APMSensorsComponent.qml

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import QtQuick
import QtQuick.Controls
import QtQuick.Dialogs
import QtQuick.Layouts
 
import QGroundControl
import QGroundControl.FactControls
import QGroundControl.Controls
 
SetupPage {
    id:             sensorsPage
    pageComponent:  sensorsPageComponent
 
    Component {
        id:             sensorsPageComponent
 
        Item {
            width:  availableWidth
            height: availableHeight
 
            // 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 orientationHelpSet:    qsTr("If mounted in the direction of flight, select None.")
            readonly property string orientationHelpCal:    qsTr("Before calibrating make sure rotation settings are correct. ") + orientationHelpSet
            readonly property string compassRotationText:   qsTr("If the compass or GPS module is mounted in flight direction, leave the default value (None)")
 
            readonly property string compassHelp:   qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions.")
            readonly property string gyroHelp:      qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.")
            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.")
            readonly property string levelHelp:     qsTr("To level the horizon you need to place the vehicle in its level flight position and press OK.")
 
            readonly property string statusTextAreaDefaultText: qsTr("Start the individual calibration steps by clicking one of the buttons to the left.")
 
            // Used to pass help text to the preCalibrationDialog dialog
            property string preCalibrationDialogHelp
 
            property string _postCalibrationDialogText
            property var    _postCalibrationDialogParams
 
            readonly property string _badCompassCalText: qsTr("The calibration for Compass %1 appears to be poor. ") +
                                                         qsTr("Check the compass position within your vehicle and re-do the calibration.")
 
            readonly property int sideBarH1PointSize:  ScreenTools.mediumFontPointSize
            readonly property int mainTextH1PointSize: ScreenTools.mediumFontPointSize // Seems to be unused
 
            readonly property int rotationColumnWidth: 250
 
            property Fact noFact: Fact { }
 
            property bool accelCalNeeded:                   controller.accelSetupNeeded
            property bool compassCalNeeded:                 controller.compassSetupNeeded
 
            property Fact boardRot:                         controller.getParameterFact(-1, "AHRS_ORIENTATION")
 
            readonly property int _calTypeCompass:  1   ///< Calibrate compass
            readonly property int _calTypeAccel:    2   ///< Calibrate accel
            readonly property int _calTypeSet:      3   ///< Set orientations only
            readonly property int _buttonWidth:     ScreenTools.defaultFontPixelWidth * 15
 
            property bool   _orientationsDialogShowCompass: true
            property string _orientationDialogHelp:         orientationHelpSet
            property int    _orientationDialogCalType
            property real   _margins:                       ScreenTools.defaultFontPixelHeight / 2
            property bool   _compassAutoRotAvailable:       controller.parameterExists(-1, "COMPASS_AUTO_ROT")
            property Fact   _compassAutoRotFact:            controller.getParameterFact(-1, "COMPASS_AUTO_ROT", false /* reportMissing */)
            property bool   _compassAutoRot:                _compassAutoRotAvailable ? _compassAutoRotFact.rawValue == 2 : false
            property bool   _showSimpleAccelCalOption:      false
            property bool   _doSimpleAccelCal:              false
            property var    _gcsPosition:                    QGroundControl.qgcPositionManger.gcsPosition
            property var    _mapPosition:                    QGroundControl.flightMapPosition
 
            function showOrientationsDialog(calType) {
                var dialogTitle
                var dialogButtons = Dialog.Ok
                _showSimpleAccelCalOption = false
 
                _orientationDialogCalType = calType
                switch (calType) {
                case _calTypeCompass:
                    _orientationsDialogShowCompass = true
                    _orientationDialogHelp = orientationHelpCal
                    dialogTitle = qsTr("Calibrate Compass")
                    dialogButtons |= Dialog.Cancel
                    break
                case _calTypeAccel:
                    _orientationsDialogShowCompass = false
                    _orientationDialogHelp = orientationHelpCal
                    dialogTitle = qsTr("Calibrate Accelerometer")
                    dialogButtons |= Dialog.Cancel
                    break
                case _calTypeSet:
                    _orientationsDialogShowCompass = true
                    _orientationDialogHelp = orientationHelpSet
                    dialogTitle = qsTr("Sensor Settings")
                    break
                }
 
                orientationsDialogFactory.open({ title: dialogTitle, buttons: dialogButtons })
            }
 
