/ * = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
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: qgcView
viewPanel: panel
// 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 orientationHelp: "If the orientation is in the direction of flight, select None."
readonly property string boardRotationText: "If the autopilot is mounted in flight direction, leave the default value (None)"
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. 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
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 compass1Id: controller . getParameterFact ( - 1 , "COMPASS_DEV_ID" )
property Fact compass2Id: controller . getParameterFact ( - 1 , "COMPASS_DEV_ID2" )
property Fact compass3Id: controller . getParameterFact ( - 1 , "COMPASS_DEV_ID3" )
property Fact compass1ExternalFact: controller . getParameterFact ( - 1 , "COMPASS_EXTERNAL" )
property Fact compass1Rot: controller . getParameterFact ( - 1 , "COMPASS_ORIENT" )
property Fact boardRot: controller . getParameterFact ( - 1 , "AHRS_ORIENTATION" )
property bool accelCalNeeded: controller . accelSetupNeeded
property bool compassCalNeeded: controller . compassSetupNeeded
// The following parameters are not available in olders firmwares
property bool compass2ExternalParamAvailable: controller . parameterExists ( - 1 , "COMPASS_EXTERN2" )
property bool compass3ExternalParamAvailable: controller . parameterExists ( - 1 , "COMPASS_EXTERN3" )
property bool compass2RotParamAvailable: controller . parameterExists ( - 1 , "COMPASS_ORIENT2" )
property bool compass3RotParamAvailable: controller . parameterExists ( - 1 , "COMPASS_ORIENT3" )
property bool compass1UseParamAvailable: controller . parameterExists ( - 1 , "COMPASS_USE" )
property bool compass2UseParamAvailable: controller . parameterExists ( - 1 , "COMPASS_USE2" )
property bool compass3UseParamAvailable: controller . parameterExists ( - 1 , "COMPASS_USE3" )
property Fact noFact: Fact { }
property Fact compass2ExternalFact: compass2ExternalParamAvailable ? controller . getParameterFact ( - 1 , "COMPASS_EXTERN2" ) : noFact
property Fact compass3ExternalFact: compass3ExternalParamAvailable ? controller . getParameterFact ( - 1 , "COMPASS_EXTERN3" ) : noFact
property Fact compass2Rot: compass2RotParamAvailable ? controller . getParameterFact ( - 1 , "COMPASS_ORIENT2" ) : noFact
property Fact compass3Rot: compass3RotParamAvailable ? controller . getParameterFact ( - 1 , "COMPASS_ORIENT3" ) : noFact
property Fact compass1UseFact: compass1UseParamAvailable ? controller . getParameterFact ( - 1 , "COMPASS_USE" ) : noFact
property Fact compass2UseFact: compass2UseParamAvailable ? controller . getParameterFact ( - 1 , "COMPASS_USE2" ) : noFact
property Fact compass3UseFact: compass3UseParamAvailable ? controller . getParameterFact ( - 1 , "COMPASS_USE3" ) : noFact
// We track these values by binding through a separate property so we can handle missing params
property bool compass1External: compass1ExternalFact . value
property bool compass2External: compass2ExternalParamAvailable ? compass2ExternalFact.value : false // false: Simulate internal so we don't show rotation combos
property bool compass3External: compass3ExternalParamAvailable ? compass3ExternalFact.value : false // false: Simulate internal so we don't show rotation combos
property bool compass1Use: compass1UseParamAvailable ? compass1UseFact.value : true
property bool compass2Use: compass2UseParamAvailable ? compass2UseFact.value : true
property bool compass3Use: compass3UseParamAvailable ? compass3UseFact.value : true
// Id > = signals compass available, rot < 0 signals internal compass
property bool showCompass1Rot: compass1Id . value > 0 && compass1External && compass1Use
property bool showCompass2Rot: compass2Id . value > 0 && compass2External && compass2Use
property bool showCompass3Rot: compass3Id . value > 0 && compass3External && compass3Use
function validCompassOffsets ( compassParamPrefix ) {
var ofsX = controller . getParameterFact ( - 1 , compassParamPrefix + "X" )
