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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 2.7
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