            function showSimpleAccelCalOption() {
                _showSimpleAccelCalOption = true
            }
 
            function compassLabel(index) {
                var label = qsTr("Compass %1 ").arg(index+1)
                var addOpenParan = true
                var addComma = false
                if (sensorParams.compassPrimaryFactAvailable) {
                    label += sensorParams.rgCompassPrimary[index] ? qsTr("(primary") : qsTr("(secondary")
                    addComma = true
                    addOpenParan = false
                }
                if (sensorParams.rgCompassExternalParamAvailable[index]) {
                    if (addOpenParan) {
                        label += "("
                    }
                    if (addComma) {
                        label += qsTr(", ")
                    }
                    label += sensorParams.rgCompassExternal[index] ? qsTr("external") : qsTr("internal")
                }
                label += ")"
                return label
            }
 
            APMSensorParams {
                id:                     sensorParams
                factPanelController:    controller
            }
 
            APMSensorsComponentController {
                id:                         controller
                statusLog:                  statusTextArea
                progressBar:                progressBar
                nextButton:                 nextButton
                cancelButton:               cancelButton
                orientationCalAreaHelpText: orientationCalAreaHelpText
 
                property var rgCompassCalFitness: [ controller.compass1CalFitness, controller.compass2CalFitness, controller.compass3CalFitness ]
 
                onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
 
                onWaitingForCancelChanged: {
                    if (controller.waitingForCancel) {
                        waitForCancelDialogFactory.open()
                    }
                }
 
                onCalibrationComplete: {
                    switch (calType) {
                    case MAVLink.CalibrationAccel:
                    case MAVLink.CalibrationMag:
                        _singleCompassSettingsComponentShowPriority = true
                        postOnboardCompassCalibrationFactory.open()
                        break
                    }
                }
 
                onSetAllCalButtonsEnabled: {
                    buttonColumn.enabled = enabled
                }
            }
 
            QGCPalette { id: qgcPal; colorGroupEnabled: true }
 
            QGCPopupDialogFactory {
                id: waitForCancelDialogFactory
 
                dialogComponent: waitForCancelDialogComponent
            }
 
            Component {
                id: waitForCancelDialogComponent
 
                QGCSimpleMessageDialog {
                    title:      qsTr("Calibration Cancel")
                    text:       qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds.")
                    buttons:    0
 
                    Connections {
                        target: controller
 
                        onWaitingForCancelChanged: {
                            if (!controller.waitingForCancel) {
                                close()
                            }
                        }
                    }
                }
            }
 
            Component {
                id: singleCompassOnboardResultsComponent
 
                Column {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    spacing:        Math.round(ScreenTools.defaultFontPixelHeight / 2)
                    visible:        sensorParams.rgCompassAvailable[index] && sensorParams.rgCompassUseFact[index].value
 
                    property int _index: index
 
                    property real greenMaxThreshold:   8 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
                    property real yellowMaxThreshold:  15 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
                    property real fitnessRange:        25 * (sensorParams.rgCompassExternal[index] ? 1 : 2)
 
                    Item {
                        anchors.left:   parent.left
                        anchors.right:  parent.right
                        height:         ScreenTools.defaultFontPixelHeight
 
                        Row {
                            id:             fitnessRow
                            anchors.fill:   parent
 
                            Rectangle {
                                width:  parent.width * (greenMaxThreshold / fitnessRange)
                                height: parent.height
                                color:  "green"
                            }
                            Rectangle {
                                width:  parent.width * ((yellowMaxThreshold - greenMaxThreshold) / fitnessRange)
                                height: parent.height
                                color:  "yellow"
                            }
                            Rectangle {
                                width:  parent.width * ((fitnessRange - yellowMaxThreshold) / fitnessRange)
                                height: parent.height
                                color:  "red"
                            }
                        }
 
                        Rectangle {
                            height:                 fitnessRow.height * 0.66
                            width:                  height
                            anchors.verticalCenter: fitnessRow.verticalCenter
                            x:                      (fitnessRow.width * (Math.min(Math.max(controller.rgCompassCalFitness[index], 0.0), fitnessRange) / fitnessRange)) - (width / 2)
                            radius:                 height / 2
                            color:                  "white"
                            border.color:           "black"
                        }
                    }
 
                    Loader {
                        anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
                        anchors.left:       parent.left
                        anchors.right:      parent.right
                        sourceComponent:    singleCompassSettingsComponent
 
