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QGC4.4
Don Gagne 10 years ago
parent
106c2cf248
commit
208be59b2a
14 changed files with 172 additions and 173 deletions
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  1. 3
      QGCApplication.pro
  2. 4
      src/AutoPilotPlugins/PX4/AirframeComponentController.cc
  3. 1
      src/AutoPilotPlugins/PX4/AirframeComponentController.h
  4. 3
      src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
  5. 6
      src/AutoPilotPlugins/PX4/SensorsComponent.cc
  6. 264
      src/AutoPilotPlugins/PX4/SensorsComponent.qml
  7. 12
      src/AutoPilotPlugins/PX4/SensorsComponentController.cc
  8. 9
      src/AutoPilotPlugins/PX4/SensorsComponentController.h
  9. 8
      src/FactSystem/FactControls/FactPanel.qml
  10. 6
      src/FactSystem/FactControls/FactPanelController.cc
  11. 1
      src/FactSystem/FactControls/FactPanelController.h
  12. 10
      src/QGCApplication.cc
  13. 9
      src/QmlControls/QGCViewDialog.qml
  14. 9
      src/QmlControls/QGCViewPanel.qml

3
QGCApplication.pro
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@ -548,7 +548,8 @@ SOURCES += \ @@ -548,7 +548,8 @@ SOURCES += \
#
INCLUDEPATH += \
src/VehicleSetup
src/VehicleSetup \
src/AutoPilotPlugins/PX4 \
FORMS += \
src/VehicleSetup/SetupView.ui \

4
src/AutoPilotPlugins/PX4/AirframeComponentController.cc
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@ -38,14 +38,10 @@ @@ -38,14 +38,10 @@
bool AirframeComponentController::_typesRegistered = false;
AirframeComponentController::AirframeComponentController(void) :
_uas(NULL),
_currentVehicleIndex(0),
_autostartId(0),
_showCustomConfigPanel(false)
{
_uas = UASManager::instance()->getActiveUAS();
Q_ASSERT(_uas);
if (!_typesRegistered) {
_typesRegistered = true;
qmlRegisterUncreatableType<AirframeType>("QGroundControl.Controllers", 1, 0, "AiframeType", "Can only reference AirframeType");

1
src/AutoPilotPlugins/PX4/AirframeComponentController.h
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@ -66,7 +66,6 @@ signals: @@ -66,7 +66,6 @@ signals:
private:
static bool _typesRegistered;
UASInterface* _uas;
QVariantList _airframeTypes;
QString _currentAirframeType;
QString _currentVehicleName;

3
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
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@ -75,9 +75,6 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) : @@ -75,9 +75,6 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
{
Q_ASSERT(uas);
qmlRegisterType<FlightModesComponentController>("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
qmlRegisterType<AirframeComponentController>("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
_parameterFacts = new PX4ParameterLoader(this, uas, this);
Q_CHECK_PTR(_parameterFacts);

6
src/AutoPilotPlugins/PX4/SensorsComponent.cc
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@ -110,11 +110,7 @@ QWidget* SensorsComponent::setupWidget(void) const @@ -110,11 +110,7 @@ QWidget* SensorsComponent::setupWidget(void) const
QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
Q_CHECK_PTR(holder);
holder->setAutoPilot(_autopilot);
SensorsComponentController* controller = new SensorsComponentController(_autopilot, holder);
holder->setContextPropertyObject("controller", controller);
holder->setAutoPilot(_autopilot);
holder->setSource(QUrl::fromUserInput("qrc:/qml/SensorsComponent.qml"));
return holder;

