/****************************************************************************
*
* (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 1.2
import QtGraphicalEffects 1.0
import QtQuick.Layouts 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
SetupPage {
id: safetyPage
pageComponent: safetyPageComponent
Component {
id: safetyPageComponent
Flow {
id: flowLayout
width: availableWidth
spacing: _margins
FactPanelController { id: controller; factPanel: safetyPage.viewPanel }
QGCPalette { id: ggcPal; colorGroupEnabled: true }
property Fact _failsafeGCSEnable: controller.getParameterFact(-1, "FS_GCS_ENABLE")
property Fact _failsafeBattLowAct: controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT", false /* reportMissing */)
property Fact _failsafeBattMah: controller.getParameterFact(-1, "r.BATT_LOW_MAH", false /* reportMissing */)
property Fact _failsafeBattVoltage: controller.getParameterFact(-1, "r.BATT_LOW_VOLT", false /* reportMissing */)
property Fact _failsafeThrEnable: controller.getParameterFact(-1, "FS_THR_ENABLE")
property Fact _failsafeThrValue: controller.getParameterFact(-1, "FS_THR_VALUE")
property Fact _batt1Monitor: controller.getParameterFact(-1, "BATT_MONITOR")
property Fact _batt2Monitor: controller.getParameterFact(-1, "BATT2_MONITOR", false /* reportMissing */)
property bool _batt2MonitorAvailable: controller.parameterExists(-1, "BATT2_MONITOR")
property bool _batt1MonitorEnabled: _batt2MonitorAvailable ? _batt2Monitor.rawValue !== 0 : false
property bool _batt2MonitorEnabled: _batt2MonitorAvailable ? _batt2Monitor.rawValue !== 0 : false
property bool _batt1ParamsAvailable: controller.parameterExists(-1, "BATT_CAPACITY")
property bool _batt2ParamsAvailable: controller.parameterExists(-1, "BATT2_CAPACITY")
property Fact _failsafeBattCritAct: controller.getParameterFact(-1, "BATT_FS_CRT_ACT", false /* reportMissing */)
property Fact _failsafeBatt2LowAct: controller.getParameterFact(-1, "BATT2_FS_LOW_ACT", false /* reportMissing */)
property Fact _failsafeBatt2CritAct: controller.getParameterFact(-1, "BATT2_FS_CRT_ACT", false /* reportMissing */)
property Fact _failsafeBatt2Mah: controller.getParameterFact(-1, "BATT2_LOW_MAH", false /* reportMissing */)
property Fact _failsafeBatt2Voltage: controller.getParameterFact(-1, "BATT2_LOW_VOLT", false /* reportMissing */)
property Fact _fenceAction: controller.getParameterFact(-1, "FENCE_ACTION")
property Fact _fenceAltMax: controller.getParameterFact(-1, "FENCE_ALT_MAX")
property Fact _fenceEnable: controller.getParameterFact(-1, "FENCE_ENABLE")
property Fact _fenceMargin: controller.getParameterFact(-1, "FENCE_MARGIN")
property Fact _fenceRadius: controller.getParameterFact(-1, "FENCE_RADIUS")
property Fact _fenceType: controller.getParameterFact(-1, "FENCE_TYPE")
property Fact _landSpeedFact: controller.getParameterFact(-1, "LAND_SPEED")
property Fact _rtlAltFact: controller.getParameterFact(-1, "RTL_ALT")
property Fact _rtlLoitTimeFact: controller.getParameterFact(-1, "RTL_LOIT_TIME")
property Fact _rtlAltFinalFact: controller.getParameterFact(-1, "RTL_ALT_FINAL")
property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
property real _margins: ScreenTools.defaultFontPixelHeight
property bool _showIcon: !ScreenTools.isTinyScreen
ExclusiveGroup { id: fenceActionRadioGroup }
ExclusiveGroup { id: landLoiterRadioGroup }
ExclusiveGroup { id: returnAltRadioGroup }
Column {
spacing: _margins / 2
