diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 69dd1d0bf73292f2b8bf40a543271a75c1f722b3..96cdbe10d6bffbf5abfbef40bc4449fc81d46d7d 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -128,6 +128,7 @@
src/FlightMap/Widgets/QGCPitchIndicator.qml
src/FlightMap/QGCVideoBackground.qml
src/FlightMap/Widgets/ValuesWidget.qml
+ src/FlightMap/Widgets/VehicleHealthWidget.qml
src/FlightMap/Widgets/VibrationWidget.qml
src/FlightMap/MapItems/VehicleMapItem.qml
src/FlightMap/Widgets/InstrumentSwipeView.qml
diff --git a/src/FlightMap/Widgets/InstrumentSwipeView.qml b/src/FlightMap/Widgets/InstrumentSwipeView.qml
index 7e5128d4e739fc0eb47da0586d9e02b17aac7d74..0a31ffb250185896ce6e83985c29c811df727d7c 100644
--- a/src/FlightMap/Widgets/InstrumentSwipeView.qml
+++ b/src/FlightMap/Widgets/InstrumentSwipeView.qml
@@ -15,24 +15,41 @@ Item {
property color backgroundColor
property var maxHeight ///< Maximum height that should be taken, smaller than this is ok
- property real _margins: ScreenTools.defaultFontPixelWidth / 2
+ property real _margins: ScreenTools.defaultFontPixelWidth / 2
+ property real _pageWidth: _root.width
+ property int _currentPage: 0
+ property int _maxPage: 2
function showPicker() {
valuesPage.showPicker()
}
+ function showPage(pageIndex) {
+ _root.height = Qt.binding(function() { return _root.children[pageIndex].height + pageIndicatorRow.anchors.topMargin + pageIndicatorRow.height } )
+ _root.children[0].x = -(pageIndex * _pageWidth)
+ }
+
ValuesWidget {
id: valuesPage
- width: _root.width
+ width: _pageWidth
qgcView: _root.qgcView
textColor: _root.textColor
maxHeight: _root.maxHeight
}
+ VehicleHealthWidget {
+ id: healthPage
+ anchors.left: valuesPage.right
+ width: _pageWidth
+ qgcView: _root.qgcView
+ textColor: _root.textColor
+ maxHeight: _root.maxHeight
+ }
+
VibrationWidget {
id: vibrationPage
- anchors.left: valuesPage.right
- width: _root.width
+ anchors.left: healthPage.right
+ width: _pageWidth
textColor: _root.textColor
backgroundColor: _root.backgroundColor
maxHeight: _root.maxHeight
@@ -44,24 +61,17 @@ Item {
anchors.horizontalCenter: parent.horizontalCenter
spacing: _margins
- Rectangle {
- id: valuesPageIndicator
- height: radius * 2
- width: radius * 2
- radius: 2.5
- border.color: textColor
- border.width: 1
- color: textColor
- }
+ Repeater {
+ model: _maxPage + 1
- Rectangle {
- id: vibrationPageIndicator
- height: radius * 2
- width: radius * 2
- radius: 2.5
- border.color: textColor
- border.width: 1
- color: "transparent"
+ Rectangle {
+ height: radius * 2
+ width: radius * 2
+ radius: 2.5
+ border.color: textColor
+ border.width: 1
+ color: _currentPage == index ? textColor : "transparent"
+ }
}
}
@@ -69,40 +79,29 @@ Item {
anchors.fill: parent
property real xDragStart
- property real xValuesPageSave
+ property real xFirstPageSave
onPressed: {
if (mouse.button == Qt.LeftButton) {
mouse.accepted = true
xDragStart = mouse.x
- xValuesPageSave = valuesPage.x
+ xFirstPageSave = _root.children[0].x
}
}
onPositionChanged: {
- valuesPage.x = xValuesPageSave + mouse.x - xDragStart
+ _root.children[0].x = xFirstPageSave + mouse.x - xDragStart
}
onReleased: {
if (mouse.x < xDragStart) {
- if (xValuesPageSave == 0) {
- valuesPage.x = -valuesPage.width
- _root.height = Qt.binding(function() { return vibrationPage.height + pageIndicatorRow.anchors.topMargin + pageIndicatorRow.height } )
- valuesPageIndicator.color = "transparent"
- vibrationPageIndicator.color = textColor
- } else {
- valuesPage.x = xValuesPageSave
- }
+ // Swipe left
+ _currentPage = Math.min(_currentPage + 1, _maxPage)
} else {
- if (xValuesPageSave != 0) {
- valuesPage.x = 0
- _root.height = Qt.binding(function() { return valuesPage.height + pageIndicatorRow.anchors.topMargin + pageIndicatorRow.height } )
- valuesPageIndicator.color = textColor
- vibrationPageIndicator.color = "transparent"
- } else {
- valuesPage.x = xValuesPageSave
- }
+ // Swipe right
+ _currentPage = Math.max(_currentPage - 1, 0)
}
+ showPage(_currentPage)
}
}
}
diff --git a/src/FlightMap/Widgets/QGCInstrumentWidget.qml b/src/FlightMap/Widgets/QGCInstrumentWidget.qml
