/**************************************************************************** * * (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 2.7 import QtQuick.Controls 2.1 import QtQuick.Controls.Styles 1.4 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 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.") readonly property string gyroHelp: qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.") 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.") 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 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 (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) { console.log("onUsingUDPLink") 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: 5 QGCLabel { width: parent.width wrapMode: Text.WordWrap text: preCalibrationDialogHelp } 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 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 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 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 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 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") 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