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APMSensorsComponentController.cc
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APMSensorsComponentController.cc
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/****************************************************************************
*
* (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "APMSensorsComponentController.h"
#include "APMSensorsComponent.h"
#include "QGCApplication.h"
#include "APMAutoPilotPlugin.h"
#include "ParameterManager.h"
#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "QGCLoggingCategory.h"
#include <QtCore/QVariant>
QGC_LOGGING_CATEGORY(APMSensorsComponentControllerLog, "APMSensorsComponentControllerLog")
QGC_LOGGING_CATEGORY(APMSensorsComponentControllerVerboseLog, "APMSensorsComponentControllerVerboseLog")
APMSensorsComponentController::APMSensorsComponentController(void)
: _sensorsComponent(nullptr)
, _statusLog(nullptr)
, _progressBar(nullptr)
, _nextButton(nullptr)
, _cancelButton(nullptr)
, _showOrientationCalArea(false)
, _calTypeInProgress(QGCMAVLink::CalibrationNone)
, _orientationCalDownSideDone(false)
, _orientationCalUpsideDownSideDone(false)
, _orientationCalLeftSideDone(false)
, _orientationCalRightSideDone(false)
, _orientationCalNoseDownSideDone(false)
, _orientationCalTailDownSideDone(false)
, _orientationCalDownSideVisible(false)
, _orientationCalUpsideDownSideVisible(false)
, _orientationCalLeftSideVisible(false)
, _orientationCalRightSideVisible(false)
, _orientationCalNoseDownSideVisible(false)
, _orientationCalTailDownSideVisible(false)
, _orientationCalDownSideInProgress(false)
, _orientationCalUpsideDownSideInProgress(false)
, _orientationCalLeftSideInProgress(false)
, _orientationCalRightSideInProgress(false)
, _orientationCalNoseDownSideInProgress(false)
, _orientationCalTailDownSideInProgress(false)
, _orientationCalDownSideRotate(false)
, _orientationCalUpsideDownSideRotate(false)
, _orientationCalLeftSideRotate(false)
, _orientationCalRightSideRotate(false)
, _orientationCalNoseDownSideRotate(false)
, _orientationCalTailDownSideRotate(false)
, _waitingForCancel(false)
, _restoreCompassCalFitness(false)
{
APMAutoPilotPlugin * apmPlugin = qobject_cast<APMAutoPilotPlugin*>(_vehicle->autopilotPlugin());
// Find the sensors component
foreach (const QVariant& varVehicleComponent, apmPlugin->vehicleComponents()) {
_sensorsComponent = qobject_cast<APMSensorsComponent*>(varVehicleComponent.value<VehicleComponent*>());
if (_sensorsComponent) {
break;
}
}
if (_sensorsComponent) {
connect(_sensorsComponent, &VehicleComponent::setupCompleteChanged, this, &APMSensorsComponentController::setupNeededChanged);
} else {
qWarning() << "Sensors component is missing";
}
}
APMSensorsComponentController::~APMSensorsComponentController()
{
_restorePreviousCompassCalFitness();
}
/// Appends the specified text to the status log area in the ui
void APMSensorsComponentController::_appendStatusLog(const QString& text)
{
Q_ASSERT(_statusLog);
QString varText = text;
QMetaObject::invokeMethod(_statusLog,
"append",
Q_ARG(QString, varText));
}
void APMSensorsComponentController::_startLogCalibration(void)
{
_hideAllCalAreas();
connect(_vehicle, &Vehicle::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
emit setAllCalButtonsEnabled(false);
if (_calTypeInProgress == QGCMAVLink::CalibrationAccel || _calTypeInProgress == QGCMAVLink::CalibrationAPMCompassMot) {
_nextButton->setEnabled(true);
}
_cancelButton->setEnabled(_calTypeInProgress == QGCMAVLink::CalibrationMag);
connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
}
void APMSensorsComponentController::_startVisualCalibration(void)
{
emit setAllCalButtonsEnabled(false);
_cancelButton->setEnabled(true);
_nextButton->setEnabled(false);
_resetInternalState();
_progressBar->setProperty("value", 0);
connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
