/**************************************************************************** * * (c) 2009-2020 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.Dialogs 1.2 import QtQuick.Layouts 1.2 import QGroundControl 1.0 import QGroundControl.FactSystem 1.0 import QGroundControl.FactControls 1.0 import QGroundControl.Controls 1.0 import QGroundControl.ScreenTools 1.0 import QGroundControl.Controllers 1.0 import QGroundControl.PX4 1.0 // Note: This setup supports back compat on battery parameter naming // Older firmware: Single battery setup using BAT_* naming // Newer firmware: Multiple battery setup using BAT#_* naming, with indices starting at 1 SetupPage { id: powerPage pageComponent: pageComponent Component { id: pageComponent Item { width: Math.max(availableWidth, innerColumn.width) height: innerColumn.height readonly property string _highlightPrefix: "" readonly property string _highlightSuffix: "" readonly property string _batNCellsIndexedParamName: "BAT#_N_CELLS" property int _textEditWidth: ScreenTools.defaultFontPixelWidth * 8 property Fact _uavcanEnable: controller.getParameterFact(-1, "UAVCAN_ENABLE", false) property bool _indexedBatteryParamsAvailable: controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", 1)) property int _indexedBatteryParamCount: getIndexedBatteryParamCount() function getIndexedBatteryParamCount() { var batteryIndex = 1 do { if (!controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", batteryIndex))) { return batteryIndex - 1 } batteryIndex++ } while (true) } PowerComponentController { id: controller onOldFirmware: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade to a newer firmware.").arg(QGroundControl.appName)) onNewerFirmware: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("%1 cannot perform ESC Calibration with this version of firmware. You will need to upgrade %1.").arg(QGroundControl.appName)) onBatteryConnected: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Performing calibration. This will take a few seconds..")) onCalibrationFailed: mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), errorMessage) onCalibrationSuccess: mainWindow.showMessageDialog(qsTr("ESC Calibration"), qsTr("Calibration complete. You can disconnect your battery now if you like.")) onConnectBattery: mainWindow.showMessageDialog(qsTr("ESC Calibration"), _highlightPrefix + qsTr("WARNING: Props must be removed from vehicle prior to performing ESC calibration.") + _highlightSuffix + qsTr(" Connect the battery now and calibration will begin.")) onDisconnectBattery: mainWindow.showMessageDialog(qsTr("ESC Calibration failed"), qsTr("You must disconnect the battery prior to performing ESC Calibration. Disconnect your battery and try again.")) } ColumnLayout { id: innerColumn anchors.horizontalCenter: parent.horizontalCenter spacing: ScreenTools.defaultFontPixelHeight function drawArrowhead(ctx, x, y, radians) { ctx.save(); ctx.beginPath(); ctx.translate(x,y); ctx.rotate(radians); ctx.moveTo(0,0); ctx.lineTo(5,10); ctx.lineTo(-5,10); ctx.closePath(); ctx.restore(); ctx.fill(); } function drawLineWithArrow(ctx, x1, y1, x2, y2) { ctx.beginPath(); ctx.moveTo(x1, y1); ctx.lineTo(x2, y2); ctx.stroke(); var rd = Math.atan((y2 - y1) / (x2 - x1)); rd += ((x2 > x1) ? 