/**************************************************************************** * * (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 2.3 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.4 import QtQuick.Dialogs 1.2 import QtQuick.Layouts 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 import QGroundControl.ArduPilot 1.0 SetupPage { id: sensorsPage pageComponent: sensorsPageComponent Component { id: sensorsPageComponent 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 orientationHelpSet: qsTr("If mounted in the direction of flight, select None.") readonly property string orientationHelpCal: qsTr("Before calibrating make sure rotation settings are correct. ") + orientationHelpSet readonly property string compassRotationText: qsTr("If the compass or GPS module is mounted in flight direction, leave the default value (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 statusTextAreaDefaultText: qsTr("Start the individual calibration steps by clicking one of the buttons to the left.") // Used to pass help text to the preCalibrationDialog dialog property string preCalibrationDialogHelp property string _postCalibrationDialogText property var _postCalibrationDialogParams readonly property string _badCompassCalText: qsTr("The calibration for Compass %1 appears to be poor. ") + qsTr("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 noFact: Fact { } property bool accelCalNeeded: controller.accelSetupNeeded property bool compassCalNeeded: controller.compassSetupNeeded property Fact boardRot: controller.getParameterFact(-1, "AHRS_ORIENTATION") readonly property int _calTypeCompass: 1 ///< Calibrate compass readonly property int _calTypeAccel: 2 ///< Calibrate accel readonly property int _calTypeSet: 3 ///< Set orientations only readonly property int _buttonWidth: ScreenTools.defaultFontPixelWidth * 15 property bool _orientationsDialogShowCompass: true property string _orientationDialogHelp: orientationHelpSet property int _orientationDialogCalType property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle property real _margins: ScreenTools.defaultFontPixelHeight / 2 property bool _compassAutoRotAvailable: controller.parameterExists(-1, "COMPASS_AUTO_ROT") property Fact _compassAutoRotFact: controller.getParameterFact(-1, "COMPASS_AUTO_ROT", false /* reportMissing */) property bool _compassAutoRot: _compassAutoRotAvailable ? _compassAutoRotFact.rawValue == 2 : false function showOrientationsDialog(calType) { var dialogTitle var buttons = StandardButton.Ok _orientationDialogCalType = calType switch (calType) { case _calTypeCompass: _orientationsDialogShowCompass = true _orientationDialogHelp = orientationHelpCal dialogTitle = qsTr("Calibrate Compass") buttons |= StandardButton.Cancel break case _calTypeAccel: _orientationsDialogShowCompass = false _orientationDialogHelp = orientationHelpCal dialogTitle = qsTr("Calibrate Accelerometer") buttons |= StandardButton.Cancel break case _calTypeSet: _orientationsDialogShowCompass = true _orientationDialogHelp = orientationHelpSet dialogTitle = qsTr("Sensor Settings") break } showDialog(orientationsDialogComponent, dialogTitle, qgcView.showDialogDefaultWidth, buttons) } APMSensorParams { id: sensorParams factPanelController: controller } APMSensorsComponentController { id: controller factPanel: sensorsPage.viewPanel statusLog: statusTextArea progressBar: progressBar nextButton: nextButton cancelButton: cancelButton orientationCalAreaHelpText: orientationCalAreaHelpText property var rgCompassCalFitness: [ controller.compass1CalFitness, controller.compass2CalFitness, controller.compass3CalFitness ] onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText onWaitingForCancelChanged: { if (controller.waitingForCancel) { showDialog(waitForCancelDialogComponent, qsTr("Calibration Cancel"), qgcView.showDialogDefaultWidth, 0) } } onCalibrationComplete: { switch (calType) { case APMSensorsComponentController.CalTypeAccel: showDialog(postCalibrationComponent, qsTr("Accelerometer calibration complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok) break case