diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponent.qml b/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
index 4148cd0..82a1ad6 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
@@ -569,6 +569,26 @@ SetupPage {
} // QGCViewDialog
} // Component - calibratePressureDialogComponent
+ Component {
+ id: calibrateGyroDialogComponent
+
+ QGCViewDialog {
+ id: calibrateGyroDialog
+
+ function accept() {
+ controller.calibrateGyro()
+ calibrateGyroDialog.hideDialog()
+ }
+
+ QGCLabel {
+ anchors.left: parent.left
+ anchors.right: parent.right
+ wrapMode: Text.WordWrap
+ text: qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.\n\nClick Ok to start calibration.")
+ }
+ }
+ }
+
QGCFlickable {
id: buttonFlickable
anchors.left: parent.left
@@ -623,10 +643,17 @@ SetupPage {
QGCButton {
width: _buttonWidth
+ text: qsTr("Gyro")
+ visible: activeVehicle && (activeVehicle.multiRotor | activeVehicle.rover)
+ onClicked: mainWindow.showComponentDialog(calibrateGyroDialogComponent, qsTr("Calibrate Gyro"), mainWindow.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
+ }
+
+ QGCButton {
+ width: _buttonWidth
text: _calibratePressureText
onClicked: mainWindow.showComponentDialog(calibratePressureDialogComponent, _calibratePressureText, mainWindow.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok)
- readonly property string _calibratePressureText: activeVehicle.fixedWing ? qsTr("Cal Baro/Airspeed") : qsTr("Calibrate Pressure")
+ readonly property string _calibratePressureText: activeVehicle.fixedWing ? qsTr("Baro/Airspeed") : qsTr("Pressure")
}
QGCButton {
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
index 758d300..f2dbe92 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
@@ -294,7 +294,7 @@ void APMSensorsComponentController::calibrateAccel(void)
_calTypeInProgress = CalTypeAccel;
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
- _uas->startCalibration(UASInterface::StartCalibrationAccel);
+ _vehicle->startCalibration(Vehicle::CalibrationAccel);
}
void APMSensorsComponentController::calibrateMotorInterference(void)
@@ -305,7 +305,7 @@ void APMSensorsComponentController::calibrateMotorInterference(void)
_appendStatusLog(tr("Raise the throttle slowly to between 50% ~ 75% (the props will spin!) for 5 ~ 10 seconds."));
_appendStatusLog(tr("Quickly bring the throttle back down to zero"));
_appendStatusLog(tr("Press the Next button to complete the calibration"));
- _uas->startCalibration(UASInterface::StartCalibrationCompassMot);
+ _vehicle->startCalibration(Vehicle::CalibrationAPMCompassMot);
}
void APMSensorsComponentController::levelHorizon(void)
@@ -314,7 +314,7 @@ void APMSensorsComponentController::levelHorizon(void)
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Hold the vehicle in its level flight position."));
- _uas->startCalibration(UASInterface::StartCalibrationLevel);
+ _vehicle->startCalibration(Vehicle::CalibrationLevel);
}
void APMSensorsComponentController::calibratePressure(void)
@@ -323,7 +323,16 @@ void APMSensorsComponentController::calibratePressure(void)
_vehicle->setConnectionLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Requesting pressure calibration..."));
- _uas->startCalibration(UASInterface::StartCalibrationPressure);
+ _vehicle->startCalibration(Vehicle::CalibrationAPMPressureAirspeed);
+}
+
+void APMSensorsComponentController::calibrateGyro(void)
+{
+ _calTypeInProgress = CalTypeGyro;
+ _vehicle->setConnectionLostEnabled(false);
+ _startLogCalibration();
+ _appendStatusLog(tr("Requesting gyro calibration..."));
+ _vehicle->startCalibration(Vehicle::CalibrationGyro);
}
void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
