/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 <http://www.gnu.org/licenses/>.
======================================================================*/
import QtQuick 2.5
import QtQuick.Controls 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
QGCView {
id: _cameraView
viewPanel: panel
anchors.fill: parent
FactPanelController { id: controller; factPanel: panel }
QGCPalette { id: palette; colorGroupEnabled: enabled }
property Fact _mountRetractX: controller.getParameterFact(-1, "MNT_RETRACT_X")
property Fact _mountRetractY: controller.getParameterFact(-1, "MNT_RETRACT_Y")
property Fact _mountRetractZ: controller.getParameterFact(-1, "MNT_RETRACT_Z")
property Fact _mountNeutralX: controller.getParameterFact(-1, "MNT_NEUTRAL_X")
property Fact _mountNeutralY: controller.getParameterFact(-1, "MNT_NEUTRAL_Y")
property Fact _mountNeutralZ: controller.getParameterFact(-1, "MNT_NEUTRAL_Z")
property Fact _mountRCInTilt: controller.getParameterFact(-1, "MNT_RC_IN_TILT")
property Fact _mountStabTilt: controller.getParameterFact(-1, "MNT_STAB_TILT")
property Fact _mountAngMinTilt: controller.getParameterFact(-1, "MNT_ANGMIN_TIL")
property Fact _mountAngMaxTilt: controller.getParameterFact(-1, "MNT_ANGMAX_TIL")
property Fact _mountRCInRoll: controller.getParameterFact(-1, "MNT_RC_IN_ROLL")
property Fact _mountStabRoll: controller.getParameterFact(-1, "MNT_STAB_ROLL")
property Fact _mountAngMinRoll: controller.getParameterFact(-1, "MNT_ANGMIN_ROL")
property Fact _mountAngMaxRoll: controller.getParameterFact(-1, "MNT_ANGMAX_ROL")
property Fact _mountRCInPan: controller.getParameterFact(-1, "MNT_RC_IN_PAN")
property Fact _mountStabPan: controller.getParameterFact(-1, "MNT_STAB_PAN")
property Fact _mountAngMinPan: controller.getParameterFact(-1, "MNT_ANGMIN_PAN")
property Fact _mountAngMaxPan: controller.getParameterFact(-1, "MNT_ANGMAX_PAN")
property Fact _rc5Function: controller.getParameterFact(-1, "RC5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "RC6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "RC7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "RC8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "RC9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "RC10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "RC11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "RC12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "RC13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "RC14_FUNCTION")
property bool _tiltEnabled: false
property bool _panEnabled: false
property bool _rollEnabled: false
// Gimbal Settings not available on older firmware
property bool _showGimbaLSettings: controller.parameterExists(-1, "MNT_DEFLT_MODE")
readonly property real _margins: ScreenTools.defaultFontPixelHeight
readonly property int _rcFunctionDisabled: 0
readonly property int _rcFunctionMountPan: 6
readonly property int _rcFunctionMountTilt: 7
readonly property int _rcFunctionMountRoll: 8
readonly property int _firstGimbalOutChannel: 5
readonly property int _lastGimbalOutChannel: 14
readonly property int _mountDefaultModeRCTargetting: 3
Component.onCompleted: {
if (_showGimbaLSettings) {
gimbalSettingsLoader.sourceComponent = gimbalSettings
}
calcGimbalOutValues()
}
function setGimbalSettingsServoInfo(loader, channel) {
var rcPrefix = "RC" + channel + "_"
loader.gimbalOutIndex = channel - 4
loader.servoPWMMinFact = controller.getParameterFact(-1, rcPrefix + "MIN")
loader.servoPWMMaxFact = controller.getParameterFact(-1, rcPrefix + "MAX")
loader.servoReverseFact = controller.getParameterFact(-1, rcPrefix + "REV")
}
/// Gimbal output channels are stored in RC#_FUNCTION parameters. We need to loop through those
/// to find them and setup the ui accordindly.
