From d9d5b30d7a55086e9a5ace5b58613521de1e2844 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Thu, 14 Mar 2024 12:36:26 -0300
Subject: [PATCH] quick accel cal

---
 .../components/common/StatusTextWatcher.vue   |   2 +-
 .../ArdupilotAccelerometerSetup.vue           |   7 +-
 .../QuickAccelerometerCalibration.vue         | 127 ++++++++++++++++++
 3 files changed, 134 insertions(+), 2 deletions(-)
 create mode 100755 core/frontend/src/components/vehiclesetup/configuration/accelerometer/QuickAccelerometerCalibration.vue

diff --git a/core/frontend/src/components/common/StatusTextWatcher.vue b/core/frontend/src/components/common/StatusTextWatcher.vue
index 6cd08a18ec..0b70e0520b 100644
--- a/core/frontend/src/components/common/StatusTextWatcher.vue
+++ b/core/frontend/src/components/common/StatusTextWatcher.vue
@@ -11,7 +11,7 @@ export default {
   props: {
     filter: {
       type: RegExp,
-      default: '',
+      default: /.*/,
     },
   },
   data() {
diff --git a/core/frontend/src/components/vehiclesetup/configuration/accelerometer/ArdupilotAccelerometerSetup.vue b/core/frontend/src/components/vehiclesetup/configuration/accelerometer/ArdupilotAccelerometerSetup.vue
index 40b096732e..e1c99099a0 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/accelerometer/ArdupilotAccelerometerSetup.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/accelerometer/ArdupilotAccelerometerSetup.vue
@@ -23,7 +23,7 @@
             {{ imu_is_calibrated[imu.param] ? 'Calibrated' : 'Needs calibration' }}
             <v-icon
               v-if="imu_temperature_is_calibrated[imu.param].calibrated"
-              v-tooltip="`Sensor was calibrated at ${imu_temperature_is_calibrated[imu.param].calibrationTemperature}`"
+              v-tooltip="`Sensor was calibrated at ${imu_temperature_is_calibrated[imu.param].calibrationTemperature.toFixed(0)}ºC`"
               color="green"
             >
               mdi-thermometer-check
@@ -39,6 +39,9 @@
           <td>
             <FullAccelerometerCalibration />
           </td>
+          <td>
+            <QuickAccelerometerCalibration />
+          </td>
         </tr>
       </v-simple-table>
     </v-card>
@@ -49,6 +52,7 @@
 import Vue from 'vue'
 
 import FullAccelerometerCalibration from '@/components/vehiclesetup/configuration/accelerometer/FullAccelerometerCalibration.vue'
+import QuickAccelerometerCalibration from './QuickAccelerometerCalibration.vue'
 import autopilot_data from '@/store/autopilot'
 import { printParam } from '@/types/autopilot/parameter'
 import { Dictionary } from '@/types/common'
@@ -58,6 +62,7 @@ export default Vue.extend({
   name: 'ArdupilotAccelerometerSetup',
   components: {
     FullAccelerometerCalibration,
+    QuickAccelerometerCalibration,
   },
   data() {
     return {
diff --git a/core/frontend/src/components/vehiclesetup/configuration/accelerometer/QuickAccelerometerCalibration.vue b/core/frontend/src/components/vehiclesetup/configuration/accelerometer/QuickAccelerometerCalibration.vue
new file mode 100755
index 0000000000..84209d290e
--- /dev/null
+++ b/core/frontend/src/components/vehiclesetup/configuration/accelerometer/QuickAccelerometerCalibration.vue
@@ -0,0 +1,127 @@
+<template>
+  <v-dialog
+    v-model="dialog"
+    width="500"
+  >
+    <template #activator="{ on, attrs }">
+      <v-btn
+        color="primary"
+        v-bind="attrs"
+        v-on="on"
+      >
+        Quick Calibration
+      </v-btn>
+    </template>
+
+    <v-card>
+      <v-card-title class="text-h5 grey lighten-2">
+        Accelerometer Calibration
+      </v-card-title>
+      <v-card-text>
+        <div>
+          Quick calibration requires that you place the vehicle on a level surface and keep it still for a few seconds.
+          It is usually enough if your vehicle is generally leveled while in use.
+          <StatusTextWatcher />
+        </div>
+      </v-card-text>
+      <v-card-actions>
+        <v-btn v-if="state === states.IDLE" class="primary" @click="doCalibration">
+          Start Calibration
+        </v-btn>
+        <v-btn v-if="state === states.CALIBRATION_STARTED" class="primary" @click="nextStep">
+          Next
+        </v-btn>
+        <v-spacer />
+      </v-card-actions>
+    </v-card>
+  </v-dialog>
+</template>
+
+<script lang="ts">
+
+import StatusTextWatcher from '@/components/common/StatusTextWatcher.vue'
+import mavlink2rest from '@/libs/MAVLink2Rest'
+import { MavCmd, MAVLinkType } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
+import autopilot_data from '@/store/autopilot'
+
+const states = {
+  IDLE: 0,
+  WAITING_FOR_RESPONSE: 1,
+  CALIBRATION_STARTED: 2,
+  CALIBRATED: 3,
+}
+
+export default {
+  name: 'QuickAccelerometerCalibration',
+  components: {
+    StatusTextWatcher,
+  },
+  data() {
+    return {
+      dialog: false,
+      calibrating: false,
+      state: states.IDLE,
+      latest_status: '',
+    }
+  },
+  computed: {
+    states() {
+      return states
+    },
+  },
+  methods: {
+    nextStep() {
+
+    },
+    startCalibrationManager() {
+      mavlink2rest.startListening('STATUSTEXT').setCallback((message) => {
+        this.latest_status = message.message.text.join('')
+      })
+    },
+    doCalibration() {
+      this.calibrating = true
+      mavlink2rest.sendMessage({
+        header: {
+          system_id: 255,
+          component_id: 1,
+          sequence: 1,
+        },
+        message: {
+          type: 'COMMAND_LONG',
+          param1: 0,
+          param2: 0,
+          param3: 0,
+          param4: 0,
+          param5: 4, // see https://mavlink.io/en/messages/common.html#MAV_CMD_PREFLIGHT_CALIBRATION
+          param6: 0,
+          param7: 0,
+          command: {
+            type: MavCmd.MAV_CMD_PREFLIGHT_CALIBRATION,
+          },
+          target_system: autopilot_data.system_id,
+          target_component: 1,
+          confirmation: 1,
+        },
+      })
+      this.state = states.WAITING_FOR_RESPONSE
+      let timeout = 0
+      const ack_listener = mavlink2rest.startListening('COMMAND_ACK').setCallback((message) => {
+        if (message.message.command.type === 'MAV_CMD_PREFLIGHT_CALIBRATION') {
+          clearTimeout(timeout)
+          this.state = states.CALIBRATION_STARTED
+          this.startCalibrationManager()
+          ack_listener.discard()
+        }
+      })
+      timeout = setTimeout(() => {
+        ack_listener.discard()
+        this.state = states.IDLE
+      }, 2000)
+    },
+  },
+}
+</script>
+
+  <style scoped>
+
+  </style>