                        property int index: _index
                    }
                }
            }
 
            QGCPopupDialogFactory {
                id: postOnboardCompassCalibrationFactory
 
                dialogComponent: postOnboardCompassCalibrationComponent
            }
 
            Component {
                id: postOnboardCompassCalibrationComponent
 
                QGCPopupDialog {
                    id:         postOnboardCompassCalibrationDialog
                    title:      qsTr("Calibration complete")
                    buttons:    Dialog.Ok
 
                    Column {
                        width:      40 * ScreenTools.defaultFontPixelWidth
                        spacing:    ScreenTools.defaultFontPixelHeight
 
                        Repeater {
                            model:      3
                            delegate:   singleCompassOnboardResultsComponent
                        }
 
                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("Shown in the indicator bars is the quality of the calibration for each compass.\n\n") +
                                            qsTr("- Green indicates a well functioning compass.\n") +
                                            qsTr("- Yellow indicates a questionable compass or calibration.\n") +
                                            qsTr("- Red indicates a compass which should not be used.\n\n") +
                                            qsTr("YOU MUST REBOOT YOUR VEHICLE AFTER EACH CALIBRATION.")
                        }
 
                        QGCButton {
                            text:       qsTr("Reboot Vehicle")
                            onClicked: {
                                controller.vehicle.rebootVehicle()
                                postOnboardCompassCalibrationDialog.close()
                            }
                        }
                    }
                }
            }
 
            Component {
                id: postCalibrationComponent
 
                QGCPopupDialog {
                    id:     postCalibrationDialog
                    title:  qsTr("Calibration complete")
 
                    Column {
                        width:      40 * ScreenTools.defaultFontPixelWidth
                        spacing:    ScreenTools.defaultFontPixelHeight
 
                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("YOU MUST REBOOT YOUR VEHICLE AFTER EACH CALIBRATION.")
                        }
 
                        QGCButton {
                            text:       qsTr("Reboot Vehicle")
                            onClicked: {
                                controller.vehicle.rebootVehicle()
                                postCalibrationDialog.close()
                            }
                        }
                    }
                }
            }
 
            property bool _singleCompassSettingsComponentShowPriority: true
            Component {
                id: singleCompassSettingsComponent
 
                Column {
                    spacing: Math.round(ScreenTools.defaultFontPixelHeight / 2)
                    visible: sensorParams.rgCompassAvailable[index]
 
                    QGCLabel {
                        text: compassLabel(index)
                    }
                    APMSensorIdDecoder {
                        fact: sensorParams.rgCompassId[index]
                    }
 
                    Column {
                        anchors.margins:    ScreenTools.defaultFontPixelWidth * 2
                        anchors.left:       parent.left
                        spacing:            Math.round(ScreenTools.defaultFontPixelHeight / 4)
 
                        RowLayout {
                            spacing: ScreenTools.defaultFontPixelWidth
 
                            FactCheckBox {
                                id:         useCompassCheckBox
                                text:       qsTr("Use Compass")
                                fact:       sensorParams.rgCompassUseFact[index]
                                visible:    sensorParams.rgCompassUseParamAvailable[index] && !sensorParams.rgCompassPrimary[index]
                            }
 
                            QGCComboBox {
                                model:      [ qsTr("Priority 1"), qsTr("Priority 2"), qsTr("Priority 3"), qsTr("Not Set") ]
                                visible:    _singleCompassSettingsComponentShowPriority && sensorParams.compassPrioFactsAvailable && useCompassCheckBox.visible && useCompassCheckBox.checked
 
                                property int _compassIndex: index
 
                                function selectPriorityfromParams() {
                                    currentIndex = 3
                                    var compassId = sensorParams.rgCompassId[_compassIndex].rawValue
                                    for (var prioIndex=0; prioIndex<3; prioIndex++) {
                                        console.log(`comparing ${compassId} with ${sensorParams.rgCompassPrio[prioIndex].rawValue} (index ${prioIndex})`)
                                        if (compassId == sensorParams.rgCompassPrio[prioIndex].rawValue) {
                                            currentIndex = prioIndex
                                            break
                                        }
                                    }
                                }
 
                                Component.onCompleted: selectPriorityfromParams()
 
                                onActivated: (index) => {
                                    if (index == 3) {
                                        // User cannot select Not Set
                                        selectPriorityfromParams()
                                    } else {
                                        sensorParams.rgCompassPrio[index].rawValue = sensorParams.rgCompassId[_compassIndex].rawValue
                                    }
                                }
                            }
                        }
 
