Merge branch 'config' of github.com:mavlink/qgroundcontrol into config

files/styles/style-dark.css

@@ -208,6 +208,27 @@ QGCToolBar .QWidget {
     background-color: transparent;
 }
 
+QGCPX4SensorCalibration QLabel#magLabel {
+    font-size: 15pt;
+    font-weight: bold;
+    border-radius: 4px;
+    min-height: 25px;
+}
+
+QGCPX4SensorCalibration QLabel#gyroLabel {
+    font-size: 15pt;
+    font-weight: bold;
+    border-radius: 4px;
+    min-height: 25px;
+}
+
+QGCPX4SensorCalibration QLabel#accelLabel {
+    font-size: 15pt;
+    font-weight: bold;
+    border-radius: 4px;
+    min-height: 25px;
+}
+
 QGCToolWidgetItem {
     border: 1px solid #666;
     border-radius: 3px;
@@ -409,12 +430,9 @@ QPushButton#viewModeGeneric, QPushButton#viewModePX4, QPushButton#viewModeAPM, Q
 }
 
 QPushButton#magButton, QPushButton#gyroButton, QPushButton#accelButton {
-    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
-    border-radius: 8px;
-    min-height: 30px;
-    max-height: 50px;
-    min-width: 60px;
-    border: 3px solid #465158;
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #757575, stop: 1 #333);
+    border-radius: 5px;
+    border: 1px solid #000000;
 }
 
 QWidget#containerWidget {

src/ui/px4_configuration/QGCPX4SensorCalibration.cc

@@ -33,7 +33,67 @@ QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
     ui->magButton->setEnabled(false);
     ui->accelButton->setEnabled(false);
 
+    ui->autopilotComboBox->setEnabled(false);
+    ui->magComboBox->setEnabled(false);
+
     setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
+    setAutopilotImage(":/files/images/px4/calibration/accel_z-.png");
+    setGpsImage(":/files/images/px4/calibration/accel_z-.png");
+
+    // Fill combo boxes
+    ui->autopilotComboBox->addItem(tr("Default Orientation"), 0);
+    ui->autopilotComboBox->addItem(tr("ROTATION_YAW_45"), 1);
+    ui->autopilotComboBox->addItem(tr("ROTATION_YAW_90"), 2);
+    ui->autopilotComboBox->addItem(tr("ROTATION_YAW_135"), 3);
+    ui->autopilotComboBox->addItem(tr("ROTATION_YAW_180"), 4);
+    ui->autopilotComboBox->addItem(tr("ROTATION_YAW_225"), 5);
+    ui->autopilotComboBox->addItem(tr("ROTATION_YAW_270"), 6);
+    ui->autopilotComboBox->addItem(tr("ROTATION_YAW_315"), 7);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180"), 8);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_45"), 9);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_90"), 10);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_135"), 11);
+    ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_180"), 12);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_225"), 13);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_270"), 14);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_315"), 15);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90"), 16);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_45"), 17);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_90"), 18);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_135"), 19);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270"), 20);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_45"), 21);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_90"), 22);
+    ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_135"), 23);
+    ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_90"), 24);
+    ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_270"), 25);
+
+    ui->magComboBox->addItem(tr("Default Orientation"), 0);
+    ui->magComboBox->addItem(tr("ROTATION_YAW_45"), 1);
+    ui->magComboBox->addItem(tr("ROTATION_YAW_90"), 2);
+    ui->magComboBox->addItem(tr("ROTATION_YAW_135"), 3);
+    ui->magComboBox->addItem(tr("ROTATION_YAW_180"), 4);
+    ui->magComboBox->addItem(tr("ROTATION_YAW_225"), 5);
+    ui->magComboBox->addItem(tr("ROTATION_YAW_270"), 6);
+    ui->magComboBox->addItem(tr("ROTATION_YAW_315"), 7);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_180"), 8);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_45"), 9);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_90"), 10);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_135"), 11);
+    ui->magComboBox->addItem(tr("ROTATION_PITCH_180"), 12);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_225"), 13);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_270"), 14);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_315"), 15);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_90"), 16);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_45"), 17);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_90"), 18);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_135"), 19);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_270"), 20);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_45"), 21);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_90"), 22);
+    ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_135"), 23);
+    ui->magComboBox->addItem(tr("ROTATION_PITCH_90"), 24);
+    ui->magComboBox->addItem(tr("ROTATION_PITCH_270"), 25);
 
     setObjectName("PX4_SENSOR_CALIBRATION");
 
