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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 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: "If the orientation is in the direction of flight, select None."
readonly property string orientationHelpCal: "Before calibrating make sure orientation settings are correct. " + orientationHelpSet
readonly property string compassRotationText: "If the compass or GPS module is mounted in flight direction, leave the default value (None)"
readonly property string compassHelp: "For Compass calibration you will need to rotate your vehicle through a number of positions."
readonly property string gyroHelp: "For Gyroscope calibration you will need to place your vehicle on a surface and leave it still."
readonly property string accelHelp: "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: "To level the horizon you need to place the vehicle in its level flight position and press OK."
readonly property string airspeedHelp: "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: "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 : "The calibration for Compass %1 appears to be poor. " +
"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
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 ) {
showMessage ( qsTr ( "Calibration Cancel" ) , qsTr ( "Waiting for Vehicle to response to Cancel. This may take a few seconds." ) , 0 )
} else {
hideDialog ( )
}
}
onCalibrationComplete: {
switch ( calType ) {
case APMSensorsComponentController.CalTypeAccel:
showMessage ( qsTr ( "Calibration complete" ) , qsTr ( "Accelerometer calibration complete." ) , StandardButton . Ok )
break
case APMSensorsComponentController.CalTypeOffboardCompass:
showMessage ( qsTr ( "Calibration complete" ) , qsTr ( "Compass calibration complete." ) , 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 ( )
if ( usingUDP ) {
showMessage ( "Sensor Calibration" , "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: singleCompassOnboardResultsComponent
Column {
anchors.left: parent . left
anchors.right: parent . right
spacing: Math . round ( ScreenTools . defaultFontPixelHeight / 2 )
visible: sensorParams . rgCompassAvailable [ index ]
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: "Compass " + ( index + 1 ) + " " +
( sensorParams . rgCompassPrimary [ index ] ? "(primary" : "(secondary" ) +
( sensorParams . rgCompassExternalParamAvailable [ index ] ?
( sensorParams . rgCompassExternal [ index ] ? ", external" : ", internal" ) :
"" ) +
")"
}
FactCheckBox {
text: "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." )
}
}
}
}
Component {
id: singleCompassSettingsComponent
Column {
spacing: Math . round ( ScreenTools . defaultFontPixelHeight / 2 )
visible: sensorParams . rgCompassAvailable [ index ]
QGCLabel {
text: "Compass " + ( index + 1 ) + " " +
( sensorParams . rgCompassPrimary [ index ] ? "(primary" : "(secondary" ) +
( sensorParams . rgCompassExternalParamAvailable [ index ] ?
( sensorParams . rgCompassExternal [ index ] ? ", external" : ", internal" ) :
"" ) +
")"
}
Column {
anchors.margins: ScreenTools . defaultFontPixelWidth * 2
anchors.left: parent . left
spacing: Math . round ( ScreenTools . defaultFontPixelHeight / 4 )
FactCheckBox {
text: "Use Compass"
fact: sensorParams . rgCompassUseFact [ index ]
visible: sensorParams . rgCompassUseParamAvailable [ index ] && ! sensorParams . rgCompassPrimary [ index ]
}
Column {
visible: 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 Orientation:" ) }
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: "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. " +
"CompassMot only works well if you have a battery current monitor because the magnetic interference is linear with current drawn. " +
"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: "Disconnect your props, flip them over and rotate them one position around the frame. " +
"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: "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: "Turn on your transmitter and keep throttle at zero."
}
QGCLabel {
anchors.left: parent . left
anchors.right: parent . right
wrapMode: Text . WordWrap
text: "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 ( "Cover airspeed sensor for 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: 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"
}
}
}
} // Item - Cal display area
} // Column - cal display
} // Row
} // Component - sensorsPageComponent
} // SetupPage