                        Column {
                            visible: !_compassAutoRot && sensorParams.rgCompassExternal[index] && sensorParams.rgCompassRotParamAvailable[index]
 
                            QGCLabel { text: qsTr("Orientation:") }
 
                            FactComboBox {
                                width:      rotationColumnWidth
                                indexModel: false
                                fact:       sensorParams.rgCompassRotFact[index]
                            }
                        }
                    }
                }
            }
 
            QGCPopupDialogFactory {
                id: orientationsDialogFactory
 
                dialogComponent: orientationsDialogComponent
            }
 
            Component {
                id: orientationsDialogComponent
 
                QGCPopupDialog {
                    function compassMask () {
                        var mask = 0
                        mask |=  (0 + (sensorParams.rgCompassPrio[0].rawValue !== 0)) << 0
                        mask |=  (0 + (sensorParams.rgCompassPrio[1].rawValue !== 0)) << 1
                        mask |=  (0 + (sensorParams.rgCompassPrio[2].rawValue !== 0)) << 2
                        return mask
                    }
 
                    onAccepted: {
                        if (_orientationDialogCalType == _calTypeAccel) {
                            controller.calibrateAccel(_doSimpleAccelCal)
                        } else if (_orientationDialogCalType == _calTypeCompass) {
                            if (!northCalibrationCheckBox.checked) {
                                controller.calibrateCompass()
                            } else {
                                var lat = parseFloat(northCalLat.text)
                                var lon = parseFloat(northCalLon.text)
                                if (useMapPositionCheckbox.checked) {
                                    lat = _mapPosition.latitude
                                    lon = _mapPosition.longitude
                                }
                                if (useGcsPositionCheckbox.checked) {
                                    lat = _gcsPosition.latitude
                                    lon = _gcsPosition.longitude
                                }
                                if (isNaN(lat) || isNaN(lon)) {
                                    return
                                }
                                controller.calibrateCompassNorth(lat, lon, compassMask())
                            }
                        }
                    }
 
                    Column {
                        width:      40 * ScreenTools.defaultFontPixelWidth
                        spacing:    ScreenTools.defaultFontPixelHeight
 
                        QGCLabel {
                            width:      parent.width
                            wrapMode:   Text.WordWrap
                            text:       _orientationDialogHelp
                        }
 
                        Column {
                            QGCLabel { text: qsTr("Autopilot Rotation:") }
 
                            FactComboBox {
                                width:      rotationColumnWidth
                                indexModel: false
                                fact:       boardRot
                            }
                        }
 
                        Column {
 
                            visible: _orientationDialogCalType == _calTypeAccel
                            spacing: ScreenTools.defaultFontPixelHeight
 
                            QGCLabel {
                                width:      parent.width
                                wrapMode:   Text.WordWrap
                                text: qsTr("Simple accelerometer calibration is less precise but allows calibrating without rotating the vehicle. Check this if you have a large/heavy vehicle.")
                            }
 
                            QGCCheckBox {
                                text: "Simple Accelerometer Calibration"
                                onClicked: _doSimpleAccelCal = this.checked
                            }
                        }
 
                        Repeater {
                            model:      _orientationsDialogShowCompass ? 3 : 0
                            delegate:   singleCompassSettingsComponent
                        }
 
                        QGCLabel {
                            id:         magneticDeclinationLabel
                            width:      parent.width
                            visible:    globals.activeVehicle.sub && _orientationsDialogShowCompass
                            text:       qsTr("Magnetic Declination")
                        }
 
                        Column {
                            visible:            magneticDeclinationLabel.visible
                            anchors.margins:    ScreenTools.defaultFontPixelWidth
                            anchors.left:       parent.left
                            anchors.right:      parent.right
                            spacing:            ScreenTools.defaultFontPixelHeight
 
                            QGCCheckBox {
                                id:                           manualMagneticDeclinationCheckBox
                                text:                         qsTr("Manual Magnetic Declination")
                                property Fact autoDecFact:    controller.getParameterFact(-1, "COMPASS_AUTODEC")
                                property int manual:          0
                                property int automatic:       1
 
                                checked:    autoDecFact.rawValue === manual
                                onClicked:  autoDecFact.value = (checked ? manual : automatic)
                            }
 
