/****************************************************************************
*
* (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 QtQuick.Controls.Styles 1.4
import QtQuick.Dialogs 1.2
import QGroundControl 1.0
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
SetupPage {
id: sensorsPage
pageComponent: pageComponent
Component {
id: pageComponent
Item {
width: availableWidth
height: availableHeight
// 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: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.")
readonly property string compassRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.")
readonly property string compassHelp: qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions. Click Ok to start calibration.")
readonly property string gyroHelp: qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still. Click Ok to start calibration.")
readonly property string accelHelp: qsTr("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. Click Ok to start calibration.")
readonly property string levelHelp: qsTr("To level the horizon you need to place the vehicle in its level flight position and press OK.")
readonly property string airspeedHelp: qsTr("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: qsTr("Start the individual calibration steps by clicking one of the buttons to the left.")
// 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 rotationColumnWidth: ScreenTools.defaultFontPixelWidth * 30
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",
"ROTATION_ROLL_90_PITCH_90"
]
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_board_y_off: controller.getParameterFact(-1, "SENS_BOARD_Y_OFF")
property Fact sens_board_z_off: controller.getParameterFact(-1, "SENS_BOARD_Z_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
property bool _sensorsHaveFixedOrientation: QGroundControl.corePlugin.options.sensorsHaveFixedOrientation
property bool _wifiReliableForCalibration: QGroundControl.corePlugin.options.wifiReliableForCalibration
SensorsComponentController {
id: controller
factPanel: sensorsPage.viewPanel
statusLog: statusTextArea
progressBar: progressBar
compassButton: compassButton
gyroButton: gyroButton
accelButton: accelButton
airspeedButton: airspeedButton
levelButton: levelButton
cancelButton: cancelButton
setOrientationsButton: setOrientationsButton
orientationCalAreaHelpText: orientationCalAreaHelpText
onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
onSetCompassRotations: {
if (!_sensorsHaveFixedOrientation && (showCompass0Rot || showCompass1Rot || showCompass2Rot)) {
setOrientationsDialogShowBoardOrientation = false
showDialog(setOrientationsDialogComponent, qsTr("Set Compass Rotation(s)"), sensorsPage.showDialogDefaultWidth, StandardButton.Ok)
}
}
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()
}
}
}
Component.onCompleted: {
var usingUDP = controller.usingUDPLink()
if (usingUDP && !_wifiReliableForCalibration) {
showMessage("Sensor Calibration", "Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead.", StandardButton.Ok)
}
}
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: ScreenTools.defaultFontPixelWidth / 2
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: preCalibrationDialogHelp
}
Column {
spacing: 5
visible: !_sensorsHaveFixedOrientation
QGCLabel {
id: boardRotationHelp
width: parent.width
wrapMode: Text.WordWrap
visible: (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
text: boardRotationText
}
Column {
visible: boardRotationHelp.visible
QGCLabel {
text: qsTr("Autopilot Orientation:")
}
FactComboBox {
id: boardRotationCombo
width: rotationColumnWidth;
model: rotations
fact: sens_board_rot
}
}
}
}
}
}
property bool setOrientationsDialogShowBoardOrientation: true
Component {
id: setOrientationsDialogComponent
QGCViewDialog {
id: setOrientationsDialog
QGCFlickable {
anchors.fill: parent
contentHeight: columnLayout.height
clip: true
Column {
id: columnLayout
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: boardRotationText
}
Column {
visible: setOrientationsDialogShowBoardOrientation
QGCLabel {
text: qsTr("Autopilot Orientation:")
}
FactComboBox {
id: boardRotationCombo
width: rotationColumnWidth;
model: rotations
fact: sens_board_rot
}
}
Column {
// Compass 0 rotation
Component {
id: compass0ComponentLabel2
QGCLabel {
text: qsTr("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 {
// Compass 1 rotation
Component {
id: compass1ComponentLabel2
QGCLabel {
text: qsTr("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: ScreenTools.defaultFontPixelWidth
// Compass 2 rotation
Component {