function calcGimbalOutValues() {
gimbalDirectionTiltLoader.gimbalOutIndex = 0
gimbalDirectionPanLoader.gimbalOutIndex = 0
gimbalDirectionRollLoader.gimbalOutIndex = 0
_tiltEnabled = false
_panEnabled = false
_rollEnabled = false
for (var channel=_firstGimbalOutChannel; channel<=_lastGimbalOutChannel; channel++) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION")
if (functionFact.value == _rcFunctionMountTilt) {
_tiltEnabled = true
setGimbalSettingsServoInfo(gimbalDirectionTiltLoader, channel)
} else if (functionFact.value == _rcFunctionMountPan) {
_panEnabled = true
setGimbalSettingsServoInfo(gimbalDirectionPanLoader, channel)
} else if (functionFact.value == _rcFunctionMountRoll) {
_rollEnabled = true
setGimbalSettingsServoInfo(gimbalDirectionRollLoader, channel)
}
}
}
function setRCFunction(channel, rcFunction) {
// First clear any previous settings for this function
for (var index=_firstGimbalOutChannel; index<=_lastGimbalOutChannel; index++) {
var functionFact = controller.getParameterFact(-1, "RC" + index + "_FUNCTION")
if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
functionFact.value = _rcFunctionDisabled
}
}
// Now set the function into the new channel
if (channel != 0) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION")
functionFact.value = rcFunction
}
}
// Whenever any RC#_FUNCTION parameters chagnes we need to go looking for gimbal output channels again
Connections { target: _rc5Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc6Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc7Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc8Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc9Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc10Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc11Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc12Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc13Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc14Function; onValueChanged: calcGimbalOutValues() }
// Whenever an MNT_RC_IN_* setting is changed make sure to turn on RC targetting
Connections {
target: _mountRCInPan
onValueChanged: _mountDefaultMode.value = _mountDefaultModeRCTargetting
}
Connections {
target: _mountRCInRoll
onValueChanged: _mountDefaultMode.value = _mountDefaultModeRCTargetting
}
Connections {
target: _mountRCInTilt
onValueChanged: _mountDefaultMode.value = _mountDefaultModeRCTargetting
}
ListModel {
id: gimbalOutModel
ListElement { text: qsTr("Disabled"); value: 0 }
ListElement { text: qsTr("Channel 5"); value: 5 }
ListElement { text: qsTr("Channel 6"); value: 6 }
ListElement { text: qsTr("Channel 7"); value: 7 }
ListElement { text: qsTr("Channel 8"); value: 8 }
ListElement { text: qsTr("Channel 9"); value: 9 }
ListElement { text: qsTr("Channel 10"); value: 10 }
ListElement { text: qsTr("Channel 11"); value: 11 }
ListElement { text: qsTr("Channel 12"); value: 12 }
ListElement { text: qsTr("Channel 13"); value: 13 }
ListElement { text: qsTr("Channel 14"); value: 14 }
}
Component {
id: gimbalDirectionSettings
// The following properties must be set in the Loader
// property string directionTitle
// property bool directionEnabled
// property int gimbalOutIndex
// property Fact mountRcInFact
// property Fact mountStabFact
// property Fact mountAngMinFact
// property Fact mountAngMaxFact
// property Fact servoPWMMinFact
// property Fact servoPWMMaxFact
// property Fact servoReverseFact
// property int rcFunction
Item {
width: rectangle.x + rectangle.width
height: rectangle.y + rectangle.height
QGCLabel {
id: directionLabel
text: qsTr("Gimbal ") + directionTitle