@@ -444,203 +453,6 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
_stopCalibration(StopCalibrationFailed);
return;
}
-
-#if 0
-
- if (text.contains(QLatin1Literal("progress <"))) {
- QString percent = text.split("<").last().split(">").first();
- bool ok;
- int p = percent.toInt(&ok);
- if (ok && _progressBar) {
- _progressBar->setProperty("value", (float)(p / 100.0));
- }
- return;
- }
-
- QString anyKey(QStringLiteral("and press any"));
- if (text.contains(anyKey)) {
- text = text.left(text.indexOf(anyKey)) + QStringLiteral("and click Next to continue.");
- _nextButton->setEnabled(true);
- }
-
- _appendStatusLog(text);
- qCDebug(APMSensorsComponentControllerLog) << text << severity;
-
- if (text.contains(QLatin1String("Calibration successful"))) {
- _stopCalibration(StopCalibrationSuccess);
- return;
- }
-
- if (text.contains(QLatin1String("FAILED"))) {
- _stopCalibration(StopCalibrationFailed);
- return;
- }
-
- // All calibration messages start with [cal]
- QString calPrefix(QStringLiteral("[cal] "));
- if (!text.startsWith(calPrefix)) {
- return;
- }
- text = text.right(text.length() - calPrefix.length());
-
- QString calStartPrefix(QStringLiteral("calibration started: "));
- if (text.startsWith(calStartPrefix)) {
- text = text.right(text.length() - calStartPrefix.length());
-
- _startVisualCalibration();
-
- if (text == QLatin1Literal("accel") || text == QLatin1Literal("mag") || text == QLatin1Literal("gyro")) {
- // Reset all progress indication
- _orientationCalDownSideDone = false;
- _orientationCalUpsideDownSideDone = false;
- _orientationCalLeftSideDone = false;
- _orientationCalRightSideDone = false;
- _orientationCalTailDownSideDone = false;
- _orientationCalNoseDownSideDone = false;
- _orientationCalDownSideInProgress = false;
- _orientationCalUpsideDownSideInProgress = false;
- _orientationCalLeftSideInProgress = false;
- _orientationCalRightSideInProgress = false;
- _orientationCalNoseDownSideInProgress = false;
- _orientationCalTailDownSideInProgress = false;
-
- // Reset all visibility
- _orientationCalDownSideVisible = false;
- _orientationCalUpsideDownSideVisible = false;
- _orientationCalLeftSideVisible = false;
- _orientationCalRightSideVisible = false;
- _orientationCalTailDownSideVisible = false;
- _orientationCalNoseDownSideVisible = false;
-
- _orientationCalAreaHelpText->setProperty("text", "Place your vehicle into one of the Incomplete orientations shown below and hold it still");
-
- if (text == "accel") {
- _calTypeInProgress = CalTypeAccel;
- _orientationCalDownSideVisible = true;
- _orientationCalUpsideDownSideVisible = true;
- _orientationCalLeftSideVisible = true;
- _orientationCalRightSideVisible = true;
- _orientationCalTailDownSideVisible = true;
- _orientationCalNoseDownSideVisible = true;
- } else if (text == "mag") {
- _calTypeInProgress = CalTypeOffboardCompass;
- _orientationCalDownSideVisible = true;
- _orientationCalUpsideDownSideVisible = true;
- _orientationCalLeftSideVisible = true;
- _orientationCalRightSideVisible = true;
- _orientationCalTailDownSideVisible = true;
- _orientationCalNoseDownSideVisible = true;
- } else {
- Q_ASSERT(false);
- }
- emit orientationCalSidesDoneChanged();
- emit orientationCalSidesVisibleChanged();
- emit orientationCalSidesInProgressChanged();
- _updateAndEmitShowOrientationCalArea(true);
- }
- return;
- }
-
- if (text.endsWith(QLatin1Literal("orientation detected"))) {
- QString side = text.section(" ", 0, 0);
- qDebug() << "Side started" << side;
-
- if (side == QLatin1Literal("down")) {
- _orientationCalDownSideInProgress = true;
- if (_calTypeInProgress == CalTypeOffboardCompass) {
