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139 lines
3.8 KiB
139 lines
3.8 KiB
/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. |
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======================================================================*/ |
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/// @file |
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/// @author Don Gagne <don@thegagnes.com> |
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#include "SensorsComponent.h" |
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#include "PX4AutoPilotPlugin.h" |
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#include "QGCQmlWidgetHolder.h" |
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#include "SensorsComponentController.h" |
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// These two list must be kept in sync |
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SensorsComponent::SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) : |
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PX4Component(uas, autopilot, parent), |
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_name(tr("Sensors")) |
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{ |
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} |
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QString SensorsComponent::name(void) const |
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{ |
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return _name; |
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} |
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QString SensorsComponent::description(void) const |
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{ |
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return tr("The Sensors Component allows you to calibrate the sensors within your vehicle. " |
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"Prior to flight you must calibrate the Magnetometer, Gyroscope and Accelerometer."); |
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} |
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QString SensorsComponent::iconResource(void) const |
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{ |
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return "SensorsComponentIcon.png"; |
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} |
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bool SensorsComponent::requiresSetup(void) const |
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{ |
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return true; |
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} |
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bool SensorsComponent::setupComplete(void) const |
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{ |
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foreach(QString triggerParam, setupCompleteChangedTriggerList()) { |
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if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->value().toFloat() == 0.0f) { |
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return false; |
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} |
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} |
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return true; |
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} |
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QString SensorsComponent::setupStateDescription(void) const |
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{ |
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const char* stateDescription; |
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if (requiresSetup()) { |
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stateDescription = "Requires calibration"; |
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} else { |
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stateDescription = "Calibrated"; |
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} |
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return QString(stateDescription); |
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} |
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QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const |
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{ |
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QStringList triggers; |
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triggers << "CAL_MAG0_ID" << "CAL_GYRO0_ID" << "CAL_ACC0_ID"; |
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if (_uas->getSystemType() == MAV_TYPE_FIXED_WING || |
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_uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR || |
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_uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR) { |
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triggers << "SENS_DPRES_OFF"; |
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} |
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return triggers; |
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} |
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QStringList SensorsComponent::paramFilterList(void) const |
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{ |
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QStringList list; |
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list << "SENS_*" << "CAL_*"; |
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return list; |
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} |
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QUrl SensorsComponent::setupSource(void) const |
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{ |
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return QUrl::fromUserInput("qrc:/qml/SensorsComponent.qml"); |
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} |
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QUrl SensorsComponent::summaryQmlSource(void) const |
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{ |
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QString summaryQml; |
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qDebug() << _uas->getSystemType(); |
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if (_uas->getSystemType() == MAV_TYPE_FIXED_WING || |
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_uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR || |
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_uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR) { |
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summaryQml = "qrc:/qml/SensorsComponentSummaryFixedWing.qml"; |
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} else { |
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summaryQml = "qrc:/qml/SensorsComponentSummary.qml"; |
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} |
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return QUrl::fromUserInput(summaryQml); |
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} |
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QString SensorsComponent::prerequisiteSetup(void) const |
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{ |
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PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot); |
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Q_ASSERT(plugin); |
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if (!plugin->airframeComponent()->setupComplete()) { |
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return plugin->airframeComponent()->name(); |
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} |
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return QString(); |
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}
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