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594 lines
27 KiB
594 lines
27 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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import QtQuick 2.3 |
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import QtQuick.Controls 1.2 |
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import QtQuick.Controls.Styles 1.4 |
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import QtQuick.Dialogs 1.2 |
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import QGroundControl 1.0 |
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import QGroundControl.FactSystem 1.0 |
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import QGroundControl.FactControls 1.0 |
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import QGroundControl.Palette 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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import QGroundControl.Controllers 1.0 |
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/// Page for sensor calibration. This control is used within the SensorsComponent control and can also be used |
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/// standalone for custom uis. When using standardalone you can use the various show* bools to show/hide what you want. |
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Item { |
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id: _root |
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property var qgcView ///< QGCView must be passed in |
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property bool showSensorCalibrationCompass: true ///< true: Show this calibration button |
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property bool showSensorCalibrationGyro: true ///< true: Show this calibration button |
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property bool showSensorCalibrationAccel: true ///< true: Show this calibration button |
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property bool showSensorCalibrationLevel: true ///< true: Show this calibration button |
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property bool showSensorCalibrationAirspeed: true ///< true: Show this calibration button |
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property bool showSetOrientations: true ///< true: Show this calibration button |
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property bool showNextButton: false ///< true: Show Next button which will signal nextButtonClicked |
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signal nextButtonClicked |
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// Help text which is shown both in the status text area prior to pressing a cal button and in the |
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// pre-calibration dialog. |
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readonly property string boardRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.") |
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readonly property string compassRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.") |
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readonly property string compassHelp: qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions.\n\nClick Ok to start calibration.") |
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readonly property string gyroHelp: qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.\n\nClick Ok to start calibration.") |
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readonly property string accelHelp: qsTr("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.\n\nClick Ok to start calibration.") |
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readonly property string levelHelp: qsTr("To level the horizon you need to place the vehicle in its level flight position and press OK.") |
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readonly property string airspeedHelp: qsTr("For Airspeed calibration you will need to keep your airspeed sensor out of any wind and then blow across the sensor. Do not touch the sensor or obstruct any holes during the calibration.") |
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readonly property string statusTextAreaDefaultText: qsTr("Start the individual calibration steps by clicking one of the buttons to the left.") |
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// Used to pass what type of calibration is being performed to the preCalibrationDialog |
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property string preCalibrationDialogType |
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// Used to pass help text to the preCalibrationDialog dialog |
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property string preCalibrationDialogHelp |
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readonly property int rotationColumnWidth: ScreenTools.defaultFontPixelWidth * 30 |
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readonly property var rotations: [ |
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"ROTATION_NONE", |
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"ROTATION_YAW_45", |
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"ROTATION_YAW_90", |
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"ROTATION_YAW_135", |
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"ROTATION_YAW_180", |
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"ROTATION_YAW_225", |
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"ROTATION_YAW_270", |
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"ROTATION_YAW_315", |
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"ROTATION_ROLL_180", |
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"ROTATION_ROLL_180_YAW_45", |
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"ROTATION_ROLL_180_YAW_90", |
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"ROTATION_ROLL_180_YAW_135", |
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"ROTATION_PITCH_180", |
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"ROTATION_ROLL_180_YAW_225", |
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"ROTATION_ROLL_180_YAW_270", |
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"ROTATION_ROLL_180_YAW_315", |
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"ROTATION_ROLL_90", |
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"ROTATION_ROLL_90_YAW_45", |
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"ROTATION_ROLL_90_YAW_90", |
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"ROTATION_ROLL_90_YAW_135", |
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"ROTATION_ROLL_270", |
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"ROTATION_ROLL_270_YAW_45", |
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"ROTATION_ROLL_270_YAW_90", |
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"ROTATION_ROLL_270_YAW_135", |
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"ROTATION_PITCH_90", |
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"ROTATION_PITCH_270", |
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"ROTATION_ROLL_270_YAW_270", |
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"ROTATION_ROLL_180_PITCH_270", |
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"ROTATION_PITCH_90_YAW_180", |
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"ROTATION_ROLL_90_PITCH_90" |
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] |
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property Fact cal_mag0_id: controller.getParameterFact(-1, "CAL_MAG0_ID") |
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property Fact cal_mag1_id: controller.getParameterFact(-1, "CAL_MAG1_ID") |
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property Fact cal_mag2_id: controller.getParameterFact(-1, "CAL_MAG2_ID") |
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property Fact cal_mag0_rot: controller.getParameterFact(-1, "CAL_MAG0_ROT") |
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property Fact cal_mag1_rot: controller.getParameterFact(-1, "CAL_MAG1_ROT") |
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property Fact cal_mag2_rot: controller.getParameterFact(-1, "CAL_MAG2_ROT") |
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property Fact cal_gyro0_id: controller.getParameterFact(-1, "CAL_GYRO0_ID") |
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property Fact cal_acc0_id: controller.getParameterFact(-1, "CAL_ACC0_ID") |
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property Fact sens_board_rot: controller.getParameterFact(-1, "SENS_BOARD_ROT") |