- _orientationCalDownSideRotate = true;
- }
- } else if (side == QLatin1Literal("up")) {
- _orientationCalUpsideDownSideInProgress = true;
- if (_calTypeInProgress == CalTypeOffboardCompass) {
- _orientationCalUpsideDownSideRotate = true;
- }
- } else if (side == QLatin1Literal("left")) {
- _orientationCalLeftSideInProgress = true;
- if (_calTypeInProgress == CalTypeOffboardCompass) {
- _orientationCalLeftSideRotate = true;
- }
- } else if (side == QLatin1Literal("right")) {
- _orientationCalRightSideInProgress = true;
- if (_calTypeInProgress == CalTypeOffboardCompass) {
- _orientationCalRightSideRotate = true;
- }
- } else if (side == QLatin1Literal("front")) {
- _orientationCalNoseDownSideInProgress = true;
- if (_calTypeInProgress == CalTypeOffboardCompass) {
- _orientationCalNoseDownSideRotate = true;
- }
- } else if (side == QLatin1Literal("back")) {
- _orientationCalTailDownSideInProgress = true;
- if (_calTypeInProgress == CalTypeOffboardCompass) {
- _orientationCalTailDownSideRotate = true;
- }
- }
-
- if (_calTypeInProgress == CalTypeOffboardCompass) {
- _orientationCalAreaHelpText->setProperty("text", tr("Rotate the vehicle continuously as shown in the diagram until marked as Completed"));
- } else {
- _orientationCalAreaHelpText->setProperty("text", tr("Hold still in the current orientation"));
- }
-
- emit orientationCalSidesInProgressChanged();
- emit orientationCalSidesRotateChanged();
- return;
- }
-
- if (text.endsWith(QLatin1Literal("side done, rotate to a different side"))) {
- QString side = text.section(" ", 0, 0);
- qDebug() << "Side finished" << side;
-
- if (side == QLatin1Literal("down")) {
- _orientationCalDownSideInProgress = false;
- _orientationCalDownSideDone = true;
- _orientationCalDownSideRotate = false;
- } else if (side == QLatin1Literal("up")) {
- _orientationCalUpsideDownSideInProgress = false;
- _orientationCalUpsideDownSideDone = true;
- _orientationCalUpsideDownSideRotate = false;
- } else if (side == QLatin1Literal("left")) {
- _orientationCalLeftSideInProgress = false;
- _orientationCalLeftSideDone = true;
- _orientationCalLeftSideRotate = false;
- } else if (side == QLatin1Literal("right")) {
- _orientationCalRightSideInProgress = false;
- _orientationCalRightSideDone = true;
- _orientationCalRightSideRotate = false;
- } else if (side == QLatin1Literal("front")) {
- _orientationCalNoseDownSideInProgress = false;
- _orientationCalNoseDownSideDone = true;
- _orientationCalNoseDownSideRotate = false;
- } else if (side == QLatin1Literal("back")) {
- _orientationCalTailDownSideInProgress = false;
- _orientationCalTailDownSideDone = true;
- _orientationCalTailDownSideRotate = false;
- }
-
- _orientationCalAreaHelpText->setProperty("text", tr("Place you vehicle into one of the orientations shown below and hold it still"));
-
- emit orientationCalSidesInProgressChanged();
- emit orientationCalSidesDoneChanged();
- emit orientationCalSidesRotateChanged();
- return;
- }
-
- if (text.startsWith(QLatin1Literal("calibration done:"))) {
- _stopCalibration(StopCalibrationSuccess);
- return;
- }
-
- if (text.startsWith(QLatin1Literal("calibration cancelled"))) {
- _stopCalibration(_waitingForCancel ? StopCalibrationCancelled : StopCalibrationFailed);
- return;
- }
-
- if (text.startsWith(QLatin1Literal("calibration failed"))) {
- _stopCalibration(StopCalibrationFailed);
- return;
- }
-#endif
}
void APMSensorsComponentController::_refreshParams(void)
@@ -685,7 +497,7 @@ void APMSensorsComponentController::cancelCalibration(void)
emit waitingForCancelChanged();
// The firmware doesn't always allow us to cancel calibration. The best we can do is wait
// for it to timeout.
