/ * = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
QGroundControl Open Source Ground Control Station
( c ) 2009 - 2015 QGROUNDCONTROL PROJECT < http: //www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and / or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation , either version 3 of the License , or
( at your option ) any later version .
QGROUNDCONTROL is distributed in the hope that it will be useful ,
but WITHOUT ANY WARRANTY ; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE . See the
GNU General Public License for more details .
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL . If not , see < http: //www.gnu.org/licenses/>.
=== === === === === === === === === === === === === === === === === === === === === === === = * /
import QtQuick 2.2
import QtQuick . Controls 1.2
import QtQuick . Controls . Styles 1.2
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
QGCView {
id: rootQGCView
viewComponent: view
// 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: "If the autopilot is mounted in flight direction, leave the default value (ROTATION_NONE)"
readonly property string compassRotationText: "If the compass or GPS module is mounted in flight direction, leave the default value (ROTATION_NONE)"
readonly property string compassHelp: "For Compass calibration you will need to rotate your vehicle through a number of positions. Most users prefer to do this wirelessly with the telemetry link."
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 above."
// 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 sideBarH1PointSize: ( ScreenTools . defaultFontPointSize * 1.3 + 0.5 )
readonly property int mainTextH1PointSize: ( ScreenTools . defaultFontPointSize * 1.5 + 0.5 )
readonly property int rotationColumnWidth: 250
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"
]
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_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: rootQGCView . viewPanel
onResetStatusTextArea: statusLog . text = statusTextAreaDefaultText
onSetCompassRotations: {
if ( showCompass0Rot || showCompass1Rot || showCompass2Rot ) {
showDialog ( compassRotationDialogComponent , "Set Compass Rotation(s)" , 50 , StandardButton . Ok )
}
}
onWaitingForCancelChanged: {
if ( controller . waitingForCancel ) {
showMessage ( "Calibration Cancel" , "Waiting for Vehicle to response to Cancel. This may take a few seconds." , 0 )
} else {
hideDialog ( )
}
}
}
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 {
width: parent . width
wrapMode: Text . WordWrap
visible: ( preCalibrationDialogType != "airspeed" ) && ( preCalibrationDialogType != "gyro" )
text: boardRotationText
}
FactComboBox {
width: rotationColumnWidth
model: rotations
visible: preCalibrationDialogType != "airspeed" && ( preCalibrationDialogType != "gyro" )
fact: sens_board_rot
}
}
}
}
Component {
id: compassRotationDialogComponent
QGCViewDialog {
id: compassRotationDialog
Column {
anchors.fill: parent
spacing: 10
QGCLabel {
width: parent . width
wrapMode: Text . WordWrap
text: compassRotationText
}
// Compass 0 rotation
Component {
id: compass0ComponentLabel
QGCLabel {
font.pointSize: sideBarH1PointSize
text: "External Compass Orientation"
}
}
Component {
id: compass0ComponentCombo
FactComboBox {
id: compass0RotationCombo
width: rotationColumnWidth
model: rotations
fact: cal_mag0_rot
}
}
Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel : null }
Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo : null }
// Compass 1 rotation
Component {
id: compass1ComponentLabel
QGCLabel { text: "Compass 1 Orientation" }
}
Component {
id: compass1ComponentCombo
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: cal_mag1_rot
}
}
Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel : null }
Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo : null }
// Compass 2 rotation
Component {
id: compass2ComponentLabel
QGCLabel { text: "Compass 2 Orientation" }
}
Component {
id: compass2ComponentCombo
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: cal_mag2_rot
}
}
Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel : null }
Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo : null }
} // Column
} // QGCViewDialog
} // Component - compassRotationDialogComponent
Component {
id: view
QGCViewPanel {
id: viewPanel
Connections {
target: rootQGCView
onCompleted: {
controller . factPanel = viewPanel
controller . statusLog = statusTextArea
controller . progressBar = progressBar
controller . compassButton = compassButton
controller . gyroButton = gyroButton
controller . accelButton = accelButton
controller . airspeedButton = airspeedButton
controller . levelButton = levelButton
controller . cancelButton = cancelButton
controller . orientationCalAreaHelpText = orientationCalAreaHelpText
}
}
QGCPalette { id: qgcPal ; colorGroupEnabled: enabled }
color: qgcPal . window
Column {
anchors.fill: parent
QGCLabel {
text: "SENSORS CONFIG"
font.pointSize: ScreenTools . largeFontPointSize
}
Item { height: 20 ; width: 10 } // spacer
Row {
readonly property int buttonWidth: 120
spacing: 20
QGCLabel { text: "Calibrate:" ; anchors.baseline: compassButton . baseline }
IndicatorButton {
id: compassButton
width: parent . buttonWidth
text: "Compass"
indicatorGreen: cal_mag0_id . value != 0
onClicked: {
preCalibrationDialogType = "compass"
preCalibrationDialogHelp = compassHelp
showDialog ( preCalibrationDialogComponent , "Calibrate Compass" , 50 , StandardButton . Cancel | StandardButton . Ok )