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property Fact sens_board_x_off: controller.getParameterFact(-1, "SENS_BOARD_X_OFF") |
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property Fact sens_board_y_off: controller.getParameterFact(-1, "SENS_BOARD_Y_OFF") |
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property Fact sens_board_z_off: controller.getParameterFact(-1, "SENS_BOARD_Z_OFF") |
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property Fact sens_dpres_off: controller.getParameterFact(-1, "SENS_DPRES_OFF") |
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// Id > = signals compass available, rot < 0 signals internal compass |
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property bool showCompass0Rot: cal_mag0_id.value > 0 && cal_mag0_rot.value >= 0 |
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property bool showCompass1Rot: cal_mag1_id.value > 0 && cal_mag1_rot.value >= 0 |
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property bool showCompass2Rot: cal_mag2_id.value > 0 && cal_mag2_rot.value >= 0 |
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property bool _sensorsHaveFixedOrientation: QGroundControl.corePlugin.options.sensorsHaveFixedOrientation |
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property bool _wifiReliableForCalibration: QGroundControl.corePlugin.options.wifiReliableForCalibration |
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property int _buttonWidth: ScreenTools.defaultFontPixelWidth * 15 |
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SensorsComponentController { |
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id: controller |
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factPanel: _root.qgcView.viewPanel |
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statusLog: statusTextArea |
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progressBar: progressBar |
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compassButton: compassButton |
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gyroButton: gyroButton |
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accelButton: accelButton |
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airspeedButton: airspeedButton |
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levelButton: levelButton |
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cancelButton: cancelButton |
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setOrientationsButton: setOrientationsButton |
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orientationCalAreaHelpText: orientationCalAreaHelpText |
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onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText |
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onSetCompassRotations: { |
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if (!_sensorsHaveFixedOrientation && (showCompass0Rot || showCompass1Rot || showCompass2Rot)) { |
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setOrientationsDialogShowBoardOrientation = false |
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showDialog(setOrientationsDialogComponent, qsTr("Set Compass Rotation(s)"), qgcView.showDialogDefaultWidth, StandardButton.Ok) |
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} |
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} |
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onWaitingForCancelChanged: { |
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if (controller.waitingForCancel) { |
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showDialog(waitForCancelDialogComponent, qsTr("Calibration Cancel"), qgcView.showDialogDefaultWidth, 0) |
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} |
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} |
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} |
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Component.onCompleted: { |
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var usingUDP = controller.usingUDPLink() |
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if (usingUDP && !_wifiReliableForCalibration) { |
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showMessage(qsTr("Sensor Calibration"), qsTr("Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead."), StandardButton.Ok) |
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} |
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} |
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Component { |
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id: waitForCancelDialogComponent |
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QGCViewMessage { |
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message: qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds.") |
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Connections { |
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target: controller |
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onWaitingForCancelChanged: { |
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if (!controller.waitingForCancel) { |
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hideDialog() |
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} |
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} |
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} |
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} |
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} |
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Component { |
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id: preCalibrationDialogComponent |
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QGCViewDialog { |
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id: preCalibrationDialog |
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function accept() { |
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if (preCalibrationDialogType == "gyro") { |
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controller.calibrateGyro() |
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} else if (preCalibrationDialogType == "accel") { |
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controller.calibrateAccel() |
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} else if (preCalibrationDialogType == "level") { |
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controller.calibrateLevel() |
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} else if (preCalibrationDialogType == "compass") { |
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controller.calibrateCompass() |
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} else if (preCalibrationDialogType == "airspeed") { |
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controller.calibrateAirspeed() |
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} |
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preCalibrationDialog.hideDialog() |
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} |
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Column { |
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anchors.fill: parent |
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spacing: ScreenTools.defaultFontPixelHeight |
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Column { |
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width: parent.width |
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spacing: 5 |
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visible: !_sensorsHaveFixedOrientation |
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QGCLabel { |
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id: boardRotationHelp |
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width: parent.width |
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wrapMode: Text.WordWrap |
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visible: (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro") |
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text: qsTr("Set autopilot orientation before calibrating.") |
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} |
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Column { |
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visible: boardRotationHelp.visible |
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QGCLabel { text: qsTr("Autopilot Orientation:") } |
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FactComboBox { |
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id: boardRotationCombo |
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width: rotationColumnWidth; |
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model: rotations |
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fact: sens_board_rot |