- _uas->stopCalibration();
+ _vehicle->stopCalibration();
}
}
@@ -728,36 +540,18 @@ bool APMSensorsComponentController::usingUDPLink(void)
void APMSensorsComponentController::_handleCommandAck(mavlink_message_t& message)
{
- if (_calTypeInProgress == CalTypeLevelHorizon) {
- 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;
- }
- }
- }
-
- if (_calTypeInProgress == CalTypePressure) {
+ if (_calTypeInProgress == CalTypeLevelHorizon || _calTypeInProgress == CalTypeGyro || _calTypeInProgress == CalTypePressure) {
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("Pressure calibration success"));
+ _appendStatusLog(tr("Successfully completed"));
_stopCalibration(StopCalibrationSuccessShowLog);
break;
default:
- _appendStatusLog(tr("Pressure calibration fail"));
+ _appendStatusLog(tr("Failed"));
_stopCalibration(StopCalibrationFailed);
break;
}
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentController.h b/src/AutoPilotPlugins/APM/APMSensorsComponentController.h
index 238d403..b06f733 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponentController.h
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentController.h
@@ -7,9 +7,7 @@
*
****************************************************************************/
-
-#ifndef APMSensorsComponentController_H
-#define APMSensorsComponentController_H
+#pragma once
#include <QObject>
@@ -31,70 +29,72 @@ public:
APMSensorsComponentController(void);
~APMSensorsComponentController();
- Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
- Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
+ Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
+ Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
- Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
- Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
- Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText)
+ Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
+ Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
+ Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText)
- Q_PROPERTY(bool compassSetupNeeded READ compassSetupNeeded NOTIFY setupNeededChanged)
- Q_PROPERTY(bool accelSetupNeeded READ accelSetupNeeded NOTIFY setupNeededChanged)
+ Q_PROPERTY(bool compassSetupNeeded READ compassSetupNeeded NOTIFY setupNeededChanged)
+ Q_PROPERTY(bool accelSetupNeeded READ accelSetupNeeded NOTIFY setupNeededChanged)
- Q_PROPERTY(bool showOrientationCalArea MEMBER _showOrientationCalArea NOTIFY showOrientationCalAreaChanged)
+ Q_PROPERTY(bool showOrientationCalArea MEMBER _showOrientationCalArea NOTIFY showOrientationCalAreaChanged)
- Q_PROPERTY(bool orientationCalDownSideDone MEMBER _orientationCalDownSideDone NOTIFY orientationCalSidesDoneChanged)
- Q_PROPERTY(bool orientationCalUpsideDownSideDone MEMBER _orientationCalUpsideDownSideDone NOTIFY orientationCalSidesDoneChanged)
- Q_PROPERTY(bool orientationCalLeftSideDone MEMBER _orientationCalLeftSideDone NOTIFY orientationCalSidesDoneChanged)
- Q_PROPERTY(bool orientationCalRightSideDone MEMBER _orientationCalRightSideDone NOTIFY orientationCalSidesDoneChanged)
- Q_PROPERTY(bool orientationCalNoseDownSideDone MEMBER _orientationCalNoseDownSideDone NOTIFY orientationCalSidesDoneChanged)
- Q_PROPERTY(bool orientationCalTailDownSideDone MEMBER _orientationCalTailDownSideDone NOTIFY orientationCalSidesDoneChanged)
+ Q_PROPERTY(bool orientationCalDownSideDone MEMBER _orientationCalDownSideDone NOTIFY orientationCalSidesDoneChanged)
+ Q_PROPERTY(bool orientationCalUpsideDownSideDone MEMBER _orientationCalUpsideDownSideDone NOTIFY orientationCalSidesDoneChanged)