APMSensorsComponentController.CalTypeOffboardCompass: showDialog(postCalibrationComponent, qsTr("Compass calibration complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok) break case APMSensorsComponentController.CalTypeOnboardCompass: showDialog(postOnboardCompassCalibrationComponent, qsTr("Calibration complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok) break } } onSetAllCalButtonsEnabled: { buttonColumn.enabled = enabled } } Component.onCompleted: { var usingUDP = controller.usingUDPLink() var isSub = QGroundControl.multiVehicleManager.activeVehicle.sub; if (usingUDP && !isSub) { showMessage(qsTr("Sensor Calibration"), qsTr("Performing sensor calibration over a WiFi connection can be unreliable. If you run into problems try using a direct USB connection instead."), StandardButton.Ok) } } QGCPalette { id: qgcPal; colorGroupEnabled: true } Component { id: waitForCancelDialogComponent QGCViewMessage { message: qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds.") Connections { target: controller onWaitingForCancelChanged: { if (!controller.waitingForCancel) { hideDialog() } } } } } Component { id: singleCompassOnboardResultsComponent Column { anchors.left: parent.left anchors.right: parent.right spacing: Math.round(ScreenTools.defaultFontPixelHeight / 2) visible: sensorParams.rgCompassAvailable[index] && sensorParams.rgCompassUseFact[index].value property real greenMaxThreshold: 8 * (sensorParams.rgCompassExternal[index] ? 1 : 2) property real yellowMaxThreshold: 15 * (sensorParams.rgCompassExternal[index] ? 1 : 2) property real fitnessRange: 25 * (sensorParams.rgCompassExternal[index] ? 1 : 2) Item { anchors.left: parent.left anchors.right: parent.right height: ScreenTools.defaultFontPixelHeight Row { id: fitnessRow anchors.fill: parent Rectangle { width: parent.width * (greenMaxThreshold / fitnessRange) height: parent.height color: "green" } Rectangle { width: parent.width * ((yellowMaxThreshold - greenMaxThreshold) / fitnessRange) height: parent.height color: "yellow" } Rectangle { width: parent.width * ((fitnessRange - yellowMaxThreshold) / fitnessRange) height: parent.height color: "red" } } Rectangle { height: fitnessRow.height * 0.66 width: height anchors.verticalCenter: fitnessRow.verticalCenter x: (fitnessRow.width * (Math.min(Math.max(controller.rgCompassCalFitness[index], 0.0), fitnessRange) / fitnessRange)) - (width / 2) radius: height / 2 color: "white" border.color: "black" } } Column { anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2 anchors.left: parent.left anchors.right: parent.right spacing: Math.round(ScreenTools.defaultFontPixelHeight / 4) QGCLabel { text: qsTr("Compass ") + (index+1) + " " + (sensorParams.rgCompassPrimary[index] ? qsTr("(primary") : qsTr("(secondary")) + (sensorParams.rgCompassExternalParamAvailable[index] ? (sensorParams.rgCompassExternal[index] ? qsTr(", external") : qsTr(", internal" )) : "") + ")" } FactCheckBox { text: qsTr("Use Compass") fact: sensorParams.rgCompassUseFact[index] visible: sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index] } } } } Component { id: postOnboardCompassCalibrationComponent QGCViewDialog { Column { anchors.margins: ScreenTools.defaultFontPixelWidth anchors.left: parent.left anchors.right: parent.right spacing: ScreenTools.defaultFontPixelHeight Repeater { model: 3 delegate: singleCompassOnboardResultsComponent } QGCLabel { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("Shown in the indicator bars is the quality of the calibration for each compass.\n\n") + qsTr("- Green indicates a well functioning compass.\n") + qsTr("- Yellow indicates a questionable compass or calibration.\n") + qsTr("- Red indicates a compass which should not be used.