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Merge pull request #4274 from DonLakeFlyer/APMLevelHorizon 

ArduPilot: Level Horizon support
QGC4.4
Don Gagne 9 years ago committed by GitHub
parent
79d98c7ded d2b2432fc8
commit
b25cde0709
3 changed files with 92 additions and 1 deletions
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  1. 37
      src/AutoPilotPlugins/APM/APMSensorsComponent.qml
  2. 48
      src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
  3. 8
      src/AutoPilotPlugins/APM/APMSensorsComponentController.h

37
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
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@ -157,6 +157,7 @@ SetupPage { @@ -157,6 +157,7 @@ SetupPage {
compassButton: compassButton
accelButton: accelButton
compassMotButton: motorInterferenceButton
levelButton: levelHorizonButton
nextButton: nextButton
cancelButton: cancelButton
setOrientationsButton: setOrientationsButton
@ -453,6 +454,26 @@ SetupPage { @@ -453,6 +454,26 @@ SetupPage {
} // QGCViewDialog
} // Component - compassMotDialogComponent
Component {
id: levelHorizonDialogComponent
QGCViewDialog {
id: levelHorizonDialog
function accept() {
controller.levelHorizon()
levelHorizonDialog.hideDialog()
}
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("To level the horizon you need to place the vehicle in its level flight position and press Ok.")
}
} // QGCViewDialog
} // Component - levelHorizonDialogComponent
Column {
spacing: ScreenTools.defaultFontPixelHeight / 2
Layout.alignment: Qt.AlignLeft | Qt.AlignTop
@ -484,6 +505,22 @@ SetupPage { @@ -484,6 +505,22 @@ SetupPage {
}
QGCButton {
id: levelHorizonButton
width: parent.buttonWidth
text: _levelHorizonText
readonly property string _levelHorizonText: qsTr("Level Horizon")
onClicked: {
if (controller.accelSetupNeeded) {
showMessage(_levelHorizonText, qsTr("Accelerometer must be calibrated prior to Level Horizon."), StandardButton.Ok)
} else {
showDialog(levelHorizonDialogComponent, _levelHorizonText, qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
}
}
}
QGCButton {
id: motorInterferenceButton
width: parent.buttonWidth
text: qsTr("CompassMot")