+ Q_PROPERTY(bool orientationCalLeftSideDone MEMBER _orientationCalLeftSideDone NOTIFY orientationCalSidesDoneChanged)
+ Q_PROPERTY(bool orientationCalRightSideDone MEMBER _orientationCalRightSideDone NOTIFY orientationCalSidesDoneChanged)
+ Q_PROPERTY(bool orientationCalNoseDownSideDone MEMBER _orientationCalNoseDownSideDone NOTIFY orientationCalSidesDoneChanged)
+ Q_PROPERTY(bool orientationCalTailDownSideDone MEMBER _orientationCalTailDownSideDone NOTIFY orientationCalSidesDoneChanged)
- Q_PROPERTY(bool orientationCalDownSideVisible MEMBER _orientationCalDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
- Q_PROPERTY(bool orientationCalUpsideDownSideVisible MEMBER _orientationCalUpsideDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
- Q_PROPERTY(bool orientationCalLeftSideVisible MEMBER _orientationCalLeftSideVisible NOTIFY orientationCalSidesVisibleChanged)
- Q_PROPERTY(bool orientationCalRightSideVisible MEMBER _orientationCalRightSideVisible NOTIFY orientationCalSidesVisibleChanged)
- Q_PROPERTY(bool orientationCalNoseDownSideVisible MEMBER _orientationCalNoseDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
- Q_PROPERTY(bool orientationCalTailDownSideVisible MEMBER _orientationCalTailDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
+ Q_PROPERTY(bool orientationCalDownSideVisible MEMBER _orientationCalDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
+ Q_PROPERTY(bool orientationCalUpsideDownSideVisible MEMBER _orientationCalUpsideDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
+ Q_PROPERTY(bool orientationCalLeftSideVisible MEMBER _orientationCalLeftSideVisible NOTIFY orientationCalSidesVisibleChanged)
+ Q_PROPERTY(bool orientationCalRightSideVisible MEMBER _orientationCalRightSideVisible NOTIFY orientationCalSidesVisibleChanged)
+ Q_PROPERTY(bool orientationCalNoseDownSideVisible MEMBER _orientationCalNoseDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
+ Q_PROPERTY(bool orientationCalTailDownSideVisible MEMBER _orientationCalTailDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
- Q_PROPERTY(bool orientationCalDownSideInProgress MEMBER _orientationCalDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
- Q_PROPERTY(bool orientationCalUpsideDownSideInProgress MEMBER _orientationCalUpsideDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
- Q_PROPERTY(bool orientationCalLeftSideInProgress MEMBER _orientationCalLeftSideInProgress NOTIFY orientationCalSidesInProgressChanged)
- Q_PROPERTY(bool orientationCalRightSideInProgress MEMBER _orientationCalRightSideInProgress NOTIFY orientationCalSidesInProgressChanged)
- Q_PROPERTY(bool orientationCalNoseDownSideInProgress MEMBER _orientationCalNoseDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
- Q_PROPERTY(bool orientationCalTailDownSideInProgress MEMBER _orientationCalTailDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+ Q_PROPERTY(bool orientationCalDownSideInProgress MEMBER _orientationCalDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+ Q_PROPERTY(bool orientationCalUpsideDownSideInProgress MEMBER _orientationCalUpsideDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+ Q_PROPERTY(bool orientationCalLeftSideInProgress MEMBER _orientationCalLeftSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+ Q_PROPERTY(bool orientationCalRightSideInProgress MEMBER _orientationCalRightSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+ Q_PROPERTY(bool orientationCalNoseDownSideInProgress MEMBER _orientationCalNoseDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