@@ -42,6 +102,11 @@ QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
     setActiveUAS(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
     ui->progressBar->setValue(0);
+
+    connect(ui->autopilotComboBox, SIGNAL(activated(int)), this, SLOT(setAutopilotOrientation(int)));
+    connect(ui->magComboBox, SIGNAL(activated(int)), this, SLOT(setGpsOrientation(int)));
+
+    // XXX ask for params (if not loaded)
 }
 
 QGCPX4SensorCalibration::~QGCPX4SensorCalibration()
@@ -49,6 +114,106 @@ QGCPX4SensorCalibration::~QGCPX4SensorCalibration()
     delete ui;
 }
 
+void QGCPX4SensorCalibration::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(component);
+
+    int index = (int)value.toFloat();
+
+    if (parameterName.contains("SENS_BOARD_ROT"))
+    {
+        ui->autopilotComboBox->setCurrentIndex(index);
+        setAutopilotImage(index);
+        ui->autopilotComboBox->setEnabled(true);
+    }
+
+    if (parameterName.contains("SENS_EXT_MAG_ROT"))
+    {
+        ui->magComboBox->setCurrentIndex(index);
+        setGpsImage(index);
+        ui->magComboBox->setEnabled(true);
+    }
+
+    // Check mag calibration naively
+    if (parameterName.contains("SENS_MAG_XOFF")) {
+        float offset = value.toFloat();
+        if (offset < 0.000001f && offset > -0.000001f) {
+            // Must be zero, not good
+            setMagCalibrated(false);
+        } else {
+            setMagCalibrated(true);
+        }
+    }
+
+    // Check gyro calibration naively
+    if (parameterName.contains("SENS_GYRO_XOFF")) {
+        float offset = value.toFloat();
+        if (offset < 0.000001f && offset > -0.000001f) {
+            // Must be zero, not good
+            setGyroCalibrated(false);
+        } else {
+            setGyroCalibrated(true);
+        }
+    }
+
+    // Check accel calibration naively
+    if (parameterName.contains("SENS_ACC_XOFF")) {
+        float offset = value.toFloat();
+        if (offset < 0.000001f && offset > -0.000001f) {
+            // Must be zero, not good
+            setAccelCalibrated(false);
+        } else {
+            setAccelCalibrated(true);
+        }
+    }
+}
+
+void QGCPX4SensorCalibration::setMagCalibrated(bool calibrated)
+{
+    if (calibrated) {
+        ui->magLabel->setText(tr("MAG CALIBRATED"));
+        ui->magLabel->setStyleSheet("QLabel { color: #FFFFFF;"
+                                    "background-color: #20AA20;"
+                                    "}");
+    } else {
+        ui->magLabel->setText(tr("MAG UNCALIBRATED"));
+        ui->magLabel->setStyleSheet("QLabel { color: #FFFFFF;"
+                                    "background-color: #FF0037;"
+                                    "}");
+    }
+}
+
+void QGCPX4SensorCalibration::setGyroCalibrated(bool calibrated)
+{
+    if (calibrated) {
+        ui->gyroLabel->setText(tr("GYRO CALIBRATED"));
+        ui->gyroLabel->setStyleSheet("QLabel { color: #FFFFFF;"
+                                    "background-color: #20AA20;"
+                                    "}");
+    } else {
+        ui->gyroLabel->setText(tr("GYRO UNCALIBRATED"));
+        ui->gyroLabel->setStyleSheet("QLabel { color: #FFFFFF;"
+                                    "background-color: #FF0037;"
+                                    "}");
+    }
+}
+
+void QGCPX4SensorCalibration::setAccelCalibrated(bool calibrated)
+{
+    if (calibrated) {
+        ui->accelLabel->setText(tr("ACCEL CALIBRATED"));
+        ui->accelLabel->setStyleSheet("QLabel { color: #FFFFFF;"
+                                    "background-color: #20AA20;"
+                                    "}");
+    } else {
+        ui->accelLabel->setText(tr("ACCEL UNCALIBRATED"));
+        ui->accelLabel->setStyleSheet("QLabel { color: #FFFFFF;"
+                                    "background-color: #FF0037;"
+                                    "}");
+    }
+}
+
 void QGCPX4SensorCalibration::setInstructionImage(const QString &path)
 {
     instructionIcon.load(path);
@@ -56,7 +221,53 @@ void QGCPX4SensorCalibration::setInstructionImage(const QString &path)
     int w = ui->iconLabel->width();
     int h = ui->iconLabel->height();
 
