/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2015 QGROUNDCONTROL PROJECT 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 . ======================================================================*/ 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 QGCView { id: rootQGCView viewComponent: view // Help text which is shown both in the status text area prior to pressing a cal button and in the // pre-calibration dialog. readonly property string boardRotationText: "If the autopilot is mounted in flight direction, leave the default value (ROTATION_NONE)" readonly property string compassRotationText: "If the compass or GPS module is mounted in flight direction, leave the default value (ROTATION_NONE)" readonly property string compassHelp: "For Compass calibration you will need to rotate your vehicle through a number of positions. Most users prefer to do this wirelessly with the telemetry link." readonly property string gyroHelp: "For Gyroscope calibration you will need to place your vehicle on a surface and leave it still." readonly property string accelHelp: "For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds." readonly property string levelHelp: "To level the horizon you need to place the vehicle in its level flight position and press OK." readonly property string airspeedHelp: "For Airspeed calibration you will need to keep your airspeed sensor out of any wind and then blow across the sensor." readonly property string statusTextAreaDefaultText: "Start the individual calibration steps by clicking one of the buttons above." // Used to pass what type of calibration is being performed to the preCalibrationDialog property string preCalibrationDialogType // Used to pass help text to the preCalibrationDialog dialog property string preCalibrationDialogHelp readonly property int sideBarH1PointSize: (ScreenTools.defaultFontPointSize * 1.3 + 0.5) readonly property int mainTextH1PointSize: (ScreenTools.defaultFontPointSize * 1.5 + 0.5) readonly property int rotationColumnWidth: 250 readonly property var rotations: [ "ROTATION_NONE", "ROTATION_YAW_45", "ROTATION_YAW_90", "ROTATION_YAW_135", "ROTATION_YAW_180", "ROTATION_YAW_225", "ROTATION_YAW_270", "ROTATION_YAW_315", "ROTATION_ROLL_180", "ROTATION_ROLL_180_YAW_45", "ROTATION_ROLL_180_YAW_90", "ROTATION_ROLL_180_YAW_135", "ROTATION_PITCH_180", "ROTATION_ROLL_180_YAW_225", "ROTATION_ROLL_180_YAW_270", "ROTATION_ROLL_180_YAW_315", "ROTATION_ROLL_90", "ROTATION_ROLL_90_YAW_45", "ROTATION_ROLL_90_YAW_90", "ROTATION_ROLL_90_YAW_135", "ROTATION_ROLL_270", "ROTATION_ROLL_270_YAW_45", "ROTATION_ROLL_270_YAW_90", "ROTATION_ROLL_270_YAW_135", "ROTATION_PITCH_90", "ROTATION_PITCH_270", "ROTATION_ROLL_270_YAW_270", "ROTATION_ROLL_180_PITCH_270", "ROTATION_PITCH_90_YAW_180" ] property Fact cal_mag0_id: controller.getParameterFact(-1, "CAL_MAG0_ID") property Fact cal_mag1_id: controller.getParameterFact(-1, "CAL_MAG1_ID") property Fact cal_mag2_id: controller.getParameterFact(-1, "CAL_MAG2_ID") property Fact cal_mag0_rot: controller.getParameterFact(-1, "CAL_MAG0_ROT") property Fact cal_mag1_rot: controller.getParameterFact(-1, "CAL_MAG1_ROT") property Fact cal_mag2_rot: controller.getParameterFact(-1, "CAL_MAG2_ROT") property Fact cal_gyro0_id: controller.getParameterFact(-1, "CAL_GYRO0_ID") property Fact cal_acc0_id: controller.getParameterFact(-1, "CAL_ACC0_ID") property Fact sens_board_rot: controller.getParameterFact(-1, "SENS_BOARD_ROT") property Fact sens_board_x_off: controller.getParameterFact(-1, "SENS_BOARD_X_OFF") property Fact sens_dpres_off: controller.getParameterFact(-1, "SENS_DPRES_OFF") // Id > = signals compass available, rot < 0 signals internal compass property bool showCompass0Rot: cal_mag0_id.value > 0 && cal_mag0_rot.value >= 0 property bool showCompass1Rot: cal_mag1_id.value > 0 && cal_mag1_rot.value >= 0 property bool showCompass2Rot: cal_mag2_id.value > 0 && cal_mag2_rot.value >= 0 SensorsComponentController { id: controller onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText onSetCompassRotations: { if (showCompass0Rot || showCompass1Rot || showCompass2Rot) { showDialog(compassRotationDialogComponent, "Set Compass Rotation(s)", 50, StandardButton.Ok) } } onWaitingForCancelChanged: { if (controller.waitingForCancel) { showMessage("Calibration Cancel", "Waiting for Vehicle to response to Cancel. This may take a few seconds.", 0) } else { hideDialog() } } } Component { id: preCalibrationDialogComponent QGCViewDialog { id: preCalibrationDialog function accept() { if (preCalibrationDialogType == "gyro") { controller.calibrateGyro() } else if (preCalibrationDialogType == "accel") { controller.calibrateAccel() } else if (preCalibrationDialogType == "level") { controller.calibrateLevel() } else if (preCalibrationDialogType == "compass") { controller.calibrateCompass() } else if (preCalibrationDialogType == "airspeed") { controller.calibrateAirspeed() } preCalibrationDialog.hideDialog() } Column { anchors.fill: parent spacing: 5 QGCLabel { width: parent.width wrapMode: Text.WordWrap text: preCalibrationDialogHelp } QGCLabel { width: parent.width wrapMode: Text.WordWrap visible: (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro") text: boardRotationText } FactComboBox { width: rotationColumnWidth model: rotations visible: preCalibrationDialogType != "airspeed" && (preCalibrationDialogType != "gyro") fact: sens_board_rot } } } } Component { id: compassRotationDialogComponent QGCViewDialog { id: compassRotationDialog Column { anchors.fill: parent spacing: 10 QGCLabel { width: parent.width wrapMode: Text.WordWrap text: compassRotationText } // Compass 0 rotation Component { id: compass0ComponentLabel QGCLabel { font.pointSize: sideBarH1PointSize text: "External Compass Orientation" } } Component { id: compass0ComponentCombo FactComboBox { id: compass0RotationCombo width: rotationColumnWidth model: rotations fact: cal_mag0_rot } } Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel : null } Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo : null } // Compass 1 rotation Component { id: compass1ComponentLabel QGCLabel { text: "Compass 1 Orientation" } } Component { id: compass1ComponentCombo FactComboBox { id: compass1RotationCombo width: rotationColumnWidth model: rotations fact: cal_mag1_rot } } Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel : null } Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo : null } // Compass 2 rotation Component { id: compass2ComponentLabel QGCLabel { text: "Compass 2 Orientation" } } Component { id: compass2ComponentCombo FactComboBox { id: compass1RotationCombo width: rotationColumnWidth model: rotations fact: cal_mag2_rot } } Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel : null } Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo : null } } // Column } // QGCViewDialog } // Component - compassRotationDialogComponent Component { id: view QGCViewPanel { id: viewPanel Connections { target: rootQGCView onCompleted: { controller.factPanel = viewPanel controller.statusLog = statusTextArea controller.progressBar = progressBar controller.compassButton = compassButton controller.gyroButton = gyroButton controller.accelButton = accelButton controller.airspeedButton = airspeedButton controller.levelButton = levelButton controller.cancelButton = cancelButton controller.orientationCalAreaHelpText = orientationCalAreaHelpText } } QGCPalette { id: qgcPal; colorGroupEnabled: enabled } color: qgcPal.window Column { anchors.fill: parent QGCLabel { text: "SENSORS CONFIG" font.pointSize: ScreenTools.largeFontPointSize } Item { height: 20; width: 10 } // spacer Row { readonly property int buttonWidth: 120 spacing: 20 QGCLabel { text: "Calibrate:"; anchors.baseline: compassButton.baseline } IndicatorButton { id: compassButton width: parent.buttonWidth text: "Compass" indicatorGreen: cal_mag0_id.value != 0 onClicked: { preCalibrationDialogType = "compass" preCalibrationDialogHelp = compassHelp showDialog(preCalibrationDialogComponent, "Calibrate Compass", 50, StandardButton.Cancel | StandardButton.Ok) } } IndicatorButton { id: gyroButton width: parent.buttonWidth text: "Gyroscope" indicatorGreen: cal_gyro0_id.value != 0 onClicked: { preCalibrationDialogType = "gyro" preCalibrationDialogHelp = gyroHelp showDialog(preCalibrationDialogComponent, "Calibrate Gyro", 50, StandardButton.Cancel | StandardButton.Ok) } } IndicatorButton { id: accelButton width: parent.buttonWidth text: "Accelerometer" indicatorGreen: cal_acc0_id.value != 0 onClicked: { preCalibrationDialogType = "accel" preCalibrationDialogHelp = accelHelp showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", 50, StandardButton.Cancel | StandardButton.Ok) } } IndicatorButton { id: levelButton width: parent.buttonWidth text: "Level Horizon" indicatorGreen: sens_board_x_off.value != 0 enabled: cal_acc0_id.value != 0 && cal_gyro0_id.value != 0 onClicked: { preCalibrationDialogType = "level" preCalibrationDialogHelp = levelHelp showDialog(preCalibrationDialogComponent, "Level Horizon", 50, StandardButton.Cancel | StandardButton.Ok) } } IndicatorButton { id: airspeedButton width: parent.buttonWidth text: "Airspeed" visible: controller.fixedWing indicatorGreen: sens_dpres_off.value != 0 onClicked: { preCalibrationDialogType = "airspeed" preCalibrationDialogHelp = airspeedHelp showDialog(preCalibrationDialogComponent, "Calibrate Airspeed", 50, StandardButton.Cancel | StandardButton.Ok) } } QGCButton { id: cancelButton text: "Cancel" enabled: false onClicked: controller.cancelCalibration() } } Item { height: 20; width: 10 } // spacer ProgressBar { id: progressBar width: parent.width - rotationColumnWidth } Item { height: 10; width: 10 } // spacer Item { readonly property int calibrationAreaHeight: 300 property int calDisplayAreaWidth: parent.width - rotationColumnWidth width: parent.width height: parent.height - y TextArea { id: statusTextArea width: parent.calDisplayAreaWidth height: parent.height readOnly: true frameVisible: false text: statusTextAreaDefaultText style: TextAreaStyle { textColor: qgcPal.text backgroundColor: qgcPal.windowShade } } Rectangle { id: orientationCalArea width: parent.calDisplayAreaWidth height: parent.height visible: controller.showOrientationCalArea color: qgcPal.windowShade QGCLabel { id: orientationCalAreaHelpText width: parent.width wrapMode: Text.WordWrap font.pointSize: ScreenTools.fontPointFactor * (22); anchors.top: orientationCalArea.top anchors.left: orientationCalArea.left anchors.topMargin: 15 anchors.leftMargin: 15 anchors.rightMargin: 15 anchors.bottomMargin: 15 } Flow { anchors.top: orientationCalAreaHelpText.bottom anchors.left: orientationCalAreaHelpText.left anchors.topMargin: 15 width: parent.width height: parent.height - orientationCalAreaHelpText.implicitHeight spacing: 5 VehicleRotationCal { visible: controller.orientationCalDownSideVisible calValid: controller.orientationCalDownSideDone calInProgress: controller.orientationCalDownSideInProgress calInProgressText: controller.orientationCalDownSideRotate ? "Rotate" : "Hold Still" imageSource: controller.orientationCalDownSideRotate ? "qrc:///qml/VehicleDownRotate.png" : "qrc:///qml/VehicleDown.png" } VehicleRotationCal { visible: controller.orientationCalUpsideDownSideVisible calValid: controller.orientationCalUpsideDownSideDone calInProgress: controller.orientationCalUpsideDownSideInProgress calInProgressText: "Hold Still" imageSource: "qrc:///qml/VehicleUpsideDown.png" } VehicleRotationCal { visible: controller.orientationCalNoseDownSideVisible calValid: controller.orientationCalNoseDownSideDone calInProgress: controller.orientationCalNoseDownSideInProgress calInProgressText: controller.orientationCalNoseDownSideRotate ? "Rotate" : "Hold Still" imageSource: controller.orientationCalNoseDownSideRotate ? "qrc:///qml/VehicleNoseDownRotate.png" : "qrc:///qml/VehicleNoseDown.png" } VehicleRotationCal { visible: controller.orientationCalTailDownSideVisible calValid: controller.orientationCalTailDownSideDone calInProgress: controller.orientationCalTailDownSideInProgress calInProgressText: "Hold Still" imageSource: "qrc:///qml/VehicleTailDown.png" } VehicleRotationCal { visible: controller.orientationCalLeftSideVisible calValid: controller.orientationCalLeftSideDone calInProgress: controller.orientationCalLeftSideInProgress calInProgressText: controller.orientationCalLeftSideRotate ? "Rotate" : "Hold Still" imageSource: controller.orientationCalLeftSideRotate ? "qrc:///qml/VehicleLeftRotate.png" : "qrc:///qml/VehicleLeft.png" } VehicleRotationCal { visible: controller.orientationCalRightSideVisible calValid: controller.orientationCalRightSideDone calInProgress: controller.orientationCalRightSideInProgress calInProgressText: "Hold Still" imageSource: "qrc:///qml/VehicleRight.png" } } } Column { anchors.left: orientationCalArea.right anchors.leftMargin: 5 spacing: 20 x: parent.width - rotationColumnWidth Column { spacing: 5 QGCLabel { font.pointSize: sideBarH1PointSize text: "Autopilot Orientation" } QGCLabel { width: parent.width wrapMode: Text.WordWrap text: boardRotationText } FactComboBox { id: boardRotationCombo width: rotationColumnWidth; model: rotations fact: sens_board_rot } } Column { spacing: 5 // Compass 0 rotation Component { id: compass0ComponentLabel2 QGCLabel { font.pointSize: sideBarH1PointSize text: "External Compass Orientation" } } Component { id: compass0ComponentCombo2 FactComboBox { id: compass0RotationCombo width: rotationColumnWidth model: rotations fact: cal_mag0_rot } } Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null } Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null } } Column { spacing: 5 // Compass 1 rotation Component { id: compass1ComponentLabel2 QGCLabel { font.pointSize: sideBarH1PointSize text: "External Compass 1 Orientation" } } Component { id: compass1ComponentCombo2 FactComboBox { id: compass1RotationCombo width: rotationColumnWidth model: rotations fact: cal_mag1_rot } } Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null } Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null } } Column { spacing: 5 // Compass 2 rotation Component { id: compass2ComponentLabel2 QGCLabel { font.pointSize: sidebarH1PointSize text: "Compass 2 Orientation" } } Component { id: compass2ComponentCombo2 FactComboBox { id: compass1RotationCombo width: rotationColumnWidth model: rotations fact: cal_mag2_rot } } Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel2 : null } Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo2 : null } } } } } } // Rectangle } // Component - view }