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Merge pull request #8852 from DonLakeFlyer/CompassPriority 

ArduPilot: Compass priority support
QGC4.4
Don Gagne 5 years ago committed by GitHub
parent
5ea49f8fc1 b1860d284a
commit
e1c48fc614
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 99 additions and 35 deletions
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  1. 99
      src/AutoPilotPlugins/APM/APMSensorsComponent.qml
  2. 16
      src/FirmwarePlugin/APM/APMSensorParams.qml
  3. 16
      src/VehicleSetup/FirmwareUpgrade.qml
  4. 2
      src/VehicleSetup/FirmwareUpgradeController.cc
  5. 1
      src/VehicleSetup/FirmwareUpgradeController.h

99
src/AutoPilotPlugins/APM/APMSensorsComponent.qml
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@ -91,6 +91,7 @@ SetupPage { @@ -91,6 +91,7 @@ SetupPage {
case _calTypeCompass:
_orientationsDialogShowCompass = true
_orientationDialogHelp = orientationHelpCal
_singleCompassSettingsComponentShowPriority = false
dialogTitle = qsTr("Calibrate Compass")
buttons |= StandardButton.Cancel
break
@ -110,6 +111,28 @@ SetupPage { @@ -110,6 +111,28 @@ SetupPage {
mainWindow.showComponentDialog(orientationsDialogComponent, dialogTitle, mainWindow.showDialogDefaultWidth, buttons)
}
function compassLabel(index) {
var label = qsTr("Compass %1 ").arg(index+1)
var addOpenParan = true
var addComma = false
if (sensorParams.compassPrimaryFactAvailable) {
label += sensorParams.rgCompassPrimary[index] ? qsTr("(primary") : qsTr("(secondary")
addComma = true
addOpenParan = false
}
if (sensorParams.rgCompassExternalParamAvailable[index]) {
if (addOpenParan) {
label += "("
}
if (addComma) {
label += qsTr(", ")
}
label += sensorParams.rgCompassExternal[index] ? qsTr("external") : qsTr("internal")
}
label += ")"
return label
}
APMSensorParams {
id: sensorParams
factPanelController: controller
@ -142,6 +165,7 @@ SetupPage { @@ -142,6 +165,7 @@ SetupPage {
mainWindow.showComponentDialog(postCalibrationComponent, qsTr("Compass calibration complete"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
break
case APMSensorsComponentController.CalTypeOnboardCompass:
_singleCompassSettingsComponentShowPriority = true
mainWindow.showComponentDialog(postOnboardCompassCalibrationComponent, qsTr("Calibration complete"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
break
}
@ -189,6 +213,8 @@ SetupPage { @@ -189,6 +213,8 @@ SetupPage {
spacing: Math.round(ScreenTools.defaultFontPixelHeight / 2)
visible: sensorParams.rgCompassAvailable[index] && sensorParams.rgCompassUseFact[index].value
property int _index: index
property real greenMaxThreshold: 8 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
property real yellowMaxThreshold: 15 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
property real fitnessRange: 25 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
@ -230,26 +256,13 @@ SetupPage { @@ -230,26 +256,13 @@ SetupPage {
}
}
Column {
Loader {
anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
anchors.left: parent.left
anchors.right: parent.right
spacing: Math.round(ScreenTools.defaultFontPixelHeight / 4)
QGCLabel {
text: qsTr("Compass ") + (index+1) + " " +
(sensorParams.rgCompassPrimary[index] ? qsTr("(primary") : qsTr("(secondary")) +
(sensorParams.rgCompassExternalParamAvailable[index] ?
(sensorParams.rgCompassExternal[index] ? qsTr(", external") : qsTr(", internal" )) :
"") +
")"
}
sourceComponent: singleCompassSettingsComponent
FactCheckBox {
text: qsTr("Use Compass")
fact: sensorParams.rgCompassUseFact[index]
visible: sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index]
}
property int index: _index
}
}
}
@ -314,11 +327,12 @@ SetupPage { @@ -314,11 +327,12 @@ SetupPage {
controller.vehicle.rebootVehicle()
hideDialog()
}
}
}
}
}
}
property bool _singleCompassSettingsComponentShowPriority: true
Component {
id: singleCompassSettingsComponent
@ -327,12 +341,7 @@ SetupPage { @@ -327,12 +341,7 @@ SetupPage {
visible: sensorParams.rgCompassAvailable[index]
QGCLabel {
text: qsTr("Compass ") + (index+1) + " " +
(sensorParams.rgCompassPrimary[index] ? qsTr("(primary") :qsTr( "(secondary")) +
(sensorParams.rgCompassExternalParamAvailable[index] ?
(sensorParams.rgCompassExternal[index] ? qsTr(", external") : qsTr(", internal") ) :
"") +
")"
text: compassLabel(index)
}
Column {
@ -340,10 +349,46 @@ SetupPage { @@ -340,10 +349,46 @@ SetupPage {
anchors.left: parent.left
spacing: Math.round(ScreenTools.defaultFontPixelHeight / 4)
FactCheckBox {
text: qsTr("Use Compass")
fact: sensorParams.rgCompassUseFact[index]
visible: sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index]
RowLayout {
spacing: ScreenTools.defaultFontPixelWidth
FactCheckBox {
id: useCompassCheckBox
text: qsTr("Use Compass")
fact: sensorParams.rgCompassUseFact[index]
visible: sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index]
}
QGCComboBox {
model: [ qsTr("Priority 1"), qsTr("Priority 2"), qsTr("Priority 3"), qsTr("Not Set") ]
visible: _singleCompassSettingsComponentShowPriority && sensorParams.compassPrioFactsAvailable && useCompassCheckBox.visible && useCompassCheckBox.checked
property int _compassIndex: index
function selectPriorityfromParams() {
if (visible) {
currentIndex = 3
var compassId = sensorParams.rgCompassId[_compassIndex].rawValue
for (var prioIndex=0; prioIndex<3; prioIndex++) {
if (compassId == sensorParams.rgCompassPrio[prioIndex].rawValue) {
currentIndex = prioIndex
break
}
}
}
}
Component.onCompleted: selectPriorityfromParams()
onActivated: {
if (index == 3) {
// User cannot select Not Set
selectPriorityfromParams()
} else {
sensorParams.rgCompassPrio[index].rawValue = sensorParams.rgCompassId[_compassIndex].rawValue
}
}
}
}
Column {