\n\n") + qsTr("YOU MUST REBOOT YOUR VEHICLE AFTER EACH CALIBRATION.") } QGCButton { text: qsTr("Reboot Vehicle") onClicked: { controller.vehicle.rebootVehicle() hideDialog() } } } } } Component { id: postCalibrationComponent QGCViewDialog { Column { anchors.margins: ScreenTools.defaultFontPixelWidth anchors.left: parent.left anchors.right: parent.right spacing: ScreenTools.defaultFontPixelHeight QGCLabel { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("YOU MUST REBOOT YOUR VEHICLE AFTER EACH CALIBRATION.") } QGCButton { text: qsTr("Reboot Vehicle") onClicked: { controller.vehicle.rebootVehicle() hideDialog() } } } } } Component { id: singleCompassSettingsComponent Column { spacing: Math.round(ScreenTools.defaultFontPixelHeight / 2) visible: sensorParams.rgCompassAvailable[index] QGCLabel { text: qsTr("Compass ") + (index+1) + " " + (sensorParams.rgCompassPrimary[index] ? qsTr("(primary") :qsTr( "(secondary")) + (sensorParams.rgCompassExternalParamAvailable[index] ? (sensorParams.rgCompassExternal[index] ? qsTr(", external") : qsTr(", internal") ) : "") + ")" } Column { anchors.margins: ScreenTools.defaultFontPixelWidth * 2 anchors.left: parent.left spacing: Math.round(ScreenTools.defaultFontPixelHeight / 4) FactCheckBox { text: qsTr("Use Compass") fact: sensorParams.rgCompassUseFact[index] visible: sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index] } Column { visible: !_compassAutoRot && sensorParams.rgCompassExternal[index] && sensorParams.rgCompassRotParamAvailable[index] QGCLabel { text: qsTr("Orientation:") } FactComboBox { width: rotationColumnWidth indexModel: false fact: sensorParams.rgCompassRotFact[index] } } } } } Component { id: orientationsDialogComponent QGCViewDialog { id: orientationsDialog function accept() { if (_orientationDialogCalType == _calTypeAccel) { controller.calibrateAccel() } else if (_orientationDialogCalType == _calTypeCompass) { controller.calibrateCompass() } orientationsDialog.hideDialog() } 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: _orientationDialogHelp } Column { QGCLabel { text: qsTr("Autopilot Rotation:") } FactComboBox { width: rotationColumnWidth indexModel: false fact: boardRot } } Repeater { model: _orientationsDialogShowCompass ? 3 : 0 delegate: singleCompassSettingsComponent } } // Column } // QGCFlickable } // QGCViewDialog } // Component - orientationsDialogComponent Component { id: compassMotDialogComponent QGCViewDialog { id: compassMotDialog function accept() { controller.calibrateMotorInterference() compassMotDialog.hideDialog() } 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 { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("This is recommended for vehicles that have only an internal compass and on vehicles where there is significant interference on the compass from the motors, power wires, etc. ") + qsTr("CompassMot only works well if you have a battery current monitor because the magnetic interference is linear with current drawn. ") + qsTr("It is technically possible to set-up CompassMot using throttle but this is not recommended.") } QGCLabel { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("Disconnect your props, flip them over and rotate them one position around the frame. ") + qsTr("In this configuration they should push the copter down into the ground when the throttle is raised.") } QGCLabel { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("Secure the copter (perhaps with tape) so that it does not move.") } QGCLabel { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("Turn on your transmitter and keep throttle at zero.") } QGCLabel { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("Click Ok to start CompassMot calibration.") } } // Column } // QGCFlickable } // QGCViewDialog } // Component - compassMotDialogComponent Component { id: levelHorizonDialogComponent QGCViewDialog { id: levelHorizonDialog function accept() { controller.levelHorizon() levelHorizonDialog.hideDialog() } QGCLabel { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: qsTr("To level the horizon you need to place the vehicle in its level flight position and press Ok.") } } // QGCViewDialog } // Component - levelHorizonDialogComponent Component { id: calibratePressureDialogComponent QGCViewDialog { id: calibratePressureDialog function accept() { controller.calibratePressure() calibratePressureDialog.hideDialog() } QGCLabel { anchors.left: parent.left anchors.right: parent.right