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Commit d46cdc93 authored by DonLakeFlyer's avatar DonLakeFlyer
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parent 9d4088b0
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Showing with 126 additions and 307 deletions
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
View file @ d46cdc93
......@@ -569,6 +569,26 @@ SetupPage {
} // QGCViewDialog
} // Component - calibratePressureDialogComponent
Component {
id: calibrateGyroDialogComponent
QGCViewDialog {
id: calibrateGyroDialog
function accept() {
controller.calibrateGyro()
calibrateGyroDialog.hideDialog()
}
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.\n\nClick Ok to start calibration.")
}
}
}
QGCFlickable {
id: buttonFlickable
anchors.left: parent.left
......@@ -621,12 +641,19 @@ SetupPage {
}
}
QGCButton {
width: _buttonWidth
text: qsTr("Gyro")
visible: activeVehicle && (activeVehicle.multiRotor | activeVehicle.rover)
onClicked: mainWindow.showComponentDialog(calibrateGyroDialogComponent, qsTr("Calibrate Gyro"), mainWindow.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
QGCButton {
width: _buttonWidth
text: _calibratePressureText
onClicked: mainWindow.showComponentDialog(calibratePressureDialogComponent, _calibratePressureText, mainWindow.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
readonly property string _calibratePressureText: activeVehicle.fixedWing ? qsTr("Cal Baro/Airspeed") : qsTr("Calibrate Pressure")
readonly property string _calibratePressureText: activeVehicle.fixedWing ? qsTr("Baro/Airspeed") : qsTr("Pressure")
}
QGCButton {
......
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
View file @ d46cdc93
......@@ -294,7 +294,7 @@ void APMSensorsComponentController::calibrateAccel(void)
_calTypeInProgress = CalTypeAccel;
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_uas->startCalibration(UASInterface::StartCalibrationAccel);
_vehicle->startCalibration(Vehicle::CalibrationAccel);
}
void APMSensorsComponentController::calibrateMotorInterference(void)
......@@ -305,7 +305,7 @@ void APMSensorsComponentController::calibrateMotorInterference(void)
_appendStatusLog(tr("Raise the throttle slowly to between 50% ~ 75% (the props will spin!) for 5 ~ 10 seconds."));
_appendStatusLog(tr("Quickly bring the throttle back down to zero"));
_appendStatusLog(tr("Press the Next button to complete the calibration"));
_uas->startCalibration(UASInterface::StartCalibrationCompassMot);
_vehicle->startCalibration(Vehicle::CalibrationAPMCompassMot);
}
void APMSensorsComponentController::levelHorizon(void)
......@@ -314,7 +314,7 @@ void APMSensorsComponentController::levelHorizon(void)
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Hold the vehicle in its level flight position."));
_uas->startCalibration(UASInterface::StartCalibrationLevel);
_vehicle->startCalibration(Vehicle::CalibrationLevel);
}
void APMSensorsComponentController::calibratePressure(void)
......@@ -323,7 +323,16 @@ void APMSensorsComponentController::calibratePressure(void)
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Requesting pressure calibration..."));
_uas->startCalibration(UASInterface::StartCalibrationPressure);
_vehicle->startCalibration(Vehicle::CalibrationAPMPressureAirspeed);
}
void APMSensorsComponentController::calibrateGyro(void)
{
_calTypeInProgress = CalTypeGyro;
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Requesting gyro calibration..."));
_vehicle->startCalibration(Vehicle::CalibrationGyro);
}
void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
......@@ -444,203 +453,6 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
_stopCalibration(StopCalibrationFailed);
return;
}
#if 0
if (text.contains(QLatin1Literal("progress <"))) {
QString percent = text.split("<").last().split(">").first();
bool ok;
int p = percent.toInt(&ok);
if (ok && _progressBar) {
_progressBar->setProperty("value", (float)(p / 100.0));
