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/PowerComponent.qml

@@ -27,18 +27,27 @@
 
 import QtQuick 2.2
 import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
+import QtQuick.Dialogs 1.2
 
 import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Palette 1.0
 import QGroundControl.Controls 1.0
 import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controllers 1.0
 
-Rectangle {
-    QGCPalette { id: palette; colorGroupEnabled: true }
+QGCView {
+    id:             rootQGCView
+    viewComponent:  view
+
+    Component {
+        id: view
+
+        QGCViewPanel {
+            id: viewPanel
+
+            QGCPalette { id: palette; colorGroupEnabled: enabled }
 
-    id: powerSettings
             width:  600
             height: 600
             color:  palette.window
@@ -46,9 +55,9 @@ Rectangle {
             property int firstColumnWidth: 220
             property int textEditWidth:    80
 
-    property Fact battNumCells: Fact { name: "BAT_N_CELLS" }
-    property Fact battHighVolt: Fact { name: "BAT_V_CHARGED" }
-    property Fact battLowVolt:  Fact { name: "BAT_V_EMPTY" }
+            property Fact battNumCells: Fact { name: "BAT_N_CELLS"; onFactMissing: showMissingFactOverlay(name) }
+            property Fact battHighVolt: Fact { name: "BAT_V_CHARGED"; onFactMissing: showMissingFactOverlay(name) }
+            property Fact battLowVolt:  Fact { name: "BAT_V_EMPTY"; onFactMissing: showMissingFactOverlay(name) }
 
             property alias battHigh: battHighRow
             property alias battLow:  battLowRow
@@ -91,19 +100,31 @@ Rectangle {
                 drawArrowhead(ctx, x2, y2, rd);
             }
 
+            PowerComponentController {
+                id:         controller
+                factPanel:  viewPanel
+
+                onOldFirmware:          showMessage("ESC Calibration", "QGroundControl cannot perform ESC Calibration with this version of firmware. You will need to upgrade to a newer firmware.", StandardButton.Ok)
+                onNewerFirmware:        showMessage("ESC Calibration", "QGroundControl cannot perform ESC Calibration with this version of firmware. You will need to upgrade QGroundControl.", StandardButton.Ok)
+                onBatteryConnected:     showMessage("ESC Calibration", "Performing calibration. This will take a few seconds..", 0)
+                onCalibrationFailed:    showMessage("ESC Calibration failed", errorMessage, StandardButton.Ok)
+                onCalibrationSuccess:   showMessage("ESC Calibration", "Calibration complete. You can disconnect your battery now if you like.", StandardButton.Ok)
+                onConnectBattery:       showMessage("ESC Calibration", "WARNING: Props must be removed from vehicle prior to performing ESC calibration.\n\nConnect the battery now and calibration will begin.", 0)
+            }
+
             Column {
                 anchors.fill: parent
                 spacing: 10
 
                 QGCLabel {
                     text: "POWER CONFIG"
-            font.pointSize: ScreenTools.fontPointFactor * (20);
+                    font.pointSize: ScreenTools.largeFontPointSize
                 }
 
                 QGCLabel {
                     text: "Battery"
                     color: palette.text
-            font.pointSize: ScreenTools.fontPointFactor * (20);
+                    font.pointSize: ScreenTools.mediumFontPointSize
                 }
 
                 Rectangle {
@@ -128,7 +149,7 @@ Rectangle {
                                     FactTextField {
                                         id: cellsField
                                         width: textEditWidth
-                                fact: Fact { name: "BAT_N_CELLS" }
+                                        fact: Fact { name: "BAT_N_CELLS"; onFactMissing: showMissingFactOverlay(name) }
                                         showUnits: true
                                     }
                                 }
@@ -139,7 +160,7 @@ Rectangle {
                                     FactTextField {
                                         id: battHighField
                                         width: textEditWidth
-                                fact: Fact { name: "BAT_V_CHARGED" }
+                                        fact: Fact { name: "BAT_V_CHARGED"; onFactMissing: showMissingFactOverlay(name) }
                                         showUnits: true
                                     }
                                 }
@@ -150,7 +171,7 @@ Rectangle {
                                     FactTextField {
                                         id: battLowField
                                         width: textEditWidth
-                                fact: Fact { name: "BAT_V_EMPTY" }
+                                        fact: Fact { name: "BAT_V_EMPTY"; onFactMissing: showMissingFactOverlay(name) }
                                         showUnits: true
                                     }
                                 }
@@ -218,6 +239,37 @@ Rectangle {
                         }
                     }
                 }
+
+                QGCLabel {
+                    text:           "ESC Calibration"
+                    font.pointSize: ScreenTools.mediumFontPointSize
+                }
+
+                Rectangle {
+                    width:              parent.width
+                    height:             80
+                    color:              palette.windowShade
+
+                    Column {
+                        anchors.margins:    10
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        parent.top
+                        anchors.bottom:     calibrateButton.bottom
+                        spacing:            10
+
+                        QGCLabel {
+                            text: "WARNING: Props must be removed from vehicle prior to performing ESC calibration."
+                        }
+
+                        QGCButton {
+                            id:         calibrateButton
+                            text:       "Calibrate"
+                            onClicked:  controller.calibrateEsc()
+                        }
+                    }
+                }
+
                 /*
                  * This is disabled for now
                 Row {
@@ -255,6 +307,7 @@ Rectangle {
                     }
                 }
                 */
+
                 //-- Advanced Settings
                 QGCCheckBox {
                     id: showAdvanced
@@ -282,11 +335,13 @@ Rectangle {
                             FactTextField {
                                 id: battDropField
                                 width: textEditWidth
-                        fact: Fact { name: "BAT_V_LOAD_DROP" }
+                                fact: Fact { name: "BAT_V_LOAD_DROP"; onFactMissing: showMissingFactOverlay(name) }
                                 showUnits: true
                             }
                         }
                     }
                 }
-    }
+            } // Column
+        } // QGCViewPanel
+    } // Component - view
 }

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