/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
QGCView {
id: rootQGCView
viewComponent: view
// Help text which is shown both in the status text area prior to pressing a cal button and in the
// pre-calibration dialog.
readonly property string boardRotationText: "If the autopilot is mounted in flight direction, leave the default value (ROTATION_NONE)"
readonly property string compassRotationText: "If the compass or GPS module is mounted in flight direction, leave the default value (ROTATION_NONE)"
readonly property string compassHelp: "For Compass calibration you will need to rotate your vehicle through a number of positions. Most users prefer to do this wirelessly with the telemetry link."
readonly property string gyroHelp: "For Gyroscope calibration you will need to place your vehicle on a surface and leave it still."
readonly property string accelHelp: "For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds."
readonly property string levelHelp: "To level the horizon you need to place the vehicle in its level flight position and press OK."
readonly property string airspeedHelp: "For Airspeed calibration you will need to keep your airspeed sensor out of any wind and then blow across the sensor."
readonly property string statusTextAreaDefaultText: "Start the individual calibration steps by clicking one of the buttons above."
// Used to pass what type of calibration is being performed to the preCalibrationDialog
property string preCalibrationDialogType
// Used to pass help text to the preCalibrationDialog dialog
property string preCalibrationDialogHelp
readonly property int sideBarH1PointSize: (ScreenTools.defaultFontPointSize * 1.3 + 0.5)
readonly property int mainTextH1PointSize: (ScreenTools.defaultFontPointSize * 1.5 + 0.5)
readonly property int rotationColumnWidth: 300
readonly property var rotations: [
"ROTATION_NONE",
"ROTATION_YAW_45",
"ROTATION_YAW_90",
"ROTATION_YAW_135",
"ROTATION_YAW_180",
"ROTATION_YAW_225",
"ROTATION_YAW_270",
"ROTATION_YAW_315",
"ROTATION_ROLL_180",
"ROTATION_ROLL_180_YAW_45",
"ROTATION_ROLL_180_YAW_90",
"ROTATION_ROLL_180_YAW_135",
"ROTATION_PITCH_180",
"ROTATION_ROLL_180_YAW_225",
"ROTATION_ROLL_180_YAW_270",
"ROTATION_ROLL_180_YAW_315",
"ROTATION_ROLL_90",
"ROTATION_ROLL_90_YAW_45",
"ROTATION_ROLL_90_YAW_90",
"ROTATION_ROLL_90_YAW_135",
"ROTATION_ROLL_270",
"ROTATION_ROLL_270_YAW_45",
"ROTATION_ROLL_270_YAW_90",
"ROTATION_ROLL_270_YAW_135",
"ROTATION_PITCH_90",
"ROTATION_PITCH_270",
"ROTATION_ROLL_270_YAW_270"
]
Fact { id: cal_mag0_id; name: "CAL_MAG0_ID"; onFactMissing: showMissingFactOverlay(name) }
Fact { id: cal_mag1_id; name: "CAL_MAG1_ID"; onFactMissing: showMissingFactOverlay(name) }
Fact { id: cal_mag2_id; name: "CAL_MAG2_ID"; onFactMissing: showMissingFactOverlay(name) }
Fact { id: cal_mag0_rot; name: "CAL_MAG0_ROT"; onFactMissing: showMissingFactOverlay(name) }
Fact { id: cal_mag1_rot; name: "CAL_MAG1_ROT"; onFactMissing: showMissingFactOverlay(name) }
Fact { id: cal_mag2_rot; name: "CAL_MAG2_ROT"; onFactMissing: showMissingFactOverlay(name) }
// Id > = signals compass available, rot < 0 signals internal compass
property bool showCompass0Rot: cal_mag0_id.value > 0 && cal_mag0_rot.value >= 0
property bool showCompass1Rot: cal_mag1_id.value > 0 && cal_mag1_rot.value >= 0
property bool showCompass2Rot: cal_mag2_id.value > 0 && cal_mag2_rot.value >= 0
SensorsComponentController {
id: controller
onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
onSetCompassRotations: {
if (showCompass0Rot || showCompass1Rot || showCompass2Rot) {
showDialog(compassRotationDialogComponent, "Set Compass Rotation(s)", 50, StandardButton.Ok)
}
}
onWaitingForCancelChanged: {
if (controller.waitingForCancel) {
showMessage("Calibration Cancel", "Waiting for Vehicle to response to Cancel. This may take a few seconds.", 0)
} else {
hideDialog()
}
}
}
Component {
id: preCalibrationDialogComponent
QGCViewDialog {
id: preCalibrationDialog
function accept() {
if (preCalibrationDialogType == "gyro") {
controller.calibrateGyro()
} else if (preCalibrationDialogType == "accel") {
controller.calibrateAccel()
} else if (preCalibrationDialogType == "level") {
controller.calibrateLevel()
} else if (preCalibrationDialogType == "compass") {
controller.calibrateCompass()
} else if (preCalibrationDialogType == "airspeed") {
controller.calibrateAirspeed()
}
preCalibrationDialog.hideDialog()
}
Column {
anchors.fill: parent
spacing: 5
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: preCalibrationDialogHelp
}
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
visible: (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
text: boardRotationText
}
FactComboBox {
width: rotationColumnWidth
model: rotations
