Add separate Gyro cal support

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 {

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) {
+    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("Level horizon complete"));
-                _stopCalibration(StopCalibrationSuccessShowLog);
-                break;
-            default:
-                _appendStatusLog(tr("Level horizon failed"));
-                _stopCalibration(StopCalibrationFailed);
-                break;
-            }
-        }
-    }
-
-    if (_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;
             }

src/AutoPilotPlugins/APM/APMSensorsComponentController.h

@@ -7,9 +7,7 @@
  *
  ****************************************************************************/
 
-
+#pragma once
-#ifndef APMSensorsComponentController_H
-#define APMSensorsComponentController_H
 
 #include <QObject>
 
@@ -83,6 +81,7 @@ public:
 
     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);
@@ -95,6 +94,7 @@ public:
 
     typedef enum {
         CalTypeAccel,
+        CalTypeGyro,
         CalTypeOnboardCompass,
         CalTypeOffboardCompass,
         CalTypeLevelHorizon,
@@ -212,5 +212,3 @@ private:
     
     static const int _supportedFirmwareCalVersion = 2;
 };
-
-#endif