264
src/AutoPilotPlugins/PX4/SensorsComponent.qml
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@ -31,91 +31,101 @@ import QGroundControl.FactControls 1.0 @@ -31,91 +31,101 @@ 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 compassHelp: "For Compass calibration you will need to rotate your vehicle through a number of positions. For this calibration is is best " +
"to be connected to your vehicle via radio instead of USB since the USB cable will likely get in the way."
readonly property string gyroHelp: "For Gyroscope calibration you will need to place your vehicle right side up on solid surface and leave it still."
readonly property string accelHelp: "For Accelerometer calibration you will need to place your vehicle on all six sides and hold it still there for a few seconds."
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."
property var controller
// 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: 200
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"
]
Component {
id: preCalibrationDialogComponent
QGCViewDialog {
id: preCalibrationDialog
Fact { id: sys_autostart; name: "SYS_AUTOSTART" }
function accept() {
sys_autostart.value = 0
customConfigDialog.hideDialog()
}
QGCLabel {
anchors.fill: parent
wrapMode: Text.WordWrap
text: "Your vehicle is using a custom airframe configuration. " +
"This configuration can only be modified through the Parameter Editor.\n\n" +
"If you want to Reset your airframe configuration and select a standard configuration, click 'Reset' above."
if (preCalibrationDialogType == "gyro") {
controller.calibrateGyro()
} else if (preCalibrationDialogType == "accel") {
controller.calibrateAccel()
} else if (preCalibrationDialogType == "compass") {
controller.calibrateCompass()
} else if (preCalibrationDialogType == "airspeed") {
controller.calibrateAirspeed()
}
preCalibrationDialog.hideDialog()
}
Rectangle {
property string calibrationType
id: boardRotationOverlay
width: 300
height: boardRotationOverlayColumn.height + 11
anchors.verticalCenter: parent.verticalCenter
anchors.horizontalCenter: parent.horizontalCenter
color: qgcPal.window
border.width: 1
border.color: qgcPal.text
visible: false
z: overlay.z + 1
Column {
id: boardRotationOverlayColumn
anchors.topMargin: 10
anchors.top: parent.top
width: parent.width
spacing: 10
Column {
anchors.leftMargin: 10
anchors.rightMargin: 10
anchors.left: parent.left
anchors.right: parent.right
spacing: 10
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: "Please check and/or update board rotation before calibrating"
}
FactComboBox {
width: rotationColumnWidth
model: rotations
fact: Fact { name: "SENS_BOARD_ROT" }
}
}
Column {
anchors.fill: parent
spacing: 10
QGCButton {
x: 1
width: parent.width - 2
primary: true
text: "OK"
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: preCalibrationDialogHelp
}
onClicked: {
boardRotationOverlay.visible = false
overlay.visible = false
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
visible: preCalibrationDialogType != "airspeed"
text: "Please check and/or update board rotation before calibrating"
}
if (boardRotationOverlay.calibrationType == "gyro") {
controller.calibrateGyro()
} else if (boardRotationOverlay.calibrationType == "accel") {
controller.calibrateAccel()
} else if (boardRotationOverlay.calibrationType == "compass") {
controller.calibrateCompass()
}
}
}
FactComboBox {
width: rotationColumnWidth
model: rotations
visible: preCalibrationDialogType != "airspeed"
fact: Fact { name: "SENS_BOARD_ROT"; onFactMissing: showMissingFactOverlay(name) }
}
}
}
@ -124,42 +134,44 @@ QGCView { @@ -124,42 +134,44 @@ QGCView {
Component {
id: view
// FIXME: Need to convert QGCViewPanel to FactPanel
QGCViewPanel {
anchors.fill: parent
id: viewPanel
Connections {
target: rootQGCView
onCompleted: {
rootQGCView.controller = viewPanel.controller
}
}
SensorsComponentController {
id: controller
factPanel: viewPanel
statusLog: statusTextArea
progressBar: progressBar
compassButton: compassButton
gyroButton: gyroButton
accelButton: accelButton
airspeedButton: airspeedButton
cancelButton: cancelButton
orientationCalAreaHelpText: orientationCalAreaHelpText
onResetStatusTextArea: statusTextArea.text = statusTextAreaDefaultText
onSetCompassRotations: showCompassRotationOverlay()
onWaitingForCancelChanged: {
if (controller.waitingForCancel) {
showMessage(
} else {
hideDialog()
}
}
}
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
readonly property int rotationColumnWidth: 200
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"
]
readonly property string statusTextAreaDefaultText: "For Compass calibration you will need to rotate your vehicle through a number of positions. For this calibration is is best " +
"to be connected to your vehicle via radio instead of USB since the USB cable will likely get in the way.\n\n" +
@ -181,33 +193,6 @@ QGCView { @@ -181,33 +193,6 @@ QGCView {
color: qgcPal.window
// We use this bogus loader just so we can get an onLoaded signal to hook to in order to
// finish controller initialization.
Component {
id: loadSignal;
Item { }
}
Loader {
sourceComponent: loadSignal
onLoaded: {
controller.statusLog = statusTextArea
controller.progressBar = progressBar
controller.compassButton = compassButton
controller.gyroButton = gyroButton
controller.accelButton = accelButton
controller.airspeedButton = airspeedButton
controller.cancelButton = cancelButton
controller.orientationCalAreaHelpText = orientationCalAreaHelpText
}
}
Connections {
target: controller
onResetStatusTextArea: statusTextArea.text = statusTextAreaDefaultText
onSetCompassRotations: showCompassRotationOverlay()
}
Rectangle {
id: overlay
anchors.fill: parent
@ -383,7 +368,11 @@ QGCView { @@ -383,7 +368,11 @@ QGCView {
text: "Compass"
indicatorGreen: fact.value != 0
onClicked: showBoardRotationOverlay("compass")
onClicked: {
preCalibrationDialogType = "compass"
preCalibrationDialogHelp = compassHelp
showDialog(preCalibrationDialogComponent, "Calibrate Compass", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
@ -394,7 +383,11 @@ QGCView { @@ -394,7 +383,11 @@ QGCView {
text: "Gyroscope"
indicatorGreen: fact.value != 0
onClicked: showBoardRotationOverlay("gyro")
onClicked: {
preCalibrationDialogType = "gyro"
preCalibrationDialogHelp = gyroHelp
showDialog(preCalibrationDialogComponent, "Calibrate Gyro", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
@ -405,7 +398,11 @@ QGCView { @@ -405,7 +398,11 @@ QGCView {
text: "Accelerometer"
indicatorGreen: fact.value != 0
onClicked: showBoardRotationOverlay("accel")
onClicked: {
preCalibrationDialogType = "accel"
preCalibrationDialogHelp = accelHelp
showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
@ -416,7 +413,12 @@ QGCView { @@ -416,7 +413,12 @@ QGCView {
text: "Airspeed"
visible: controller.fixedWing
indicatorGreen: fact.value != 0
onClicked: controller.calibrateAirspeed()
onClicked: {
preCalibrationDialogType = "airspeed"
preCalibrationDialogHelp = airspeedHelp
showDialog(preCalibrationDialogComponent, "Calibrate Airspeed", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
QGCButton {

