/*=====================================================================
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 QtGraphicalEffects 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
QGCView {
id: _safetyView
viewPanel: panel
anchors.fill: parent
FactPanelController { id: controller; factPanel: panel }
QGCPalette { id: palette; colorGroupEnabled: enabled }
property Fact _failsafeGCSEnable: controller.getParameterFact(-1, "FS_GCS_ENABLE")
property Fact _failsafeBattEnable: controller.getParameterFact(-1, "FS_BATT_ENABLE")
property Fact _failsafeBattMah: controller.getParameterFact(-1, "FS_BATT_MAH")
property Fact _failsafeBattVoltage: controller.getParameterFact(-1, "FS_BATT_VOLTAGE")
property Fact _failsafeThrEnable: controller.getParameterFact(-1, "FS_THR_ENABLE")
property Fact _failsafeThrValue: controller.getParameterFact(-1, "FS_THR_VALUE")
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
ExclusiveGroup { id: fenceActionRadioGroup }
ExclusiveGroup { id: landLoiterRadioGroup }
ExclusiveGroup { id: returnAltRadioGroup }
QGCViewPanel {
id: panel
anchors.fill: parent
QGCFlickable {
clip: true
anchors.fill: parent
contentHeight: armingCheckSettings.y + armingCheckSettings.height
contentWidth: armingCheckSettings.x + armingCheckSettings.width
QGCLabel {
id: failsafeLabel
text: "Failsafe Triggers"
font.weight: Font.DemiBold
}
Rectangle {
id: failsafeSettings
anchors.topMargin: _margins / 2
anchors.rightMargin: _margins
anchors.left: parent.left
anchors.top: failsafeLabel.bottom
width: throttleEnableCombo.x + throttleEnableCombo.width + _margins
height: mahField.y + mahField.height + _margins
color: palette.windowShade
QGCLabel {
id: gcsEnableLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: gcsEnableCombo.baseline
text: "Ground Station failsafe:"
}
FactComboBox {
id: gcsEnableCombo
anchors.topMargin: _margins
anchors.leftMargin: _margins
anchors.left: gcsEnableLabel.right
anchors.top: parent.top
width: voltageField.width
fact: _failsafeGCSEnable
indexModel: false
}
QGCLabel {
id: throttleEnableLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: throttleEnableCombo.baseline
text: "Throttle failsafe:"
}
QGCComboBox {
id: throttleEnableCombo
anchors.topMargin: _margins
anchors.left: gcsEnableCombo.left
anchors.top: gcsEnableCombo.bottom
width: voltageField.width
model: ["Disabled", "Always RTL", "Continue with Mission in Auto Mode", "Always Land"]
currentIndex: _failsafeThrEnable.value
onActivated: _failsafeThrEnable.value = index
}
QGCLabel {
id: throttlePWMLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: throttlePWMField.baseline
text: "PWM threshold:"
}
FactTextField {
id: throttlePWMField
anchors.topMargin: _margins / 2
anchors.left: gcsEnableCombo.left
anchors.top: throttleEnableCombo.bottom
fact: _failsafeThrValue
showUnits: true
}
QGCLabel {
id: batteryEnableLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: batteryEnableCombo.baseline
text: "Battery failsafe:"
}
QGCComboBox {
id: batteryEnableCombo
anchors.topMargin: _margins
anchors.left: gcsEnableCombo.left
anchors.top: throttlePWMField.bottom
width: voltageField.width
model: ["Disabled", "Land", "Return to Launch"]
currentIndex: _failsafeBattEnable.value
onActivated: _failsafeBattEnable.value = index
}
QGCCheckBox {
id: voltageLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: voltageField.baseline
text: "Voltage threshold:"
checked: _failsafeBattVoltage.value != 0
onClicked: _failsafeBattVoltage.value = checked ? 10.5 : 0
}
FactTextField {
id: voltageField
anchors.topMargin: _margins / 2
anchors.left: gcsEnableCombo.left
anchors.top: batteryEnableCombo.bottom
fact: _failsafeBattVoltage
showUnits: true
}
QGCCheckBox {
id: mahLabel
anchors.margins: _margins
anchors.left: parent.left
anchors.baseline: mahField.baseline
text: "MAH threshold:"
checked: _failsafeBattMah.value != 0
onClicked: _failsafeBattMah.value = checked ? 600 : 0
}
FactTextField {
id: mahField
anchors.topMargin: _margins / 2
anchors.left: gcsEnableCombo.left
anchors.top: voltageField.bottom
fact: _failsafeBattMah
showUnits: true
}
} // Rectangle - Failsafe Settings
QGCLabel {
id: geoFenceLabel
anchors.leftMargin: _margins
anchors.left: failsafeSettings.right
anchors.top: parent.top
text: "GeoFence"
font.weight: Font.DemiBold
}
Rectangle {
id: geoFenceSettings
anchors.topMargin: _margins / 2
anchors.left: geoFenceLabel.left
anchors.top: geoFenceLabel.bottom
anchors.bottom: failsafeSettings.bottom
width: fenceAltMaxField.x + fenceAltMaxField.width + _margins
color: palette.windowShade
QGCCheckBox {
id: circleGeo
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
text: "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: "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: "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: "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: "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: "Max altitude:"
}
FactTextField {
id: fenceAltMaxField
anchors.topMargin: _margins / 2
anchors.leftMargin: _margin
anchors.left: fenceAltMaxLabel.right
anchors.top: fenceRadiusField.bottom
fact: _fenceAltMax
showUnits: true
}
} // Rectangle - GeoFence Settings
QGCLabel {
id: rtlLabel
anchors.topMargin: _margins
anchors.top: geoFenceSettings.bottom
text: "Return to Launch"
font.weight: Font.DemiBold
}
Rectangle {
id: rtlSettings
anchors.topMargin: _margins / 2
anchors.left: parent.left
anchors.top: rtlLabel.bottom
width: rltAltFinalField.x + rltAltFinalField.width + _margins
height: rltAltFinalField.y + rltAltFinalField.height + _margins
color: palette.windowShade
Image {
id: icon
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
height: ScreenTools.defaultFontPixelWidth * 20
width: ScreenTools.defaultFontPixelWidth * 20
mipmap: true
fillMode: Image.PreserveAspectFit
visible: false
source: "/qmlimages/ReturnToHomeAltitude.svg"
}
ColorOverlay {
anchors.fill: icon
source: icon
color: palette.text
}
QGCRadioButton {
id: returnAtCurrentRadio
anchors.leftMargin: _margins
anchors.left: icon.right
anchors.top: icon.top
text: "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: "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: "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: "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: "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
QGCLabel {
id: armingCheckLabel
anchors.topMargin: _margins
anchors.left: parent.left
anchors.top: rtlSettings.bottom
text: "Arming Checks"
font.weight: Font.DemiBold
}
Rectangle {
id: armingCheckSettings
anchors.topMargin: _margins / 2
anchors.left: parent.left
anchors.top: armingCheckLabel.bottom
width: armingCheckColumn.x + armingCheckColumn.width + _margins
height: armingCheckColumn.y + armingCheckColumn.height + _margins
color: palette.windowShade
Column {
id: armingCheckColumn
spacing: _margins
QGCLabel { text: "Be very careful when turning off arming checks. Could lead to loss of Vehicle control." }
FactBitmask { fact: _armingCheck }
}
}
} // QGCFlickable
} // QGCViewPanel
} // QGCView