visible: preCalibrationDialogType != "airspeed" && (preCalibrationDialogType != "gyro")
fact: Fact { name: "SENS_BOARD_ROT"; onFactMissing: showMissingFactOverlay(name) }
}
}
}
}
Component {
id: compassRotationDialogComponent
QGCViewDialog {
id: compassRotationDialog
Column {
anchors.fill: parent
spacing: 10
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: compassRotationText
}
// Compass 0 rotation
Component {
id: compass0ComponentLabel
QGCLabel {
font.pointSize: sideBarH1PointSize
text: "External Compass Orientation"
}
}
Component {
id: compass0ComponentCombo
FactComboBox {
id: compass0RotationCombo
width: rotationColumnWidth
model: rotations
fact: Fact { name: "CAL_MAG0_ROT"; onFactMissing: showMissingFactOverlay(name) }
}
}
Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel : null }
Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo : null }
// Compass 1 rotation
Component {
id: compass1ComponentLabel
QGCLabel { text: "Compass 1 Orientation" }
}
Component {
id: compass1ComponentCombo
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: Fact { name: "CAL_MAG1_ROT"; onFactMissing: showMissingFactOverlay(name) }
}
}
Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel : null }
Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo : null }
// Compass 2 rotation
Component {
id: compass2ComponentLabel
QGCLabel { text: "Compass 2 Orientation" }
}
Component {
id: compass2ComponentCombo
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: Fact { name: "CAL_MAG2_ROT"; onFactMissing: showMissingFactOverlay(name) }
}
}
Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel : null }
Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo : null }
} // Column
} // QGCViewDialog
} // Component - compassRotationDialogComponent
Component {
id: view
QGCViewPanel {
id: viewPanel
Connections {
target: rootQGCView
onCompleted: {
controller.factPanel = viewPanel
controller.statusLog = statusTextArea
controller.progressBar = progressBar
controller.compassButton = compassButton
controller.gyroButton = gyroButton
controller.accelButton = accelButton
controller.airspeedButton = airspeedButton
controller.cancelButton = cancelButton
controller.orientationCalAreaHelpText = orientationCalAreaHelpText
}
}
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
color: qgcPal.window
Column {
anchors.fill: parent
QGCLabel {
text: "SENSORS CONFIG"
font.pointSize: ScreenTools.fontPointFactor * (20);
}
Item { height: 20; width: 10 } // spacer
Row {
readonly property int buttonWidth: 120
spacing: 20
QGCLabel { text: "Calibrate:"; anchors.baseline: compassButton.baseline }
IndicatorButton {
property Fact fact: Fact { name: "CAL_MAG0_ID" }
id: compassButton
width: parent.buttonWidth
text: "Compass"
indicatorGreen: fact.value != 0
onClicked: {
preCalibrationDialogType = "compass"
preCalibrationDialogHelp = compassHelp
showDialog(preCalibrationDialogComponent, "Calibrate Compass", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
property Fact fact: Fact { name: "CAL_GYRO0_ID" }
id: gyroButton
width: parent.buttonWidth
text: "Gyroscope"
indicatorGreen: fact.value != 0
onClicked: {
preCalibrationDialogType = "gyro"
preCalibrationDialogHelp = gyroHelp
showDialog(preCalibrationDialogComponent, "Calibrate Gyro", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
property Fact fact: Fact { name: "CAL_ACC0_ID" }
id: accelButton
width: parent.buttonWidth
text: "Accelerometer"
indicatorGreen: fact.value != 0
onClicked: {
preCalibrationDialogType = "accel"
preCalibrationDialogHelp = accelHelp
showDialog(preCalibrationDialogComponent, "Calibrate Accelerometer", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
property Fact fact: Fact { name: "SENS_BOARD_X_OFF" }
property Fact checkAcc: Fact { name: "CAL_ACC0_ID" }
property Fact checkGyro: Fact { name: "CAL_GYRO0_ID" }
id: levelButton
width: parent.buttonWidth
text: "Level Horizon"
indicatorGreen: fact.value != 0
enabled: checkAcc.value != 0 && checkGyro.value != 0
onClicked: {
preCalibrationDialogType = "level"
preCalibrationDialogHelp = levelHelp
showDialog(preCalibrationDialogComponent, "Level Horizon", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
IndicatorButton {
property Fact fact: Fact { name: "SENS_DPRES_OFF" }
id: airspeedButton
width: parent.buttonWidth
text: "Airspeed"
visible: controller.fixedWing
indicatorGreen: fact.value != 0
onClicked: {
preCalibrationDialogType = "airspeed"
preCalibrationDialogHelp = airspeedHelp
showDialog(preCalibrationDialogComponent, "Calibrate Airspeed", 50, StandardButton.Cancel | StandardButton.Ok)
}
}
QGCButton {
id: cancelButton
text: "Cancel"
enabled: false
onClicked: controller.cancelCalibration()
}
}
Item { height: 20; width: 10 } // spacer
ProgressBar {
id: progressBar