                            FactTextField {
                                fact:       sensorParams.declinationFact
                                enabled:    manualMagneticDeclinationCheckBox.checked
                            }
                        }
 
                        Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
 
                        QGCLabel {
                            id:         northCalibrationLabel
                            width:      parent.width
                            visible:    _orientationsDialogShowCompass
                            wrapMode:   Text.WordWrap
                            text:       qsTr("Fast compass calibration given vehicle position and yaw. This ") +
                                        qsTr("results in zero diagonal and off-diagonal elements, so is only ") +
                                        qsTr("suitable for vehicles where the field is close to spherical. It is ") +
                                        qsTr("useful for large vehicles where moving the vehicle to calibrate it ") +
                                        qsTr("is difficult. Point the vehicle North before using it.")
                        }
 
                        Column {
                            visible:            northCalibrationLabel.visible
                            anchors.margins:    ScreenTools.defaultFontPixelWidth
                            anchors.left:       parent.left
                            anchors.right:      parent.right
                            spacing:            ScreenTools.defaultFontPixelHeight
 
                            QGCCheckBox {
                                id:             northCalibrationCheckBox
                                visible:        northCalibrationLabel.visible
                                text:           qsTr("Fast Calibration")
                            }
 
                            QGCLabel {
                                id:         northCalibrationManualPosition
                                width:      parent.width
                                visible:    northCalibrationCheckBox.checked && !globals.activeVehicle.coordinate.isValid
                                wrapMode:   Text.WordWrap
                                text:       qsTr("Vehicle has no Valid positon, please provide it")
                            }
 
                            QGCCheckBox {
                                visible:    northCalibrationManualPosition.visible && _gcsPosition.isValid
                                id:         useGcsPositionCheckbox
                                text:       qsTr("Use GCS position instead")
                                checked:    _gcsPosition.isValid
                            }
                            QGCCheckBox {
                                visible:    northCalibrationManualPosition.visible && !_gcsPosition.isValid
                                id:         useMapPositionCheckbox
                                text:       qsTr("Use current map position instead")
                            }
 
                            QGCLabel {
                                width:      parent.width
                                visible:    useMapPositionCheckbox.checked
                                wrapMode:   Text.WordWrap
                                text:       qsTr(`Lat: ${_mapPosition.latitude.toFixed(4)} Lon: ${_mapPosition.longitude.toFixed(4)}`)
                            }
 
                            FactTextField {
                                id:         northCalLat
                                visible:    !useGcsPositionCheckbox.checked && !useMapPositionCheckbox.checked && northCalibrationCheckBox.checked
                                text:       "0.00"
                                textColor:  isNaN(parseFloat(text)) ? qgcPal.warningText: qgcPal.textFieldText
                                enabled:    !useGcsPositionCheckbox.checked
                            }
                            FactTextField {
                                id:         northCalLon
                                visible:    !useGcsPositionCheckbox.checked && !useMapPositionCheckbox.checked && northCalibrationCheckBox.checked
                                text:       "0.00"
                                textColor:  isNaN(parseFloat(text)) ? qgcPal.warningText: qgcPal.textFieldText
                                enabled:    !useGcsPositionCheckbox.checked
                            }
 
                        }
                    }
                }
            }
 
            QGCPopupDialogFactory {
                id: compassMotDialogFactory
 
                dialogComponent: compassMotDialogComponent
            }
 
            Component {
                id: compassMotDialogComponent
 
                QGCPopupDialog {
                    title:      qsTr("Compass Motor Interference Calibration")
                    buttons:    Dialog.Cancel | Dialog.Ok
 
                    onAccepted: controller.calibrateMotorInterference()
 
                    Column {
                        width:      40 * ScreenTools.defaultFontPixelWidth
                        spacing:    ScreenTools.defaultFontPixelHeight
 
                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("This is recommended for vehicles that have only an internal compass and on vehicles where there is significant interference on the compass from the motors, power wires, etc. ") +
                                            qsTr("CompassMot only works well if you have a battery current monitor because the magnetic interference is linear with current drawn. ") +
                                            qsTr("It is technically possible to set-up CompassMot using throttle but this is not recommended.")
                        }
 
                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("Disconnect your props, flip them over and rotate them one position around the frame. ") +
                                            qsTr("In this configuration they should push the copter down into the ground when the throttle is raised.")
                        }
 
                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("Secure the copter (perhaps with tape) so that it does not move.")
                        }
 