16
src/FirmwarePlugin/APM/APMSensorParams.qml
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@ -17,15 +17,23 @@ Item { @@ -17,15 +17,23 @@ Item {
property Fact _noFact: Fact { }
property Fact compassPrimaryFact: factPanelController.getParameterFact(-1, "COMPASS_PRIMARY")
property bool compass1Primary: compassPrimaryFact.rawValue == 0
property bool compass2Primary: compassPrimaryFact.rawValue == 1
property bool compass3Primary: compassPrimaryFact.rawValue == 2
property bool compassPrimaryFactAvailable: factPanelController.parameterExists(-1, "COMPASS_PRIMARY")
property Fact compassPrimaryFact: compassPrimaryFactAvailable ? factPanelController.getParameterFact(-1, "COMPASS_PRIMARY") : _noFact
property bool compass1Primary: compassPrimaryFactAvailable ? compassPrimaryFact.rawValue == 0 : false
property bool compass2Primary: compassPrimaryFactAvailable ? compassPrimaryFact.rawValue == 1 : false
property bool compass3Primary: compassPrimaryFactAvailable ? compassPrimaryFact.rawValue == 2 : false
property var rgCompassPrimary: [ compass1Primary, compass2Primary, compass3Primary ]
property Fact compass1Id: factPanelController.getParameterFact(-1, "COMPASS_DEV_ID")
property Fact compass2Id: factPanelController.getParameterFact(-1, "COMPASS_DEV_ID2")
property Fact compass3Id: factPanelController.getParameterFact(-1, "COMPASS_DEV_ID3")
property var rgCompassId: [ compass1Id, compass2Id, compass3Id ]
property bool compassPrioFactsAvailable: factPanelController.parameterExists(-1, "COMPASS_PRIO1_ID")
property Fact compassPrio1Fact: compassPrioFactsAvailable ? factPanelController.getParameterFact(-1, "COMPASS_PRIO1_ID") : _noFact
property Fact compassPrio2Fact: compassPrioFactsAvailable ? factPanelController.getParameterFact(-1, "COMPASS_PRIO2_ID") : _noFact
property Fact compassPrio3Fact: compassPrioFactsAvailable ? factPanelController.getParameterFact(-1, "COMPASS_PRIO3_ID") : _noFact
property var rgCompassPrio: [ compassPrio1Fact, compassPrio2Fact, compassPrio3Fact ]
property bool compass1Available: compass1Id.value > 0
property bool compass2Available: compass2Id.value > 0

16
src/VehicleSetup/FirmwareUpgrade.qml
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@ -28,8 +28,6 @@ SetupPage { @@ -28,8 +28,6 @@ SetupPage {
pageName: qsTr("Firmware")
showAdvanced: activeVehicle && activeVehicle.apmFirmware
signal cancelDialog
Component {
id: firmwarePageComponent
@ -135,15 +133,20 @@ SetupPage { @@ -135,15 +133,20 @@ SetupPage {
} else {
// We end up here when we detect a board plugged in after we've started upgrade
statusTextArea.append(highlightPrefix + qsTr("Found device") + highlightSuffix + ": " + controller.boardType)
if (controller.pixhawkBoard || controller.px4FlowBoard) {
if (controller.px4FlowBoard) {
mainWindow.showComponentDialog(pixhawkFirmwareSelectDialogComponent, title, mainWindow.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
}
}
}
onBootloaderFound: {
if (controller.pixhawkBoard) {
mainWindow.showComponentDialog(pixhawkFirmwareSelectDialogComponent, title, mainWindow.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
}
}
onError: {
statusTextArea.append(flashFailText)
firmwarePage.cancelDialog()
}
}
@ -191,6 +194,11 @@ SetupPage { @@ -191,6 +194,11 @@ SetupPage {
updatePX4VersionDisplay()
}
Connections {
target: controller
onError: reject()
}
function accept() {
if (_singleFirmwareMode) {
controller.flashSingleFirmwareMode(controller.selectedFirmwareBuildType)

2
src/VehicleSetup/FirmwareUpgradeController.cc
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@ -245,6 +245,8 @@ void FirmwareUpgradeController::_foundBootloader(int bootloaderVersion, int boar @@ -245,6 +245,8 @@ void FirmwareUpgradeController::_foundBootloader(int bootloaderVersion, int boar
if (_rgManifestFirmwareInfo.count()) {
_buildAPMFirmwareNames();
}
emit bootloaderFound();
}

1
src/VehicleSetup/FirmwareUpgradeController.h
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@ -156,6 +156,7 @@ public: @@ -156,6 +156,7 @@ public:
signals:
void boardFound (void);
void bootloaderFound (void);
void noBoardFound (void);
void boardGone (void);
void flashComplete (void);

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