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Add separate Gyro cal support

QGC4.4
DonLakeFlyer 5 years ago
parent
9d4088b080
commit
d46cdc9355
3 changed files with 126 additions and 307 deletions
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  1. 29
      src/AutoPilotPlugins/APM/APMSensorsComponent.qml
  2. 240
      src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
  3. 188
      src/AutoPilotPlugins/APM/APMSensorsComponentController.h

29
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
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@ -569,6 +569,26 @@ SetupPage {
} // QGCViewDialog } // QGCViewDialog
} // Component - calibratePressureDialogComponent } // 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 { QGCFlickable {
id: buttonFlickable id: buttonFlickable
anchors.left: parent.left anchors.left: parent.left
@ -623,10 +643,17 @@ SetupPage {
QGCButton { QGCButton {
width: _buttonWidth 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 text: _calibratePressureText
onClicked: mainWindow.showComponentDialog(calibratePressureDialogComponent, _calibratePressureText, mainWindow.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) 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 { QGCButton {

240
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
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@ -294,7 +294,7 @@ void APMSensorsComponentController::calibrateAccel(void)
_calTypeInProgress = CalTypeAccel; _calTypeInProgress = CalTypeAccel;
_vehicle->setConnectionLostEnabled(false); _vehicle->setConnectionLostEnabled(false);
_startLogCalibration(); _startLogCalibration();
_uas->startCalibration(UASInterface::StartCalibrationAccel); _vehicle->startCalibration(Vehicle::CalibrationAccel);
} }
void APMSensorsComponentController::calibrateMotorInterference(void) 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("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("Quickly bring the throttle back down to zero"));
_appendStatusLog(tr("Press the Next button to complete the calibration")); _appendStatusLog(tr("Press the Next button to complete the calibration"));
_uas->startCalibration(UASInterface::StartCalibrationCompassMot); _vehicle->startCalibration(Vehicle::CalibrationAPMCompassMot);
} }
void APMSensorsComponentController::levelHorizon(void) void APMSensorsComponentController::levelHorizon(void)
@ -314,7 +314,7 @@ void APMSensorsComponentController::levelHorizon(void)
_vehicle->setConnectionLostEnabled(false); _vehicle->setConnectionLostEnabled(false);
_startLogCalibration(); _startLogCalibration();
_appendStatusLog(tr("Hold the vehicle in its level flight position.")); _appendStatusLog(tr("Hold the vehicle in its level flight position."));
_uas->startCalibration(UASInterface::StartCalibrationLevel); _vehicle->startCalibration(Vehicle::CalibrationLevel);
} }
void APMSensorsComponentController::calibratePressure(void) void APMSensorsComponentController::calibratePressure(void)
@ -323,7 +323,16 @@ void APMSensorsComponentController::calibratePressure(void)
_vehicle->setConnectionLostEnabled(false); _vehicle->setConnectionLostEnabled(false);
_startLogCalibration(); _startLogCalibration();
_appendStatusLog(tr("Requesting pressure calibration...")); _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) void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
@ -444,203 +453,6 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
_stopCalibration(StopCalibrationFailed); _stopCalibration(StopCalibrationFailed);
return; 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) void APMSensorsComponentController::_refreshParams(void)
@ -685,7 +497,7 @@ void APMSensorsComponentController::cancelCalibration(void)
emit waitingForCancelChanged(); emit waitingForCancelChanged();
// The firmware doesn't always allow us to cancel calibration. The best we can do is wait // The firmware doesn't always allow us to cancel calibration. The best we can do is wait
// for it to timeout. // for it to timeout.