}
void APMSensorsComponentController::_resetInternalState(void)
{
_orientationCalDownSideDone = true;
_orientationCalUpsideDownSideDone = true;
_orientationCalLeftSideDone = true;
_orientationCalRightSideDone = true;
_orientationCalTailDownSideDone = true;
_orientationCalNoseDownSideDone = true;
_orientationCalDownSideInProgress = false;
_orientationCalUpsideDownSideInProgress = false;
_orientationCalLeftSideInProgress = false;
_orientationCalRightSideInProgress = false;
_orientationCalNoseDownSideInProgress = false;
_orientationCalTailDownSideInProgress = false;
_orientationCalDownSideRotate = false;
_orientationCalUpsideDownSideRotate = false;
_orientationCalLeftSideRotate = false;
_orientationCalRightSideRotate = false;
_orientationCalNoseDownSideRotate = false;
_orientationCalTailDownSideRotate = false;
emit orientationCalSidesRotateChanged();
emit orientationCalSidesDoneChanged();
emit orientationCalSidesInProgressChanged();
}
void APMSensorsComponentController::_stopCalibration(APMSensorsComponentController::StopCalibrationCode code)
{
disconnect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
_vehicle->vehicleLinkManager()->setCommunicationLostEnabled(true);
disconnect(_vehicle, &Vehicle::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
emit setAllCalButtonsEnabled(true);
_nextButton->setEnabled(false);
_cancelButton->setEnabled(false);
if (_calTypeInProgress == QGCMAVLink::CalibrationMag) {
_restorePreviousCompassCalFitness();
}
if (code == StopCalibrationSuccess) {
_resetInternalState();
_progressBar->setProperty("value", 1);
if (parameterExists(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_LEARN"))) {
getParameterFact(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_LEARN"))->setRawValue(0);
}
} else {
_progressBar->setProperty("value", 0);
}
_waitingForCancel = false;
emit waitingForCancelChanged();
_refreshParams();
switch (code) {
case StopCalibrationSuccess:
_orientationCalAreaHelpText->setProperty("text", tr("Calibration complete"));
emit resetStatusTextArea();
emit calibrationComplete(_calTypeInProgress);
break;
case StopCalibrationSuccessShowLog:
emit calibrationComplete(_calTypeInProgress);
break;
case StopCalibrationCancelled:
emit resetStatusTextArea();
_hideAllCalAreas();
break;
default:
// Assume failed
_hideAllCalAreas();
qgcApp()->showAppMessage(tr("Calibration failed. Calibration log will be displayed."));
break;
}
_calTypeInProgress = QGCMAVLink::CalibrationNone;
}
void APMSensorsComponentController::_mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle)
{
Q_UNUSED(component);
Q_UNUSED(noReponseFromVehicle);
if (_vehicle->id() != vehicleId) {
return;
}
if (command == MAV_CMD_DO_CANCEL_MAG_CAL) {
disconnect(_vehicle, &Vehicle::mavCommandResult, this, &APMSensorsComponentController::_mavCommandResult);
if (result == MAV_RESULT_ACCEPTED) {
// Onboard mag cal is supported
_calTypeInProgress = QGCMAVLink::CalibrationMag;
_rgCompassCalProgress[0] = 0;
_rgCompassCalProgress[1] = 0;
_rgCompassCalProgress[2] = 0;
_rgCompassCalComplete[0] = false;
_rgCompassCalComplete[1] = false;
_rgCompassCalComplete[2] = false;
_startLogCalibration();
uint8_t compassBits = 0;
if (getParameterFact(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_DEV_ID"))->rawValue().toInt() > 0 &&
getParameterFact(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_USE"))->rawValue().toBool()) {
compassBits |= 1 << 0;
qCDebug(APMSensorsComponentControllerLog) << "Performing onboard compass cal for compass 1";
} else {
_rgCompassCalComplete[0] = true;
_rgCompassCalSucceeded[0] = true;
_rgCompassCalFitness[0] = 0;
}
if (getParameterFact(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_DEV_ID2"))->rawValue().toInt() > 0 &&
getParameterFact(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_USE2"))->rawValue().toBool()) {
compassBits |= 1 << 1;
