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*
* ( c ) 2009 - 2016 QGROUNDCONTROL PROJECT < http: //www.qgroundcontrol.org>
*
* 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 2.4
import QtQuick . Dialogs 1.2
import QGroundControl 1.0
import QGroundControl . Controls 1.0
import QGroundControl . FactSystem 1.0
import QGroundControl . ScreenTools 1.0
SetupPage {
id: motorPage
pageComponent: pageComponent
enabled: true
readonly property int _barHeight : 10
readonly property int _barWidth : 5
readonly property int _sliderHeight : 10
property int neutralValue: 50 ;
property int _lastIndex : 0 ;
FactPanelController {
id: controller
}
function setMotorDirection ( num , reversed ) {
var fact = controller . getParameterFact ( - 1 , "MOT_" + num + "_DIRECTION" )
fact . value = reversed ? - 1 : 1 ;
}
Component.onCompleted: controller . vehicle . armed = false
Component {
id: pageComponent
Column {
spacing: 10
Row {
id: motorSliders
enabled: controller . vehicle . armed
spacing: ScreenTools . defaultFontPixelWidth * 4
Column {
spacing: ScreenTools . defaultFontPixelWidth * 2
Row {
id: sliderRow
spacing: ScreenTools . defaultFontPixelWidth * 4
Repeater {
id: sliderRepeater
model: controller . vehicle . motorCount == - 1 ? 8 : controller . vehicle . motorCount
Column {
property alias motorSlider: slider
spacing: ScreenTools . defaultFontPixelWidth
QGCLabel {
anchors.horizontalCenter: parent . horizontalCenter
text: index + 1
}
QGCSlider {
id: slider
height: ScreenTools . defaultFontPixelHeight * _sliderHeight
orientation: Qt . Vertical
maximumValue: 100
value: neutralValue
// Give slider 'center sprung' behavior
onPressedChanged: {
if ( ! slider . pressed ) {
slider . value = neutralValue
}
_lastIndex = index
}
// Disable mouse scroll
MouseArea {
anchors.fill: parent
onWheel: {
// do nothing
wheel . accepted = true ;
}
onPressed: {
// propogate/accept
mouse . accepted = false ;
}
onReleased: {
// propogate/accept
mouse . accepted = false ;
}
}
}
} // Column
} // Repeater
} // Row
QGCLabel {
width: parent . width
anchors.left: parent . left
anchors.right: parent . right
wrapMode: Text . WordWrap
text: qsTr ( "Reverse Motor Direction" )
horizontalAlignment: Text . AlignHCenter
verticalAlignment: Text . AlignBottom
}
Rectangle {
anchors.margins: ScreenTools . defaultFontPixelWidth * 3
width: parent . width
height: 1
color: qgcPal . text
}
Row {
anchors.margins: ScreenTools . defaultFontPixelWidth
Repeater {
id: cbRepeater
model: controller . vehicle . motorCount == - 1 ? 8 : controller . vehicle . motorCount
Column {
spacing: ScreenTools . defaultFontPixelWidth
QGCCheckBox {
width: sliderRow . width / ( controller . vehicle . motorCount - 0.5 )
checked: controller . getParameterFact ( - 1 , "MOT_" + ( index + 1 ) + "_DIRECTION" ) . value == - 1
onClicked: {
sliderRepeater . itemAt ( index ) . motorSlider . value = neutralValue
setMotorDirection ( index + 1 , checked )
}
}
} // Column
} // Repeater
} // Row
} // Column
// Display the frame currently in use with motor numbers
APMSubMotorDisplay {
anchors.top: parent . top
anchors.bottom: parent . bottom
width: height
frameType: controller . getParameterFact ( - 1 , "FRAME_CONFIG" ) . value
}
} // Row
QGCLabel {
anchors.left: parent . left
anchors.right: parent . right
wrapMode: Text . WordWrap
text: qsTr ( "Moving the sliders will cause the motors to spin. Make sure the motors and propellers are clear from obstructions! The direction of the motor rotation is dependent on how the three phases of the motor are physically connected to the ESCs (if any two wires are swapped, the direction of rotation will flip). Because we cannot guarantee what order the phases are connected, the motor directions must be configured in software. When a slider is moved DOWN, the thruster should push air/water TOWARD the cable entering the housing. Click the checkbox to reverse the direction of the corresponding thruster.\n\n"
+ "Blue Robotics thrusters are lubricated by water and are not designed to be run in air. Testing the thrusters in air is ok at low speeds for short periods of time. Extended operation of Blue Robotics in air may lead to overheating and permanent damage. Without water lubrication, Blue Robotics thrusters may also make some unpleasant noises when operated in air; this is normal." )
}
Row {
spacing: ScreenTools . defaultFontPixelWidth
Switch {
id: safetySwitch
onToggled: {
if ( controller . vehicle . armed ) {
timer . stop ( )
enabled = false
coolDownTimer . start ( )
}
controller . vehicle . armed = checked
checked = controller . vehicle . armed // Makes the switch stay off if it's not possible to arm
}
}
// Make sure external changes to Armed are reflected on the switch
Connections {
target: controller . vehicle
onArmedChanged:
{
safetySwitch . checked = armed
if ( ! armed ) {
timer . stop ( )
safetySwitch . enabled = false
coolDownTimer . start ( )
} else {
timer . start ( )
}
for ( var sliderIndex = 0 ; sliderIndex < sliderRepeater . count ; sliderIndex ++ ) {
sliderRepeater . itemAt ( sliderIndex ) . motorSlider . value = neutralValue
}
}
}
QGCLabel {
anchors.verticalCenter: safetySwitch . verticalCenter
color: qgcPal . warningText
text: qsTr ( "Slide this switch to arm the vehicle and enable the motor test (CAUTION!)" )
}
} // Row
Row {
QGCLabel {
id: cooldownLabel
visible: coolDownTimer . running
color: qgcPal . warningText
text: qsTr ( "A 10 second coooldown is required before testing again, please stand by..." )
}
}
// Repeats the command signal and updates the checkbox every 50 ms
Timer {
id: timer
interval: 50
repeat: true
onTriggered: {
if ( controller . vehicle . armed ) {
var slider = sliderRepeater . itemAt ( _lastIndex )
var reversed = controller . getParameterFact ( - 1 , "MOT_" + ( _lastIndex + 1 ) + "_DIRECTION" ) . value == - 1
if ( reversed ) {
controller . vehicle . motorTest ( _lastIndex , 100 - slider . motorSlider . value , 0 )
} else {
controller . vehicle . motorTest ( _lastIndex , slider . motorSlider . value , 0 )
}
}
}
}
Timer {
id: coolDownTimer
interval: 11000
repeat: false
onTriggered: {
safetySwitch . enabled = true
}
}
} // Column
} // Component
} // SetupPahe