-    ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio));
+    ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+}
+
+void QGCPX4SensorCalibration::setAutopilotImage(int index)
+{
+    setAutopilotImage(QString(":/files/images/px4/calibration/pixhawk_%1.png").arg(index));
+}
+
+void QGCPX4SensorCalibration::setGpsImage(int index)
+{
+    setGpsImage(QString(":/files/images/px4/calibration/gps_%1.png").arg(index));
+}
+
+void QGCPX4SensorCalibration::setAutopilotOrientation(int index)
+{
+    if (activeUAS) {
+        activeUAS->getParamManager()->setPendingParam(0, "SENS_BOARD_ROT", (int)index);
+        activeUAS->getParamManager()->sendPendingParameters(true);
+    }
+}
+
+void QGCPX4SensorCalibration::setGpsOrientation(int index)
+{
+    if (activeUAS) {
+        activeUAS->getParamManager()->setPendingParam(0, "SENS_EXT_MAG_ROT", (int)index);
+        activeUAS->getParamManager()->sendPendingParameters(true);
+    }
+}
+
+void QGCPX4SensorCalibration::setAutopilotImage(const QString &path)
+{
+    autopilotIcon.load(path);
+
+    int w = ui->autopilotLabel->width();
+    int h = ui->autopilotLabel->height();
+
+    ui->autopilotLabel->setPixmap(autopilotIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+}
+
+void QGCPX4SensorCalibration::setGpsImage(const QString &path)
+{
+    gpsIcon.load(path);
+
+    int w = ui->gpsLabel->width();
+    int h = ui->gpsLabel->height();
+
+    ui->gpsLabel->setPixmap(gpsIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
 }
 
 void QGCPX4SensorCalibration::resizeEvent(QResizeEvent* event)
@@ -64,8 +275,15 @@ void QGCPX4SensorCalibration::resizeEvent(QResizeEvent* event)
 
     int w = ui->iconLabel->width();
     int h = ui->iconLabel->height();
+    ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+
+    int wa = ui->autopilotLabel->width();
+    int ha = ui->autopilotLabel->height();
+    ui->autopilotLabel->setPixmap(autopilotIcon.scaled(wa, ha, Qt::KeepAspectRatio, Qt::SmoothTransformation));
 
-    ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio));
+    int wg = ui->gpsLabel->width();
+    int hg = ui->gpsLabel->height();
+    ui->gpsLabel->setPixmap(gpsIcon.scaled(wg, hg, Qt::KeepAspectRatio, Qt::SmoothTransformation));
 
     QWidget::resizeEvent(event);
 }
@@ -76,7 +294,8 @@ void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas)
         return;
 
     if (activeUAS) {
-        disconnect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
+        disconnect(activeUAS, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
+        disconnect(activeUAS, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant)));
         ui->textView->clear();
     }
 
@@ -85,6 +304,7 @@ void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas)
     ui->accelButton->setEnabled(true);
 
     connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
+    connect(uas, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant)));
     activeUAS = uas;
 }
 
@@ -161,12 +381,16 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
         accelStarted = false;
         // XXX use a confirmation image or something
         setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
+        if (activeUAS)
+            activeUAS->requestParameter(0, "SENS_ACC_XOFF");
     }
 
     if (text.contains("gyro calibration done")) {
         gyroStarted = false;
         // XXX use a confirmation image or something
         setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
+        if (activeUAS)
+            activeUAS->requestParameter(0, "SENS_GYRO_XOFF");
     }
 
     if (text.contains("mag calibration done")
@@ -174,6 +398,8 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
         magStarted = false;
         // XXX use a confirmation image or something
         setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
+        if (activeUAS)
+            activeUAS->requestParameter(0, "SENS_MAG_XOFF");
     }
 
     if (text.contains("accel calibration started")) {

src/ui/px4_configuration/QGCPX4SensorCalibration.h

@@ -42,12 +42,28 @@ public slots:
      */
     virtual void contextMenuEvent(QContextMenuEvent* event);
 
+    void setAutopilotOrientation(int index);
+    void setGpsOrientation(int index);
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+
+protected slots:
+
     void setInstructionImage(const QString &path);
 
+    void setAutopilotImage(const QString &path);
+
+    void setGpsImage(const int index);
+
+    void setAutopilotImage(const int index);
+
+    void setGpsImage(const QString &path);
+
 protected:
     UASInterface* activeUAS;
     QAction* clearAction;
     QPixmap instructionIcon;
+    QPixmap autopilotIcon;
+    QPixmap gpsIcon;
     bool accelStarted;
     bool accelDone[6];
     bool gyroStarted;
@@ -55,6 +71,10 @@ protected:
     QStringList accelAxes;
 
     virtual void resizeEvent(QResizeEvent* event);
+
+    void setMagCalibrated(bool calibrated);
+    void setGyroCalibrated(bool calibrated);
+    void setAccelCalibrated(bool calibrated);
     
 private:
     Ui::QGCPX4SensorCalibration *ui;