var ofsY = controller . getParameterFact ( - 1 , compassParamPrefix + "Y" )
var ofsZ = controller . getParameterFact ( - 1 , compassParamPrefix + "Z" )
return Math . sqrt ( ofsX . value ^ 2 + ofsY . value ^ 2 + ofsZ . value ^ 2 ) < 600
}
APMSensorsComponentController {
id: controller
factPanel: panel
statusLog: statusTextArea
progressBar: progressBar
compassButton: compassButton
accelButton: accelButton
nextButton: nextButton
cancelButton: cancelButton
orientationCalAreaHelpText: orientationCalAreaHelpText
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: {
if ( preCalibrationDialogType == "accel" ) {
_postCalibrationDialogText = qsTr ( "Accelerometer calibration complete." )
_postCalibrationDialogParams = [ "INS_ACCSCAL_X" , "INS_ACCSCAL_Y" , "INS_ACCSCAL_Z" ,
"INS_ACC2SCAL_X" , "INS_ACC2SCAL_Y" , "INS_ACC2SCAL_Z" ,
"INS_ACC3SCAL_X" , "INS_ACC3SCAL_Y" , "INS_ACC3SCAL_Z" ,
"INS_GYROFFS_X" , "INS_GYROFFS_Y" , "INS_GYROFFS_Z" ,
"INS_GYR2OFFS_X" , "INS_GYR2OFFS_Y" , "INS_GYR2OFFS_Z" ,
"INS_GYR3OFFS_X" , "INS_GYR3OFFS_Y" , "INS_GYR3OFFS_Z" ]
} else if ( preCalibrationDialogType == "compass" ) {
_postCalibrationDialogText = qsTr ( "Compass calibration complete. " )
_postCalibrationDialogParams = [ ] ;
if ( compass1Id . value > 0 ) {
if ( ! validCompassOffsets ( "COMPASS_OFS_" ) ) {
_postCalibrationDialogText += _badCompassCalText . replace ( "%1" , 1 )
}
_postCalibrationDialogParams . push ( "COMPASS_OFS_X" )
_postCalibrationDialogParams . push ( "COMPASS_OFS_Y" )
_postCalibrationDialogParams . push ( "COMPASS_OFS_Z" )
}
if ( compass2Id . value > 0 ) {
if ( ! validCompassOffsets ( "COMPASS_OFS_" ) ) {
_postCalibrationDialogText += _badCompassCalText . replace ( "%1" , 2 )
}
_postCalibrationDialogParams . push ( "COMPASS_OFS2_X" )
_postCalibrationDialogParams . push ( "COMPASS_OFS2_Y" )
_postCalibrationDialogParams . push ( "COMPASS_OFS2_Z" )
}
if ( compass3Id . value > 0 ) {
if ( ! validCompassOffsets ( "COMPASS_OFS_" ) ) {
_postCalibrationDialogText += _badCompassCalText . replace ( "%1" , 3 )
}
_postCalibrationDialogParams . push ( "COMPASS_OFS3_X" )
_postCalibrationDialogParams . push ( "COMPASS_OFS3_Y" )
_postCalibrationDialogParams . push ( "COMPASS_OFS3_Z" )
}
}
showDialog ( postCalibrationDialogComponent , qsTr ( "Calibration complete" ) , qgcView . showDialogDefaultWidth , StandardButton . Ok )
}
}
QGCPalette { id: qgcPal ; colorGroupEnabled: panel . enabled }
Component {
id: preCalibrationDialogComponent
QGCViewDialog {
id: preCalibrationDialog
function accept ( ) {
if ( preCalibrationDialogType == "accel" ) {
controller . calibrateAccel ( )
} else if ( preCalibrationDialogType == "compass" ) {
controller . calibrateCompass ( )
}
preCalibrationDialog . hideDialog ( )
}
QGCLabel {
id: label
anchors.left: parent . left
anchors.right: parent . right
wrapMode: Text . WordWrap
text: qsTr ( "Before calibrating make sure orientation settings are correct." )
}
Loader {
id: rotationsLoader
anchors.topMargin: ScreenTools . defaultFontPixelHeight
anchors.top: label . bottom
anchors.left: parent . left
anchors.right: parent . right
sourceComponent: rotationCombosComponent
property bool showCompassRotations: preCalibrationDialogType == "accel" ? false : true
}
}
}
Component {
id: postCalibrationDialogComponent
QGCViewDialog {
QGCLabel {
id: textLabel
anchors.left: parent . left
anchors.right: parent . right
wrapMode: Text . WordWrap
text: _postCalibrationDialogText
}
QGCCheckBox {
id: showValues
anchors.topMargin: ScreenTools . defaultFontPixelHeight
anchors.top: textLabel . bottom
text: qsTr ( "Show values" )
}
QGCFlickable {
anchors.topMargin: ScreenTools . defaultFontPixelHeight
anchors.top: showValues . bottom
anchors.bottom: parent . bottom
contentHeight: valueColumn . height
flickableDirection: Flickable . VerticalFlick
visible: showValues . checked
Column {
id: valueColumn
Repeater {
model: _postCalibrationDialogParams
QGCLabel {
text: fact . name + ": " + fact . valueString
property Fact fact: controller . getParameterFact ( - 1 , modelData )
}
}
