地面站终端 App
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.

578 lines
26 KiB

/*=====================================================================
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
10 years ago
import QGroundControl.Controllers 1.0
10 years ago
QGCView {
id: qgcView
viewPanel: panel
10 years ago
// 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. Most users prefer to do this wirelessly with the telemetry link.")
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.")
10 years ago
readonly property string statusTextAreaDefaultText: qsTr("Start the individual calibration steps by clicking one of the buttons above.")
10 years ago
10 years ago
// 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: 250
10 years ago
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",
10 years ago
"ROTATION_ROLL_270_YAW_270",
"ROTATION_ROLL_180_PITCH_270",
"ROTATION_PITCH_90_YAW_180",
"ROTATION_ROLL_90_PITCH_90"
10 years ago
]
10 years ago
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")
10 years ago
// 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
10 years ago
SensorsComponentController {
id: controller
factPanel: panel
statusLog: statusTextArea
progressBar: progressBar
compassButton: compassButton
gyroButton: gyroButton
accelButton: accelButton
airspeedButton: airspeedButton
levelButton: levelButton
cancelButton: cancelButton
orientationCalAreaHelpText: orientationCalAreaHelpText
10 years ago
onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
10 years ago
onSetCompassRotations: {
if (showCompass0Rot || showCompass1Rot || showCompass2Rot) {
showDialog(compassRotationDialogComponent, qsTr("Set Compass Rotation(s)"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
10 years ago
}
}
10 years ago
onWaitingForCancelChanged: {
if (controller.waitingForCancel) {
showMessage(qsTr("Calibration Cancel"), qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds."), 0)
10 years ago
} 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)
}
10 years ago
}
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
10 years ago
Component {
id: preCalibrationDialogComponent
10 years ago
QGCViewDialog {
id: preCalibrationDialog
10 years ago
function accept() {
10 years ago
if (preCalibrationDialogType == "gyro") {
controller.calibrateGyro()
} else if (preCalibrationDialogType == "accel") {
controller.calibrateAccel()
} else if (preCalibrationDialogType == "level") {
controller.calibrateLevel()
10 years ago
} else if (preCalibrationDialogType == "compass") {
controller.calibrateCompass()
} else if (preCalibrationDialogType == "airspeed") {
controller.calibrateAirspeed()
}
preCalibrationDialog.hideDialog()
}
10 years ago
10 years ago
Column {
anchors.fill: parent
spacing: 5
10 years ago
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: preCalibrationDialogHelp
}
10 years ago
10 years ago
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
visible: (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
text: boardRotationText
10 years ago
}
10 years ago
10 years ago
FactComboBox {
width: rotationColumnWidth
model: rotations
visible: preCalibrationDialogType != "airspeed" && (preCalibrationDialogType != "gyro")
10 years ago
fact: sens_board_rot
}
}
}
}
10 years ago
Component {
10 years ago
id: compassRotationDialogComponent
QGCViewDialog {
id: compassRotationDialog
Column {
anchors.fill: parent
spacing: ScreenTools.defaultFontPixelHeight
10 years ago
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: compassRotationText
}
10 years ago
// Compass 0 rotation
Component {
id: compass0ComponentLabel
10 years ago
QGCLabel {
text: qsTr("External Compass Orientation")
}
}
Component {
id: compass0ComponentCombo
FactComboBox {
id: compass0RotationCombo
width: rotationColumnWidth
model: rotations
10 years ago
fact: cal_mag0_rot
}
}
Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel : null }
Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo : null }
10 years ago
// Compass 1 rotation
Component {
id: compass1ComponentLabel
QGCLabel { text: qsTr("Compass 1 Orientation") }
10 years ago
}
Component {
id: compass1ComponentCombo
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
10 years ago
fact: cal_mag1_rot
10 years ago
}
}
Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel : null }
Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo : null }
// Compass 2 rotation
Component {
id: compass2ComponentLabel
QGCLabel { text: qsTr("Compass 2 Orientation") }
10 years ago
}
Component {
id: compass2ComponentCombo
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
10 years ago
fact: cal_mag2_rot
10 years ago
}
}
Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel : null }
Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo : null }
} // Column
} // QGCViewDialog
} // Component - compassRotationDialogComponent
QGCViewPanel {
id: panel
anchors.fill: parent
10 years ago
Column {
anchors.fill: parent
10 years ago
Row {
readonly property int buttonWidth: ScreenTools.defaultFontPixelWidth * 15
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel { text: qsTr("Calibrate:"); anchors.baseline: compassButton.baseline }
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"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
10 years ago
}
}
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"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
10 years ago
}
}
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"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
10 years ago
IndicatorButton {
id: levelButton
width: parent.buttonWidth
text: qsTr("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, qsTr("Level Horizon"), qgcView.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"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
10 years ago
QGCButton {
id: cancelButton
text: qsTr("Cancel")
enabled: false
onClicked: controller.cancelCalibration()
}
}
Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
ProgressBar {
id: progressBar
width: parent.width - rotationColumnWidth
}
Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
Item {
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
10 years ago
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.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"
}
}
}
Column {
anchors.leftMargin: ScreenTools.defaultFontPixelWidth
anchors.left: orientationCalArea.right
x: parent.width - rotationColumnWidth
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
font.pointSize: ScreenTools.mediumFontPointSize
text: qsTr("Set Orientations")
}
10 years ago
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: boardRotationText
}
10 years ago
Column {
QGCLabel {
text: qsTr("Autpilot Orientation:")
}
FactComboBox {
id: boardRotationCombo
width: rotationColumnWidth;
model: rotations
fact: sens_board_rot
10 years ago
}
}
10 years ago
Column {
// Compass 0 rotation
Component {
id: compass0ComponentLabel2
10 years ago
QGCLabel {
text: qsTr("External Compass Orientation:")
}
}
Component {
id: compass0ComponentCombo2
10 years ago
FactComboBox {
id: compass0RotationCombo
width: rotationColumnWidth
10 years ago
model: rotations
fact: cal_mag0_rot
10 years ago
}
}
Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null }
Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null }
}
10 years ago
Column {
// Compass 1 rotation
Component {
id: compass1ComponentLabel2
10 years ago
QGCLabel {
text: qsTr("External Compass 1 Orientation:")
}
10 years ago
}
Component {
id: compass1ComponentCombo2
10 years ago
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: cal_mag1_rot
}
10 years ago
}
Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null }
Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null }
}
10 years ago
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
10 years ago
}
}
Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel2 : null }
Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo2 : null }
}
}
}
}
} // QGCViewPanel
} // QGCView