_uas->stopCalibration(); _vehicle->stopCalibration();
} }
} }
@ -728,36 +540,18 @@ bool APMSensorsComponentController::usingUDPLink(void)
void APMSensorsComponentController::_handleCommandAck(mavlink_message_t& message) 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_command_ack_t commandAck;
mavlink_msg_command_ack_decode(&message, &commandAck); mavlink_msg_command_ack_decode(&message, &commandAck);
if (commandAck.command == MAV_CMD_PREFLIGHT_CALIBRATION) { if (commandAck.command == MAV_CMD_PREFLIGHT_CALIBRATION) {
switch (commandAck.result) { switch (commandAck.result) {
case MAV_RESULT_ACCEPTED: case MAV_RESULT_ACCEPTED:
_appendStatusLog(tr("Pressure calibration success")); _appendStatusLog(tr("Successfully completed"));
_stopCalibration(StopCalibrationSuccessShowLog); _stopCalibration(StopCalibrationSuccessShowLog);
break; break;
default: default:
_appendStatusLog(tr("Pressure calibration fail")); _appendStatusLog(tr("Failed"));
_stopCalibration(StopCalibrationFailed); _stopCalibration(StopCalibrationFailed);
break; break;
} }

188
src/AutoPilotPlugins/APM/APMSensorsComponentController.h
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@ -7,9 +7,7 @@
* *
****************************************************************************/ ****************************************************************************/
#pragma once
#ifndef APMSensorsComponentController_H
#define APMSensorsComponentController_H
#include <QObject> #include <QObject>
@ -31,70 +29,72 @@ public:
APMSensorsComponentController(void); APMSensorsComponentController(void);
~APMSensorsComponentController(); ~APMSensorsComponentController();
Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog) Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar) Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton) Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton) Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText) Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText)
Q_PROPERTY(bool compassSetupNeeded READ compassSetupNeeded NOTIFY setupNeededChanged) Q_PROPERTY(bool compassSetupNeeded READ compassSetupNeeded NOTIFY setupNeededChanged)
Q_PROPERTY(bool accelSetupNeeded READ accelSetupNeeded 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 orientationCalDownSideDone MEMBER _orientationCalDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideDone MEMBER _orientationCalUpsideDownSideDone NOTIFY orientationCalSidesDoneChanged) Q_PROPERTY(bool orientationCalUpsideDownSideDone MEMBER _orientationCalUpsideDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalLeftSideDone MEMBER _orientationCalLeftSideDone NOTIFY orientationCalSidesDoneChanged) Q_PROPERTY(bool orientationCalLeftSideDone MEMBER _orientationCalLeftSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalRightSideDone MEMBER _orientationCalRightSideDone NOTIFY orientationCalSidesDoneChanged) Q_PROPERTY(bool orientationCalRightSideDone MEMBER _orientationCalRightSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalNoseDownSideDone MEMBER _orientationCalNoseDownSideDone NOTIFY orientationCalSidesDoneChanged) Q_PROPERTY(bool orientationCalNoseDownSideDone MEMBER _orientationCalNoseDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalTailDownSideDone MEMBER _orientationCalTailDownSideDone NOTIFY orientationCalSidesDoneChanged) Q_PROPERTY(bool orientationCalTailDownSideDone MEMBER _orientationCalTailDownSideDone NOTIFY orientationCalSidesDoneChanged)
Q_PROPERTY(bool orientationCalDownSideVisible MEMBER _orientationCalDownSideVisible NOTIFY orientationCalSidesVisibleChanged) Q_PROPERTY(bool orientationCalDownSideVisible MEMBER _orientationCalDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideVisible MEMBER _orientationCalUpsideDownSideVisible NOTIFY orientationCalSidesVisibleChanged) Q_PROPERTY(bool orientationCalUpsideDownSideVisible MEMBER _orientationCalUpsideDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalLeftSideVisible MEMBER _orientationCalLeftSideVisible NOTIFY orientationCalSidesVisibleChanged) Q_PROPERTY(bool orientationCalLeftSideVisible MEMBER _orientationCalLeftSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalRightSideVisible MEMBER _orientationCalRightSideVisible