src/ui/px4_configuration/QGCPX4SensorCalibration.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>531</width>
-    <height>448</height>
+    <width>657</width>
+    <height>598</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -36,8 +36,29 @@ QPushButton#gyroButton, QPushButton#accelButton {
     border: 2px solid #465158;
 }</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="1,0,0,0,0,0,0" columnstretch="30,0,0">
-   <item row="4" column="0" colspan="3">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="1,0,0,0,0,0,0,0,0,0" columnstretch="30,8,8,15">
+   <item row="3" column="0" colspan="2">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Autopilot and GPS / Compass Orientation</string>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="0" colspan="3">
+    <widget class="QLabel" name="instructionLabel">
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QProgressBar" name="progressBar">
+     <property name="value">
+      <number>24</number>
+     </property>
+    </widget>
+   </item>
+   <item row="8" column="0" colspan="4">
     <spacer name="verticalSpacer">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
@@ -45,12 +66,12 @@ QPushButton#gyroButton, QPushButton#accelButton {
      <property name="sizeHint" stdset="0">
       <size>
        <width>498</width>
-       <height>21</height>
+       <height>5</height>
       </size>
      </property>
     </spacer>
    </item>
-   <item row="6" column="2">
+   <item row="9" column="2">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -63,19 +84,51 @@ QPushButton#gyroButton, QPushButton#accelButton {
      </property>
     </spacer>
    </item>
-   <item row="3" column="0" colspan="2">
-    <widget class="QLabel" name="instructionLabel">
+   <item row="5" column="0">
+    <widget class="QComboBox" name="autopilotComboBox"/>
+   </item>
+   <item row="5" column="1">
+    <widget class="QComboBox" name="magComboBox"/>
+   </item>
+   <item row="0" column="2" rowspan="7" colspan="2">
+    <widget class="QPlainTextEdit" name="textView"/>
+   </item>
+   <item row="0" column="0" rowspan="2">
+    <widget class="QLabel" name="iconLabel">
      <property name="text">
       <string/>
      </property>
+     <property name="scaledContents">
+      <bool>true</bool>
+     </property>
     </widget>
    </item>
-   <item row="6" column="0" colspan="2">
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <widget class="QPushButton" name="magButton">
+   <item row="9" column="0" colspan="2">
+    <layout class="QGridLayout" name="gridLayout_2">
+     <item row="0" column="2">
+      <widget class="QLabel" name="accelLabel">
        <property name="text">
-        <string>Magnetometer</string>
+        <string/>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLabel" name="gyroLabel">
+       <property name="text">
+        <string/>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QPushButton" name="gyroButton">
+       <property name="text">
+        <string>Gyroscope</string>
        </property>
        <property name="icon">
         <iconset resource="../../../qgroundcontrol.qrc">
@@ -83,10 +136,10 @@ QPushButton#gyroButton, QPushButton#accelButton {
        </property>
       </widget>
      </item>
-     <item>
-      <widget class="QPushButton" name="gyroButton">
+     <item row="1" column="0">
+      <widget class="QPushButton" name="magButton">
        <property name="text">
-        <string>Gyroscope</string>
+        <string>Magnetometer</string>
        </property>
        <property name="icon">
         <iconset resource="../../../qgroundcontrol.qrc">
@@ -94,7 +147,7 @@ QPushButton#gyroButton, QPushButton#accelButton {
        </property>
       </widget>
      </item>
-     <item>
+     <item row="1" column="2">
       <widget class="QPushButton" name="accelButton">
        <property name="text">
         <string>Accelerometer</string>
@@ -105,28 +158,32 @@ QPushButton#gyroButton, QPushButton#accelButton {
        </property>
       </widget>
      </item>
+     <item row="0" column="0">
+      <widget class="QLabel" name="magLabel">
+       <property name="text">
+        <string/>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
-   <item row="0" column="0" rowspan="2">
-    <widget class="QLabel" name="iconLabel">
+   <item row="4" column="0">
+    <widget class="QLabel" name="autopilotLabel">
      <property name="text">
       <string/>
      </property>
-     <property name="scaledContents">
-      <bool>true</bool>
-     </property>
     </widget>
    </item>
-   <item row="2" column="0">
-    <widget class="QProgressBar" name="progressBar">
-     <property name="value">
-      <number>24</number>
+   <item row="4" column="1">
+    <widget class="QLabel" name="gpsLabel">
+     <property name="text">
+      <string/>
      </property>
     </widget>
    </item>
-   <item row="0" column="1" rowspan="3" colspan="2">
-    <widget class="QPlainTextEdit" name="textView"/>
-   </item>
   </layout>
  </widget>
  <resources>