font.weight: Font.DemiBold
}
Rectangle {
id: rectangle
anchors.topMargin: _margins / 2
anchors.left: parent.left
anchors.top: directionLabel.bottom
width: mountAngMaxField.x + mountAngMaxField.width + _margins
height: servoPWMMaxField.y + servoPWMMaxField.height + _margins
color: palette.windowShade
FactCheckBox {
id: mountStabCheckBox
anchors.topMargin: _margins
anchors.left: servoReverseCheckBox.left
anchors.top: parent.top
text: qsTr("Stabilize")
fact: mountStabFact
checkedValue: 1
uncheckedValue: 0
enabled: directionEnabled
}
FactCheckBox {
id: servoReverseCheckBox
anchors.margins: _margins
anchors.top: mountStabCheckBox.bottom
anchors.right: parent.right
text: qsTr("Servo reverse")
checkedValue: 1
uncheckedValue: 0
fact: servoReverseFact
enabled: directionEnabled
}
QGCLabel {
id: gimbalOutLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: gimbalOutCombo.baseline
text: qsTr("Output channel:")
}
QGCComboBox {
id: gimbalOutCombo
anchors.margins: _margins
anchors.top: parent.top
anchors.left: gimbalOutLabel.right
width: mountAngMinField.width
model: gimbalOutModel
currentIndex: gimbalOutIndex
onActivated: setRCFunction(gimbalOutModel.get(index).value, rcFunction)
}
QGCLabel {
id: mountRcInLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: mountRcInCombo.baseline
text: qsTr("Input channel:")
enabled: directionEnabled
}
FactComboBox {
id: mountRcInCombo
anchors.topMargin: _margins / 2
anchors.top: gimbalOutCombo.bottom
anchors.left: gimbalOutCombo.left
width: mountAngMinField.width
fact: mountRcInFact
indexModel: false
enabled: directionEnabled
}
QGCLabel {
id: mountAngLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: mountAngMinField.baseline
text: qsTr("Gimbal angle limits:")
enabled: directionEnabled
}
QGCLabel {
id: mountAngMinLabel
anchors.margins: _margins
anchors.left: mountAngLabel.right
anchors.baseline: mountAngMinField.baseline
text: qsTr("min")
enabled: directionEnabled
}
FactTextField {
id: mountAngMinField
anchors.margins: _margins
anchors.top: mountRcInCombo.bottom
anchors.left: mountAngMinLabel.right
fact: mountAngMinFact
enabled: directionEnabled
}
QGCLabel {
id: mountAngMaxLabel
anchors.margins: _margins
anchors.left: mountAngMinField.right
anchors.baseline: mountAngMinField.baseline
text: qsTr("max")
enabled: directionEnabled
}
FactTextField {
id: mountAngMaxField
anchors.leftMargin: _margins
anchors.top: mountAngMinField.top
anchors.left: mountAngMaxLabel.right
fact: mountAngMaxFact
enabled: directionEnabled
}
QGCLabel {
id: servoPWMLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: servoPWMMinField.baseline
text: qsTr("Servo PWM limits:")
enabled: directionEnabled
}
QGCLabel {
id: servoPWMMinLabel
anchors.left: mountAngMinLabel.left
anchors.baseline: servoPWMMinField.baseline
text: qsTr("min")
enabled: directionEnabled
}
FactTextField {
id: servoPWMMinField
anchors.topMargin: _margins / 2
anchors.leftMargin: _margins
anchors.top: mountAngMaxField.bottom
anchors.left: servoPWMMinLabel.right
fact: servoPWMMinFact
enabled: directionEnabled
}
QGCLabel {
id: servoPWMMaxLabel
anchors.margins: _margins
anchors.left: servoPWMMinField.right
anchors.baseline: servoPWMMinField.baseline
text: qsTr("max")
enabled: directionEnabled
}
FactTextField {
id: servoPWMMaxField
anchors.leftMargin: _margins
anchors.top: servoPWMMinField.top
anchors.left: servoPWMMaxLabel.right
fact: servoPWMMaxFact
enabled: directionEnabled
}
} // Rectangle
} // Item
} // Component - gimbalDirectionSettings
Component {
id: gimbalSettings
Item {
width: rectangle.x + rectangle.width
height: rectangle.y + rectangle.height