12
src/AutoPilotPlugins/PX4/SensorsComponentController.cc
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@ -32,8 +32,7 @@ @@ -32,8 +32,7 @@
#include <QVariant>
#include <QQmlProperty>
SensorsComponentController::SensorsComponentController(AutoPilotPlugin* autopilot, QObject* parent) :
QObject(parent),
SensorsComponentController::SensorsComponentController(void) :
_statusLog(NULL),
_progressBar(NULL),
_compassButton(NULL),
@ -67,15 +66,8 @@ SensorsComponentController::SensorsComponentController(AutoPilotPlugin* autopilo @@ -67,15 +66,8 @@ SensorsComponentController::SensorsComponentController(AutoPilotPlugin* autopilo
_orientationCalLeftSideRotate(false),
_orientationCalNoseDownSideRotate(false),
_unknownFirmwareVersion(false),
_waitingForCancel(false),
_autopilot(autopilot)
_waitingForCancel(false)
{
Q_ASSERT(_autopilot);
Q_ASSERT(_autopilot->pluginReady());
_uas = _autopilot->uas();
Q_ASSERT(_uas);
// Mag rotation parameters are optional
_showCompass0 = _autopilot->parameterExists("CAL_MAG0_ROT") &&
_autopilot->getParameterFact("CAL_MAG0_ROT")->value().toInt() >= 0;

9
src/AutoPilotPlugins/PX4/SensorsComponentController.h
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@ -31,15 +31,15 @@ @@ -31,15 +31,15 @@
#include <QQuickItem>
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
#include "FactPanelController.h"
/// Sensors Component MVC Controller for SensorsComponent.qml.
class SensorsComponentController : public QObject
class SensorsComponentController : public FactPanelController
{
Q_OBJECT
public:
SensorsComponentController(AutoPilotPlugin* autopilot, QObject* parent = NULL);
SensorsComponentController(void);
Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
@ -167,9 +167,6 @@ private: @@ -167,9 +167,6 @@ private:
bool _unknownFirmwareVersion;
bool _waitingForCancel;
AutoPilotPlugin* _autopilot;
UASInterface* _uas;
};
#endif