}
return;
}
QString anyKey(QStringLiteral("and press any"));
if (text.contains(anyKey)) {
text = text.left(text.indexOf(anyKey)) + QStringLiteral("and click Next to continue.");
_nextButton->setEnabled(true);
}
_appendStatusLog(text);
qCDebug(APMSensorsComponentControllerLog) << text << severity;
if (text.contains(QLatin1String("Calibration successful"))) {
_stopCalibration(StopCalibrationSuccess);
return;
}
if (text.contains(QLatin1String("FAILED"))) {
_stopCalibration(StopCalibrationFailed);
return;
}
// All calibration messages start with [cal]
QString calPrefix(QStringLiteral("[cal] "));
if (!text.startsWith(calPrefix)) {
return;
}
text = text.right(text.length() - calPrefix.length());
QString calStartPrefix(QStringLiteral("calibration started: "));
if (text.startsWith(calStartPrefix)) {
text = text.right(text.length() - calStartPrefix.length());
_startVisualCalibration();
if (text == QLatin1Literal("accel") || text == QLatin1Literal("mag") || text == QLatin1Literal("gyro")) {
// Reset all progress indication
_orientationCalDownSideDone = false;
_orientationCalUpsideDownSideDone = false;
_orientationCalLeftSideDone = false;
_orientationCalRightSideDone = false;
_orientationCalTailDownSideDone = false;
_orientationCalNoseDownSideDone = false;
_orientationCalDownSideInProgress = false;
_orientationCalUpsideDownSideInProgress = false;
_orientationCalLeftSideInProgress = false;
_orientationCalRightSideInProgress = false;
_orientationCalNoseDownSideInProgress = false;
_orientationCalTailDownSideInProgress = false;
// Reset all visibility
_orientationCalDownSideVisible = false;
_orientationCalUpsideDownSideVisible = false;
_orientationCalLeftSideVisible = false;
_orientationCalRightSideVisible = false;
_orientationCalTailDownSideVisible = false;
_orientationCalNoseDownSideVisible = false;
_orientationCalAreaHelpText->setProperty("text", "Place your vehicle into one of the Incomplete orientations shown below and hold it still");
if (text == "accel") {
_calTypeInProgress = CalTypeAccel;
_orientationCalDownSideVisible = true;
_orientationCalUpsideDownSideVisible = true;
_orientationCalLeftSideVisible = true;
_orientationCalRightSideVisible = true;
_orientationCalTailDownSideVisible = true;
_orientationCalNoseDownSideVisible = true;
} else if (text == "mag") {
_calTypeInProgress = CalTypeOffboardCompass;
_orientationCalDownSideVisible = true;
_orientationCalUpsideDownSideVisible = true;
_orientationCalLeftSideVisible = true;
_orientationCalRightSideVisible = true;
_orientationCalTailDownSideVisible = true;
_orientationCalNoseDownSideVisible = true;
} else {
Q_ASSERT(false);
}
emit orientationCalSidesDoneChanged();
emit orientationCalSidesVisibleChanged();
emit orientationCalSidesInProgressChanged();
_updateAndEmitShowOrientationCalArea(true);
}
return;
}
if (text.endsWith(QLatin1Literal("orientation detected"))) {
QString side = text.section(" ", 0, 0);
qDebug() << "Side started" << side;
if (side == QLatin1Literal("down")) {
_orientationCalDownSideInProgress = true;
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalDownSideRotate = true;
}
} else if (side == QLatin1Literal("up")) {
_orientationCalUpsideDownSideInProgress = true;
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalUpsideDownSideRotate = true;
}
} else if (side == QLatin1Literal("left")) {
_orientationCalLeftSideInProgress = true;
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalLeftSideRotate = true;
}
} else if (side == QLatin1Literal("right")) {
_orientationCalRightSideInProgress = true;
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalRightSideRotate = true;
}
} else if (side == QLatin1Literal("front")) {
_orientationCalNoseDownSideInProgress = true;
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalNoseDownSideRotate = true;
}
} else if (side == QLatin1Literal("back")) {
_orientationCalTailDownSideInProgress = true;
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalTailDownSideRotate = true;