48
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
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@ -26,6 +26,7 @@ APMSensorsComponentController::APMSensorsComponentController(void) : @@ -26,6 +26,7 @@ APMSensorsComponentController::APMSensorsComponentController(void) :
_compassButton(NULL),
_accelButton(NULL),
_compassMotButton(NULL),
_levelButton(NULL),
_nextButton(NULL),
_cancelButton(NULL),
_setOrientationsButton(NULL),
@ -33,6 +34,7 @@ APMSensorsComponentController::APMSensorsComponentController(void) : @@ -33,6 +34,7 @@ APMSensorsComponentController::APMSensorsComponentController(void) :
_magCalInProgress(false),
_accelCalInProgress(false),
_compassMotCalInProgress(false),
_levelInProgress(false),
_orientationCalDownSideDone(false),
_orientationCalUpsideDownSideDone(false),
_orientationCalLeftSideDone(false),
@ -66,6 +68,8 @@ APMSensorsComponentController::APMSensorsComponentController(void) : @@ -66,6 +68,8 @@ APMSensorsComponentController::APMSensorsComponentController(void) :
_sensorsComponent = apmPlugin->sensorsComponent();
connect(_sensorsComponent, &VehicleComponent::setupCompleteChanged, this, &APMSensorsComponentController::setupNeededChanged);
connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
}
/// Appends the specified text to the status log area in the ui
@ -90,6 +94,7 @@ void APMSensorsComponentController::_startLogCalibration(void) @@ -90,6 +94,7 @@ void APMSensorsComponentController::_startLogCalibration(void)
_compassButton->setEnabled(false);
_accelButton->setEnabled(false);
_compassMotButton->setEnabled(false);
_levelButton->setEnabled(false);
_setOrientationsButton->setEnabled(false);
if (_accelCalInProgress || _compassMotCalInProgress) {
_nextButton->setEnabled(true);
@ -102,6 +107,7 @@ void APMSensorsComponentController::_startVisualCalibration(void) @@ -102,6 +107,7 @@ void APMSensorsComponentController::_startVisualCalibration(void)
_compassButton->setEnabled(false);
_accelButton->setEnabled(false);
_compassMotButton->setEnabled(false);
_levelButton->setEnabled(false);
_setOrientationsButton->setEnabled(false);
_cancelButton->setEnabled(true);
@ -145,6 +151,7 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll @@ -145,6 +151,7 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
_compassButton->setEnabled(true);
_accelButton->setEnabled(true);
_compassMotButton->setEnabled(true);
_levelButton->setEnabled(true);
_setOrientationsButton->setEnabled(true);
_nextButton->setEnabled(false);
_cancelButton->setEnabled(false);
@ -171,6 +178,10 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll @@ -171,6 +178,10 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
emit calibrationComplete();
break;
case StopCalibrationSuccessShowLog:
emit calibrationComplete();
break;
case StopCalibrationCancelled:
emit resetStatusTextArea();
_hideAllCalAreas();
@ -186,6 +197,7 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll @@ -186,6 +197,7 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
_magCalInProgress = false;
_accelCalInProgress = false;
_compassMotCalInProgress = false;
_levelInProgress = false;
}
void APMSensorsComponentController::calibrateCompass(void)
@ -213,6 +225,15 @@ void APMSensorsComponentController::calibrateMotorInterference(void) @@ -213,6 +225,15 @@ void APMSensorsComponentController::calibrateMotorInterference(void)
_uas->startCalibration(UASInterface::StartCalibrationCompassMot);
}
void APMSensorsComponentController::levelHorizon(void)
{
_levelInProgress = true;
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Hold the vehicle in its level flight position."));
_uas->startCalibration(UASInterface::StartCalibrationLevel);
}
void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
{
Q_UNUSED(compId);
@ -498,3 +519,30 @@ bool APMSensorsComponentController::usingUDPLink(void) @@ -498,3 +519,30 @@ bool APMSensorsComponentController::usingUDPLink(void)
{
return _vehicle->priorityLink()->getLinkConfiguration()->type() == LinkConfiguration::TypeUdp;
}
void APMSensorsComponentController::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
Q_UNUSED(link);
if (message.sysid != _vehicle->id()) {
return;
}
if (message.msgid == MAVLINK_MSG_ID_COMMAND_ACK && _levelInProgress) {
mavlink_command_ack_t commandAck;
mavlink_msg_command_ack_decode(&message, &commandAck);
if (commandAck.command == MAV_CMD_PREFLIGHT_CALIBRATION) {
switch (commandAck.result) {
case MAV_RESULT_ACCEPTED:
_appendStatusLog(tr("Level horizon complete"));
_stopCalibration(StopCalibrationSuccessShowLog);
break;
default:
_appendStatusLog(tr("Level horizon failed"));
_stopCalibration(StopCalibrationFailed);
break;
}
}
}
}

8
src/AutoPilotPlugins/APM/APMSensorsComponentController.h
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@ -35,6 +35,7 @@ public: @@ -35,6 +35,7 @@ public:
Q_PROPERTY(QQuickItem* compassButton MEMBER _compassButton)
Q_PROPERTY(QQuickItem* accelButton MEMBER _accelButton)
Q_PROPERTY(QQuickItem* compassMotButton MEMBER _compassMotButton)
Q_PROPERTY(QQuickItem* levelButton MEMBER _levelButton)
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* setOrientationsButton MEMBER _setOrientationsButton)
@ -78,6 +79,7 @@ public: @@ -78,6 +79,7 @@ public:
Q_INVOKABLE void calibrateCompass(void);
Q_INVOKABLE void calibrateAccel(void);
Q_INVOKABLE void calibrateMotorInterference(void);
Q_INVOKABLE void levelHorizon(void);
Q_INVOKABLE void cancelCalibration(void);
Q_INVOKABLE void nextClicked(void);
Q_INVOKABLE bool usingUDPLink(void);
@ -99,7 +101,8 @@ signals: @@ -99,7 +101,8 @@ signals:
private slots:
void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
private:
void _startLogCalibration(void);
void _startVisualCalibration(void);
@ -110,6 +113,7 @@ private: @@ -110,6 +113,7 @@ private:
enum StopCalibrationCode {
StopCalibrationSuccess,
StopCalibrationSuccessShowLog,
StopCalibrationFailed,
StopCalibrationCancelled
};
@ -125,6 +129,7 @@ private: @@ -125,6 +129,7 @@ private:
QQuickItem* _compassButton;
QQuickItem* _accelButton;
QQuickItem* _compassMotButton;
QQuickItem* _levelButton;
QQuickItem* _nextButton;
QQuickItem* _cancelButton;
QQuickItem* _setOrientationsButton;
@ -135,6 +140,7 @@ private: @@ -135,6 +140,7 @@ private:
bool _magCalInProgress;
bool _accelCalInProgress;
bool _compassMotCalInProgress;
bool _levelInProgress;
bool _orientationCalDownSideDone;
bool _orientationCalUpsideDownSideDone;

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