property Fact _mountDefaultMode: controller.getParameterFact(-1, "MNT_DEFLT_MODE")
property Fact _mountType: controller.getParameterFact(-1, "MNT_TYPE")
QGCLabel {
id: settingsLabel
text: qsTr("Gimbal Settings")
font.weight: Font.DemiBold
}
Rectangle {
id: rectangle
anchors.topMargin: _margins / 2
anchors.top: settingsLabel.bottom
width: gimbalModeCombo.x + gimbalModeCombo.width + _margins
height: gimbalModeCombo.y + gimbalModeCombo.height + _margins
color: palette.windowShade
QGCLabel {
id: gimbalTypeLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: gimbalTypeCombo.baseline
text: qsTr("Type:")
}
FactComboBox {
id: gimbalTypeCombo
anchors.topMargin: _margins
anchors.top: parent.top
anchors.left: gimbalModeCombo.left
width: gimbalModeCombo.width
fact: _mountType
indexModel: false
}
QGCLabel {
id: rebootLabel
anchors.topMargin: _margins / 2
anchors.leftMargin: _margins
anchors.rightMargin: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: gimbalTypeCombo.bottom
wrapMode: Text.WordWrap
text: qsTr("Gimbal Type changes takes affect next reboot of autopilot")
}
QGCLabel {
id: gimbalModeLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: gimbalModeCombo.baseline
text: qsTr("Default Mode:")
}
FactComboBox {
id: gimbalModeCombo
anchors.margins: _margins
anchors.top: rebootLabel.bottom
anchors.left: gimbalModeLabel.right
width: ScreenTools.defaultFontPixelWidth * 15
fact: _mountDefaultMode
indexModel: false
}
} // Rectangle
} // Item
} // Component - gimbalSettings
QGCViewPanel {
id: panel
anchors.fill: parent
QGCFlickable {
clip: true
anchors.fill: parent
contentHeight: gimbalDirectionPanLoader.y + gimbalDirectionPanLoader.height
contentWidth: _showGimbaLSettings ? gimbalSettingsLoader.x + gimbalSettingsLoader.width : gimbalDirectionTiltLoader.x + gimbalDirectionTiltLoader.width
Loader {
id: gimbalDirectionTiltLoader
sourceComponent: gimbalDirectionSettings
property string directionTitle: qsTr("Tilt")
property bool directionEnabled: _tiltEnabled
property int gimbalOutIndex: 0
property Fact mountRcInFact: _mountRCInTilt
property Fact mountStabFact: _mountStabTilt
property Fact mountAngMinFact: _mountAngMinTilt
property Fact mountAngMaxFact: _mountAngMaxTilt
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property int rcFunction: _rcFunctionMountTilt
}
Loader {
id: gimbalDirectionRollLoader
anchors.margins: _margins
anchors.top: gimbalDirectionTiltLoader.bottom
sourceComponent: gimbalDirectionSettings
property string directionTitle: qsTr("Roll")
property bool directionEnabled: _rollEnabled
property int gimbalOutIndex: 0
property Fact mountRcInFact: _mountRCInRoll
property Fact mountStabFact: _mountStabRoll
property Fact mountAngMinFact: _mountAngMinRoll
property Fact mountAngMaxFact: _mountAngMaxRoll
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property int rcFunction: _rcFunctionMountRoll
}
Loader {
id: gimbalDirectionPanLoader
anchors.margins: _margins
anchors.top: gimbalDirectionRollLoader.bottom
sourceComponent: gimbalDirectionSettings
property string directionTitle: qsTr("Pan")
property bool directionEnabled: _panEnabled
property int gimbalOutIndex: 0
property Fact mountRcInFact: _mountRCInPan
property Fact mountStabFact: _mountStabPan
property Fact mountAngMinFact: _mountAngMinPan
property Fact mountAngMaxFact: _mountAngMaxPan
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property int rcFunction: _rcFunctionMountPan
}
Loader {
id: gimbalSettingsLoader
anchors.margins: _margins
anchors.left: gimbalDirectionTiltLoader.right
anchors.top: parent.top
}
} // Flickable
} // QGCViewPanel
} // QGCView