NOTIFY orientationCalSidesVisibleChanged) Q_PROPERTY(bool orientationCalRightSideVisible MEMBER _orientationCalRightSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalNoseDownSideVisible MEMBER _orientationCalNoseDownSideVisible NOTIFY orientationCalSidesVisibleChanged) Q_PROPERTY(bool orientationCalNoseDownSideVisible MEMBER _orientationCalNoseDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalTailDownSideVisible MEMBER _orientationCalTailDownSideVisible NOTIFY orientationCalSidesVisibleChanged) Q_PROPERTY(bool orientationCalTailDownSideVisible MEMBER _orientationCalTailDownSideVisible NOTIFY orientationCalSidesVisibleChanged)
Q_PROPERTY(bool orientationCalDownSideInProgress MEMBER _orientationCalDownSideInProgress NOTIFY orientationCalSidesInProgressChanged) Q_PROPERTY(bool orientationCalDownSideInProgress MEMBER _orientationCalDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideInProgress MEMBER _orientationCalUpsideDownSideInProgress NOTIFY orientationCalSidesInProgressChanged) Q_PROPERTY(bool orientationCalUpsideDownSideInProgress MEMBER _orientationCalUpsideDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalLeftSideInProgress MEMBER _orientationCalLeftSideInProgress NOTIFY orientationCalSidesInProgressChanged) Q_PROPERTY(bool orientationCalLeftSideInProgress MEMBER _orientationCalLeftSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalRightSideInProgress MEMBER _orientationCalRightSideInProgress NOTIFY orientationCalSidesInProgressChanged) Q_PROPERTY(bool orientationCalRightSideInProgress MEMBER _orientationCalRightSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalNoseDownSideInProgress MEMBER _orientationCalNoseDownSideInProgress NOTIFY orientationCalSidesInProgressChanged) Q_PROPERTY(bool orientationCalNoseDownSideInProgress MEMBER _orientationCalNoseDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalTailDownSideInProgress MEMBER _orientationCalTailDownSideInProgress NOTIFY orientationCalSidesInProgressChanged) Q_PROPERTY(bool orientationCalTailDownSideInProgress MEMBER _orientationCalTailDownSideInProgress NOTIFY orientationCalSidesInProgressChanged)
Q_PROPERTY(bool orientationCalDownSideRotate MEMBER _orientationCalDownSideRotate NOTIFY orientationCalSidesRotateChanged) Q_PROPERTY(bool orientationCalDownSideRotate MEMBER _orientationCalDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalUpsideDownSideRotate MEMBER _orientationCalUpsideDownSideRotate NOTIFY orientationCalSidesRotateChanged) Q_PROPERTY(bool orientationCalUpsideDownSideRotate MEMBER _orientationCalUpsideDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalLeftSideRotate MEMBER _orientationCalLeftSideRotate NOTIFY orientationCalSidesRotateChanged) Q_PROPERTY(bool orientationCalLeftSideRotate MEMBER _orientationCalLeftSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalRightSideRotate MEMBER _orientationCalRightSideRotate NOTIFY orientationCalSidesRotateChanged) Q_PROPERTY(bool orientationCalRightSideRotate MEMBER _orientationCalRightSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalNoseDownSideRotate MEMBER _orientationCalNoseDownSideRotate NOTIFY orientationCalSidesRotateChanged) Q_PROPERTY(bool orientationCalNoseDownSideRotate MEMBER _orientationCalNoseDownSideRotate NOTIFY orientationCalSidesRotateChanged)
Q_PROPERTY(bool orientationCalTailDownSideRotate MEMBER _orientationCalTailDownSideRotate 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 compass1CalSucceeded READ compass1CalSucceeded NOTIFY compass1CalSucceededChanged)
Q_PROPERTY(bool compass2CalSucceeded READ compass2CalSucceeded NOTIFY compass2CalSucceededChanged) Q_PROPERTY(bool compass2CalSucceeded READ compass2CalSucceeded NOTIFY compass2CalSucceededChanged)
Q_PROPERTY(bool compass3CalSucceeded READ compass3CalSucceeded NOTIFY compass3CalSucceededChanged) Q_PROPERTY(bool compass3CalSucceeded READ compass3CalSucceeded NOTIFY compass3CalSucceededChanged)
Q_PROPERTY(double compass1CalFitness READ compass1CalFitness NOTIFY compass1CalFitnessChanged) Q_PROPERTY(double compass1CalFitness READ compass1CalFitness NOTIFY compass1CalFitnessChanged)
Q_PROPERTY(double compass2CalFitness READ compass2CalFitness NOTIFY compass2CalFitnessChanged) Q_PROPERTY(double compass2CalFitness READ compass2CalFitness NOTIFY compass2CalFitnessChanged)