                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("Turn on your transmitter and keep throttle at zero.")
                        }
 
                        QGCLabel {
                            anchors.left:   parent.left
                            anchors.right:  parent.right
                            wrapMode:       Text.WordWrap
                            text:           qsTr("Click Ok to start CompassMot calibration.")
                        }
                    }
                }
            }
 
            QGCFlickable {
                id:             buttonFlickable
                anchors.left:   parent.left
                anchors.top:    parent.top
                anchors.bottom: parent.bottom
                width:          _buttonWidth
                contentHeight:  nextCancelColumn.y + nextCancelColumn.height + _margins
 
                // Calibration button column - Calibratin buttons are kept in a separate column from Next/Cancel buttons
                // so we can enable/disable them all as a group
                Column {
                    id:                 buttonColumn
                    spacing:            _margins
                    Layout.alignment:   Qt.AlignLeft | Qt.AlignTop
 
                    IndicatorButton {
                        width:          _buttonWidth
                        text:           qsTr("Accelerometer")
                        indicatorGreen: !accelCalNeeded
 
                        onClicked: function () {
                            showOrientationsDialog(_calTypeAccel);
                            showSimpleAccelCalOption();
                        }
                    }
 
                    IndicatorButton {
                        width:          _buttonWidth
                        text:           qsTr("Compass")
                        indicatorGreen: !compassCalNeeded
 
                        onClicked: {
                            if (controller.accelSetupNeeded) {
                                QGroundControl.showMessageDialog(sensorsPage, qsTr("Calibrate Compass"), qsTr("Accelerometer must be calibrated prior to Compass."))
                            } else {
                                showOrientationsDialog(_calTypeCompass)
                            }
                        }
                    }
 
                    QGCButton {
                        width:  _buttonWidth
                        text:   _levelHorizonText
 
                        readonly property string _levelHorizonText: qsTr("Level Horizon")
 
                        onClicked: {
                            if (controller.accelSetupNeeded) {
                                QGroundControl.showMessageDialog(sensorsPage, _levelHorizonText, qsTr("Accelerometer must be calibrated prior to Level Horizon."))
                            } else {
                                QGroundControl.showMessageDialog(sensorsPage, _levelHorizonText,
                                                             qsTr("To level the horizon you need to place the vehicle in its level flight position and press Ok."),
                                                             Dialog.Cancel | Dialog.Ok,
                                                             function() { controller.levelHorizon() })
                            }
                        }
                    }
 
                    QGCButton {
                        width:      _buttonWidth
                        text:       qsTr("Gyro")
                        visible:    globals.activeVehicle && (globals.activeVehicle.multiRotor | globals.activeVehicle.rover | globals.activeVehicle.sub)
                        onClicked:  QGroundControl.showMessageDialog(sensorsPage, qsTr("Calibrate Gyro"),
                                                                 qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.\n\nClick Ok to start calibration."),
                                                                 Dialog.Cancel | Dialog.Ok,
                                                                 function() { controller.calibrateGyro() })
                    }
 
                    QGCButton {
                        width:      _buttonWidth
                        text:       _calibratePressureText
                        onClicked:  QGroundControl.showMessageDialog(sensorsPage, _calibratePressureText,
                                                                 qsTr("Pressure calibration will set the %1 to zero at the current pressure reading. %2").arg(_altText).arg(_helpTextFW),
                                                                 Dialog.Cancel | Dialog.Ok,
                                                                 function() { controller.calibratePressure() })
 
                        readonly property string _altText:                  globals.activeVehicle.sub ? qsTr("depth") : qsTr("altitude")
                        readonly property string _helpTextFW:               globals.activeVehicle.fixedWing ? qsTr("To calibrate the airspeed sensor shield it from the wind. Do not touch the sensor or obstruct any holes during the calibration.") : ""
                        readonly property string _calibratePressureText:    globals.activeVehicle.fixedWing ? qsTr("Baro/Airspeed") : qsTr("Pressure")
                    }
 
                    QGCButton {
                        width:      _buttonWidth
                        text:       qsTr("CompassMot")
                        visible:    globals.activeVehicle ? globals.activeVehicle.supports.motorInterference : false
                        onClicked:  compassMotDialogFactory.open()
                    }
 
                    QGCButton {
                        width:      _buttonWidth
                        text:       qsTr("Sensor Settings")
                        onClicked:  showOrientationsDialog(_calTypeSet)
                    }
                } // Column - Cal Buttons
 