index 98548effdef3173c911156b962bf4ccccc5dc12c..a5352549c559cc3517c51604905396bc358a9aaf 100644
--- a/src/FlightMap/Widgets/QGCInstrumentWidget.qml
+++ b/src/FlightMap/Widgets/QGCInstrumentWidget.qml
@@ -128,7 +128,9 @@ Item {
InstrumentSwipeView {
id: _valuesWidget
- width: parent.width
+ anchors.margins: 1
+ anchors.left: parent.left
+ anchors.right: parent.right
qgcView: instrumentPanel.qgcView
textColor: qgcPal.text
backgroundColor: _backgroundColor
diff --git a/src/FlightMap/Widgets/VehicleHealthWidget.qml b/src/FlightMap/Widgets/VehicleHealthWidget.qml
new file mode 100644
index 0000000000000000000000000000000000000000..4b9b11663413cf10770b51afaee36bd384826254
--- /dev/null
+++ b/src/FlightMap/Widgets/VehicleHealthWidget.qml
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 QGROUNDCONTROL PROJECT
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.4
+import QtQuick.Layouts 1.2
+
+import QGroundControl 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+
+QGCFlickable {
+ id: _root
+ height: Math.min(maxHeight, healthColumn.y + healthColumn.height)
+ contentHeight: healthColumn.y + healthColumn.height
+ flickableDirection: Flickable.VerticalFlick
+ clip: true
+
+ property var qgcView
+ property color textColor
+ property var maxHeight
+
+ property var unhealthySensors: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.unhealthySensors : [ ]
+
+ // Any time the unhealthy sensors list changes, switch to the health page
+ onUnhealthySensorsChanged: {
+ if (unhealthySensors.length != 0) {
+ showPage(1)
+ }
+ }
+
+ Column {
+ id: healthColumn
+ width: parent.width
+
+ QGCLabel {
+ width: parent.width
+ horizontalAlignment: Text.AlignHCenter
+ color: textColor
+ text: qsTr("Vehicle Health")
+ }
+
+ QGCLabel {
+ width: parent.width
+ horizontalAlignment: Text.AlignHCenter
+ color: textColor
+ text: qsTr("All systems healthy")
+ visible: healthRepeater.count == 0
+ }
+
+ Repeater {
+ id: healthRepeater
+ model: unhealthySensors
+
+ Row {
+ Image {
+ source: "/qmlimages/Yield.svg"
+ height: ScreenTools.defaultFontPixelHeight
+ sourceSize.height: height
+ fillMode: Image.PreserveAspectFit
+ }
+
+ QGCLabel {
+ color: textColor
+ text: modelData
+ }
+ }
+ }
+ }
+}
diff --git a/src/FlightMap/qmldir b/src/FlightMap/qmldir
index 8bc71ce14b0132e5ce75c29fee8559879241589f..7617530325d1c0992584b20ce4285c2ea9f6e7f8 100644
--- a/src/FlightMap/qmldir
+++ b/src/FlightMap/qmldir
@@ -16,6 +16,7 @@ QGCInstrumentWidgetAlternate 1.0 QGCInstrumentWidgetAlternate.qml
QGCPitchIndicator 1.0 QGCPitchIndicator.qml
QGCSlider 1.0 QGCSlider.qml
ValuesWidget 1.0 ValuesWidget.qml
+VehicleHealthWidget 1.0 VehicleHealthWidget.qml
VibrationWidget 1.0 VibrationWidget.qml
# Map items
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index c9ed3a839b49e0379792d9b3f3328b8f4d3e8ec1..a3eaa1de601a56383534e76feedef3e9ac931711 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -96,6 +96,10 @@ Vehicle::Vehicle(LinkInterface* link,
, _rcRSSIstore(255)
, _autoDisconnect(false)
, _flying(false)
+ , _onboardControlSensorsPresent(0)
+ , _onboardControlSensorsEnabled(0)
+ , _onboardControlSensorsHealth(0)
+ , _onboardControlSensorsUnhealthy(0)
, _connectionLost(false)
, _connectionLostEnabled(true)
, _missionManager(NULL)
@@ -296,6 +300,11 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _rcRSSI(255)
, _rcRSSIstore(255)
, _autoDisconnect(false)
+ , _flying(false)
+ , _onboardControlSensorsPresent(0)
+ , _onboardControlSensorsEnabled(0)
+ , _onboardControlSensorsHealth(0)
+ , _onboardControlSensorsUnhealthy(0)
, _connectionLost(false)
, _connectionLostEnabled(true)
, _missionManager(NULL)
@@ -669,6 +678,16 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
_say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
}
}
+
+ _onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;
+ _onboardControlSensorsEnabled = sysStatus.onboard_control_sensors_enabled;
+ _onboardControlSensorsHealth = sysStatus.onboard_control_sensors_health;
+
+ uint32_t newSensorsUnhealthy = _onboardControlSensorsEnabled & ~_onboardControlSensorsHealth;
