APMSubMotorComponent: Create file for sub motor testing

src/AutoPilotPlugins/APM/APMSubMotorComponent.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 2.4
+import QtQuick.Dialogs  1.2
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.ScreenTools   1.0
+
+SetupPage {
+    id:             motorPage
+    pageComponent:  pageComponent
+    enabled:        true
+
+    readonly property int _barHeight:       10
+    readonly property int _barWidth:        5
+    readonly property int _sliderHeight:    10
+
+    property int neutralValue: 50;
+    property int _lastIndex: 0;
+
+    FactPanelController {
+        id:             controller
+        factPanel:      motorPage.viewPanel
+    }
+
+    function setMotorDirection(num, reversed) {
+        var fact = controller.getParameterFact(-1, "MOT_" + num + "_DIRECTION")
+        fact.value = reversed ? -1 : 1;
+    }
+
+    Component.onCompleted: controller.vehicle.armed = false
+
+    Component {
+        id: pageComponent
+
+        Column {
+            spacing: 10
+
+            Row {
+                id:         motorSliders
+                enabled:    controller.vehicle.armed
+                spacing:    ScreenTools.defaultFontPixelWidth * 4
+
+                Column {
+                    spacing:    ScreenTools.defaultFontPixelWidth * 2
+
+                    Row {
+                        id: sliderRow
+                        spacing:    ScreenTools.defaultFontPixelWidth * 4
+
+                        Repeater {
+                            id:         sliderRepeater
+                            model:      controller.vehicle.motorCount == -1 ? 8 : controller.vehicle.motorCount
+
+                            Column {
+                                property alias motorSlider: slider
+                                spacing:    ScreenTools.defaultFontPixelWidth
+
+                                QGCLabel {
+                                    anchors.horizontalCenter:   parent.horizontalCenter
+                                    text:                       index + 1
+                                }
+
+                                QGCSlider {
+                                    id:                         slider
+                                    height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
+                                    orientation:                Qt.Vertical
+                                    maximumValue:               100
+                                    value:                      neutralValue
+
+                                    // Give slider 'center sprung' behavior
+                                    onPressedChanged: {
+                                        if (!slider.pressed) {
+                                            slider.value = neutralValue
+                                        }
+                                        _lastIndex = index
+                                    }
+                                    // Disable mouse scroll
+                                    MouseArea {
+                                        anchors.fill: parent
+                                        onWheel: {
+                                            // do nothing
+                                            wheel.accepted = true;
+                                        }
+                                        onPressed: {
+                                            // propogate/accept
+                                            mouse.accepted = false;
+                                        }
+                                        onReleased: {
+                                            // propogate/accept
+                                            mouse.accepted = false;
+                                        }
+                                    }
+                                }
+                            } // Column
+                        } // Repeater
+                    } // Row
+
+                    QGCLabel {
+                        width: parent.width
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        wrapMode:       Text.WordWrap
+                        text:           qsTr("Reverse Motor Direction")
+                        horizontalAlignment: Text.AlignHCenter
+                        verticalAlignment: Text.AlignBottom
+                    }
+                    Rectangle {
+                        anchors.margins: ScreenTools.defaultFontPixelWidth * 3
+                        width:              parent.width
+                        height:             1
+                        color:              qgcPal.text
+                    }
+
+                    Row {
+                        anchors.margins: ScreenTools.defaultFontPixelWidth
+
+                        Repeater {
+                            id:         cbRepeater
+                            model:      controller.vehicle.motorCount == -1 ? 8 : controller.vehicle.motorCount
+
+                            Column {
+                                spacing:    ScreenTools.defaultFontPixelWidth
+
+                                QGCCheckBox {
+                                    width: sliderRow.width / (controller.vehicle.motorCount - 0.5)
+                                    checked: controller.getParameterFact(-1, "MOT_" + (index + 1) + "_DIRECTION").value == -1
+                                    onClicked: {
+                                        sliderRepeater.itemAt(index).motorSlider.value = neutralValue
+                                        setMotorDirection(index + 1, checked)
+                                    }
+                                }
+                            } // Column
+                        } // Repeater
+                    } // Row
+                } // Column
+
+                // Display the frame currently in use with motor numbers
+                APMSubMotorDisplay {
+                    anchors.top:    parent.top
+                    anchors.bottom: parent.bottom
+                    width:          height
+                    frameType: controller.getParameterFact(-1, "FRAME_CONFIG").value
+                }
+            } // Row
+
+            QGCLabel {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                wrapMode:       Text.WordWrap
+                text:           qsTr("Moving the sliders will cause the motors to spin. Make sure the motors and propellers are clear from obstructions! The direction of the motor rotation is dependent on how the three phases of the motor are physically connected to the ESCs (if any two wires are swapped, the direction of rotation will flip). Because we cannot guarantee what order the phases are connected, the motor directions must be configured in software. When a slider is moved DOWN, the thruster should push air/water TOWARD the cable entering the housing. Click the checkbox to reverse the direction of the corresponding thruster.\n\n"
+                                     + "Blue Robotics thrusters are lubricated by water and are not designed to be run in air. Testing the thrusters in air is ok at low speeds for short periods of time. Extended operation of Blue Robotics in air may lead to overheating and permanent damage. Without water lubrication, Blue Robotics thrusters may also make some unpleasant noises when operated in air; this is normal.")
+            }
+
+            Row {
+                spacing: ScreenTools.defaultFontPixelWidth
+                Switch {
+                    id: safetySwitch
+                    onToggled: {
+                        if (controller.vehicle.armed) {
+                            timer.stop()
+                        }
+
+                        controller.vehicle.armed = checked
+                        checked = controller.vehicle.armed // Makes the switch stay off if it's not possible to arm
+                    }
+                }
+
+                // Make sure external changes to Armed are reflected on the switch
+                Connections {
+                    target: controller.vehicle
+                    onArmedChanged:
+                    {
+                        safetySwitch.checked = armed
+                            if (!armed) {
+                                timer.stop()
+                            } else {
+                                timer.start()
+                            }
+                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
+                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = neutralValue
+                            }
+                        }
+                }
+
+                QGCLabel {
+                    anchors.verticalCenter: safetySwitch.verticalCenter
+                    color:  qgcPal.warningText
+                    text:   qsTr("Slide this switch to arm the vehicle and enable the motor test (CAUTION!)")
+                }
+            } // Row
+
+            // Repeats the command signal and updates the checkbox every 50 ms
+            Timer {
+                id: timer
+                interval:       50
+                repeat:         true
+
+                onTriggered: {
+                    if (controller.vehicle.armed) {
+                            var slider = sliderRepeater.itemAt(_lastIndex)
+
+                            var reversed = controller.getParameterFact(-1, "MOT_" + (_lastIndex + 1) + "_DIRECTION").value == -1
+
+                            if (reversed) {
+                                controller.vehicle.motorTest(_lastIndex, 100 - slider.motorSlider.value)
+                            } else {
+                                controller.vehicle.motorTest(_lastIndex, slider.motorSlider.value)
+                            }
+                    }
+                }
+            }
+        } // Column
+    } // Component
+} // SetupPahe

