                            width:  rotationColumnWidth;
+                        sizeToContents: true
                         model:          rotations
                         fact:           sens_board_rot
                     }
+
+                    QGCLabel {
+                        width:      parent.width
+                        wrapMode:   Text.WordWrap
+                        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 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")
+                        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)
 
-                    Column {
-                        visible: setOrientationsDialogShowBoardOrientation
-
-                        QGCLabel {
-                            text: qsTr("Autopilot Orientation:")
+                        Component.onCompleted: console.log(_boardOrientationChangeAllowed, _compassOrientationChangeAllowed, currentExternalMagCount())
                     }
 
-                        FactComboBox {
-                            id:     boardRotationCombo
-                            width:  rotationColumnWidth;
-                            model:  rotations
-                            fact:   sens_board_rot
-                        }
-                    }
-
-                    // Compass 0 rotation
                     Column {
-                        visible: !_sensorsHaveFixedOrientation
-
-                        Component {
-                            id: compass0ComponentLabel2
+                        visible: _boardOrientationChangeAllowed
 
                         QGCLabel {
-                                text: qsTr("External Compass Orientation:")
-                            }
+                            text: qsTr("Autopilot Orientation")
                         }
 
-                        Component {
-                            id: compass0ComponentCombo2
-
                         FactComboBox {
-                                id:     compass0RotationCombo
-                                width:  rotationColumnWidth
+                            sizeToContents: true
                             model:          rotations
-                                fact:   cal_mag0_rot
-                            }
-                        }
-
-                        Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null }
-                        Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null }
-                    }
-
-                    // Compass 1 rotation
-                    Column {
-                        visible: !_sensorsHaveFixedOrientation
-
-                        Component {
-                            id: compass1ComponentLabel2
-
-                            QGCLabel {
-                                text: qsTr("External Compass 1 Orientation:")
-                            }
-                        }
-
-                        Component {
-                            id: compass1ComponentCombo2
-
-                            FactComboBox {
-                                id:     compass1RotationCombo
-                                width:  rotationColumnWidth
-                                model:  rotations
-                                fact:   cal_mag1_rot
+                            fact:           sens_board_rot
                         }
                     }
 
-                        Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null }
-                        Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null }
-                    }
+                    Repeater {
+                        model: _compassOrientationChangeAllowed ? currentMagParamCount() : 0
 
-                    // Compass 2 rotation
                         Column {
-                        visible: !_sensorsHaveFixedOrientation
-                        spacing: ScreenTools.defaultFontPixelWidth
+                            // id > = signals compass available, rot < 0 signals internal compass
+                            visible: calMagIdFact.value > 0 && calMagRotFact.value >= 0
 
-                        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
+                                sizeToContents: true
                                 model:          rotations
-                                fact:   cal_mag2_rot
+                                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
+                    setOrientationsDialogShowReboot             = false
                     mainWindow.showComponentDialog(setOrientationsDialogComponent, qsTr("Set Orientations"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
                 }
             }