ArduPlane level configuration widget

qgroundcontrol.pro

@@ -256,7 +256,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/configuration/GeoFenceConfig.ui \
     src/ui/configuration/FailSafeConfig.ui \
     src/ui/configuration/AdvancedParamConfig.ui \
-    src/ui/configuration/ArduCopterPidConfig.ui
+    src/ui/configuration/ArduCopterPidConfig.ui \
+    src/ui/configuration/ApmPlaneLevel.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -437,7 +438,8 @@ HEADERS += src/MG.h \
     src/ui/configuration/GeoFenceConfig.h \
     src/ui/configuration/FailSafeConfig.h \
     src/ui/configuration/AdvancedParamConfig.h \
-    src/ui/configuration/ArduCopterPidConfig.h
+    src/ui/configuration/ArduCopterPidConfig.h \
+    src/ui/configuration/ApmPlaneLevel.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -636,7 +638,8 @@ SOURCES += src/main.cc \
     src/ui/configuration/GeoFenceConfig.cc \
     src/ui/configuration/FailSafeConfig.cc \
     src/ui/configuration/AdvancedParamConfig.cc \
-    src/ui/configuration/ArduCopterPidConfig.cc
+    src/ui/configuration/ArduCopterPidConfig.cc \
+    src/ui/configuration/ApmPlaneLevel.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/configuration/ApmPlaneLevel.cc

+#include "ApmPlaneLevel.h"
+#include <QMessageBox>
+
+ApmPlaneLevel::ApmPlaneLevel(QWidget *parent) : AP2ConfigWidget(parent)
+{
+    ui.setupUi(this);
+    connect(ui.levelPushButton,SIGNAL(clicked()),this,SLOT(levelClicked()));
+    connect(ui.manualLevelCheckBox,SIGNAL(toggled(bool)),this,SLOT(manualCheckBoxToggled(bool)));
+}
+
+ApmPlaneLevel::~ApmPlaneLevel()
+{
+}
+void ApmPlaneLevel::levelClicked()
+{
+    QMessageBox::information(0,"Warning","Be sure the plane is completly level, then click ok");
+    MAV_CMD command = MAV_CMD_PREFLIGHT_CALIBRATION;
+    int confirm = 0;
+    float param1 = 1;
+    float param2 = 0;
+    float param3 = 1;
+    float param4 = 0;
+    float param5 = 0;
+    float param6 = 0;
+    float param7 = 0;
+    int component = 1;
+    m_uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
+    QMessageBox::information(0,"Warning","Leveling completed");
+}
+
+void ApmPlaneLevel::manualCheckBoxToggled(bool checked)
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (checked)
+    {
+        m_uas->getParamManager()->setParameter(1,"MANUAL_LEVEL",1);
+    }
+    else
+    {
+        m_uas->getParamManager()->setParameter(1,"MANUAL_LEVEL",0);
+    }
+}
+void ApmPlaneLevel::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (parameterName == "MANUAL_LEVEL")
+    {
+        if (value.toInt() == 1)
+        {
+            ui.manualLevelCheckBox->setChecked(true);
+        }
+        else
+        {
+            ui.manualLevelCheckBox->setChecked(false);
+        }
+    }
+}

src/ui/configuration/ApmPlaneLevel.h

+#ifndef APMPLANELEVEL_H
+#define APMPLANELEVEL_H
+
+#include <QWidget>
+#include "ui_ApmPlaneLevel.h"
+#include "AP2ConfigWidget.h"
+
+class ApmPlaneLevel : public AP2ConfigWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit ApmPlaneLevel(QWidget *parent = 0);
+    ~ApmPlaneLevel();
+private slots:
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void levelClicked();
+    void manualCheckBoxToggled(bool checked);
+private:
+    Ui::ApmPlaneLevel ui;
+};
+
+#endif // APMPLANELEVEL_H

src/ui/configuration/ApmPlaneLevel.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ApmPlaneLevel</class>
+ <widget class="QWidget" name="ApmPlaneLevel">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>141</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;h2&gt;ArduPlane Level&lt;/h2&gt;</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>70</y>
+     <width>271</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>By Default your plane will autolevel on every boot.
+To disable this action you need to turn on manual
+level and perform a level to calibrate the accel offsets.</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_3">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>150</y>
+     <width>291</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Level your plane and click Level to set default accel offsets</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="levelPushButton">
+   <property name="geometry">
+    <rect>
+     <x>160</x>
+     <y>180</y>
+     <width>75</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Level</string>
+   </property>
+  </widget>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>120</x>
+     <y>230</y>
+     <width>151</width>
+     <height>51</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>For advanced users ONLY</string>
+   </property>
+   <widget class="QCheckBox" name="manualLevelCheckBox">
+    <property name="geometry">
+     <rect>
+      <x>30</x>
+      <y>20</y>
+      <width>91</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Manual Level</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>