src/FirmwarePlugin/APM/APMResources.qrc

@@ -11,6 +11,8 @@
         <file alias="APMLightsComponentSummary.qml">../../AutoPilotPlugins/APM/APMLightsComponentSummary.qml</file>
         <file alias="APMSubFrameComponent.qml">../../AutoPilotPlugins/APM/APMSubFrameComponent.qml</file>
         <file alias="APMSubFrameComponentSummary.qml">../../AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml</file>
+        <file alias="APMSubMotorComponent.qml">../../AutoPilotPlugins/APM/APMSubMotorComponent.qml</file>
+        <file alias="QGroundControl/Controls/APMSubMotorDisplay.qml">../../QmlControls/APMSubMotorDisplay.qml</file>
         <file alias="APMNotSupported.qml">../../AutoPilotPlugins/APM/APMNotSupported.qml</file>
         <file alias="APMPowerComponent.qml">../../AutoPilotPlugins/APM/APMPowerComponent.qml</file>
         <file alias="APMPowerComponentSummary.qml">../../AutoPilotPlugins/APM/APMPowerComponentSummary.qml</file>

src/QmlControls/QGroundControl.Controls.qmldir

@@ -3,6 +3,7 @@ Module QGroundControl.Controls
 AnalyzePage             1.0 AnalyzePage.qml
 AppMessages             1.0 AppMessages.qml
 CameraCalc              1.0 CameraCalc.qml
+APMSubMotorDisplay      1.0 APMSubMotorDisplay.qml
 CameraSection           1.0 CameraSection.qml
 ClickableColor          1.0 ClickableColor.qml
 DeadMouseArea           1.0 DeadMouseArea.qml