8
src/FactSystem/FactControls/FactPanel.qml
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@ -31,7 +31,11 @@ import QGroundControl.FactSystem 1.0 @@ -31,7 +31,11 @@ import QGroundControl.FactSystem 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
Item {
Rectangle {
color: __qgcPal.window
QGCPalette { id: __qgcPal; colorGroupEnabled: true }
property string __missingFacts: ""
function showMissingFactOverlay(missingFactName) {
@ -43,8 +47,6 @@ Item { @@ -43,8 +47,6 @@ Item {
}
Rectangle {
QGCPalette { id: __qgcPal; colorGroupEnabled: true }
id: __missingFactOverlay
anchors.fill: parent
z: 9999

6
src/FactSystem/FactControls/FactPanelController.cc
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@ -33,10 +33,10 @@ FactPanelController::FactPanelController(void) : @@ -33,10 +33,10 @@ FactPanelController::FactPanelController(void) :
_autopilot(NULL),
_factPanel(NULL)
{
UASInterface* uas = UASManager::instance()->getActiveUAS();
Q_ASSERT(uas);
_uas = UASManager::instance()->getActiveUAS();
Q_ASSERT(_uas);
_autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas);
_autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas);
Q_ASSERT(_autopilot);
Q_ASSERT(_autopilot->pluginReady());

1
src/FactSystem/FactControls/FactPanelController.h
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@ -56,6 +56,7 @@ protected: @@ -56,6 +56,7 @@ protected:
/// Report a missing fact to the FactPanel Qml element
void _reportMissingFact(const QString& missingFact);
UASInterface* _uas;
AutoPilotPlugin* _autopilot;
private slots:

10
src/QGCApplication.cc
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@ -62,6 +62,9 @@ @@ -62,6 +62,9 @@
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
#include "CustomCommandWidgetController.h"
#include "FlightModesComponentController.h"
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
#include "ScreenTools.h"
#include "MavManager.h"
@ -310,13 +313,20 @@ void QGCApplication::_initCommon(void) @@ -310,13 +313,20 @@ void QGCApplication::_initCommon(void)
// setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
// Register our Qml objects
qmlRegisterType<QGCPalette>("QGroundControl.Palette", 1, 0, "QGCPalette");
qmlRegisterType<ViewWidgetController>("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
qmlRegisterType<ParameterEditorController>("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
qmlRegisterType<CustomCommandWidgetController>("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
qmlRegisterType<FlightModesComponentController>("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
qmlRegisterType<AirframeComponentController>("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
qmlRegisterType<SensorsComponentController>("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
//-- Create QML Singleton Interfaces
qmlRegisterSingletonType<ScreenTools>("QGroundControl.ScreenTools", 1, 0, "ScreenTools", screenToolsSingletonFactory);
qmlRegisterSingletonType<MavManager>("QGroundControl.MavManager", 1, 0, "MavManager", mavManagerSingletonFactory);
//-- Register Waypoint Interface
qmlRegisterInterface<Waypoint>("Waypoint");
}

9
src/QmlControls/QGCViewDialog.qml
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@ -30,8 +30,11 @@ import QtQuick.Controls 1.3 @@ -30,8 +30,11 @@ import QtQuick.Controls 1.3
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
Rectangle {
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
FactPanel {
QGCPalette { id: __qgcPal; colorGroupEnabled: enabled }
signal hideDialog
@ -43,5 +46,5 @@ Rectangle { @@ -43,5 +46,5 @@ Rectangle {
hideDialog()
}
color: qgcPal.windowShadeDark
color: __qgcPal.windowShadeDark
}

9
src/QmlControls/QGCViewPanel.qml
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@ -30,12 +30,15 @@ import QtQuick.Controls 1.3 @@ -30,12 +30,15 @@ import QtQuick.Controls 1.3
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
Rectangle {
property QGCPalette qgcPal: QGCPalette { colorGroupEnabled: enabled }
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
FactPanel {
QGCPalette { id: __qgcPal; colorGroupEnabled: enabled }
signal showDialog(Component component, string title, int charWidth, int buttons)
signal hideDialog
signal showMessage(string title, string message, int buttons)
color: qgcPal.window
color: __qgcPal.window
}

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