src/AutoPilotPlugins/APM/APMSensorsComponent.qml

@@ -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.h

@@ -7,9 +7,7 @@
  *
  ****************************************************************************/
 
-
-#ifndef APMSensorsComponentController_H
-#define APMSensorsComponentController_H
+#pragma once
 
 #include <QObject>
 
@@ -81,20 +79,22 @@ public:
     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