New Qml based sensor config

src/AutoPilotPlugins/PX4/SensorsComponent.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+
+Rectangle {
+    property QGCPalette qgcPal: QGCPalette { colorGroupEnabled: true }
+
+    readonly property int rotationColumnWidth: 200
+    readonly property var rotations: [
+        "ROTATION_NONE",
+        "ROTATION_YAW_45",
+        "ROTATION_YAW_90",
+        "ROTATION_YAW_135",
+        "ROTATION_YAW_180",
+        "ROTATION_YAW_225",
+        "ROTATION_YAW_270",
+        "ROTATION_YAW_315",
+        "ROTATION_ROLL_180",
+        "ROTATION_ROLL_180_YAW_45",
+        "ROTATION_ROLL_180_YAW_90",
+        "ROTATION_ROLL_180_YAW_135",
+        "ROTATION_PITCH_180",
+        "ROTATION_ROLL_180_YAW_225",
+        "ROTATION_ROLL_180_YAW_270",
+        "ROTATION_ROLL_180_YAW_315",
+        "ROTATION_ROLL_90",
+        "ROTATION_ROLL_90_YAW_45",
+        "ROTATION_ROLL_90_YAW_90",
+        "ROTATION_ROLL_90_YAW_135",
+        "ROTATION_ROLL_270",
+        "ROTATION_ROLL_270_YAW_45",
+        "ROTATION_ROLL_270_YAW_90",
+        "ROTATION_ROLL_270_YAW_135",
+        "ROTATION_PITCH_90",
+        "ROTATION_PITCH_270",
+        "ROTATION_ROLL_270_YAW_270"
+    ]
+
+    width: 600
+    height: 600
+    color: qgcPal.window
+
+    // We use this bogus loader just so we can get an onLoaded signal to hook to in order to
+    // finish controller initialization.
+    Component {
+        id: loadSignal;
+        Item { }
+    }
+    Loader {
+        sourceComponent: loadSignal
+        onLoaded: controller.statusLog = statusTextArea
+    }
+
+    Column {
+        anchors.fill: parent
+
+        QGCLabel {
+            text: "SENSORS CONFIG"
+            font.pointSize: 20
+        }
+
+        Item { height: 20; width: 10 } // spacer
+
+        Item {
+            readonly property int calibrationAreaHeight: 300
+
+            width:  parent.width
+            height: calibrationAreaHeight
+
+            TextArea {
+                id:             statusTextArea
+                width:          parent.width - rotationColumnWidth
+                height:         parent.height
+                readOnly:       true
+                frameVisible:   false
+                text:           qsTr("Sensor config is a work in progress which currently supports textual instructions only. Updated visuals coming soon.")
+
+                style: TextAreaStyle {
+                    textColor: qgcPal.text
+                    backgroundColor: qgcPal.windowShade
+                }
+            }
+
+            Column {
+                // Compass rotation parameter < 0 indicates either internal compass, or no compass. So in
+                // both those cases we do not show a rotation combo.
+                property bool showCompass0: autopilot.parameters["CAL_MAG0_ROT"].value >= 0
+                property bool showCompass1: autopilot.parameters["CAL_MAG1_ROT"].value >= 0
+                property bool showCompass2: autopilot.parameters["CAL_MAG2_ROT"].value >= 0
+
+                x: parent.width - rotationColumnWidth
+
+                QGCLabel { text: "Autpilot Orientation" }
+
+                FactComboBox {
+                    width:  rotationColumnWidth;
+                    model:  rotations
+                    fact:   autopilot.parameters["SENS_BOARD_ROT"]
+                }
+
+                // Compass 0 rotation
+                Component {
+                    id: compass0ComponentLabel
+
+                    QGCLabel { text: "Compass Orientation" }
+                }
+                Component {
+                    id: compass0ComponentCombo
+
+                    FactComboBox {
+                        width:  rotationColumnWidth
+                        model:  rotations
+                        fact:   autopilot.parameters["CAL_MAG0_ROT"]
+                    }
+                }
+                Loader { sourceComponent: parent.showCompass0 ? compass0ComponentLabel : null }
+                Loader { sourceComponent: parent.showCompass0 ? compass0ComponentCombo : null }
+
+                // Compass 1 rotation
+                Component {
+                    id: compass1ComponentLabel
+
+                    QGCLabel { text: "Compass 1 Orientation" }
+                }
+                Component {
+                    id: compass1ComponentCombo
+
+                    FactComboBox {
+                        width:  rotationColumnWidth
+                        model:  rotations
+                        fact:   autopilot.parameters["CAL_MAG1_ROT"]
+                    }
+                }
+                Loader { sourceComponent: parent.showCompass1 ? compass1ComponentLabel : null }
+                Loader { sourceComponent: parent.showCompass1 ? compass1ComponentCombo : null }
+
+                // Compass 2 rotation
+                Component {
+                    id: compass2ComponentLabel
+
+                    QGCLabel { text: "Compass 2 Orientation" }
+                }
+                Component {
+                    id: compass2ComponentCombo
+
+                    FactComboBox {
+                        width:  rotationColumnWidth
+                        model:  rotations
+                        fact:   autopilot.parameters["CAL_MAG2_ROT"]
+                    }
+                }
+                Loader { sourceComponent: parent.showCompass2 ? compass2ComponentLabel : null }
+                Loader { sourceComponent: parent.showCompass2 ? compass2ComponentCombo : null }
+            }
+        }
+
+        Item { height: 20; width: 10 } // spacer
+
+        Row {
+            readonly property int buttonWidth: 120
+
+            spacing: 20
+
+            QGCLabel { text: "Calibrate:"; anchors.baseline: firstButton.baseline }
+
+            IndicatorButton {
+                id:             firstButton
+                width:          parent.buttonWidth
+                text:           "Compass"
+                indicatorGreen: autopilot.parameters["CAL_MAG0_ID"].value != 0
+                onClicked: controller.calibrateCompass()
+            }
+
+            IndicatorButton {
+                width:          parent.buttonWidth
+                text:           "Gyroscope"
+                indicatorGreen: autopilot.parameters["CAL_GYRO0_ID"].value != 0
+                onClicked: controller.calibrateGyro()
+            }
+
+            IndicatorButton {
+                width:          parent.buttonWidth
+                text:           "Acceleromter"
+                indicatorGreen: autopilot.parameters["CAL_ACC0_ID"].value != 0
+                onClicked: controller.calibrateAccel()
+            }
+
+            IndicatorButton {
+                width:          parent.buttonWidth
+                text:           "Airspeed"
+                visible:        controller.fixedWing
+                indicatorGreen: autopilot.parameters["SENS_DPRES_OFF"].value != 0
+                onClicked: controller.calibrateAirspeed()
+            }
+        }
+    }
+}
+