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} |
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} |
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} |
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QGCLabel { |
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width: parent.width |
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wrapMode: Text.WordWrap |
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text: preCalibrationDialogHelp |
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} |
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} |
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} |
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} |
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property bool setOrientationsDialogShowBoardOrientation: true |
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Component { |
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id: setOrientationsDialogComponent |
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QGCViewDialog { |
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id: setOrientationsDialog |
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QGCFlickable { |
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anchors.fill: parent |
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contentHeight: columnLayout.height |
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clip: true |
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Column { |
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id: columnLayout |
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anchors.margins: ScreenTools.defaultFontPixelWidth |
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anchors.left: parent.left |
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anchors.right: parent.right |
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anchors.top: parent.top |
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spacing: ScreenTools.defaultFontPixelHeight |
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QGCLabel { |
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width: parent.width |
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wrapMode: Text.WordWrap |
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text: boardRotationText |
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} |
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Column { |
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visible: setOrientationsDialogShowBoardOrientation |
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QGCLabel { |
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text: qsTr("Autopilot Orientation:") |
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} |
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FactComboBox { |
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id: boardRotationCombo |
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width: rotationColumnWidth; |
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model: rotations |
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fact: sens_board_rot |
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} |
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} |
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Column { |
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// Compass 0 rotation |
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Component { |
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id: compass0ComponentLabel2 |
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QGCLabel { |
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text: qsTr("External Compass Orientation:") |
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} |
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} |
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Component { |
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id: compass0ComponentCombo2 |
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FactComboBox { |
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id: compass0RotationCombo |
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width: rotationColumnWidth |
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model: rotations |
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fact: cal_mag0_rot |
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} |
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} |
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Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null } |
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Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null } |
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} |
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Column { |
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// Compass 1 rotation |
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Component { |
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id: compass1ComponentLabel2 |
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QGCLabel { |
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text: qsTr("External Compass 1 Orientation:") |
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} |
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} |
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Component { |
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id: compass1ComponentCombo2 |
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FactComboBox { |
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id: compass1RotationCombo |
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width: rotationColumnWidth |
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model: rotations |
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fact: cal_mag1_rot |
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} |
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} |
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Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null } |
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Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null } |
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} |
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Column { |
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spacing: ScreenTools.defaultFontPixelWidth |
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// Compass 2 rotation |
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Component { |
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id: compass2ComponentLabel2 |
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QGCLabel { |
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text: qsTr("Compass 2 Orientation") |
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} |
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} |
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Component { |
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id: compass2ComponentCombo2 |
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FactComboBox { |
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id: compass1RotationCombo |
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width: rotationColumnWidth |
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model: rotations |
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fact: cal_mag2_rot |
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} |
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} |
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Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel2 : null } |
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Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo2 : null } |
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} |
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} // Column |
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} // QGCFlickable |
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} // QGCViewDialog |
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} // Component - setOrientationsDialogComponent |
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QGCFlickable { |
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id: buttonFlickable |
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anchors.top: parent.top |
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anchors.bottom: parent.bottom |
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width: _buttonWidth |
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contentHeight: buttonColumn.height + buttonColumn.spacing |
