From c2eac21cb56eecdae97820a2edb0a43da5f9316d Mon Sep 17 00:00:00 2001
From: Don Gagne <dongagne@outlook.com>
Date: Tue, 7 Aug 2018 13:41:03 -0700
Subject: [PATCH] Prompt for Reboot after compass cal

---
 .../PX4/SensorsComponentController.cc         |  2 +-
 .../PX4/SensorsComponentController.h          |  2 +-
 src/AutoPilotPlugins/PX4/SensorsSetup.qml     | 22 +++++++++++++++----
 3 files changed, 20 insertions(+), 6 deletions(-)

diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentController.cc b/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
index 032f54037..89085b8c4 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
@@ -167,7 +167,7 @@ void SensorsComponentController::_stopCalibration(SensorsComponentController::St
                 emit resetStatusTextArea();
             }
             if (_magCalInProgress) {
-                emit setCompassRotations();
+                emit magCalComplete();
             }
             break;
             
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentController.h b/src/AutoPilotPlugins/PX4/SensorsComponentController.h
index d9cb441c2..b9de627fc 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponentController.h
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentController.h
@@ -92,7 +92,7 @@ signals:
     void orientationCalSidesRotateChanged(void);
     void resetStatusTextArea(void);
     void waitingForCancelChanged(void);
-    void setCompassRotations(void);
+    void magCalComplete(void);
 
 private slots:
     void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
diff --git a/src/AutoPilotPlugins/PX4/SensorsSetup.qml b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
index 028973fbf..6bbb20ddc 100644
--- a/src/AutoPilotPlugins/PX4/SensorsSetup.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
@@ -131,11 +131,11 @@ Item {
 
         onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
 
-        onSetCompassRotations: {
-            if (!_sensorsHaveFixedOrientation && (showCompass0Rot || showCompass1Rot || showCompass2Rot)) {
+        onMagCalComplete: {
+            //if (!_sensorsHaveFixedOrientation && (showCompass0Rot || showCompass1Rot || showCompass2Rot)) {
                 setOrientationsDialogShowBoardOrientation = false
-                showDialog(setOrientationsDialogComponent, qsTr("Set Compass Rotation(s)"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
-            }
+                showDialog(setOrientationsDialogComponent, qsTr("Compass Calibration Complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
+            //}
         }
 
         onWaitingForCancelChanged: {
@@ -252,6 +252,20 @@ Item {
                     anchors.top:        parent.top
                     spacing:            ScreenTools.defaultFontPixelHeight
 
+                    QGCLabel {
+                        width:      parent.width
+                        wrapMode:   Text.WordWrap
+                        text:       qsTr("Set your compass orientations below and the make sure to reboot the vehicle prior to flight.")
+                    }
+
+                    QGCButton {
+                        text: qsTr("Reboot Vehicle")
+                        onClicked: {
+                            controller.vehicle.rebootVehicle()
+                            hideDialog()
+                        }
+                    }
+
                     QGCLabel {
                         width:      parent.width
                         wrapMode:   Text.WordWrap
-- 
2.22.0