/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ 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: qgcView viewPanel: panel // 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 orientationHelp: "If the orientation is in the direction of flight, select None." readonly property string boardRotationText: "If the autopilot is mounted in flight direction, leave the default value (None)" readonly property string compassRotationText: "If the compass or GPS module is mounted in flight direction, leave the default value (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 property string _postCalibrationDialogText property var _postCalibrationDialogParams readonly property string _badCompassCalText: "The calibration for Compass %1 appears to be poor. " + "Check the compass position within your vehicle and re-do the calibration." readonly property int sideBarH1PointSize: ScreenTools.mediumFontPointSize readonly property int mainTextH1PointSize: ScreenTools.mediumFontPointSize // Seems to be unused readonly property int rotationColumnWidth: 250 property Fact compass1Id: controller.getParameterFact(-1, "COMPASS_DEV_ID") property Fact compass2Id: controller.getParameterFact(-1, "COMPASS_DEV_ID2") property Fact compass3Id: controller.getParameterFact(-1, "COMPASS_DEV_ID3") property Fact compass1ExternalFact: controller.getParameterFact(-1, "COMPASS_EXTERNAL") property Fact compass1Rot: controller.getParameterFact(-1, "COMPASS_ORIENT") property Fact boardRot: controller.getParameterFact(-1, "AHRS_ORIENTATION") property bool accelCalNeeded: controller.accelSetupNeeded property bool compassCalNeeded: controller.compassSetupNeeded // The following parameters are not available in olders firmwares property bool compass2ExternalParamAvailable: controller.parameterExists(-1, "COMPASS_EXTERN2") property bool compass3ExternalParamAvailable: controller.parameterExists(-1, "COMPASS_EXTERN3") property bool compass2RotParamAvailable: controller.parameterExists(-1, "COMPASS_ORIENT2") property bool compass3RotParamAvailable: controller.parameterExists(-1, "COMPASS_ORIENT3") property bool compass1UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE") property bool compass2UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE2") property bool compass3UseParamAvailable: controller.parameterExists(-1, "COMPASS_USE3") property Fact noFact: Fact { } property Fact compass2ExternalFact: compass2ExternalParamAvailable ? controller.getParameterFact(-1, "COMPASS_EXTERN2") : noFact property Fact compass3ExternalFact: compass3ExternalParamAvailable ? controller.getParameterFact(-1, "COMPASS_EXTERN3") : noFact property Fact compass2Rot: compass2RotParamAvailable ? controller.getParameterFact(-1, "COMPASS_ORIENT2") : noFact property Fact compass3Rot: compass3RotParamAvailable ? controller.getParameterFact(-1, "COMPASS_ORIENT3") : noFact property Fact compass1UseFact: compass1UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE") : noFact property Fact compass2UseFact: compass2UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE2") : noFact property Fact compass3UseFact: compass3UseParamAvailable ? controller.getParameterFact(-1, "COMPASS_USE3") : noFact // We track these values by binding through a separate property so we can handle missing params property bool compass1External: compass1ExternalFact.value property bool compass2External: compass2ExternalParamAvailable ? compass2ExternalFact.value : false // false: Simulate internal so we don't show rotation combos property bool compass3External: compass3ExternalParamAvailable ? compass3ExternalFact.value : false // false: Simulate internal so we don't show rotation combos property bool compass1Use: compass1UseParamAvailable ? compass1UseFact.value : true property bool compass2Use: compass2UseParamAvailable ? compass2UseFact.value : true property bool compass3Use: compass3UseParamAvailable ? compass3UseFact.value : true // Id > = signals compass available, rot < 0 signals internal compass property bool showCompass1Rot: compass1Id.value > 0 && compass1External && compass1Use property bool showCompass2Rot: compass2Id.value > 0 && compass2External && compass2Use property bool showCompass3Rot: compass3Id.value > 0 && compass3External && compass3Use function validCompassOffsets(compassParamPrefix) { var ofsX = controller.getParameterFact(-1, compassParamPrefix + "X") var ofsY = controller.getParameterFact(-1, compassParamPrefix + "Y") var ofsZ = controller.getParameterFact(-1, compassParamPrefix + "Z") return Math.sqrt(ofsX.value^2 + ofsY.value^2 + ofsZ.value^2) < 600 } APMSensorsComponentController { id: controller factPanel: panel statusLog: statusTextArea progressBar: progressBar compassButton: compassButton accelButton: accelButton nextButton: nextButton cancelButton: cancelButton orientationCalAreaHelpText: orientationCalAreaHelpText onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText onWaitingForCancelChanged: { if (controller.waitingForCancel) { showMessage(qsTr("Calibration Cancel"), qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds."), 0) } else { hideDialog() } } onCalibrationComplete: { if (preCalibrationDialogType == "accel") { _postCalibrationDialogText = qsTr("Accelerometer calibration complete.") _postCalibrationDialogParams = [ "INS_ACCSCAL_X", "INS_ACCSCAL_Y", "INS_ACCSCAL_Z", "INS_ACC2SCAL_X", "INS_ACC2SCAL_Y", "INS_ACC2SCAL_Z", "INS_ACC3SCAL_X", "INS_ACC3SCAL_Y", "INS_ACC3SCAL_Z", "INS_GYROFFS_X", "INS_GYROFFS_Y", "INS_GYROFFS_Z", "INS_GYR2OFFS_X", "INS_GYR2OFFS_Y", "INS_GYR2OFFS_Z", "INS_GYR3OFFS_X", "INS_GYR3OFFS_Y", "INS_GYR3OFFS_Z" ] } else if (preCalibrationDialogType == "compass") { _postCalibrationDialogText = qsTr("Compass calibration complete. ") _postCalibrationDialogParams = []; if (compass1Id.value > 0) { if (!validCompassOffsets("COMPASS_OFS_")) { _postCalibrationDialogText += _badCompassCalText.replace("%1", 1) } _postCalibrationDialogParams.push("COMPASS_OFS_X") _postCalibrationDialogParams.push("COMPASS_OFS_Y") _postCalibrationDialogParams.push("COMPASS_OFS_Z") } if (compass2Id.value > 0) { if (!validCompassOffsets("COMPASS_OFS_")) { _postCalibrationDialogText += _badCompassCalText.replace("%1", 2) } _postCalibrationDialogParams.push("COMPASS_OFS2_X") _postCalibrationDialogParams.push("COMPASS_OFS2_Y") _postCalibrationDialogParams.push("COMPASS_OFS2_Z") } if (compass3Id.value > 0) { if (!validCompassOffsets("COMPASS_OFS_")) { _postCalibrationDialogText += _badCompassCalText.replace("%1", 3) } _postCalibrationDialogParams.push("COMPASS_OFS3_X") _postCalibrationDialogParams.push("COMPASS_OFS3_Y") _postCalibrationDialogParams.push("COMPASS_OFS3_Z") } } showDialog(postCalibrationDialogComponent, qsTr("Calibration complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok) } } QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled } Component { id: preCalibrationDialogComponent QGCViewDialog { id: preCalibrationDialog function accept() { if (preCalibrationDialogType == "accel") { controller.calibrateAccel() } else if (preCalibrationDialogType == "compass") { controller.calibrateCompass() } preCalibrationDialog.hideDialog() } QGCLabel { id: label anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("Before calibrating make sure orientation settings are correct.") } Loader { id: rotationsLoader anchors.topMargin: ScreenTools.defaultFontPixelHeight anchors.top: label.bottom anchors.left: parent.left anchors.right: parent.right sourceComponent: rotationCombosComponent property bool showCompassRotations: preCalibrationDialogType == "accel" ? false : true } } } Component { id: postCalibrationDialogComponent QGCViewDialog { QGCLabel { id: textLabel anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: _postCalibrationDialogText } QGCCheckBox { id: showValues anchors.topMargin: ScreenTools.defaultFontPixelHeight anchors.top: textLabel.bottom text: qsTr("Show values") } QGCFlickable { anchors.topMargin: ScreenTools.defaultFontPixelHeight anchors.top: showValues.bottom anchors.bottom: parent.bottom contentHeight: valueColumn.height flickableDirection: Flickable.VerticalFlick visible: showValues.checked Column { id: valueColumn Repeater { model: _postCalibrationDialogParams QGCLabel { text: fact.name +": " + fact.valueString property Fact fact: controller.getParameterFact(-1, modelData) } } } } } } Component { id: rotationCombosComponent Column { QGCLabel { font.pointSize: sideBarH1PointSize text: qsTr("Set Orientations") } Item { width: 1 height: ScreenTools.defaultFontPixelHeight } QGCLabel { width: parent.width wrapMode: Text.WordWrap text: orientationHelp } Item { width: 1 height: ScreenTools.defaultFontPixelHeight } // Board rotation QGCLabel { text: qsTr("Autopilot Orientation") } FactComboBox { id: boardRotationCombo width: parent.width fact: boardRot indexModel: false } Item { width: 1 height: ScreenTools.defaultFontPixelHeight } // Compass 1 rotation QGCLabel { text: qsTr("Compass 1 Orientation") visible: showCompassRotations && showCompass1Rot } FactComboBox { width: parent.width fact: compass1Rot indexModel: false visible: showCompassRotations && showCompass1Rot } Item { width: 1 height: ScreenTools.defaultFontPixelHeight } // Compass 2 rotation QGCLabel { text: qsTr("Compass 2 Orientation") visible: showCompassRotations && showCompass2Rot } FactComboBox { width: parent.width fact: compass2Rot indexModel: false visible: showCompassRotations && showCompass2Rot } Item { width: 1 height: ScreenTools.defaultFontPixelHeight } // Compass 3 rotation QGCLabel { text: qsTr("Compass 3 Orientation") visible: showCompassRotations && showCompass3Rot } FactComboBox { width: parent.width fact: compass3Rot indexModel: false visible: showCompassRotations && showCompass3Rot } } // Column } // Component - Rotation combos QGCViewPanel { id: panel anchors.fill: parent Row { id: buttonsRow spacing: ScreenTools.defaultFontPixelWidth readonly property int buttonWidth: ScreenTools.defaultFontPixelWidth * 15 QGCLabel { text: qsTr("Calibrate:"); anchors.baseline: compassButton.baseline } IndicatorButton { id: accelButton width: parent.buttonWidth text: qsTr("Accelerometer") indicatorGreen: !accelCalNeeded onClicked: { preCalibrationDialogType = "accel" preCalibrationDialogHelp = accelHelp showDialog(preCalibrationDialogComponent, qsTr("Calibrate Accelerometer"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) } } IndicatorButton { id: compassButton width: parent.buttonWidth text: qsTr("Compass") indicatorGreen: !compassCalNeeded onClicked: { if (controller.accelSetupNeeded) { showMessage(qsTr("Calibrate Compass"), qsTr("Accelerometer must be calibrated prior to Compass."), StandardButton.Ok) } else { preCalibrationDialogType = "compass" preCalibrationDialogHelp = compassHelp showDialog(preCalibrationDialogComponent, qsTr("Calibrate Compass"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) } } } QGCButton { id: nextButton text: qsTr("Next") enabled: false onClicked: controller.nextClicked() } QGCButton { id: cancelButton text: qsTr("Cancel") enabled: false onClicked: controller.cancelCalibration() } } // Row - Cal buttons ProgressBar { id: progressBar anchors.topMargin: ScreenTools.defaultFontPixelHeight anchors.top: buttonsRow.bottom anchors.left: parent.left anchors.right: centerPanel.right } Item { id: centerPanel anchors.topMargin: ScreenTools.defaultFontPixelHeight anchors.rightMargin: ScreenTools.defaultFontPixelHeight anchors.top: progressBar.bottom anchors.bottom: parent.bottom