visible: _batt1MonitorEnabled && _batt1ParamsAvailable
QGCLabel {
text: qsTr("Battery1 Failsafe Triggers")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
width: batteryFailsafeColumn.x + batteryFailsafeColumn.width + _margins
height: batteryFailsafeColumn.y + batteryFailsafeColumn.height + _margins
color: ggcPal.windowShade
Column {
id: batteryFailsafeColumn
anchors.margins: _margins
anchors.top: parent.top
anchors.left: parent.left
spacing: _margins
GridLayout {
id: gridLayout
columnSpacing: _margins
rowSpacing: _margins
columns: 2
QGCLabel { text: qsTr("Battery low action:") }
FactComboBox {
fact: _failsafeBattLowAct
indexModel: false
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Battery critical action:")
visible: _failsafeBattCritActAvailable
}
FactComboBox {
fact: _failsafeBattCritAct
visible: _failsafeBattCritActAvailable
indexModel: false
Layout.fillWidth: true
}
QGCCheckBox {
text: qsTr("Voltage threshold:")
checked: _failsafeBattVoltage.value != 0
onClicked: _failsafeBattVoltage.value = checked ? 10.5 : 0
}
FactTextField {
fact: _failsafeBattVoltage
showUnits: true
Layout.fillWidth: true
}
QGCCheckBox {
text: qsTr("MAH threshold:")
checked: _failsafeBattMah.value != 0
onClicked: _failsafeBattMah.value = checked ? 600 : 0
}
FactTextField {
fact: _failsafeBattMah
showUnits: true
Layout.fillWidth: true
}
} // GridLayout
} // Column
} // Rectangle
} // Column - Battery Failsafe Settings
Column {
spacing: _margins / 2
visible: _batt2MonitorEnabled && _batt2ParamsAvailable
QGCLabel {
text: qsTr("Battery2 Failsafe Triggers")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: failsafeSettings
width: battery2FailsafeColumn.x + battery2FailsafeColumn.width + _margins
height: battery2FailsafeColumn.y + battery2FailsafeColumn.height + _margins
color: ggcPal.windowShade
Column {
id: battery2FailsafeColumn
anchors.margins: _margins
anchors.top: parent.top
anchors.left: parent.left
spacing: _margins
GridLayout {
columnSpacing: _margins
rowSpacing: _margins
columns: 2
visible: _batt2MonitorEnabled && _failsafeBatt2LowActAvailable
QGCLabel { text: qsTr("Battery low action:") }
FactComboBox {
fact: _failsafeBatt2LowAct
indexModel: false
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Battery critical action:")
}
FactComboBox {
fact: _failsafeBatt2CritAct
indexModel: false
Layout.fillWidth: true
}
QGCCheckBox {
text: qsTr("Voltage threshold:")
checked: _failsafeBatt2Voltage.value != 0
onClicked: _failsafeBatt2Voltage.value = checked ? 10.5 : 0
}
FactTextField {
fact: _failsafeBatt2Voltage
showUnits: true
Layout.fillWidth: true
}
QGCCheckBox {
text: qsTr("MAH threshold:")
checked: _failsafeBatt2Mah.value != 0
onClicked: _failsafeBatt2Mah.value = checked ? 600 : 0
}
FactTextField {
fact: _failsafeBatt2Mah
showUnits: true
Layout.fillWidth: true
}
} // GridLayout
} // Column
} // Rectangle
} // Column - Battery2 Failsafe Settings
Column {
spacing: _margins / 2
QGCLabel {
text: qsTr("General Failsafe Triggers")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
width: generalFailsafeColumn.x + generalFailsafeColumn.width + _margins
height: generalFailsafeColumn.y + generalFailsafeColumn.height + _margins
color: ggcPal.windowShade
Column {
id: generalFailsafeColumn
anchors.margins: _margins
anchors.top: parent.top
anchors.left: parent.left
spacing: _margins
GridLayout {
columnSpacing: _margins
rowSpacing: _margins
columns: 2
QGCLabel { text: qsTr("Ground Station failsafe:") }