qCDebug(APMSensorsComponentControllerLog) << "Performing onboard compass cal for compass 2";
} else {
_rgCompassCalComplete[1] = true;
_rgCompassCalSucceeded[1] = true;
_rgCompassCalFitness[1] = 0;
}
if (getParameterFact(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_DEV_ID3"))->rawValue().toInt() > 0 &&
getParameterFact(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_USE3"))->rawValue().toBool()) {
compassBits |= 1 << 2;
qCDebug(APMSensorsComponentControllerLog) << "Performing onboard compass cal for compass 3";
} else {
_rgCompassCalComplete[2] = true;
_rgCompassCalSucceeded[2] = true;
_rgCompassCalFitness[2] = 0;
}
// We bump up the fitness value so calibration will always succeed
Fact* compassCalFitness = getParameterFact(ParameterManager::defaultComponentId, _compassCalFitnessParam);
_restoreCompassCalFitness = true;
_previousCompassCalFitness = compassCalFitness->rawValue().toFloat();
getParameterFact(ParameterManager::defaultComponentId, _compassCalFitnessParam)->setRawValue(100.0);
_appendStatusLog(tr("Rotate the vehicle randomly around all axes until the progress bar fills all the way to the right ."));
_vehicle->sendMavCommand(_vehicle->defaultComponentId(),
MAV_CMD_DO_START_MAG_CAL,
true, // showError
compassBits, // which compass(es) to calibrate
0, // no retry on failure
1, // save values after complete
0, // no delayed start
0); // no auto-reboot
}
} else if (command == MAV_CMD_DO_START_MAG_CAL && result != MAV_RESULT_ACCEPTED) {
_restorePreviousCompassCalFitness();
} else if (command == MAV_CMD_FIXED_MAG_CAL_YAW) {
if (result == MAV_RESULT_ACCEPTED) {
_appendStatusLog(tr("Successfully completed"));
_stopCalibration(StopCalibrationSuccessShowLog);
} else {
_appendStatusLog(tr("Failed"));
_stopCalibration(StopCalibrationFailed);
}
}
}
void APMSensorsComponentController::calibrateCompass(void)
{
// First we need to determine if the vehicle support onboard compass cal. There isn't an easy way to
// do this. A hack is to send the mag cancel command and see if it is accepted.
connect(_vehicle, &Vehicle::mavCommandResult, this, &APMSensorsComponentController::_mavCommandResult);
_vehicle->sendMavCommand(_vehicle->defaultComponentId(), MAV_CMD_DO_CANCEL_MAG_CAL, false /* showError */);
// Now we wait for the result to come back
}
void APMSensorsComponentController::calibrateCompassNorth(float lat, float lon, int mask)
{
_startLogCalibration();
connect(_vehicle, &Vehicle::mavCommandResult, this, &APMSensorsComponentController::_mavCommandResult);
_vehicle->sendMavCommand(_vehicle->defaultComponentId(), MAV_CMD_FIXED_MAG_CAL_YAW, true /* showError */, 0 /* north*/, mask, lat, lon);
}
void APMSensorsComponentController::calibrateAccel(bool doSimpleAccelCal)
{
_calTypeInProgress = QGCMAVLink::CalibrationAccel;
if (doSimpleAccelCal) {
_startLogCalibration();
_calTypeInProgress = QGCMAVLink::CalibrationAPMAccelSimple;
_vehicle->startCalibration(_calTypeInProgress);
return;
}
_vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
_startVisualCalibration();
_cancelButton->setEnabled(false);
_orientationCalAreaHelpText->setProperty("text", tr("Hold still in the current orientation and press Next when ready"));
// Reset all progress indication
_orientationCalDownSideDone = false;
_orientationCalUpsideDownSideDone = false;
_orientationCalLeftSideDone = false;
_orientationCalRightSideDone = false;
_orientationCalTailDownSideDone = false;
_orientationCalNoseDownSideDone = false;
_orientationCalDownSideInProgress = false;
_orientationCalUpsideDownSideInProgress = false;
_orientationCalLeftSideInProgress = false;
_orientationCalRightSideInProgress = false;
_orientationCalNoseDownSideInProgress = false;
_orientationCalTailDownSideInProgress = false;
// Reset all visibility
_orientationCalDownSideVisible = false;
_orientationCalUpsideDownSideVisible = false;
_orientationCalLeftSideVisible = false;