anchors.left: parent.left anchors.right: rotationsLoader.left TextArea { id: statusTextArea anchors.fill: parent readOnly: true frameVisible: false text: statusTextAreaDefaultText style: TextAreaStyle { textColor: qgcPal.text backgroundColor: qgcPal.windowShade } } Rectangle { id: orientationCalArea anchors.fill: parent visible: controller.showOrientationCalArea color: qgcPal.windowShade QGCLabel { id: orientationCalAreaHelpText anchors.margins: ScreenTools.defaultFontPixelWidth anchors.top: orientationCalArea.top anchors.left: orientationCalArea.left width: parent.width wrapMode: Text.WordWrap font.pointSize: ScreenTools.mediumFontPointSize } Flow { anchors.topMargin: ScreenTools.defaultFontPixelWidth anchors.top: orientationCalAreaHelpText.bottom anchors.left: orientationCalAreaHelpText.left width: parent.width height: parent.height - orientationCalAreaHelpText.implicitHeight spacing: ScreenTools.defaultFontPixelWidth VehicleRotationCal { visible: controller.orientationCalDownSideVisible calValid: controller.orientationCalDownSideDone calInProgress: controller.orientationCalDownSideInProgress calInProgressText: controller.orientationCalDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still") imageSource: controller.orientationCalDownSideRotate ? "qrc:///qmlimages/VehicleDownRotate.png" : "qrc:///qmlimages/VehicleDown.png" } VehicleRotationCal { visible: controller.orientationCalUpsideDownSideVisible calValid: controller.orientationCalUpsideDownSideDone calInProgress: controller.orientationCalUpsideDownSideInProgress calInProgressText: controller.orientationCalUpsideDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still") imageSource: controller.orientationCalUpsideDownSideRotate ? "qrc:///qmlimages/VehicleUpsideDownRotate.png" : "qrc:///qmlimages/VehicleUpsideDown.png" } VehicleRotationCal { visible: controller.orientationCalNoseDownSideVisible calValid: controller.orientationCalNoseDownSideDone calInProgress: controller.orientationCalNoseDownSideInProgress calInProgressText: controller.orientationCalNoseDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still") imageSource: controller.orientationCalNoseDownSideRotate ? "qrc:///qmlimages/VehicleNoseDownRotate.png" : "qrc:///qmlimages/VehicleNoseDown.png" } VehicleRotationCal { visible: controller.orientationCalTailDownSideVisible calValid: controller.orientationCalTailDownSideDone calInProgress: controller.orientationCalTailDownSideInProgress calInProgressText: controller.orientationCalTailDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still") imageSource: controller.orientationCalTailDownSideRotate ? "qrc:///qmlimages/VehicleTailDownRotate.png" : "qrc:///qmlimages/VehicleTailDown.png" } VehicleRotationCal { visible: controller.orientationCalLeftSideVisible calValid: controller.orientationCalLeftSideDone calInProgress: controller.orientationCalLeftSideInProgress calInProgressText: controller.orientationCalLeftSideRotate ? qsTr("Rotate") : qsTr("Hold Still") imageSource: controller.orientationCalLeftSideRotate ? "qrc:///qmlimages/VehicleLeftRotate.png" : "qrc:///qmlimages/VehicleLeft.png" } VehicleRotationCal { visible: controller.orientationCalRightSideVisible calValid: controller.orientationCalRightSideDone calInProgress: controller.orientationCalRightSideInProgress calInProgressText: controller.orientationCalRightSideRotate ? qsTr("Rotate") : qsTr("Hold Still") imageSource: controller.orientationCalRightSideRotate ? "qrc:///qmlimages/VehicleRightRotate.png" : "qrc:///qmlimages/VehicleRight.png" } } } } // Item - Cal display area Loader { id: rotationsLoader anchors.top: centerPanel.top anchors.bottom: parent.bottom anchors.right: parent.right width: rotationColumnWidth sourceComponent: rotationCombosComponent property bool showCompassRotations: true } } // QGCViewPanel } // QGCView