}
}
}
}
Component {
id: rotationCombosComponent
Column {
QGCLabel {
font.pointSize: sideBarH1PointSize
text: qsTr ( "Set Orientations" )
}
Item {
width: 1
height: ScreenTools . defaultFontPixelHeight
}
QGCLabel {
width: parent . width
wrapMode: Text . WordWrap
text: orientationHelp
}
Item {
width: 1
height: ScreenTools . defaultFontPixelHeight
}
// Board rotation
QGCLabel {
text: qsTr ( "Autopilot Orientation" )
}
FactComboBox {
id: boardRotationCombo
width: parent . width
fact: boardRot
indexModel: false
}
Item {
width: 1
height: ScreenTools . defaultFontPixelHeight
}
// Compass 1 rotation
QGCLabel {
text: qsTr ( "Compass 1 Orientation" )
visible: showCompassRotations && showCompass1Rot
}
FactComboBox {
width: parent . width
fact: compass1Rot
indexModel: false
visible: showCompassRotations && showCompass1Rot
}
Item {
width: 1
height: ScreenTools . defaultFontPixelHeight
}
// Compass 2 rotation
QGCLabel {
text: qsTr ( "Compass 2 Orientation" )
visible: showCompassRotations && showCompass2Rot
}
FactComboBox {
width: parent . width
fact: compass2Rot
indexModel: false
visible: showCompassRotations && showCompass2Rot
}
Item {
width: 1
height: ScreenTools . defaultFontPixelHeight
}
// Compass 3 rotation
QGCLabel {
text: qsTr ( "Compass 3 Orientation" )
visible: showCompassRotations && showCompass3Rot
}
FactComboBox {
width: parent . width
fact: compass3Rot
indexModel: false
visible: showCompassRotations && showCompass3Rot
}
} // Column
} // Component - Rotation combos
QGCViewPanel {
id: panel
anchors.fill: parent
Row {
id: buttonsRow
spacing: ScreenTools . defaultFontPixelWidth
readonly property int buttonWidth: ScreenTools . defaultFontPixelWidth * 15
QGCLabel { text: qsTr ( "Calibrate:" ) ; anchors.baseline: compassButton . baseline }
IndicatorButton {
id: accelButton
width: parent . buttonWidth
text: qsTr ( "Accelerometer" )
indicatorGreen: ! accelCalNeeded
onClicked: {
preCalibrationDialogType = "accel"
preCalibrationDialogHelp = accelHelp
showDialog ( preCalibrationDialogComponent , qsTr ( "Calibrate Accelerometer" ) , qgcView . showDialogDefaultWidth , StandardButton . Cancel | StandardButton . Ok )
}
}
IndicatorButton {
id: compassButton
width: parent . 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 {
preCalibrationDialogType = "compass"
preCalibrationDialogHelp = compassHelp
showDialog ( preCalibrationDialogComponent , qsTr ( "Calibrate Compass" ) , qgcView . showDialogDefaultWidth , StandardButton . Cancel | StandardButton . Ok )
}
}
}
QGCButton {
id: nextButton
text: qsTr ( "Next" )
enabled: false
onClicked: controller . nextClicked ( )
}
QGCButton {
id: cancelButton
text: qsTr ( "Cancel" )
enabled: false
onClicked: controller . cancelCalibration ( )
}
} // Row - Cal buttons
ProgressBar {
id: progressBar
anchors.topMargin: ScreenTools . defaultFontPixelHeight
anchors.top: buttonsRow . bottom
anchors.left: parent . left
anchors.right: centerPanel . right
}
Item {
id: centerPanel
anchors.topMargin: ScreenTools . defaultFontPixelHeight
anchors.rightMargin: ScreenTools . defaultFontPixelHeight
anchors.top: progressBar . bottom
anchors.bottom: parent . bottom
anchors.left: parent . left
anchors.right: rotationsLoader . left
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.left: orientationCalAreaHelpText . left
width: parent . width
height: parent . height - orientationCalAreaHelpText . implicitHeight
spacing: ScreenTools . defaultFontPixelWidth
VehicleRotationCal {
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 {
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 {
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 {
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 {
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 {
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
Loader {
id: rotationsLoader
anchors.top: centerPanel . top
anchors.bottom: parent . bottom
anchors.right: parent . right
width: rotationColumnWidth
sourceComponent: rotationCombosComponent
property bool showCompassRotations: true
}
} // QGCViewPanel
} // QGCView
