QG4/src/AutoPilotPlugins/PX4/SafetyComponent.qml

import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0

Rectangle {
    QGCPalette { id: palette; colorGroup: QGCPalette.Active }

    width: 600
    height: 400
    color: palette.window

    Column {
        anchors.fill: parent
        spacing: 20

        Column {
            spacing: 10

            Label { text: "Return to Land setup"; color: palette.windowText; font.pointSize: 20 }
            Row {
                Label { text: "Climb to minimum altitude of "; color: palette.windowText; anchors.baseline: climbField.baseline }
                FactTextField { id: climbField; fact: autopilot.parameters["RTL_RETURN_ALT"]; showUnits: true }
            }
            Row {
                Label { text: "When Home is reached, descend to altitude of "; color: palette.windowText; anchors.baseline: descendField.baseline }
                FactTextField { id: descendField; fact: autopilot.parameters["RTL_DESCEND_ALT"]; showUnits: true }
            }
            Row {
                CheckBox {
                    id: homeLoiterCheckbox
                    property Fact fact: autopilot.parameters["RTL_LAND_DELAY"]

                    checked: fact.value > 0
                    text: "Loiter at Home altitude for "

                    onClicked: {
                        fact.value = checked ? 60 : -1
                    }

                    style: CheckBoxStyle {
                        label: Text {
                            color: palette.windowText
                            text: control.text
                        }
                    }
                }
                FactTextField {
                    fact: autopilot.parameters["RTL_LAND_DELAY"];
                    showUnits: true
                    anchors.baseline: homeLoiterCheckbox.baseline
                }
            }
        }

        Column {
            spacing: 10

            Label { text: "Return to Land Triggers"; color: palette.windowText; font.pointSize: 20 }
            Row {
                FactCheckBox {
                    id: telemetryLossCheckbox
                    fact: autopilot.parameters["COM_DL_LOSS_EN"]
                    checkedValue: 1
                    uncheckedValue: 0
                    text: "Telemetry signal timeout - Return to Land"
                    anchors.baseline: telemetryLossField.baseline
                }
                Label { text: " after "; color: palette.windowText; anchors.baseline: telemetryLossField.baseline }
                FactTextField {
                    id: telemetryLossField
                    fact: autopilot.parameters["NAV_DLL_N"];
                    showUnits: true
                }
            }
            Row {
                Label { text: "RC Transmitter signal loss - Return to Land after "; color: palette.windowText; anchors.baseline: rcLossField.baseline }
                FactTextField { id: rcLossField; fact: autopilot.parameters["COM_RC_LOSS_T"]; showUnits: true }
            }
        }

        Text {
            width: parent.width
            text: "Warning: You have an advanced safety configuration set using the NAV_RCL_OBC parameter. The above settings may not apply.";
            visible: autopilot.parameters["NAV_RCL_OBC"].value == 1
            color: palette.windowText
            wrapMode: Text.Wrap
        }
        Text {
            width: parent.width
            text: "Warning: You have an advanced safety configuration set using the NAV_DLL_OBC parameter. The above settings may not apply.";
            visible: autopilot.parameters["NAV_DLL_OBC"].value == 1
            color: palette.windowText
            wrapMode: Text.Wrap
        }
    }
}