+ Q_PROPERTY(bool orientationCalTailDownSideInProgress MEMBER _orientationCalTailDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
- Q_PROPERTY(bool orientationCalDownSideRotate MEMBER _orientationCalDownSideRotate NOTIFY orientationCalSidesRotateChanged)
- Q_PROPERTY(bool orientationCalUpsideDownSideRotate MEMBER _orientationCalUpsideDownSideRotate NOTIFY orientationCalSidesRotateChanged)
- Q_PROPERTY(bool orientationCalLeftSideRotate MEMBER _orientationCalLeftSideRotate NOTIFY orientationCalSidesRotateChanged)
- Q_PROPERTY(bool orientationCalRightSideRotate MEMBER _orientationCalRightSideRotate NOTIFY orientationCalSidesRotateChanged)
- Q_PROPERTY(bool orientationCalNoseDownSideRotate MEMBER _orientationCalNoseDownSideRotate NOTIFY orientationCalSidesRotateChanged)
- Q_PROPERTY(bool orientationCalTailDownSideRotate MEMBER _orientationCalTailDownSideRotate NOTIFY orientationCalSidesRotateChanged)
+ Q_PROPERTY(bool orientationCalDownSideRotate MEMBER _orientationCalDownSideRotate NOTIFY orientationCalSidesRotateChanged)
+ Q_PROPERTY(bool orientationCalUpsideDownSideRotate MEMBER _orientationCalUpsideDownSideRotate NOTIFY orientationCalSidesRotateChanged)
+ Q_PROPERTY(bool orientationCalLeftSideRotate MEMBER _orientationCalLeftSideRotate NOTIFY orientationCalSidesRotateChanged)
+ Q_PROPERTY(bool orientationCalRightSideRotate MEMBER _orientationCalRightSideRotate NOTIFY orientationCalSidesRotateChanged)
+ Q_PROPERTY(bool orientationCalNoseDownSideRotate MEMBER _orientationCalNoseDownSideRotate NOTIFY orientationCalSidesRotateChanged)
+ Q_PROPERTY(bool orientationCalTailDownSideRotate MEMBER _orientationCalTailDownSideRotate NOTIFY orientationCalSidesRotateChanged)
- Q_PROPERTY(bool waitingForCancel MEMBER _waitingForCancel NOTIFY waitingForCancelChanged)
+ Q_PROPERTY(bool waitingForCancel MEMBER _waitingForCancel NOTIFY waitingForCancelChanged)
- Q_PROPERTY(bool compass1CalSucceeded READ compass1CalSucceeded NOTIFY compass1CalSucceededChanged)
- Q_PROPERTY(bool compass2CalSucceeded READ compass2CalSucceeded NOTIFY compass2CalSucceededChanged)
- Q_PROPERTY(bool compass3CalSucceeded READ compass3CalSucceeded NOTIFY compass3CalSucceededChanged)
+ Q_PROPERTY(bool compass1CalSucceeded READ compass1CalSucceeded NOTIFY compass1CalSucceededChanged)
+ Q_PROPERTY(bool compass2CalSucceeded READ compass2CalSucceeded NOTIFY compass2CalSucceededChanged)
+ Q_PROPERTY(bool compass3CalSucceeded READ compass3CalSucceeded NOTIFY compass3CalSucceededChanged)
- Q_PROPERTY(double compass1CalFitness READ compass1CalFitness NOTIFY compass1CalFitnessChanged)
- Q_PROPERTY(double compass2CalFitness READ compass2CalFitness NOTIFY compass2CalFitnessChanged)
- Q_PROPERTY(double compass3CalFitness READ compass3CalFitness NOTIFY compass3CalFitnessChanged)
+ Q_PROPERTY(double compass1CalFitness READ compass1CalFitness NOTIFY compass1CalFitnessChanged)
+ Q_PROPERTY(double compass2CalFitness READ compass2CalFitness NOTIFY compass2CalFitnessChanged)
+ Q_PROPERTY(double compass3CalFitness READ compass3CalFitness NOTIFY compass3CalFitnessChanged)
- Q_INVOKABLE void calibrateCompass(void);
- Q_INVOKABLE void calibrateAccel(void);
- Q_INVOKABLE void calibrateMotorInterference(void);
- Q_INVOKABLE void levelHorizon(void);
- Q_INVOKABLE void calibratePressure(void);
- Q_INVOKABLE void cancelCalibration(void);
- Q_INVOKABLE void nextClicked(void);
- Q_INVOKABLE bool usingUDPLink(void);
+ Q_INVOKABLE void calibrateCompass (void);
+ Q_INVOKABLE void calibrateAccel (void);
+ Q_INVOKABLE void calibrateGyro (void);
+ Q_INVOKABLE void calibrateMotorInterference (void);
+ Q_INVOKABLE void levelHorizon (void);
+ Q_INVOKABLE void calibratePressure (void);