_orientationCalRightSideVisible = false;
_orientationCalTailDownSideVisible = false;
_orientationCalNoseDownSideVisible = false;
_calTypeInProgress = QGCMAVLink::CalibrationAccel;
_orientationCalDownSideVisible = true;
_orientationCalUpsideDownSideVisible = true;
_orientationCalLeftSideVisible = true;
_orientationCalRightSideVisible = true;
_orientationCalTailDownSideVisible = true;
_orientationCalNoseDownSideVisible = true;
emit orientationCalSidesDoneChanged();
emit orientationCalSidesVisibleChanged();
emit orientationCalSidesInProgressChanged();
_updateAndEmitShowOrientationCalArea(true);
_vehicle->startCalibration(_calTypeInProgress);
}
void APMSensorsComponentController::calibrateMotorInterference(void)
{
_calTypeInProgress = QGCMAVLink::CalibrationAPMCompassMot;
_vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Raise the throttle slowly to between 50% ~ 75% (the props will spin!) for 5 ~ 10 seconds."));
_appendStatusLog(tr("Quickly bring the throttle back down to zero"));
_appendStatusLog(tr("Press the Next button to complete the calibration"));
_vehicle->startCalibration(_calTypeInProgress);
}
void APMSensorsComponentController::levelHorizon(void)
{
_calTypeInProgress = QGCMAVLink::CalibrationLevel;
_vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Hold the vehicle in its level flight position."));
_vehicle->startCalibration(_calTypeInProgress);
}
void APMSensorsComponentController::calibratePressure(void)
{
_calTypeInProgress = QGCMAVLink::CalibrationAPMPressureAirspeed;
_vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Requesting pressure calibration..."));
_vehicle->startCalibration(_calTypeInProgress);
}
void APMSensorsComponentController::calibrateGyro(void)
{
_calTypeInProgress = QGCMAVLink::CalibrationGyro;
_vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
_startLogCalibration();
_appendStatusLog(tr("Requesting gyro calibration..."));
_vehicle->startCalibration(_calTypeInProgress);
}
void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
{
Q_UNUSED(compId);
Q_UNUSED(severity);
if (uasId != _vehicle->id()) {
return;
}
QString originalMessageText = text;
text = text.toLower();
QStringList hidePrefixList = { QStringLiteral("prearm:"), QStringLiteral("ekf"), QStringLiteral("arm"), QStringLiteral("initialising") };
for (const QString& hidePrefix: hidePrefixList) {
if (text.startsWith(hidePrefix)) {
return;
}
}
_appendStatusLog(originalMessageText);
qCDebug(APMSensorsComponentControllerLog) << originalMessageText << severity;
}
void APMSensorsComponentController::_refreshParams(void)
{
QStringList fastRefreshList;
fastRefreshList << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X")
<< QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
foreach (const QString ¶mName, fastRefreshList) {
_vehicle->parameterManager()->refreshParameter(ParameterManager::defaultComponentId, paramName);
}
// Now ask for all to refresh
_vehicle->parameterManager()->refreshParametersPrefix(ParameterManager::defaultComponentId, QStringLiteral("COMPASS_"));
_vehicle->parameterManager()->refreshParametersPrefix(ParameterManager::defaultComponentId, QStringLiteral("INS_"));
}
void APMSensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)
{
_showOrientationCalArea = show;
emit showOrientationCalAreaChanged();
}
void APMSensorsComponentController::_hideAllCalAreas(void)
{
_updateAndEmitShowOrientationCalArea(false);
}
void APMSensorsComponentController::cancelCalibration(void)
{
_cancelButton->setEnabled(false);
if (_calTypeInProgress == QGCMAVLink::CalibrationMag) {
_vehicle->sendMavCommand(_vehicle->defaultComponentId(), MAV_CMD_DO_CANCEL_MAG_CAL, true /* showError */);
_stopCalibration(StopCalibrationCancelled);
} else {
_waitingForCancel = true;
emit waitingForCancelChanged();
// The firmware doesn't always allow us to cancel calibration. The best we can do is wait
// for it to timeout.