}
}
if (_calTypeInProgress == CalTypeOffboardCompass) {
_orientationCalAreaHelpText->setProperty("text", tr("Rotate the vehicle continuously as shown in the diagram until marked as Completed"));
} else {
_orientationCalAreaHelpText->setProperty("text", tr("Hold still in the current orientation"));
}
emit orientationCalSidesInProgressChanged();
emit orientationCalSidesRotateChanged();
return;
}
if (text.endsWith(QLatin1Literal("side done, rotate to a different side"))) {
QString side = text.section(" ", 0, 0);
qDebug() << "Side finished" << side;
if (side == QLatin1Literal("down")) {
_orientationCalDownSideInProgress = false;
_orientationCalDownSideDone = true;
_orientationCalDownSideRotate = false;
} else if (side == QLatin1Literal("up")) {
_orientationCalUpsideDownSideInProgress = false;
_orientationCalUpsideDownSideDone = true;
_orientationCalUpsideDownSideRotate = false;
} else if (side == QLatin1Literal("left")) {
_orientationCalLeftSideInProgress = false;
_orientationCalLeftSideDone = true;
_orientationCalLeftSideRotate = false;
} else if (side == QLatin1Literal("right")) {
_orientationCalRightSideInProgress = false;
_orientationCalRightSideDone = true;
_orientationCalRightSideRotate = false;
} else if (side == QLatin1Literal("front")) {
_orientationCalNoseDownSideInProgress = false;
_orientationCalNoseDownSideDone = true;
_orientationCalNoseDownSideRotate = false;
} else if (side == QLatin1Literal("back")) {
_orientationCalTailDownSideInProgress = false;
_orientationCalTailDownSideDone = true;
_orientationCalTailDownSideRotate = false;
}
_orientationCalAreaHelpText->setProperty("text", tr("Place you vehicle into one of the orientations shown below and hold it still"));
emit orientationCalSidesInProgressChanged();
emit orientationCalSidesDoneChanged();
emit orientationCalSidesRotateChanged();
return;
}
if (text.startsWith(QLatin1Literal("calibration done:"))) {
_stopCalibration(StopCalibrationSuccess);
return;
}
if (text.startsWith(QLatin1Literal("calibration cancelled"))) {
_stopCalibration(_waitingForCancel ? StopCalibrationCancelled : StopCalibrationFailed);
return;
}
if (text.startsWith(QLatin1Literal("calibration failed"))) {
_stopCalibration(StopCalibrationFailed);
return;
}
#endif
}
void APMSensorsComponentController::_refreshParams(void)
......@@ -685,7 +497,7 @@ void APMSensorsComponentController::cancelCalibration(void)
emit waitingForCancelChanged();
// The firmware doesn't always allow us to cancel calibration. The best we can do is wait
// for it to timeout.
_uas->stopCalibration();
_vehicle->stopCalibration();
}
}
......@@ -728,36 +540,18 @@ bool APMSensorsComponentController::usingUDPLink(void)
void APMSensorsComponentController::_handleCommandAck(mavlink_message_t& message)
{
if (_calTypeInProgress == CalTypeLevelHorizon) {
mavlink_command_ack_t commandAck;
mavlink_msg_command_ack_decode(&message, &commandAck);
if (commandAck.command == MAV_CMD_PREFLIGHT_CALIBRATION) {
switch (commandAck.result) {
case MAV_RESULT_ACCEPTED:
_appendStatusLog(tr("Level horizon complete"));
_stopCalibration(StopCalibrationSuccessShowLog);
break;
default:
_appendStatusLog(tr("Level horizon failed"));
_stopCalibration(StopCalibrationFailed);
break;
}
}
}
if (_calTypeInProgress == CalTypePressure) {
if (_calTypeInProgress == CalTypeLevelHorizon || _calTypeInProgress == CalTypeGyro || _calTypeInProgress == CalTypePressure) {
mavlink_command_ack_t commandAck;
mavlink_msg_command_ack_decode(&message, &commandAck);
if (commandAck.command == MAV_CMD_PREFLIGHT_CALIBRATION) {
switch (commandAck.result) {
case MAV_RESULT_ACCEPTED:
_appendStatusLog(tr("Pressure calibration success"));
_appendStatusLog(tr("Successfully completed"));
_stopCalibration(StopCalibrationSuccessShowLog);
break;
default:
_appendStatusLog(tr("Pressure calibration fail"));
_appendStatusLog(tr("Failed"));
_stopCalibration(StopCalibrationFailed);
break;
}
......
