From cc6730cc00b8b3013f8bb07d246387c3c5403318 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Mon, 31 Jul 2017 11:24:32 +0200
Subject: [PATCH] PX4 Safety settings: Expose HITL param

---
 src/AutoPilotPlugins/PX4/SafetyComponent.qml | 46 ++++++++++++++++++++
 1 file changed, 46 insertions(+)

diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index 2e2f5c00d..59e07288b 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -50,9 +50,18 @@ SetupPage {
             property Fact _dlLossAction:    controller.getParameterFact(-1, "NAV_DLL_ACT")
             property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
             property Fact _landSpeedMC:     controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
+            property Fact _hitlEnabled:     controller.getParameterFact(-1, "SYS_HITL", false)
 
             ExclusiveGroup { id: homeLoiterGroup }
 
+            Rectangle {
+                x:      hitlGrid.x + outerGrid.x - _margins
+                y:      hitlGrid.y + outerGrid.y - _margins
+                width:  hitlGrid.width + (_margins * 2)
+                height: hitlGrid.height + (_margins * 2)
+                color:  qgcPal.windowShade
+            }
+
             Rectangle {
                 x:      lowBattGrid.x + outerGrid.x - _margins
                 y:      lowBattGrid.y + outerGrid.y - _margins
@@ -107,6 +116,43 @@ SetupPage {
                 columns:    3
                 anchors.horizontalCenter:   parent.horizontalCenter
 
+                QGCLabel {
+                    text:               qsTr("Hardware in the Loop Simulation")
+                    Layout.columnSpan:  3
+                }
+
+                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
+
+                Item { width: _margins; height: 1 }
+
+                GridLayout {
+                    id:         hitlGrid
+                    columns:    3
+
+                    Image {
+                        mipmap:             true
+                        fillMode:           Image.PreserveAspectFit
+                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/VehicleSummaryIcon.png" : "/qmlimages/VehicleSummaryIcon.png"
+                        Layout.rowSpan:     3
+                        Layout.maximumWidth:    _imageWidth
+                        Layout.maximumHeight:   _imageHeight
+                        width:                  _imageWidth
+                        height:                 _imageHeight
+                    }
+
+                    QGCLabel {
+                        text:               qsTr("HITL Enabled:")
+                        Layout.fillWidth:   true
+                    }
+                    FactComboBox {
+                        fact:                   _hitlEnabled
+                        indexModel:             false
+                        Layout.minimumWidth:    _editFieldWidth
+                    }
+                }
+
+                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
+
                 QGCLabel {
                     text:               qsTr("Low Battery Failsafe Trigger")
                     Layout.columnSpan:  3
-- 
2.22.0