width: parent.width - rotationColumnWidth
}
Item { height: 10; width: 10 } // spacer
Item {
readonly property int calibrationAreaHeight: 300
property int calDisplayAreaWidth: parent.width - rotationColumnWidth
width: parent.width
height: parent.height - y
TextArea {
id: statusTextArea
width: parent.calDisplayAreaWidth
height: parent.height
readOnly: true
frameVisible: false
text: statusTextAreaDefaultText
style: TextAreaStyle {
textColor: qgcPal.text
backgroundColor: qgcPal.windowShade
}
}
Rectangle {
id: orientationCalArea
width: parent.calDisplayAreaWidth
height: parent.height
visible: controller.showOrientationCalArea
color: qgcPal.windowShade
QGCLabel {
id: orientationCalAreaHelpText
width: parent.width
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.fontPointFactor * (17);
}
Flow {
y: orientationCalAreaHelpText.height
width: parent.width
height: parent.height - orientationCalAreaHelpText.implicitHeight
spacing: 5
VehicleRotationCal {
visible: controller.orientationCalDownSideVisible
calValid: controller.orientationCalDownSideDone
calInProgress: controller.orientationCalDownSideInProgress
calInProgressText: controller.orientationCalDownSideRotate ? "Rotate" : "Hold Still"
imageSource: controller.orientationCalDownSideRotate ? "qrc:///qml/VehicleDownRotate.png" : "qrc:///qml/VehicleDown.png"
}
VehicleRotationCal {
visible: controller.orientationCalUpsideDownSideVisible
calValid: controller.orientationCalUpsideDownSideDone
calInProgress: controller.orientationCalUpsideDownSideInProgress
calInProgressText: "Hold Still"
imageSource: "qrc:///qml/VehicleUpsideDown.png"
}
VehicleRotationCal {
visible: controller.orientationCalNoseDownSideVisible
calValid: controller.orientationCalNoseDownSideDone
calInProgress: controller.orientationCalNoseDownSideInProgress
calInProgressText: controller.orientationCalNoseDownSideRotate ? "Rotate" : "Hold Still"
imageSource: controller.orientationCalNoseDownSideRotate ? "qrc:///qml/VehicleNoseDownRotate.png" : "qrc:///qml/VehicleNoseDown.png"
}
VehicleRotationCal {
visible: controller.orientationCalTailDownSideVisible
calValid: controller.orientationCalTailDownSideDone
calInProgress: controller.orientationCalTailDownSideInProgress
calInProgressText: "Hold Still"
imageSource: "qrc:///qml/VehicleTailDown.png"
}
VehicleRotationCal {
visible: controller.orientationCalLeftSideVisible
calValid: controller.orientationCalLeftSideDone
calInProgress: controller.orientationCalLeftSideInProgress
calInProgressText: controller.orientationCalLeftSideRotate ? "Rotate" : "Hold Still"
imageSource: controller.orientationCalLeftSideRotate ? "qrc:///qml/VehicleLeftRotate.png" : "qrc:///qml/VehicleLeft.png"
}
VehicleRotationCal {
visible: controller.orientationCalRightSideVisible
calValid: controller.orientationCalRightSideDone
calInProgress: controller.orientationCalRightSideInProgress
calInProgressText: "Hold Still"
imageSource: "qrc:///qml/VehicleRight.png"
}
}
}
Column {
anchors.left: orientationCalArea.right
anchors.leftMargin: 5
spacing: 20
x: parent.width - rotationColumnWidth
Column {
spacing: 5
QGCLabel {
font.pointSize: sideBarH1PointSize
text: "Autopilot Orientation"
}
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: boardRotationText
}
FactComboBox {
id: boardRotationCombo
width: rotationColumnWidth;
model: rotations
fact: Fact { name: "SENS_BOARD_ROT" }
}
}
Column {
spacing: 5
// Compass 0 rotation
Component {
id: compass0ComponentLabel2
QGCLabel {
font.pointSize: sideBarH1PointSize
text: "External Compass Orientation"
}
}
Component {
id: compass0ComponentCombo2
FactComboBox {
id: compass0RotationCombo
width: rotationColumnWidth
model: rotations
fact: Fact { name: "CAL_MAG0_ROT" }
}
}
Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null }
Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null }
}
Column {
spacing: 5
// Compass 1 rotation
Component {
id: compass1ComponentLabel2
QGCLabel {
font.pointSize: sideBarH1PointSize
text: "External Compass 1 Orientation"
}
}
Component {
id: compass1ComponentCombo2
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: Fact { name: "CAL_MAG1_ROT" }
}
}
Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null }
Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null }
}
Column {
spacing: 5
// Compass 2 rotation
Component {
id: compass2ComponentLabel2
QGCLabel {
font.pointSize: sidebarH1PointSize
text: "Compass 2 Orientation"
}
}
Component {
id: compass2ComponentCombo2
FactComboBox {
id: compass1RotationCombo
width: rotationColumnWidth
model: rotations
fact: Fact { name: "CAL_MAG2_ROT" }
}
}
Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel2 : null }
Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo2 : null }
}
}
}
}
} // Rectangle
} // Component - view
}