90 : -90) * Math.PI/180; drawArrowhead(ctx, x2, y2, rd); } Repeater { id: batterySetupRepeater model: _indexedBatteryParamsAvailable ? _indexedBatteryParamCount : 1 Loader { sourceComponent: batterySetupComponent property int batteryIndex: index + 1 property bool showBatteryIndex: batterySetupRepeater.count > 1 property bool useIndexedParamNames: _indexedBatteryParamsAvailable } } QGCGroupBox { Layout.fillWidth: true title: qsTr("ESC PWM Minimum and Maximum Calibration") ColumnLayout { anchors.left: parent.left anchors.right: parent.right spacing: ScreenTools.defaultFontPixelWidth QGCLabel { color: qgcPal.warningText wrapMode: Text.WordWrap text: qsTr("WARNING: Propellers must be removed from vehicle prior to performing ESC calibration.") Layout.fillWidth: true } QGCLabel { text: qsTr("You must use USB connection for this operation.") } QGCButton { text: qsTr("Calibrate") width: ScreenTools.defaultFontPixelWidth * 20 onClicked: controller.calibrateEsc() } } } QGCCheckBox { id: showUAVCAN text: qsTr("Show UAVCAN Settings") checked: _uavcanEnable ? _uavcanEnable.rawValue !== 0 : false } QGCGroupBox { Layout.fillWidth: true title: qsTr("UAVCAN Bus Configuration") visible: showUAVCAN.checked Row { id: uavCanConfigRow spacing: ScreenTools.defaultFontPixelWidth FactComboBox { id: _uavcanEnabledCheckBox width: ScreenTools.defaultFontPixelWidth * 20 fact: _uavcanEnable indexModel: false } QGCLabel { anchors.verticalCenter: parent.verticalCenter text: qsTr("Change required restart") } } } QGCGroupBox { Layout.fillWidth: true title: qsTr("UAVCAN Motor Index and Direction Assignment") visible: showUAVCAN.checked ColumnLayout { anchors.left: parent.left anchors.right: parent.right spacing: ScreenTools.defaultFontPixelWidth QGCLabel { wrapMode: Text.WordWrap color: qgcPal.warningText text: qsTr("WARNING: Propellers must be removed from vehicle prior to performing UAVCAN ESC configuration.") Layout.fillWidth: true } QGCLabel { wrapMode: Text.WordWrap text: qsTr("ESC parameters will only be accessible in the editor after assignment.") Layout.fillWidth: true } QGCLabel { wrapMode: Text.WordWrap text: qsTr("Start the process, then turn each motor into its turn direction, in the order of their motor indices.") Layout.fillWidth: true } QGCButton { text: qsTr("Start Assignment") width: ScreenTools.defaultFontPixelWidth * 20 onClicked: controller.startBusConfigureActuators() } QGCButton { text: qsTr("Stop Assignment") width: ScreenTools.defaultFontPixelWidth * 20 onClicked: controller.stopBusConfigureActuators() } } } } // Column Component { id: batterySetupComponent QGCGroupBox { Layout.fillWidth: true title: qsTr("Battery ") + (showBatteryIndex ? batteryIndex : "") property var _controller: controller property int _batteryIndex: batteryIndex BatteryParams { id: batParams controller: _controller batteryIndex: _batteryIndex } property bool battVoltageDividerAvailable: batParams.battVoltageDividerAvailable property bool battAmpsPerVoltAvailable: batParams.battAmpsPerVoltAvailable property Fact battSource: batParams.battSource property Fact battNumCells: batParams.battNumCells property Fact battHighVolt: batParams.battHighVolt property Fact battLowVolt: batParams.battLowVolt property Fact battVoltLoadDrop: batParams.battVoltLoadDrop property Fact battVoltageDivider: batParams.battVoltageDivider property Fact battAmpsPerVolt: batParams.battAmpsPerVolt function getBatteryImage() { switch(battNumCells.value) { case 1: return "/qmlimages/PowerComponentBattery_01cell.svg"; case 2: return "/qmlimages/PowerComponentBattery_02cell.svg" case 3: return "/qmlimages/PowerComponentBattery_03cell.svg" case 4: return "/qmlimages/PowerComponentBattery_04cell.svg" case 5: return "/qmlimages/PowerComponentBattery_05cell.svg" case 6: return "/qmlimages/PowerComponentBattery_06cell.svg" default: return "/qmlimages/PowerComponentBattery_01cell.svg"; } } ColumnLayout { RowLayout { spacing: ScreenTools.defaultFontPixelWidth visible: battSource.rawValue == -1 QGCLabel { text: qsTr("Source") } FactComboBox { width: _textEditWidth fact: battSource indexModel: false sizeToContents: true } } GridLayout { id: batteryGrid columns: 5 columnSpacing: ScreenTools.defaultFontPixelWidth visible: battSource.rawValue != -1 QGCLabel { text: qsTr("Source") } FactComboBox { width: _textEditWidth fact: battSource indexModel: false sizeToContents: true } QGCColoredImage { Layout.rowSpan: 4 width: height * 0.75 height: 100 sourceSize.height: height fillMode: Image.PreserveAspectFit smooth: true color: qgcPal.text cache: false source: getBatteryImage(batteryIndex) } Item { width: 1; height: 1; Layout.columnSpan: 2 } QGCLabel { text: qsTr("Number of Cells (in Series)") } FactTextField { width: _textEditWidth fact: battNumCells showUnits: true } QGCLabel { text: qsTr("Battery Max:") } QGCLabel { text: (battNumCells.value * battHighVolt.value).toFixed(1) + ' V' } QGCLabel { text: qsTr("Empty Voltage (per cell)") } FactTextField { width: _textEditWidth fact: battLowVolt showUnits: true } QGCLabel { text: qsTr("Battery Min:") } QGCLabel { text: (battNumCells.value * battLowVolt.value).toFixed(1) + ' V' } QGCLabel { text: qsTr("Full Voltage (per cell)") } FactTextField { width: _textEditWidth fact: battHighVolt showUnits: true } Item { width: 1; height: 1; Layout.columnSpan: 2 } QGCLabel { text: qsTr("Voltage divider") visible: battVoltageDividerAvailable } FactTextField { fact: battVoltageDivider visible: battVoltageDividerAvailable } QGCButton { text: qsTr("Calculate") visible: battVoltageDividerAvailable onClicked: mainWindow.showPopupDialogFromComponent(calcVoltageDividerDlgComponent, { batteryIndex: _batteryIndex }) } Item { width: 1; height: 1; Layout.columnSpan: 2; visible: battVoltageDividerAvailable } QGCLabel { Layout.columnSpan: batteryGrid.columns Layout.fillWidth: true font.pointSize: ScreenTools.smallFontPointSize wrapMode: Text.WordWrap text: qsTr("If the battery voltage reported by the vehicle is largely different than the voltage read externally using a voltmeter you can adjust the voltage multiplier value to correct this. ") + qsTr("Click the Calculate button for help with calculating a new value.") visible: battVoltageDividerAvailable } QGCLabel { text: qsTr("Amps per volt") visible: battAmpsPerVoltAvailable } FactTextField { fact: battAmpsPerVolt visible: battAmpsPerVoltAvailable } QGCButton { text: qsTr("Calculate") visible: battAmpsPerVoltAvailable onClicked: mainWindow.showPopupDialogFromComponent(calcAmpsPerVoltDlgComponent, { batteryIndex: _batteryIndex }) } Item { width: 1; height: 1; Layout.columnSpan: 2; visible: battAmpsPerVoltAvailable } QGCLabel { Layout.columnSpan: batteryGrid.columns Layout.fillWidth: true font.pointSize: ScreenTools.smallFontPointSize wrapMode: Text.WordWrap text: qsTr("If the current draw reported by the vehicle is largely different than the current read externally using a current meter you can adjust the amps per volt value to correct this. ") + qsTr("Click the Calculate button for help with calculating a new value.") visible: battAmpsPerVoltAvailable } QGCCheckBox { id: showAdvanced Layout.columnSpan: batteryGrid.columns text: qsTr("Show Advanced Settings") } QGCLabel { text: qsTr("Voltage Drop on Full Load (per cell)") visible: showAdvanced.checked } FactTextField { id: battDropField fact: battVoltLoadDrop showUnits: true visible: showAdvanced.checked } Item { width: 1; height: 1; Layout.columnSpan: 3; visible: showAdvanced.checked } QGCLabel { Layout.columnSpan: batteryGrid.columns Layout.fillWidth: true wrapMode: Text.WordWrap font.pointSize: ScreenTools.smallFontPointSize text: qsTr("Batteries show