_vehicle->stopCalibration(true /* showError */);
}
}
void APMSensorsComponentController::nextClicked(void)
{
SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
if (sharedLink) {
mavlink_message_t msg;
mavlink_msg_command_ack_pack_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
sharedLink->mavlinkChannel(),
&msg,
0, // command
1, // result
0, // progress
0, // result_param2
0, // target_system
0); // target_component
_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
if (_calTypeInProgress == QGCMAVLink::CalibrationAPMCompassMot) {
_stopCalibration(StopCalibrationSuccess);
}
}
}
bool APMSensorsComponentController::compassSetupNeeded(void) const
{
return _sensorsComponent->compassSetupNeeded();
}
bool APMSensorsComponentController::accelSetupNeeded(void) const
{
return _sensorsComponent->accelSetupNeeded();
}
bool APMSensorsComponentController::usingUDPLink(void)
{
SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
if (sharedLink) {
return sharedLink->linkConfiguration()->type() == LinkConfiguration::TypeUdp;
} else {
return false;
}
}
void APMSensorsComponentController::_handleCommandAck(mavlink_message_t& message)
{
if (_calTypeInProgress == QGCMAVLink::CalibrationLevel || _calTypeInProgress == QGCMAVLink::CalibrationGyro || _calTypeInProgress == QGCMAVLink::CalibrationAPMPressureAirspeed || _calTypeInProgress == QGCMAVLink::CalibrationAPMAccelSimple) {
mavlink_command_ack_t commandAck;
mavlink_msg_command_ack_decode(&message, &commandAck);
if (commandAck.command == MAV_CMD_PREFLIGHT_CALIBRATION) {
switch (commandAck.result) {
case MAV_RESULT_IN_PROGRESS:
_appendStatusLog(tr("In progress"));
break;
case MAV_RESULT_ACCEPTED:
_appendStatusLog(tr("Successfully completed"));
_stopCalibration(StopCalibrationSuccessShowLog);
break;
default:
_appendStatusLog(tr("Failed"));
_stopCalibration(StopCalibrationFailed);
break;
}
}
}
}
void APMSensorsComponentController::_handleMagCalProgress(mavlink_message_t& message)
{
if (_calTypeInProgress == QGCMAVLink::CalibrationMag) {
mavlink_mag_cal_progress_t magCalProgress;
mavlink_msg_mag_cal_progress_decode(&message, &magCalProgress);
qCDebug(APMSensorsComponentControllerVerboseLog) << "_handleMagCalProgress id:mask:pct"
<< magCalProgress.compass_id << magCalProgress.cal_mask << magCalProgress.completion_pct;
// How many compasses are we calibrating?
int compassCalCount = 0;
for (int i=0; i<3; i++) {
if (magCalProgress.cal_mask & (1 << i)) {
compassCalCount++;
}
}
if (magCalProgress.compass_id < 3 && compassCalCount != 0) {
// Each compass gets a portion of the overall progress
_rgCompassCalProgress[magCalProgress.compass_id] = magCalProgress.completion_pct / compassCalCount;
}
if (_progressBar) {
_progressBar->setProperty("value", (float)(_rgCompassCalProgress[0] + _rgCompassCalProgress[1] + _rgCompassCalProgress[2]) / 100.0);
}
}
}
void APMSensorsComponentController::_handleMagCalReport(mavlink_message_t& message)
{
if (_calTypeInProgress == QGCMAVLink::CalibrationMag) {
mavlink_mag_cal_report_t magCalReport;
mavlink_msg_mag_cal_report_decode(&message, &magCalReport);
qCDebug(APMSensorsComponentControllerVerboseLog) << "_handleMagCalReport id:mask:status:fitness"
<< magCalReport.compass_id << magCalReport.cal_mask << magCalReport.cal_status << magCalReport.fitness;
bool additionalCompassCompleted = false;
if (magCalReport.compass_id < 3 && !_rgCompassCalComplete[magCalReport.compass_id]) {
if (magCalReport.cal_status == MAG_CAL_SUCCESS) {
_appendStatusLog(tr("Compass %1 calibration complete").arg(magCalReport.compass_id));
} else {
_appendStatusLog(tr("Compass %1 calibration below quality threshold").arg(magCalReport.compass_id));
}
_rgCompassCalComplete[magCalReport.compass_id] = true;
_rgCompassCalSucceeded[magCalReport.compass_id] = magCalReport.cal_status == MAG_CAL_SUCCESS;
_rgCompassCalFitness[magCalReport.compass_id] = magCalReport.fitness;
additionalCompassCompleted = true;
}
if (_rgCompassCalComplete[0] && _rgCompassCalComplete[1] &&_rgCompassCalComplete[2]) {
for (int i=0; i<3; i++) {
qCDebug(APMSensorsComponentControllerLog) << QString("Onboard compass call report #%1: succeed:fitness %2:%3").arg(i).arg(_rgCompassCalSucceeded[i]).arg(_rgCompassCalFitness[i]);