id: compass2ComponentLabel2
QGCLabel {
text: qsTr("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 }
}
} // Column
} // QGCFlickable
} // QGCViewDialog
} // Component - setOrientationsDialogComponent
Column {
id: buttonColumn
spacing: ScreenTools.defaultFontPixelHeight / 2
readonly property int buttonWidth: ScreenTools.defaultFontPixelWidth * 15
IndicatorButton {
id: compassButton
width: parent.buttonWidth
text: qsTr("Compass")
indicatorGreen: cal_mag0_id.value != 0
visible: QGroundControl.corePlugin.options.showSensorCalibrationCompass
onClicked: {
preCalibrationDialogType = "compass"
preCalibrationDialogHelp = compassHelp
showDialog(preCalibrationDialogComponent, qsTr("Calibrate Compass"), sensorsPage.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
id: gyroButton
width: parent.buttonWidth
text: qsTr("Gyroscope")
indicatorGreen: cal_gyro0_id.value != 0
visible: QGroundControl.corePlugin.options.showSensorCalibrationGyro
onClicked: {
preCalibrationDialogType = "gyro"
preCalibrationDialogHelp = gyroHelp
showDialog(preCalibrationDialogComponent, qsTr("Calibrate Gyro"), sensorsPage.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
id: accelButton
width: parent.buttonWidth
text: qsTr("Accelerometer")
indicatorGreen: cal_acc0_id.value != 0
visible: QGroundControl.corePlugin.options.showSensorCalibrationAccel
onClicked: {
preCalibrationDialogType = "accel"
preCalibrationDialogHelp = accelHelp
showDialog(preCalibrationDialogComponent, qsTr("Calibrate Accelerometer"), sensorsPage.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
id: levelButton
width: parent.buttonWidth
text: qsTr("Level Horizon")
indicatorGreen: sens_board_x_off.value != 0 || sens_board_y_off != 0 | sens_board_z_off != 0
enabled: cal_acc0_id.value != 0 && cal_gyro0_id.value != 0
visible: QGroundControl.corePlugin.options.showSensorCalibrationLevel
onClicked: {
preCalibrationDialogType = "level"
preCalibrationDialogHelp = levelHelp
showDialog(preCalibrationDialogComponent, qsTr("Level Horizon"), sensorsPage.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
id: airspeedButton
width: parent.buttonWidth
text: qsTr("Airspeed")
visible: (controller.vehicle.fixedWing || controller.vehicle.vtol) && controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value != 162128 && QGroundControl.corePlugin.options.showSensorCalibrationAirspeed
indicatorGreen: sens_dpres_off.value != 0
onClicked: {
preCalibrationDialogType = "airspeed"
preCalibrationDialogHelp = airspeedHelp
showDialog(preCalibrationDialogComponent, qsTr("Calibrate Airspeed"), sensorsPage.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
QGCButton {
id: cancelButton
width: parent.buttonWidth
text: qsTr("Cancel")
enabled: false
onClicked: controller.cancelCalibration()
}
QGCButton {
id: setOrientationsButton
width: parent.buttonWidth
text: qsTr("Set Orientations")
visible: !_sensorsHaveFixedOrientation
onClicked: {
setOrientationsDialogShowBoardOrientation = true
showDialog(setOrientationsDialogComponent, qsTr("Set Orientations"), sensorsPage.showDialogDefaultWidth, StandardButton.Ok)
}
}
} // Column - Buttons
Column {
anchors.leftMargin: ScreenTools.defaultFontPixelWidth / 2
anchors.left: buttonColumn.right
anchors.right: parent.right
anchors.top: parent.top
anchors.bottom: parent.bottom
ProgressBar {
id: progressBar
anchors.left: parent.left
anchors.right: parent.right
}
Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
Item {
property int calDisplayAreaWidth: parent.width
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
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.bottom: parent.bottom
anchors.left: parent.left
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelWidth / 2
property real indicatorWidth: (width / 3) - (spacing * 2)
property real indicatorHeight: (height / 2) - spacing
VehicleRotationCal {
width: parent.indicatorWidth
height: parent.indicatorHeight
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 {
width: parent.indicatorWidth
height: parent.indicatorHeight
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 {
width: parent.indicatorWidth
height: parent.indicatorHeight
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 {
width: parent.indicatorWidth
height: parent.indicatorHeight
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 {
width: parent.indicatorWidth
height: parent.indicatorHeight
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 {
width: parent.indicatorWidth
height: parent.indicatorHeight
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"
}
}
}
}
}
} // Row
} // Component
} // SetupPage