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "SensorsComponentController.h"
+#include "QGCMAVLink.h"
+#include "UASManager.h"
+
+#include <QVariant>
+#include <QQmlProperty>
+
+SensorsComponentController::SensorsComponentController(AutoPilotPlugin* autopilot, QObject* parent) :
+    QObject(parent),
+    _autopilot(autopilot)
+{
+    Q_ASSERT(autopilot);
+}
+
+/// Appends the specified text to the status log area in the ui
+void SensorsComponentController::_appendStatusLog(const QString& text)
+{
+    Q_ASSERT(_statusLog);
+    
+    QVariant returnedValue;
+    QVariant varText = text;
+    QMetaObject::invokeMethod(_statusLog,
+                              "append",
+                              Q_RETURN_ARG(QVariant, returnedValue),
+                              Q_ARG(QVariant, varText));
+}
+
+void SensorsComponentController::calibrateGyro(void)
+{
+    _beginTextLogging();
+    
+    UASInterface* uas = _autopilot->uas();
+    Q_ASSERT(uas);
+    uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
+}
+
+void SensorsComponentController::calibrateCompass(void)
+{
+    _beginTextLogging();
+
+    UASInterface* uas = _autopilot->uas();
+    Q_ASSERT(uas);
+    uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
+}
+
+void SensorsComponentController::calibrateAccel(void)
+{
+    _beginTextLogging();
+
+    UASInterface* uas = _autopilot->uas();
+    Q_ASSERT(uas);
+    uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0);
+}
+
+void SensorsComponentController::calibrateAirspeed(void)
+{
+    _beginTextLogging();
+
+    UASInterface* uas = _autopilot->uas();
+    Q_ASSERT(uas);
+    uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0);
+}
+
+void SensorsComponentController::_beginTextLogging(void)
+{
+    UASInterface* uas = _autopilot->uas();
+    Q_ASSERT(uas);
+    connect(uas, &UASInterface::textMessageReceived, this, &SensorsComponentController::_handleUASTextMessage);
+}
+
+void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
+{
+    Q_UNUSED(compId);
+    Q_UNUSED(severity);
+    
+    UASInterface* uas = _autopilot->uas();
+    Q_ASSERT(uas);
+    if (uasId != uas->getUASID()) {
+        return;
+    }
+    
+    QStringList ignorePrefixList;
+    ignorePrefixList << "[cmd]" << "[mavlink pm]" << "[ekf check]";
+    foreach (QString ignorePrefix, ignorePrefixList) {
+        if (text.startsWith(ignorePrefix)) {
+            return;
+        }
+    }
+    
+    _appendStatusLog(text);
+    
+    if (text.endsWith(" calibration: done") || text.endsWith(" calibration: failed")) {
+        _refreshParams();
+    }
+}
+
+void SensorsComponentController::_refreshParams(void)
+{
+#if 0
+    // FIXME: Not sure if firmware issue yet
+    _autopilot->refreshParametersPrefix("CAL_");
+    _autopilot->refreshParametersPrefix("SENS_");
+#else
+    // Sending too many parameter requests like above doesn't seem to work. So for now,
+    // ask for everything back
+    _autopilot->refreshAllParameters();
+#endif
+}
+
+bool SensorsComponentController::fixedWing(void)
+{
+    UASInterface* uas = _autopilot->uas();
+    Q_ASSERT(uas);
+    return uas->getSystemType() == MAV_TYPE_FIXED_WING;
+}

src/AutoPilotPlugins/PX4/SensorsComponentController.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef SENSORSCOMPONENTCONTROLLER_H
+#define SENSORSCOMPONENTCONTROLLER_H
+
+#include <QObject>
+#include <QQuickItem>
+
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+
+/// Sensors Component MVC Controller for SensorsComponent.qml.
+class SensorsComponentController : public QObject
+{
+    Q_OBJECT
+    
+public:
+    SensorsComponentController(AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
+    
+    /// TextArea for log output
+    Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
+    
+    Q_INVOKABLE void calibrateCompass(void);
+    Q_INVOKABLE void calibrateGyro(void);
+    Q_INVOKABLE void calibrateAccel(void);
+    Q_INVOKABLE void calibrateAirspeed(void);
+    
+    bool fixedWing(void);
+    
+signals:
+    void bogusNotify(void);
+    
+private slots:
+    void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
+    
+private:
+    void _beginTextLogging(void);
+    void _appendStatusLog(const QString& text);
+    void _refreshParams(void);
+
+    QQuickItem*         _statusLog;         ///< Status log TextArea Qml control
+    AutoPilotPlugin*    _autopilot;
+};
+
+#endif