FactComboBox {
fact: _failsafeGCSEnable
indexModel: false
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Throttle failsafe:") }
QGCComboBox {
model: [qsTr("Disabled"), qsTr("Always RTL"),
qsTr("Continue with Mission in Auto Mode"), qsTr("Always Land")]
currentIndex: _failsafeThrEnable.value
Layout.fillWidth: true
onActivated: _failsafeThrEnable.value = index
}
QGCLabel { text: qsTr("PWM threshold:") }
FactTextField {
fact: _failsafeThrValue
showUnits: true
Layout.fillWidth: true
}
} // GridLayout
} // Column
} // Rectangle - Failsafe Settings
} // Column - General Failsafe Settings
Column {
spacing: _margins / 2
QGCLabel {
id: geoFenceLabel
text: qsTr("GeoFence")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: geoFenceSettings
width: fenceAltMaxField.x + fenceAltMaxField.width + _margins
height: fenceAltMaxField.y + fenceAltMaxField.height + _margins
color: ggcPal.windowShade
QGCCheckBox {
id: circleGeo
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
text: qsTr("Circle GeoFence enabled")
checked: _fenceEnable.value != 0 && _fenceType.value & 2
onClicked: {
if (checked) {
if (_fenceEnable.value == 1) {
_fenceType.value |= 2
} else {
_fenceEnable.value = 1
_fenceType.value = 2
}
} else if (altitudeGeo.checked) {
_fenceType.value &= ~2
} else {
_fenceEnable.value = 0
_fenceType.value = 0
}
}
}
QGCCheckBox {
id: altitudeGeo
anchors.topMargin: _margins / 2
anchors.left: circleGeo.left
anchors.top: circleGeo.bottom
text: qsTr("Altitude GeoFence enabled")
checked: _fenceEnable.value != 0 && _fenceType.value & 1
onClicked: {
if (checked) {
if (_fenceEnable.value == 1) {
_fenceType.value |= 1
} else {
_fenceEnable.value = 1
_fenceType.value = 1
}
} else if (circleGeo.checked) {
_fenceType.value &= ~1
} else {
_fenceEnable.value = 0
_fenceType.value = 0
}
}
}
QGCRadioButton {
id: geoReportRadio
anchors.margins: _margins
anchors.left: parent.left
anchors.top: altitudeGeo.bottom
text: qsTr("Report only")
exclusiveGroup: fenceActionRadioGroup
checked: _fenceAction.value == 0
onClicked: _fenceAction.value = 0
}
QGCRadioButton {
id: geoRTLRadio
anchors.topMargin: _margins / 2
anchors.left: circleGeo.left
anchors.top: geoReportRadio.bottom
text: qsTr("RTL or Land")
exclusiveGroup: fenceActionRadioGroup
checked: _fenceAction.value == 1
onClicked: _fenceAction.value = 1
}
QGCLabel {
id: fenceRadiusLabel
anchors.left: circleGeo.left
anchors.baseline: fenceRadiusField.baseline
text: qsTr("Max radius:")
}
FactTextField {
id: fenceRadiusField
anchors.topMargin: _margins
anchors.left: fenceAltMaxField.left
anchors.top: geoRTLRadio.bottom
fact: _fenceRadius
showUnits: true
}
QGCLabel {
id: fenceAltMaxLabel
anchors.left: circleGeo.left
anchors.baseline: fenceAltMaxField.baseline
text: qsTr("Max altitude:")
}
FactTextField {
id: fenceAltMaxField
anchors.topMargin: _margins / 2
anchors.leftMargin: _margins
anchors.left: fenceAltMaxLabel.right
anchors.top: fenceRadiusField.bottom
fact: _fenceAltMax
showUnits: true
}
} // Rectangle - GeoFence Settings
} // Column - GeoFence Settings
Column {
spacing: _margins / 2
QGCLabel {
id: rtlLabel
text: qsTr("Return to Launch")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: rtlSettings
width: rltAltFinalField.x + rltAltFinalField.width + _margins
height: rltAltFinalField.y + rltAltFinalField.height + _margins
color: ggcPal.windowShade
Image {
id: icon
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