src/AutoPilotPlugins/APM/APMSensorsComponentController.h
View file @ d46cdc93
......@@ -7,9 +7,7 @@
*
****************************************************************************/
#ifndef APMSensorsComponentController_H
#define APMSensorsComponentController_H
#pragma once
#include <QObject>
......@@ -31,70 +29,72 @@ public:
APMSensorsComponentController(void);
~APMSensorsComponentController();
Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText)
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText)
Q_PROPERTY(bool compassSetupNeeded READ compassSetupNeeded NOTIFY setupNeededChanged)
Q_PROPERTY(bool accelSetupNeeded READ accelSetupNeeded NOTIFY setupNeededChanged)
Q_PROPERTY(bool compassSetupNeeded READ compassSetupNeeded NOTIFY setupNeededChanged)
Q_PROPERTY(bool accelSetupNeeded READ accelSetupNeeded NOTIFY setupNeededChanged)
Q_PROPERTY(bool showOrientationCalArea MEMBER _showOrientationCalArea NOTIFY showOrientationCalAreaChanged)
Q_PROPERTY(bool showOrientationCalArea MEMBER _showOrientationCalArea NOTIFY showOrientationCalAreaChanged)
Q_PROPERTY(bool orientationCalDownSideDone MEMBER _orientationCalDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideDone MEMBER _orientationCalUpsideDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalLeftSideDone MEMBER _orientationCalLeftSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalRightSideDone MEMBER _orientationCalRightSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalNoseDownSideDone MEMBER _orientationCalNoseDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalTailDownSideDone MEMBER _orientationCalTailDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalDownSideDone MEMBER _orientationCalDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideDone MEMBER _orientationCalUpsideDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalLeftSideDone MEMBER _orientationCalLeftSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalRightSideDone MEMBER _orientationCalRightSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalNoseDownSideDone MEMBER _orientationCalNoseDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalTailDownSideDone MEMBER _orientationCalTailDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalDownSideVisible MEMBER _orientationCalDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideVisible MEMBER _orientationCalUpsideDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalLeftSideVisible MEMBER _orientationCalLeftSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalRightSideVisible MEMBER _orientationCalRightSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalNoseDownSideVisible MEMBER _orientationCalNoseDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalTailDownSideVisible MEMBER _orientationCalTailDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalDownSideVisible MEMBER _orientationCalDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideVisible MEMBER _orientationCalUpsideDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalLeftSideVisible MEMBER _orientationCalLeftSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalRightSideVisible MEMBER _orientationCalRightSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalNoseDownSideVisible MEMBER _orientationCalNoseDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalTailDownSideVisible MEMBER _orientationCalTailDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalDownSideInProgress MEMBER _orientationCalDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideInProgress MEMBER _orientationCalUpsideDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalLeftSideInProgress MEMBER _orientationCalLeftSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalRightSideInProgress MEMBER _orientationCalRightSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalNoseDownSideInProgress MEMBER _orientationCalNoseDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalTailDownSideInProgress MEMBER _orientationCalTailDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalDownSideInProgress MEMBER _orientationCalDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideInProgress MEMBER _orientationCalUpsideDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalLeftSideInProgress MEMBER _orientationCalLeftSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalRightSideInProgress MEMBER _orientationCalRightSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalNoseDownSideInProgress MEMBER _orientationCalNoseDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalTailDownSideInProgress MEMBER _orientationCalTailDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalDownSideRotate MEMBER _orientationCalDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideRotate MEMBER _orientationCalUpsideDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalLeftSideRotate MEMBER _orientationCalLeftSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalRightSideRotate MEMBER _orientationCalRightSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalNoseDownSideRotate MEMBER _orientationCalNoseDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalTailDownSideRotate MEMBER _orientationCalTailDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalDownSideRotate MEMBER _orientationCalDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideRotate MEMBER _orientationCalUpsideDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalLeftSideRotate MEMBER _orientationCalLeftSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalRightSideRotate MEMBER _orientationCalRightSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalNoseDownSideRotate MEMBER _orientationCalNoseDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalTailDownSideRotate MEMBER _orientationCalTailDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool waitingForCancel MEMBER _waitingForCancel NOTIFY waitingForCancelChanged)