Q_PROPERTY(double compass3CalFitness READ compass3CalFitness NOTIFY compass3CalFitnessChanged) Q_PROPERTY(double compass3CalFitness READ compass3CalFitness NOTIFY compass3CalFitnessChanged)
Q_INVOKABLE void calibrateCompass(void); Q_INVOKABLE void calibrateCompass (void);
Q_INVOKABLE void calibrateAccel(void); Q_INVOKABLE void calibrateAccel (void);
Q_INVOKABLE void calibrateMotorInterference(void); Q_INVOKABLE void calibrateGyro (void);
Q_INVOKABLE void levelHorizon(void); Q_INVOKABLE void calibrateMotorInterference (void);
Q_INVOKABLE void calibratePressure(void); Q_INVOKABLE void levelHorizon (void);
Q_INVOKABLE void cancelCalibration(void); Q_INVOKABLE void calibratePressure (void);
Q_INVOKABLE void nextClicked(void); Q_INVOKABLE void cancelCalibration (void);
Q_INVOKABLE bool usingUDPLink(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 { typedef enum {
CalTypeAccel, CalTypeAccel,
CalTypeGyro,
CalTypeOnboardCompass, CalTypeOnboardCompass,
CalTypeOffboardCompass, CalTypeOffboardCompass,
CalTypeLevelHorizon, CalTypeLevelHorizon,
@ -113,40 +113,40 @@ public:
double compass3CalFitness(void) const { return _rgCompassCalFitness[2]; } double compass3CalFitness(void) const { return _rgCompassCalFitness[2]; }
signals: signals:
void showGyroCalAreaChanged(void); void showGyroCalAreaChanged (void);
void showOrientationCalAreaChanged(void); void showOrientationCalAreaChanged (void);
void orientationCalSidesDoneChanged(void); void orientationCalSidesDoneChanged (void);
void orientationCalSidesVisibleChanged(void); void orientationCalSidesVisibleChanged (void);
void orientationCalSidesInProgressChanged(void); void orientationCalSidesInProgressChanged (void);
void orientationCalSidesRotateChanged(void); void orientationCalSidesRotateChanged (void);
void resetStatusTextArea(void); void resetStatusTextArea (void);
void waitingForCancelChanged(void); void waitingForCancelChanged (void);
void setupNeededChanged(void); void setupNeededChanged (void);
void calibrationComplete(CalType_t calType); void calibrationComplete (CalType_t calType);
void compass1CalSucceededChanged(bool compass1CalSucceeded); void compass1CalSucceededChanged (bool compass1CalSucceeded);
void compass2CalSucceededChanged(bool compass2CalSucceeded); void compass2CalSucceededChanged (bool compass2CalSucceeded);
void compass3CalSucceededChanged(bool compass3CalSucceeded); void compass3CalSucceededChanged (bool compass3CalSucceeded);
void compass1CalFitnessChanged(double compass1CalFitness); void compass1CalFitnessChanged (double compass1CalFitness);
void compass2CalFitnessChanged(double compass2CalFitness); void compass2CalFitnessChanged (double compass2CalFitness);
void compass3CalFitnessChanged(double compass3CalFitness); void compass3CalFitnessChanged (double compass3CalFitness);
void setAllCalButtonsEnabled(bool enabled); void setAllCalButtonsEnabled (bool enabled);
private slots: 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 _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: private:
void _startLogCalibration(void); void _startLogCalibration (void);
void _startVisualCalibration(void); void _startVisualCalibration (void);
void _appendStatusLog(const QString& text); void _appendStatusLog (const QString& text);
void _refreshParams(void); void _refreshParams (void);
void _hideAllCalAreas(void); void _hideAllCalAreas (void);
void _resetInternalState(void); void _resetInternalState (void);
void _handleCommandAck(mavlink_message_t& message); void _handleCommandAck (mavlink_message_t& message);
void _handleMagCalProgress(mavlink_message_t& message); void _handleMagCalProgress (mavlink_message_t& message);
void _handleMagCalReport(mavlink_message_t& message); void _handleMagCalReport (mavlink_message_t& message);
void _restorePreviousCompassCalFitness(void); void _restorePreviousCompassCalFitness (void);
enum StopCalibrationCode { enum StopCalibrationCode {
StopCalibrationSuccess, StopCalibrationSuccess,
@ -212,5 +212,3 @@ private:
static const int _supportedFirmwareCalVersion = 2; static const int _supportedFirmwareCalVersion = 2;
}; };
#endif

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