                Column {
                    id:                 nextCancelColumn
                    anchors.topMargin:  buttonColumn.spacing
                    anchors.top:        buttonColumn.bottom
                    anchors.left:       buttonColumn.left
                    spacing:            buttonColumn.spacing
 
                    QGCButton {
                        id:         nextButton
                        width:      _buttonWidth
                        text:       qsTr("Next")
                        enabled:    false
                        onClicked:  controller.nextClicked()
                    }
 
                    QGCButton {
                        id:         cancelButton
                        width:      _buttonWidth
                        text:       qsTr("Cancel")
                        enabled:    false
                        onClicked:  controller.cancelCalibration()
                    }
                }
            } // QGCFlickable - buttons
 
            /// Right column - cal area
            Column {
                anchors.leftMargin: _margins
                anchors.top:        parent.top
                anchors.bottom:     parent.bottom
                anchors.left:       buttonFlickable.right
                anchors.right:      parent.right
 
                ProgressBar {
                    id:             progressBar
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                }
 
                Item { height: ScreenTools.defaultFontPixelHeight; width: 10 } // spacer
 
                Item {
                    id:     centerPanel
                    width:  parent.width
                    height: parent.height - y
 
                    TextArea {
                        id:             statusTextArea
                        anchors.fill:   parent
                        readOnly:       true
                        text:           statusTextAreaDefaultText
                        color:          qgcPal.text
                        background:     Rectangle { color: qgcPal.windowShade }
                    }
 
                    Rectangle {
                        id:             orientationCalArea
                        anchors.fill:   parent
                        visible:        controller.showOrientationCalArea
                        color:          qgcPal.windowShade
 
                        QGCLabel {
                            id:                 orientationCalAreaHelpText
                            anchors.margins:    ScreenTools.defaultFontPixelWidth
                            anchors.top:        orientationCalArea.top
                            anchors.left:       orientationCalArea.left
                            width:              parent.width
                            wrapMode:           Text.WordWrap
                            font.pointSize:     ScreenTools.mediumFontPointSize
                        }
 
                        Flow {
                            anchors.topMargin:  ScreenTools.defaultFontPixelWidth
                            anchors.top:        orientationCalAreaHelpText.bottom
                            anchors.bottom:     parent.bottom
                            anchors.left:       parent.left
                            anchors.right:      parent.right
                            spacing:            ScreenTools.defaultFontPixelWidth
 
                            property real indicatorWidth:   (width / 3) - (spacing * 2)
                            property real indicatorHeight:  (height / 2) - spacing
 
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
                                visible:            controller.orientationCalDownSideVisible
                                calValid:           controller.orientationCalDownSideDone
                                calInProgress:      controller.orientationCalDownSideInProgress
                                calInProgressText:  controller.orientationCalDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
                                imageSource:        "qrc:///qmlimages/VehicleDown.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:        "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:        "qrc:///qmlimages/VehicleRight.png"
                            }
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
                                visible:            controller.orientationCalNoseDownSideVisible
                                calValid:           controller.orientationCalNoseDownSideDone
                                calInProgress:      controller.orientationCalNoseDownSideInProgress
                                calInProgressText:  controller.orientationCalNoseDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
                                imageSource:        "qrc:///qmlimages/VehicleNoseDown.png"
                            }
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
                                visible:            controller.orientationCalTailDownSideVisible
                                calValid:           controller.orientationCalTailDownSideDone
                                calInProgress:      controller.orientationCalTailDownSideInProgress
                                calInProgressText:  controller.orientationCalTailDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
                                imageSource:        "qrc:///qmlimages/VehicleTailDown.png"
                            }
                            VehicleRotationCal {
                                width:              parent.indicatorWidth
                                height:             parent.indicatorHeight
                                visible:            controller.orientationCalUpsideDownSideVisible
                                calValid:           controller.orientationCalUpsideDownSideDone
                                calInProgress:      controller.orientationCalUpsideDownSideInProgress
                                calInProgressText:  controller.orientationCalUpsideDownSideRotate ? qsTr("Rotate") : qsTr("Hold Still")
                                imageSource:        "qrc:///qmlimages/VehicleUpsideDown.png"
                            }
                        }
                    }
                } // Item - Cal display area
            } // Column - cal display
        } // Row
    } // Component - sensorsPageComponent
} // SetupPage