height: ScreenTools.defaultFontPixelWidth * 20
width: ScreenTools.defaultFontPixelWidth * 20
sourceSize.width: width
mipmap: true
fillMode: Image.PreserveAspectFit
visible: false
source: "/qmlimages/ReturnToHomeAltitude.svg"
}
ColorOverlay {
anchors.fill: icon
source: icon
color: ggcPal.text
visible: _showIcon
}
QGCRadioButton {
id: returnAtCurrentRadio
anchors.margins: _margins
anchors.left: _showIcon ? icon.right : parent.left
anchors.top: parent.top
text: qsTr("Return at current altitude")
checked: _rtlAltFact.value == 0
exclusiveGroup: returnAltRadioGroup
onClicked: _rtlAltFact.value = 0
}
QGCRadioButton {
id: returnAltRadio
anchors.topMargin: _margins
anchors.left: returnAtCurrentRadio.left
anchors.top: returnAtCurrentRadio.bottom
text: qsTr("Return at specified altitude:")
exclusiveGroup: returnAltRadioGroup
checked: _rtlAltFact.value != 0
onClicked: _rtlAltFact.value = 1500
}
FactTextField {
id: rltAltField
anchors.leftMargin: _margins
anchors.left: returnAltRadio.right
anchors.baseline: returnAltRadio.baseline
fact: _rtlAltFact
showUnits: true
enabled: returnAltRadio.checked
}
QGCCheckBox {
id: homeLoiterCheckbox
anchors.left: returnAtCurrentRadio.left
anchors.baseline: landDelayField.baseline
checked: _rtlLoitTimeFact.value > 0
text: qsTr("Loiter above Home for:")
onClicked: _rtlLoitTimeFact.value = (checked ? 60 : 0)
}
FactTextField {
id: landDelayField
anchors.topMargin: _margins * 1.5
anchors.left: rltAltField.left
anchors.top: rltAltField.bottom
fact: _rtlLoitTimeFact
showUnits: true
enabled: homeLoiterCheckbox.checked === true
}
QGCRadioButton {
id: landRadio
anchors.left: returnAtCurrentRadio.left
anchors.baseline: landSpeedField.baseline
text: qsTr("Land with descent speed:")
checked: _rtlAltFinalFact.value == 0
exclusiveGroup: landLoiterRadioGroup
onClicked: _rtlAltFinalFact.value = 0
}
FactTextField {
id: landSpeedField
anchors.topMargin: _margins * 1.5
anchors.top: landDelayField.bottom
anchors.left: rltAltField.left
fact: _landSpeedFact
showUnits: true
enabled: landRadio.checked
}
QGCRadioButton {
id: finalLoiterRadio
anchors.left: returnAtCurrentRadio.left
anchors.baseline: rltAltFinalField.baseline
text: qsTr("Final loiter altitude:")
exclusiveGroup: landLoiterRadioGroup
onClicked: _rtlAltFinalFact.value = _rtlAltFact.value
}
FactTextField {
id: rltAltFinalField
anchors.topMargin: _margins / 2
anchors.left: rltAltField.left
anchors.top: landSpeedField.bottom
fact: _rtlAltFinalFact
enabled: finalLoiterRadio.checked
showUnits: true
}
} // Rectangle - RTL Settings
} // Column - RTL Settings
Column {
spacing: _margins / 2
QGCLabel {
text: qsTr("Arming Checks")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
width: flowLayout.width
height: armingCheckInnerColumn.height + (_margins * 2)
color: ggcPal.windowShade
Column {
id: armingCheckInnerColumn
anchors.margins: _margins
anchors.top: parent.top
anchors.left: parent.left
anchors.right: parent.right
spacing: _margins
FactBitmask {
id: armingCheckBitmask
anchors.left: parent.left
anchors.right: parent.right
firstEntryIsAll: true
fact: _armingCheck
}
QGCLabel {
id: armingCheckWarning
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
color: qgcPal.warningText
text: qsTr("Warning: Turning off arming checks can lead to loss of Vehicle control.")
visible: _armingCheck.value != 1
}
}
} // Rectangle - Arming checks
} // Column - Arming Checks
} // Flow
} // Component - safetyPageComponent
} // SetupView