+ if (newSensorsUnhealthy != _onboardControlSensorsUnhealthy) {
+ _onboardControlSensorsUnhealthy = newSensorsUnhealthy;
+ emit unhealthySensorsChanged();
+ }
}
void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
@@ -1951,6 +1970,54 @@ QString Vehicle::brandImage(void) const
return _firmwarePlugin->brandImage(this);
}
+QStringList Vehicle::unhealthySensors(void) const
+{
+ QStringList sensorList;
+
+ struct sensorInfo_s {
+ uint32_t bit;
+ const char* sensorName;
+ };
+
+ static const sensorInfo_s rgSensorInfo[] = {
+ { MAV_SYS_STATUS_SENSOR_3D_GYRO, "Gyro" },
+ { MAV_SYS_STATUS_SENSOR_3D_ACCEL, "Accelerometer" },
+ { MAV_SYS_STATUS_SENSOR_3D_MAG, "Magnetometer" },
+ { MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE, "Absolute pressure" },
+ { MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, "Differential pressure" },
+ { MAV_SYS_STATUS_SENSOR_GPS, "GPS" },
+ { MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, "Optical flow" },
+ { MAV_SYS_STATUS_SENSOR_VISION_POSITION, "Computer vision position" },
+ { MAV_SYS_STATUS_SENSOR_LASER_POSITION, "Laser based position" },
+ { MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH, "External ground truth" },
+ { MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL, "Angular rate control" },
+ { MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION, "Attitude stabilization" },
+ { MAV_SYS_STATUS_SENSOR_YAW_POSITION, "Yaw position" },
+ { MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL, "Z/altitude control" },
+ { MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL, "X/Y position control" },
+ { MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS, "Motor outputs / control" },
+ { MAV_SYS_STATUS_SENSOR_RC_RECEIVER, "RC receiver" },
+ { MAV_SYS_STATUS_SENSOR_3D_GYRO2, "Gyro 2" },
+ { MAV_SYS_STATUS_SENSOR_3D_ACCEL2, "Accelerometer 2" },
+ { MAV_SYS_STATUS_SENSOR_3D_MAG2, "Magnetometer 2" },
+ { MAV_SYS_STATUS_GEOFENCE, "GeoFence" },
+ { MAV_SYS_STATUS_AHRS, "AHRS" },
+ { MAV_SYS_STATUS_TERRAIN, "Terrain" },
+ { MAV_SYS_STATUS_REVERSE_MOTOR, "Motors reversed" },
+ { MAV_SYS_STATUS_LOGGING, "Logging" },
+ };
+
+ for (size_t i=0; ibit) && !(_onboardControlSensorsHealth & pSensorInfo->bit)) {
+ sensorList << pSensorInfo->sensorName;
+ }
+ }
+
+ return sensorList;
+}
+
+
const char* VehicleGPSFactGroup::_hdopFactName = "hdop";
const char* VehicleGPSFactGroup::_vdopFactName = "vdop";
const char* VehicleGPSFactGroup::_courseOverGroundFactName = "courseOverGround";
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 0f6243519922c1ddfb48bea6c2eae67d8a04e99c..6dbabf76e0034861d3e9a6ab35e9c62b46de7cd4 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -280,6 +280,7 @@ public:
Q_PROPERTY(bool xConfigMotors READ xConfigMotors CONSTANT)
Q_PROPERTY(bool isOfflineEditingVehicle READ isOfflineEditingVehicle CONSTANT)
Q_PROPERTY(QString brandImage READ brandImage CONSTANT)
+ Q_PROPERTY(QStringList unhealthySensors READ unhealthySensors NOTIFY unhealthySensorsChanged)
/// true: Vehicle is flying, false: Vehicle is on ground
Q_PROPERTY(bool flying READ flying WRITE setFlying NOTIFY flyingChanged)
@@ -530,6 +531,7 @@ public:
uint32_t customMode () const { return _custom_mode; }
bool isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
QString brandImage () const;
+ QStringList unhealthySensors () const;
Fact* roll (void) { return &_rollFact; }
Fact* heading (void) { return &_headingFact; }
@@ -604,6 +606,7 @@ signals:
void prearmErrorChanged(const QString& prearmError);
void commandLongAck(uint8_t compID, uint16_t command, uint8_t result);
void soloFirmwareChanged(bool soloFirmware);
+ void unhealthySensorsChanged(void);
void messagesReceivedChanged ();
void messagesSentChanged ();
@@ -751,6 +754,10 @@ private:
double _rcRSSIstore;
bool _autoDisconnect; ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat
bool _flying;
+ uint32_t _onboardControlSensorsPresent;
+ uint32_t _onboardControlSensorsEnabled;
+ uint32_t _onboardControlSensorsHealth;
+ uint32_t _onboardControlSensorsUnhealthy;
QString _prearmError;
QTimer _prearmErrorTimer;