}
}
IndicatorButton {
id: gyroButton
width: parent . buttonWidth
text: "Gyroscope"
indicatorGreen: cal_gyro0_id . value != 0
onClicked: {
preCalibrationDialogType = "gyro"
preCalibrationDialogHelp = gyroHelp
showDialog ( preCalibrationDialogComponent , "Calibrate Gyro" , 50 , StandardButton . Cancel | StandardButton . Ok )
}
}
IndicatorButton {
id: accelButton
width: parent . buttonWidth
text: "Accelerometer"
indicatorGreen: cal_acc0_id . value != 0
onClicked: {
preCalibrationDialogType = "accel"
preCalibrationDialogHelp = accelHelp
showDialog ( preCalibrationDialogComponent , "Calibrate Accelerometer" , 50 , StandardButton . Cancel | StandardButton . Ok )
}
}
IndicatorButton {
id: levelButton
width: parent . buttonWidth
text: "Level Horizon"
indicatorGreen: sens_board_x_off . value != 0
enabled: cal_acc0_id . value != 0 && cal_gyro0_id . value != 0
onClicked: {
preCalibrationDialogType = "level"
preCalibrationDialogHelp = levelHelp
showDialog ( preCalibrationDialogComponent , "Level Horizon" , 50 , StandardButton . Cancel | StandardButton . Ok )
}
}
IndicatorButton {
id: airspeedButton
width: parent . buttonWidth
text: "Airspeed"
visible: controller . fixedWing
indicatorGreen: sens_dpres_off . value != 0
onClicked: {
preCalibrationDialogType = "airspeed"
preCalibrationDialogHelp = airspeedHelp
showDialog ( preCalibrationDialogComponent , "Calibrate Airspeed" , 50 , StandardButton . Cancel | StandardButton . Ok )
}
}
QGCButton {
id: cancelButton
text: "Cancel"
enabled: false
onClicked: controller . cancelCalibration ( )
}
}
Item { height: 20 ; width: 10 } // spacer
ProgressBar {
id: progressBar
width: parent . width - rotationColumnWidth
}
Item { height: 10 ; width: 10 } // spacer
Item {
readonly property int calibrationAreaHeight: 300
property int calDisplayAreaWidth: parent . width - rotationColumnWidth
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
width: parent . width
wrapMode: Text . WordWrap
font.pointSize: ScreenTools . fontPointFactor * ( 22 ) ;
anchors.top: orientationCalArea . top
anchors.left: orientationCalArea . left
anchors.topMargin: 15
anchors.leftMargin: 15
anchors.rightMargin: 15
anchors.bottomMargin: 15
}
Flow {
anchors.top: orientationCalAreaHelpText . bottom
anchors.left: orientationCalAreaHelpText . left
anchors.topMargin: 15
width: parent . width
height: parent . height - orientationCalAreaHelpText . implicitHeight
spacing: 5
VehicleRotationCal {
visible: controller . orientationCalDownSideVisible
calValid: controller . orientationCalDownSideDone
calInProgress: controller . orientationCalDownSideInProgress
calInProgressText: controller . orientationCalDownSideRotate ? "Rotate" : "Hold Still"
imageSource: controller . orientationCalDownSideRotate ? "qrc:///qml/VehicleDownRotate.png" : "qrc:///qml/VehicleDown.png"
}
VehicleRotationCal {
visible: controller . orientationCalUpsideDownSideVisible
calValid: controller . orientationCalUpsideDownSideDone
calInProgress: controller . orientationCalUpsideDownSideInProgress
calInProgressText: "Hold Still"
imageSource: "qrc:///qml/VehicleUpsideDown.png"
}
VehicleRotationCal {
visible: controller . orientationCalNoseDownSideVisible
calValid: controller . orientationCalNoseDownSideDone
calInProgress: controller . orientationCalNoseDownSideInProgress
calInProgressText: controller . orientationCalNoseDownSideRotate ? "Rotate" : "Hold Still"
imageSource: controller . orientationCalNoseDownSideRotate ? "qrc:///qml/VehicleNoseDownRotate.png" : "qrc:///qml/VehicleNoseDown.png"
}
VehicleRotationCal {
visible: controller . orientationCalTailDownSideVisible
calValid: controller . orientationCalTailDownSideDone
calInProgress: controller . orientationCalTailDownSideInProgress
calInProgressText: "Hold Still"
imageSource: "qrc:///qml/VehicleTailDown.png"
}
VehicleRotationCal {
visible: controller . orientationCalLeftSideVisible
calValid: controller . orientationCalLeftSideDone
calInProgress: controller . orientationCalLeftSideInProgress
calInProgressText: controller . orientationCalLeftSideRotate ? "Rotate" : "Hold Still"
imageSource: controller . orientationCalLeftSideRotate ? "qrc:///qml/VehicleLeftRotate.png" : "qrc:///qml/VehicleLeft.png"
}
VehicleRotationCal {
visible: controller . orientationCalRightSideVisible
calValid: controller . orientationCalRightSideDone
calInProgress: controller . orientationCalRightSideInProgress
calInProgressText: "Hold Still"
imageSource: "qrc:///qml/VehicleRight.png"
}
}
}
Column {
anchors.left: orientationCalArea . right
anchors.leftMargin: 5
spacing: 20
x: parent . width - rotationColumnWidth
Column {
spacing: 5
QGCLabel {
font.pointSize: sideBarH1PointSize
text: "Autopilot Orientation"
}
QGCLabel {
width: parent . width
wrapMode: Text . WordWrap
text: boardRotationText
}
FactComboBox {
id: boardRotationCombo
width: rotationColumnWidth ;
model: rotations
fact: sens_board_rot
}
}
Column {
spacing: 5
// Compass 0 rotation
Component {
id: compass0ComponentLabel2
QGCLabel {
font.pointSize: sideBarH1PointSize
text: "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 {
spacing: 5
// Compass 1 rotation
Component {
id: compass1ComponentLabel2
QGCLabel {
font.pointSize: sideBarH1PointSize
text: "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: 5
// Compass 2 rotation
Component {
id: compass2ComponentLabel2
QGCLabel {
font.pointSize: sidebarH1PointSize
text: "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 }
}
}
}
}
} // Rectangle
} // Component - view
}