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Column { |
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id: buttonColumn |
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spacing: ScreenTools.defaultFontPixelHeight / 2 |
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IndicatorButton { |
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id: compassButton |
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width: _buttonWidth |
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text: qsTr("Compass") |
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indicatorGreen: cal_mag0_id.value !== 0 |
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visible: QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass |
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onClicked: { |
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preCalibrationDialogType = "compass" |
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preCalibrationDialogHelp = compassHelp |
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showDialog(preCalibrationDialogComponent, qsTr("Calibrate Compass"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) |
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} |
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} |
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IndicatorButton { |
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id: gyroButton |
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width: _buttonWidth |
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text: qsTr("Gyroscope") |
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indicatorGreen: cal_gyro0_id.value !== 0 |
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visible: QGroundControl.corePlugin.options.showSensorCalibrationGyro && showSensorCalibrationGyro |
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onClicked: { |
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preCalibrationDialogType = "gyro" |
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preCalibrationDialogHelp = gyroHelp |
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showDialog(preCalibrationDialogComponent, qsTr("Calibrate Gyro"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) |
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} |
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} |
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IndicatorButton { |
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id: accelButton |
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width: _buttonWidth |
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text: qsTr("Accelerometer") |
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indicatorGreen: cal_acc0_id.value !== 0 |
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visible: QGroundControl.corePlugin.options.showSensorCalibrationAccel && showSensorCalibrationAccel |
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onClicked: { |
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preCalibrationDialogType = "accel" |
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preCalibrationDialogHelp = accelHelp |
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showDialog(preCalibrationDialogComponent, qsTr("Calibrate Accelerometer"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) |
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} |
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} |
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IndicatorButton { |
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id: levelButton |
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width: _buttonWidth |
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text: qsTr("Level Horizon") |
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indicatorGreen: sens_board_x_off.value !== 0 || sens_board_y_off.value !== 0 | sens_board_z_off.value !== 0 |
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enabled: cal_acc0_id.value !== 0 && cal_gyro0_id.value !== 0 |
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visible: QGroundControl.corePlugin.options.showSensorCalibrationLevel && showSensorCalibrationLevel |
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onClicked: { |
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preCalibrationDialogType = "level" |
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preCalibrationDialogHelp = levelHelp |
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showDialog(preCalibrationDialogComponent, qsTr("Level Horizon"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) |
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} |
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} |
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IndicatorButton { |
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id: airspeedButton |
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width: _buttonWidth |
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text: qsTr("Airspeed") |
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visible: (controller.vehicle.fixedWing || controller.vehicle.vtol) && |
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controller.getParameterFact(-1, "FW_ARSP_MODE").value == 0 && |
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controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value !== 162128 && |
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QGroundControl.corePlugin.options.showSensorCalibrationAirspeed && |
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showSensorCalibrationAirspeed |
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indicatorGreen: sens_dpres_off.value !== 0 |
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onClicked: { |
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preCalibrationDialogType = "airspeed" |
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preCalibrationDialogHelp = airspeedHelp |
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showDialog(preCalibrationDialogComponent, qsTr("Calibrate Airspeed"), qgcView.showDialogDefaultWidth, StandardButton.Cancel | StandardButton.Ok) |
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} |
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} |
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QGCButton { |
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id: cancelButton |
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width: _buttonWidth |
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text: qsTr("Cancel") |
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enabled: false |
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onClicked: controller.cancelCalibration() |
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} |
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QGCButton { |
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id: nextButton |
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width: _buttonWidth |
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text: qsTr("Next") |
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visible: showNextButton |
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onClicked: _root.nextButtonClicked() |
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} |
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QGCButton { |
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id: setOrientationsButton |
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width: _buttonWidth |
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text: qsTr("Set Orientations") |
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visible: !_sensorsHaveFixedOrientation && showSetOrientations |
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onClicked: { |
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setOrientationsDialogShowBoardOrientation = true |
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showDialog(setOrientationsDialogComponent, qsTr("Set Orientations"), qgcView.showDialogDefaultWidth, StandardButton.Ok) |
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} |
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} |
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} // Column - Buttons |
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} // QGCFLickable - Buttons |
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Column { |
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anchors.leftMargin: ScreenTools.defaultFontPixelWidth / 2 |
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anchors.left: buttonFlickable.right |
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anchors.right: parent.right |
