Merge pull request #3392 from DonLakeFlyer/SensorSafety

Sensor/Safety panel fixes

src/AutoPilotPlugins/PX4/SafetyComponent.qml

@@ -100,7 +100,7 @@ QGCView {
                             spacing:                    _margins * 0.5
                             anchors.verticalCenter:     parent.verticalCenter
                             Row {
-                                visible:                !controller.fixedWing
+                                visible:                !controller.vehicle.fixedWing
                                 QGCLabel {
                                     anchors.baseline:   lowBattCombo.baseline
                                     width:              _middleRowWidth
@@ -364,7 +364,7 @@ QGCView {
                             sourceSize.width:           width
                             mipmap:                     true
                             fillMode:                   Image.PreserveAspectFit
-                            source:                     controller.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
+                            source:                     controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
                             anchors.verticalCenter:     parent.verticalCenter
                         }
                         Item { width: _margins * 0.5; height: 1; }
@@ -479,7 +479,7 @@ QGCView {
                             sourceSize.width:           width
                             mipmap:                     true
                             fillMode:                   Image.PreserveAspectFit
-                            source:                     controller.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
+                            source:                     controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
                             anchors.verticalCenter:     parent.verticalCenter
                         }
                         Item {

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -29,7 +29,7 @@
 #include "QGCQmlWidgetHolder.h"
 #include "SensorsComponentController.h"
 
-// These two list must be kept in sync
+const char* SensorsComponent::_airspeedBreaker = "CBRK_AIRSPD_CHK";
 
 SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     VehicleComponent(vehicle, autopilot, parent),
@@ -62,7 +62,7 @@ bool SensorsComponent::requiresSetup(void) const
 bool SensorsComponent::setupComplete(void) const
 {
     foreach(const QString &triggerParam, setupCompleteChangedTriggerList()) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
+        if (triggerParam != _airspeedBreaker && _autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
             return false;
         }
     }
@@ -74,20 +74,9 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
 {
     QStringList triggers;
     
-    triggers << "CAL_MAG0_ID" << "CAL_GYRO0_ID" << "CAL_ACC0_ID";
-    switch (_vehicle->vehicleType()) {
-        case MAV_TYPE_FIXED_WING:
-        case MAV_TYPE_VTOL_DUOROTOR:
-        case MAV_TYPE_VTOL_QUADROTOR:
-        case MAV_TYPE_VTOL_TILTROTOR:
-        case MAV_TYPE_VTOL_RESERVED2:
-        case MAV_TYPE_VTOL_RESERVED3:
-        case MAV_TYPE_VTOL_RESERVED4:
-        case MAV_TYPE_VTOL_RESERVED5:
-            triggers << "SENS_DPRES_OFF";
-            break;
-        default:
-            break;
+    triggers << "CAL_MAG0_ID" << "CAL_GYRO0_ID" << "CAL_ACC0_ID" << "CBRK_AIRSPD_CHK";
+    if (_vehicle->fixedWing() && _autopilot->getParameterFact(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
+        triggers << "SENS_DPRES_OFF";
     }
     
     return triggers;

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -53,6 +53,8 @@ public:
 private:
     const QString   _name;
     QVariantList    _summaryItems;
+
+    static const char* _airspeedBreaker;
 };
 
 #endif

src/AutoPilotPlugins/PX4/SensorsComponent.qml

@@ -348,7 +348,7 @@ QGCView {
                     id:             airspeedButton
                     width:          parent.buttonWidth
                     text:           qsTr("Airspeed")
-                    visible:        controller.fixedWing
+                    visible:        controller.vehicle.fixedWing && controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value != 162128
                     indicatorGreen: sens_dpres_off.value != 0
 
                     onClicked: {

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -467,23 +467,6 @@ void SensorsComponentController::_refreshParams(void)
     _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "SENS_");
 }
 
-bool SensorsComponentController::fixedWing(void)
-{
-    switch (_vehicle->vehicleType()) {
-        case MAV_TYPE_FIXED_WING:
-        case MAV_TYPE_VTOL_DUOROTOR:
-        case MAV_TYPE_VTOL_QUADROTOR:
-        case MAV_TYPE_VTOL_TILTROTOR:
-        case MAV_TYPE_VTOL_RESERVED2:
-        case MAV_TYPE_VTOL_RESERVED3:
-        case MAV_TYPE_VTOL_RESERVED4:
-        case MAV_TYPE_VTOL_RESERVED5:
-            return true;
-        default:
-            return false;
-    }
-}
-
 void SensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)
 {
     _showOrientationCalArea = show;

src/AutoPilotPlugins/PX4/SensorsComponentController.h

@@ -44,8 +44,6 @@ class SensorsComponentController : public FactPanelController
 public:
     SensorsComponentController(void);
     
-    Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
-    
     Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
     Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
     
@@ -97,8 +95,6 @@ public:
     Q_INVOKABLE void cancelCalibration(void);
     Q_INVOKABLE bool usingUDPLink(void);
     
-    bool fixedWing(void);
-    
 signals:
     void showGyroCalAreaChanged(void);
     void showOrientationCalAreaChanged(void);

src/FactSystem/FactControls/FactPanelController.h

@@ -46,6 +46,7 @@ public:
     FactPanelController(void);
 
     Q_PROPERTY(QQuickItem* factPanel READ factPanel WRITE setFactPanel)
+    Q_PROPERTY(Vehicle* vehicle MEMBER _vehicle CONSTANT)
 
     Q_INVOKABLE Fact*   getParameterFact    (int componentId, const QString& name, bool reportMissing = true);
     Q_INVOKABLE bool    parameterExists     (int componentId, const QString& name);