Q_PROPERTY(bool waitingForCancel MEMBER _waitingForCancel NOTIFY waitingForCancelChanged)
Q_PROPERTY(bool compass1CalSucceeded READ compass1CalSucceeded NOTIFY compass1CalSucceededChanged)
Q_PROPERTY(bool compass2CalSucceeded READ compass2CalSucceeded NOTIFY compass2CalSucceededChanged)
Q_PROPERTY(bool compass3CalSucceeded READ compass3CalSucceeded NOTIFY compass3CalSucceededChanged)
Q_PROPERTY(bool compass1CalSucceeded READ compass1CalSucceeded NOTIFY compass1CalSucceededChanged)
Q_PROPERTY(bool compass2CalSucceeded READ compass2CalSucceeded NOTIFY compass2CalSucceededChanged)
Q_PROPERTY(bool compass3CalSucceeded READ compass3CalSucceeded NOTIFY compass3CalSucceededChanged)
Q_PROPERTY(double compass1CalFitness READ compass1CalFitness NOTIFY compass1CalFitnessChanged)
Q_PROPERTY(double compass2CalFitness READ compass2CalFitness NOTIFY compass2CalFitnessChanged)
Q_PROPERTY(double compass3CalFitness READ compass3CalFitness NOTIFY compass3CalFitnessChanged)
Q_PROPERTY(double compass1CalFitness READ compass1CalFitness NOTIFY compass1CalFitnessChanged)
Q_PROPERTY(double compass2CalFitness READ compass2CalFitness NOTIFY compass2CalFitnessChanged)
Q_PROPERTY(double compass3CalFitness READ compass3CalFitness NOTIFY compass3CalFitnessChanged)
Q_INVOKABLE void calibrateCompass(void);
Q_INVOKABLE void calibrateAccel(void);
Q_INVOKABLE void calibrateMotorInterference(void);
Q_INVOKABLE void levelHorizon(void);
Q_INVOKABLE void calibratePressure(void);
Q_INVOKABLE void cancelCalibration(void);
Q_INVOKABLE void nextClicked(void);
Q_INVOKABLE bool usingUDPLink(void);
Q_INVOKABLE void calibrateCompass (void);
Q_INVOKABLE void calibrateAccel (void);
Q_INVOKABLE void calibrateGyro (void);
Q_INVOKABLE void calibrateMotorInterference (void);
Q_INVOKABLE void levelHorizon (void);
Q_INVOKABLE void calibratePressure (void);
Q_INVOKABLE void cancelCalibration (void);
Q_INVOKABLE void nextClicked (void);
Q_INVOKABLE bool usingUDPLink (void);
bool compassSetupNeeded(void) const;
bool accelSetupNeeded(void) const;
bool compassSetupNeeded (void) const;
bool accelSetupNeeded (void) const;
typedef enum {
CalTypeAccel,
CalTypeGyro,
CalTypeOnboardCompass,
CalTypeOffboardCompass,
CalTypeLevelHorizon,
......@@ -113,40 +113,40 @@ public:
double compass3CalFitness(void) const { return _rgCompassCalFitness[2]; }
signals:
void showGyroCalAreaChanged(void);
void showOrientationCalAreaChanged(void);
void orientationCalSidesDoneChanged(void);
void orientationCalSidesVisibleChanged(void);
void orientationCalSidesInProgressChanged(void);
void orientationCalSidesRotateChanged(void);
void resetStatusTextArea(void);
void waitingForCancelChanged(void);
void setupNeededChanged(void);
void calibrationComplete(CalType_t calType);
void compass1CalSucceededChanged(bool compass1CalSucceeded);
void compass2CalSucceededChanged(bool compass2CalSucceeded);
void compass3CalSucceededChanged(bool compass3CalSucceeded);
void compass1CalFitnessChanged(double compass1CalFitness);
void compass2CalFitnessChanged(double compass2CalFitness);
void compass3CalFitnessChanged(double compass3CalFitness);
void setAllCalButtonsEnabled(bool enabled);
void showGyroCalAreaChanged (void);
void showOrientationCalAreaChanged (void);
void orientationCalSidesDoneChanged (void);
void orientationCalSidesVisibleChanged (void);
void orientationCalSidesInProgressChanged (void);
void orientationCalSidesRotateChanged (void);
void resetStatusTextArea (void);
void waitingForCancelChanged (void);
void setupNeededChanged (void);
void calibrationComplete (CalType_t calType);
void compass1CalSucceededChanged (bool compass1CalSucceeded);
void compass2CalSucceededChanged (bool compass2CalSucceeded);
void compass3CalSucceededChanged (bool compass3CalSucceeded);
void compass1CalFitnessChanged (double compass1CalFitness);
void compass2CalFitnessChanged (double compass2CalFitness);
void compass3CalFitnessChanged (double compass3CalFitness);
void setAllCalButtonsEnabled (bool enabled);
private slots:
void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
void _handleUASTextMessage (int uasId, int compId, int severity, QString text);
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
void _mavCommandResult (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
private:
void _startLogCalibration(void);
void _startVisualCalibration(void);
void _appendStatusLog(const QString& text);
void _refreshParams(void);
void _hideAllCalAreas(void);
void _resetInternalState(void);
void _handleCommandAck(mavlink_message_t& message);
void _handleMagCalProgress(mavlink_message_t& message);
void _handleMagCalReport(mavlink_message_t& message);
void _restorePreviousCompassCalFitness(void);
void _startLogCalibration (void);
void _startVisualCalibration (void);
void _appendStatusLog (const QString& text);
void _refreshParams (void);
void _hideAllCalAreas (void);
void _resetInternalState (void);
void _handleCommandAck (mavlink_message_t& message);
void _handleMagCalProgress (mavlink_message_t& message);
void _handleMagCalReport (mavlink_message_t& message);
void _restorePreviousCompassCalFitness (void);
enum StopCalibrationCode {
StopCalibrationSuccess,
......@@ -212,5 +212,3 @@ private:
static const int _supportedFirmwareCalVersion = 2;
};
#endif
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