less voltage at high throttle. Enter the difference in Volts between idle throttle and full ") + qsTr("throttle, divided by the number of battery cells. Leave at the default if unsure. ") + _highlightPrefix + qsTr("If this value is set too high, the battery might be deep discharged and damaged.") + _highlightSuffix visible: showAdvanced.checked } QGCLabel { text: qsTr("Compensated Minimum Voltage:") visible: showAdvanced.checked } QGCLabel { text: ((battNumCells.value * battLowVolt.value) - (battNumCells.value * battVoltLoadDrop.value)).toFixed(1) + qsTr(" V") visible: showAdvanced.checked } Item { width: 1; height: 1; Layout.columnSpan: 3; visible: showAdvanced.checked } } // Grid } } // QGCGroupBox - Battery settings } // Component - batterySetupComponent Component { id: calcVoltageDividerDlgComponent QGCPopupDialog { title: qsTr("Calculate Voltage Divider") buttons: StandardButton.Close property var _controller: controller property FactGroup _batteryFactGroup: controller.vehicle.getFactGroup("battery" + (dialogProperties.batteryIndex - 1)) BatteryParams { id: batParams controller: _controller batteryIndex: dialogProperties.batteryIndex } ColumnLayout { spacing: ScreenTools.defaultFontPixelHeight QGCLabel { Layout.preferredWidth: gridLayout.width wrapMode: Text.WordWrap text: qsTr("Measure battery voltage using an external voltmeter and enter the value below. Click Calculate to set the new voltage multiplier.") } GridLayout { id: gridLayout columns: 2 QGCLabel { text: qsTr("Measured voltage:") } QGCTextField { id: measuredVoltage } QGCLabel { text: qsTr("Vehicle voltage:") } QGCLabel { text: _batteryFactGroup.voltage.valueString } QGCLabel { text: qsTr("Voltage divider:") } FactLabel { fact: batParams.battVoltageDivider } } QGCButton { text: qsTr("Calculate") onClicked: { var measuredVoltageValue = parseFloat(measuredVoltage.text) if (measuredVoltageValue === 0 || isNaN(measuredVoltageValue)) { return } var newVoltageDivider = (measuredVoltageValue * batParams.battVoltageDivider.value) / _batteryFactGroup.voltage.value if (newVoltageDivider > 0) { batParams.battVoltageDivider.value = newVoltageDivider } } } } // Column } // QGCViewDialog } // Component - calcVoltageDividerDlgComponent Component { id: calcAmpsPerVoltDlgComponent QGCPopupDialog { title: qsTr("Calculate Amps per Volt") buttons: StandardButton.Close property var _controller: controller property FactGroup _batteryFactGroup: controller.vehicle.getFactGroup("battery" + (dialogProperties.batteryIndex - 1)) BatteryParams { id: batParams controller: _controller batteryIndex: dialogProperties.batteryIndex } ColumnLayout { spacing: ScreenTools.defaultFontPixelHeight QGCLabel { Layout.preferredWidth: gridLayout.width wrapMode: Text.WordWrap text: qsTr("Measure current draw using an external current meter and enter the value below. Click Calculate to set the new amps per volt value.") } GridLayout { id: gridLayout columns: 2 QGCLabel { text: qsTr("Measured current:") } QGCTextField { id: measuredCurrent } QGCLabel { text: qsTr("Vehicle current:") } QGCLabel { text: _batteryFactGroup.current.valueString } QGCLabel { text: qsTr("Amps per volt:") } FactLabel { fact: batParams.battAmpsPerVolt } } QGCButton { text: qsTr("Calculate") onClicked: { var measuredCurrentValue = parseFloat(measuredCurrent.text) if (measuredCurrentValue === 0 || isNaN(measuredCurrentValue)) { return } var newAmpsPerVolt = (measuredCurrentValue * batParams.battAmpsPerVolt.value) / _batteryFactGroup.current.value if (newAmpsPerVolt != 0) { batParams.battAmpsPerVolt.value = newAmpsPerVolt } } } } } } } // Item } // Component } // SetupPage