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anchors.top: parent.top |
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anchors.bottom: parent.bottom |
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ProgressBar { |
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id: progressBar |
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anchors.left: parent.left |
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anchors.right: parent.right |
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} |
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Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer |
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Item { |
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property int calDisplayAreaWidth: parent.width |
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width: parent.width |
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height: parent.height - y |
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TextArea { |
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id: statusTextArea |
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width: parent.calDisplayAreaWidth |
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height: parent.height |
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readOnly: true |
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frameVisible: false |
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text: statusTextAreaDefaultText |
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style: TextAreaStyle { |
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textColor: qgcPal.text |
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backgroundColor: qgcPal.windowShade |
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} |
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} |
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Rectangle { |
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id: orientationCalArea |
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width: parent.calDisplayAreaWidth |
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height: parent.height |
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visible: controller.showOrientationCalArea |
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color: qgcPal.windowShade |
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QGCLabel { |
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id: orientationCalAreaHelpText |
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anchors.margins: ScreenTools.defaultFontPixelWidth |
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anchors.top: orientationCalArea.top |
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anchors.left: orientationCalArea.left |
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width: parent.width |
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wrapMode: Text.WordWrap |
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font.pointSize: ScreenTools.mediumFontPointSize |
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} |
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Flow { |
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anchors.topMargin: ScreenTools.defaultFontPixelWidth |
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anchors.top: orientationCalAreaHelpText.bottom |
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anchors.bottom: parent.bottom |
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anchors.left: parent.left |
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anchors.right: parent.right |
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spacing: ScreenTools.defaultFontPixelWidth / 2 |
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property real indicatorWidth: (width / 3) - (spacing * 2) |
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property real indicatorHeight: (height / 2) - spacing |
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VehicleRotationCal { |
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width: parent.indicatorWidth |
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height: parent.indicatorHeight |
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visible: controller.orientationCalDownSideVisible |
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calValid: controller.orientationCalDownSideDone |
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calInProgress: controller.orientationCalDownSideInProgress |
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calInProgressText: controller.orientationCalDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still") |
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imageSource: controller.orientationCalDownSideRotate ? "qrc:///qmlimages/VehicleDownRotate.png" : "qrc:///qmlimages/VehicleDown.png" |
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} |
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VehicleRotationCal { |
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width: parent.indicatorWidth |
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height: parent.indicatorHeight |
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visible: controller.orientationCalUpsideDownSideVisible |
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calValid: controller.orientationCalUpsideDownSideDone |
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calInProgress: controller.orientationCalUpsideDownSideInProgress |
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calInProgressText: controller.orientationCalUpsideDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still") |
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imageSource: controller.orientationCalUpsideDownSideRotate ? "qrc:///qmlimages/VehicleUpsideDownRotate.png" : "qrc:///qmlimages/VehicleUpsideDown.png" |
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} |
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VehicleRotationCal { |
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width: parent.indicatorWidth |
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height: parent.indicatorHeight |
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visible: controller.orientationCalNoseDownSideVisible |
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calValid: controller.orientationCalNoseDownSideDone |
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calInProgress: controller.orientationCalNoseDownSideInProgress |
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calInProgressText: controller.orientationCalNoseDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still") |
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imageSource: controller.orientationCalNoseDownSideRotate ? "qrc:///qmlimages/VehicleNoseDownRotate.png" : "qrc:///qmlimages/VehicleNoseDown.png" |
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} |
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VehicleRotationCal { |
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width: parent.indicatorWidth |
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height: parent.indicatorHeight |
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visible: controller.orientationCalTailDownSideVisible |
|
calValid: controller.orientationCalTailDownSideDone |
|
calInProgress: controller.orientationCalTailDownSideInProgress |
|
calInProgressText: controller.orientationCalTailDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still") |
|
imageSource: controller.orientationCalTailDownSideRotate ? "qrc:///qmlimages/VehicleTailDownRotate.png" : "qrc:///qmlimages/VehicleTailDown.png" |
|
} |
|
VehicleRotationCal { |
|
width: parent.indicatorWidth |
|
height: parent.indicatorHeight |
|
visible: controller.orientationCalLeftSideVisible |
|
calValid: controller.orientationCalLeftSideDone |
|
calInProgress: controller.orientationCalLeftSideInProgress |
|
calInProgressText: controller.orientationCalLeftSideRotate ? qsTr("Rotate") : qsTr("Hold Still") |
|
imageSource: controller.orientationCalLeftSideRotate ? "qrc:///qmlimages/VehicleLeftRotate.png" : "qrc:///qmlimages/VehicleLeft.png" |
|
} |
|
VehicleRotationCal { |
|
width: parent.indicatorWidth |
|
height: parent.indicatorHeight |
|
visible: controller.orientationCalRightSideVisible |
|
calValid: controller.orientationCalRightSideDone |
|
calInProgress: controller.orientationCalRightSideInProgress |
|
calInProgressText: controller.orientationCalRightSideRotate ? qsTr("Rotate") : qsTr("Hold Still") |
|
imageSource: controller.orientationCalRightSideRotate ? "qrc:///qmlimages/VehicleRightRotate.png" : "qrc:///qmlimages/VehicleRight.png" |
|
} |
|
} |
|
} |
|
} |
|
} |
|
}
|
|
|