wrapMode: Text.WordWrap text: _helpText readonly property string _altText: _activeVehicle.sub ? qsTr("depth") : qsTr("altitude") readonly property string _helpText: qsTr("Pressure calibration will set the %1 to zero at the current pressure reading. %2").arg(_altText).arg(_helpTextFW) readonly property string _helpTextFW: _activeVehicle.fixedWing ? qsTr("To calibrate the airspeed sensor shield it from the wind. Do not touch the sensor or obstruct any holes during the calibration.") : "" } } // QGCViewDialog } // Component - calibratePressureDialogComponent QGCFlickable { id: buttonFlickable anchors.left: parent.left anchors.top: parent.top anchors.bottom: parent.bottom width: _buttonWidth contentHeight: nextCancelColumn.y + nextCancelColumn.height + _margins // Calibration button column - Calibratin buttons are kept in a separate column from Next/Cancel buttons // so we can enable/disable them all as a group Column { id: buttonColumn spacing: _margins Layout.alignment: Qt.AlignLeft | Qt.AlignTop IndicatorButton { width: _buttonWidth text: qsTr("Accelerometer") indicatorGreen: !accelCalNeeded onClicked: showOrientationsDialog(_calTypeAccel) } IndicatorButton { width: _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 { showOrientationsDialog(_calTypeCompass) } } } QGCButton { width: _buttonWidth text: _levelHorizonText readonly property string _levelHorizonText: qsTr("Level Horizon") onClicked: { if (controller.accelSetupNeeded) { showMessage(_levelHorizonText, qsTr("Accelerometer must be calibrated prior to Level Horizon."), StandardButton.Ok) } else { showDialog(levelHorizonDialogComponent, _levelHorizonText, qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) } } } QGCButton { width: _buttonWidth text: _calibratePressureText onClicked: showDialog(calibratePressureDialogComponent, _calibratePressureText, qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) readonly property string _calibratePressureText: _activeVehicle.fixedWing ? qsTr("Cal Baro/Airspeed") : qsTr("Calibrate Pressure") } QGCButton { width: _buttonWidth text: qsTr("CompassMot") visible: _activeVehicle ? _activeVehicle.supportsMotorInterference : false onClicked: showDialog(compassMotDialogComponent, qsTr("CompassMot - Compass Motor Interference Calibration"), qgcView.showDialogFullWidth, StandardButton.Cancel | StandardButton.Ok) } QGCButton { width: _buttonWidth text: qsTr("Sensor Settings") onClicked: showOrientationsDialog(_calTypeSet) } } // Column - Cal Buttons Column { id: nextCancelColumn anchors.topMargin: buttonColumn.spacing anchors.top: buttonColumn.bottom anchors.left: buttonColumn.left spacing: buttonColumn.spacing QGCButton { id: nextButton width: _buttonWidth text: qsTr("Next") enabled: false onClicked: controller.nextClicked() } QGCButton { id: cancelButton width: _buttonWidth text: qsTr("Cancel") enabled: false onClicked: controller.cancelCalibration() } } } // QGCFlickable - buttons /// Right column - cal area Column { anchors.leftMargin: _margins anchors.top: parent.top anchors.bottom: parent.bottom anchors.left: buttonFlickable.right anchors.right: parent.right ProgressBar { id: progressBar anchors.left: parent.left anchors.right: parent.right } Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer Item { id: centerPanel width: parent.width height: parent.height - y 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.bottom: parent.bottom anchors.left: parent.left anchors.right: parent.right spacing: ScreenTools.defaultFontPixelWidth 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: "qrc:///qmlimages/VehicleDown.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: "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: "qrc:///qmlimages/VehicleRight.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: "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: "qrc:///qmlimages/VehicleTailDown.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: "qrc:///qmlimages/VehicleUpsideDown.png" } } } } // Item - Cal display area } // Column - cal display } // Row } // Component - sensorsPageComponent } // SetupPage