}
emit compass1CalFitnessChanged(_rgCompassCalFitness[0]);
emit compass2CalFitnessChanged(_rgCompassCalFitness[1]);
emit compass3CalFitnessChanged(_rgCompassCalFitness[2]);
emit compass1CalSucceededChanged(_rgCompassCalSucceeded[0]);
emit compass2CalSucceededChanged(_rgCompassCalSucceeded[1]);
emit compass3CalSucceededChanged(_rgCompassCalSucceeded[2]);
if (_rgCompassCalSucceeded[0] && _rgCompassCalSucceeded[1] && _rgCompassCalSucceeded[2]) {
_appendStatusLog(tr("All compasses calibrated successfully"));
_appendStatusLog(tr("YOU MUST REBOOT YOUR VEHICLE NOW FOR NEW SETTINGS TO TAKE AFFECT"));
_stopCalibration(StopCalibrationSuccessShowLog);
} else {
_appendStatusLog(tr("Compass calibration failed"));
_appendStatusLog(tr("YOU MUST REBOOT YOUR VEHICLE NOW AND RETRY COMPASS CALIBRATION PRIOR TO FLIGHT"));
_stopCalibration(StopCalibrationFailed);
}
} else if (additionalCompassCompleted) {
_appendStatusLog(tr("Continue rotating..."));
}
}
}
void APMSensorsComponentController::_handleCommandLong(mavlink_message_t& message)
{
bool updateImages = false;
mavlink_command_long_t commandLong;
mavlink_msg_command_long_decode(&message, &commandLong);
if (commandLong.command == MAV_CMD_ACCELCAL_VEHICLE_POS) {
switch (static_cast<ACCELCAL_VEHICLE_POS>(static_cast<int>(commandLong.param1))) {
case ACCELCAL_VEHICLE_POS_LEVEL:
if (!_orientationCalDownSideInProgress) {
updateImages = true;
_orientationCalDownSideInProgress = true;
_nextButton->setEnabled(true);
}
break;
case ACCELCAL_VEHICLE_POS_LEFT:
if (!_orientationCalLeftSideInProgress) {
updateImages = true;
_orientationCalDownSideDone = true;
_orientationCalDownSideInProgress = false;
_orientationCalLeftSideInProgress = true;
_progressBar->setProperty("value", (qreal)(17 / 100.0));
}
break;
case ACCELCAL_VEHICLE_POS_RIGHT:
if (!_orientationCalRightSideInProgress) {
updateImages = true;
_orientationCalLeftSideDone = true;
_orientationCalLeftSideInProgress = false;
_orientationCalRightSideInProgress = true;
_progressBar->setProperty("value", (qreal)(34 / 100.0));
}
break;
case ACCELCAL_VEHICLE_POS_NOSEDOWN:
if (!_orientationCalNoseDownSideInProgress) {
updateImages = true;
_orientationCalRightSideDone = true;
_orientationCalRightSideInProgress = false;
_orientationCalNoseDownSideInProgress = true;
_progressBar->setProperty("value", (qreal)(51 / 100.0));
}
break;
case ACCELCAL_VEHICLE_POS_NOSEUP:
if (!_orientationCalTailDownSideInProgress) {
updateImages = true;
_orientationCalNoseDownSideDone = true;
_orientationCalNoseDownSideInProgress = false;
_orientationCalTailDownSideInProgress = true;
_progressBar->setProperty("value", (qreal)(68 / 100.0));
}
break;
case ACCELCAL_VEHICLE_POS_BACK:
if (!_orientationCalUpsideDownSideInProgress) {
updateImages = true;
_orientationCalTailDownSideDone = true;
_orientationCalTailDownSideInProgress = false;
_orientationCalUpsideDownSideInProgress = true;
_progressBar->setProperty("value", (qreal)(85 / 100.0));
}
break;
case ACCELCAL_VEHICLE_POS_SUCCESS:
_stopCalibration(StopCalibrationSuccess);
break;
case ACCELCAL_VEHICLE_POS_FAILED:
_stopCalibration(StopCalibrationFailed);
break;
case ACCELCAL_VEHICLE_POS_ENUM_END:
// Make compiler happy
break;
}
if (updateImages) {
emit orientationCalSidesDoneChanged();
emit orientationCalSidesInProgressChanged();
emit orientationCalSidesRotateChanged();
}
}
}
void APMSensorsComponentController::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
Q_UNUSED(link);
if (message.sysid != _vehicle->id()) {
return;
}
switch (message.msgid) {
case MAVLINK_MSG_ID_COMMAND_ACK:
_handleCommandAck(message);
break;
case MAVLINK_MSG_ID_MAG_CAL_PROGRESS:
_handleMagCalProgress(message);
break;
case MAVLINK_MSG_ID_MAG_CAL_REPORT:
_handleMagCalReport(message);
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
_handleCommandLong(message);
break;
}
}
void APMSensorsComponentController::_restorePreviousCompassCalFitness(void)
{
if (_restoreCompassCalFitness) {
_restoreCompassCalFitness = false;
getParameterFact(ParameterManager::defaultComponentId, _compassCalFitnessParam)->setRawValue(_previousCompassCalFitness);
}
}