Add ESC Calibration support to Power Component

QGCApplication.pro

@@ -565,6 +565,7 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/FlightModesComponent.h \
     src/AutoPilotPlugins/PX4/FlightModesComponentController.h \
     src/AutoPilotPlugins/PX4/PowerComponent.h \
+    src/AutoPilotPlugins/PX4/PowerComponentController.h \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/PX4Component.h \
     src/AutoPilotPlugins/PX4/PX4ParameterLoader.h \
@@ -593,6 +594,7 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
     src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \
     src/AutoPilotPlugins/PX4/PowerComponent.cc \
+    src/AutoPilotPlugins/PX4/PowerComponentController.cc \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/PX4Component.cc \
     src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc \

src/AutoPilotPlugins/PX4/PowerComponentController.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 "PowerComponentController.h"
+#include "QGCMAVLink.h"
+#include "UASManager.h"
+#include "QGCMessageBox.h"
+
+#include <QVariant>
+#include <QQmlProperty>
+
+PowerComponentController::PowerComponentController(void)
+{
+
+}
+
+PowerComponentController::~PowerComponentController()
+{
+    _stopCalibration();
+}
+
+void PowerComponentController::calibrateEsc(void)
+{
+    _warningMessages.clear();
+    connect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+    _uas->startCalibration(UASInterface::StartCalibrationEsc);
+}
+
+void PowerComponentController::_stopCalibration(void)
+{
+    disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+}
+
+void PowerComponentController::_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;
+    }
+    
+    // All calibration messages start with [cal]
+    QString calPrefix("[cal] ");
+    if (!text.startsWith(calPrefix)) {
+        return;
+    }
+    text = text.right(text.length() - calPrefix.length());
+
+    // Make sure we can understand this firmware rev
+    QString calStartPrefix("calibration started: ");
+    if (text.startsWith(calStartPrefix)) {
+        text = text.right(text.length() - calStartPrefix.length());
+        
+        // Split version number and cal type
+        QStringList parts = text.split(" ");
+        if (parts.count() != 2) {
+            emit incorrectFirmwareRevReporting();
+            return;
+        }
+        
+        int firmwareRev = parts[0].toInt();
+        if (firmwareRev < _neededFirmwareRev) {
+            emit oldFirmware();
+            return;
+        }
+        if (firmwareRev > _neededFirmwareRev) {
+            emit newerFirmware();
+            return;
+        }
+    }
+
+    if (text == "Connect battery now") {
+        emit connectBattery();
+        return;
+    }
+    
+    if (text == "Battery connected") {
+        emit batteryConnected();
+        return;
+    }
+
+    QString failedPrefix("calibration failed: ");
+    if (text.startsWith(failedPrefix)) {
+        _stopCalibration();
+        emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
+        return;
+    }
+    
+    QString calCompletePrefix("calibration done:");
+    if (text.startsWith(calCompletePrefix)) {
+        _stopCalibration();
+        emit calibrationSuccess(_warningMessages);
+        return;
+    }
+    
+    QString warningPrefix("calibration warning: ");
+    if (text.startsWith(warningPrefix)) {
+        _warningMessages << text.right(text.length() - warningPrefix.length());
+    }
+}

src/AutoPilotPlugins/PX4/PowerComponentController.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 PowerComponentController_H
+#define PowerComponentController_H
+
+#include <QObject>
+#include <QQuickItem>
+
+#include "UASInterface.h"
+#include "FactPanelController.h"
+
+/// Power Component MVC Controller for PowerComponent.qml.
+class PowerComponentController : public FactPanelController
+{
+    Q_OBJECT
+    
+public:
+    PowerComponentController(void);
+    ~PowerComponentController();
+    
+    Q_INVOKABLE void calibrateEsc(void);
+    
+signals:
+    void oldFirmware(void);
+    void newerFirmware(void);
+    void incorrectFirmwareRevReporting(void);
+    void connectBattery(void);
+    void batteryConnected(void);
+    void calibrationFailed(const QString& errorMessage);
+    void calibrationSuccess(const QStringList& warningMessages);
+    
+private slots:
+    void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
+    
+private:
+    void _stopCalibration(void);
+    
+    QStringList _warningMessages;
+    static const int _neededFirmwareRev = 1;
+};
+
+#endif

src/QGCApplication.cc

@@ -65,6 +65,7 @@
 #include "FlightModesComponentController.h"
 #include "AirframeComponentController.h"
 #include "SensorsComponentController.h"
+#include "PowerComponentController.h"
 
 #include "ScreenTools.h"
 #include "MavManager.h"
@@ -322,6 +323,7 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<FlightModesComponentController>("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
     qmlRegisterType<AirframeComponentController>("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
     qmlRegisterType<SensorsComponentController>("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
+    qmlRegisterType<PowerComponentController>("QGroundControl.Controllers", 1, 0, "PowerComponentController");
     
     //-- Create QML Singleton Interfaces
     qmlRegisterSingletonType<ScreenTools>("QGroundControl.ScreenTools", 1, 0, "ScreenTools", screenToolsSingletonFactory);

src/uas/UAS.cc

@@ -1455,6 +1455,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
     int airspeedCal = 0;
     int radioCal = 0;
     int accelCal = 0;
+    int escCal = 0;
     
     switch (calType) {
         case StartCalibrationGyro:
@@ -1475,6 +1476,9 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
         case StartCalibrationLevel:
             accelCal = 2;
             break;
+        case StartCalibrationEsc:
+            escCal = 1;
+            break;
     }
     
     mavlink_message_t msg;
@@ -1491,7 +1495,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
                                   radioCal,                         // radio cal
                                   accelCal,                         // accel cal
                                   airspeedCal,                      // airspeed cal
-                                  0);                               // unused
+                                  escCal);                          // esc cal
     sendMessage(msg);
 }
 

src/uas/UASInterface.h

@@ -244,7 +244,8 @@ public:
         StartCalibrationMag,
         StartCalibrationAirspeed,
         StartCalibrationAccel,
-        StartCalibrationLevel
+        StartCalibrationLevel,
+        StartCalibrationEsc
     };
     
     /// Starts the specified calibration