+ Q_INVOKABLE void cancelCalibration (void);
+ Q_INVOKABLE void nextClicked (void);
+ Q_INVOKABLE bool usingUDPLink (void);
- bool compassSetupNeeded(void) const;
- bool accelSetupNeeded(void) const;
+ bool compassSetupNeeded (void) const;
+ bool accelSetupNeeded (void) const;
typedef enum {
CalTypeAccel,
+ CalTypeGyro,
CalTypeOnboardCompass,
CalTypeOffboardCompass,
CalTypeLevelHorizon,
@@ -113,40 +113,40 @@ public:
double compass3CalFitness(void) const { return _rgCompassCalFitness[2]; }
signals:
- void showGyroCalAreaChanged(void);
- void showOrientationCalAreaChanged(void);
- void orientationCalSidesDoneChanged(void);
- void orientationCalSidesVisibleChanged(void);
- void orientationCalSidesInProgressChanged(void);
- void orientationCalSidesRotateChanged(void);
- void resetStatusTextArea(void);
- void waitingForCancelChanged(void);
- void setupNeededChanged(void);
- void calibrationComplete(CalType_t calType);
- void compass1CalSucceededChanged(bool compass1CalSucceeded);
- void compass2CalSucceededChanged(bool compass2CalSucceeded);
- void compass3CalSucceededChanged(bool compass3CalSucceeded);
- void compass1CalFitnessChanged(double compass1CalFitness);
- void compass2CalFitnessChanged(double compass2CalFitness);
- void compass3CalFitnessChanged(double compass3CalFitness);
- void setAllCalButtonsEnabled(bool enabled);
+ void showGyroCalAreaChanged (void);
+ void showOrientationCalAreaChanged (void);
+ void orientationCalSidesDoneChanged (void);
+ void orientationCalSidesVisibleChanged (void);
+ void orientationCalSidesInProgressChanged (void);
+ void orientationCalSidesRotateChanged (void);
+ void resetStatusTextArea (void);
+ void waitingForCancelChanged (void);
+ void setupNeededChanged (void);
+ void calibrationComplete (CalType_t calType);
+ void compass1CalSucceededChanged (bool compass1CalSucceeded);
+ void compass2CalSucceededChanged (bool compass2CalSucceeded);
+ void compass3CalSucceededChanged (bool compass3CalSucceeded);
+ void compass1CalFitnessChanged (double compass1CalFitness);
+ void compass2CalFitnessChanged (double compass2CalFitness);
+ void compass3CalFitnessChanged (double compass3CalFitness);
+ void setAllCalButtonsEnabled (bool enabled);
private slots:
- void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
+ void _handleUASTextMessage (int uasId, int compId, int severity, QString text);
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
- void _mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
+ void _mavCommandResult (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
private:
- void _startLogCalibration(void);
- void _startVisualCalibration(void);
- void _appendStatusLog(const QString& text);
- void _refreshParams(void);
- void _hideAllCalAreas(void);
- void _resetInternalState(void);
- void _handleCommandAck(mavlink_message_t& message);
- void _handleMagCalProgress(mavlink_message_t& message);
- void _handleMagCalReport(mavlink_message_t& message);
- void _restorePreviousCompassCalFitness(void);
+ void _startLogCalibration (void);
+ void _startVisualCalibration (void);
+ void _appendStatusLog (const QString& text);
+ void _refreshParams (void);
+ void _hideAllCalAreas (void);
+ void _resetInternalState (void);
+ void _handleCommandAck (mavlink_message_t& message);
+ void _handleMagCalProgress (mavlink_message_t& message);
+ void _handleMagCalReport (mavlink_message_t& message);
+ void _restorePreviousCompassCalFitness (void);
enum StopCalibrationCode {
StopCalibrationSuccess,
@@ -212,5 +212,3 @@ private:
static const int _supportedFirmwareCalVersion = 2;
};
-
-#endif