SensorsComponent.cc

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#include "SensorsComponent.h"
#include "ParameterManager.h"
#include "Vehicle.h"
 
SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownSensorsVehicleComponent, parent)
    , _name(tr("Sensors"))
{
    _deviceIds = QStringList({QStringLiteral("CAL_GYRO0_ID"), QStringLiteral("CAL_ACC0_ID") });
 
    if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
        _airspeedCalTriggerParams << "SENS_DPRES_OFF";
        if (_vehicle->firmwareMajorVersion() >= 1 && _vehicle->firmwareMinorVersion() >= 14) {
            _airspeedCalTriggerParams << "SYS_HAS_NUM_ASPD";
        } else {
            _airspeedCalTriggerParams << "FW_ARSP_MODE" << "CBRK_AIRSPD_CHK";
        }
    }
}
 
QString SensorsComponent::name(void) const
{
    return _name;
}
 
QString SensorsComponent::description(void) const
{
    return tr("Configure and calibrate gyroscope, accelerometer, magnetometer, and airspeed sensors.");
}
 
QString SensorsComponent::iconResource(void) const
{
    return "/qmlimages/SensorsComponentIcon.png";
}
 
bool SensorsComponent::requiresSetup(void) const
{
    return true;
}
 
bool SensorsComponent::setupComplete(void) const
{
    for (const QString &triggerParam : std::as_const(_deviceIds)) {
        if (_vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
            return false;
        }
    }
    bool magEnabled = true;
    if (_vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, _magEnabledParam)) {
        magEnabled = _vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, _magEnabledParam)->rawValue().toBool();
    }
 
    if (magEnabled && _vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, _magCalParam)->rawValue().toFloat() == 0.0f) {
        return false;
    }
 
    if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
        if (_vehicle->firmwareMajorVersion() > 1 || (_vehicle->firmwareMajorVersion() == 1 && _vehicle->firmwareMinorVersion() > 14)) {
            if (_vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "SYS_HAS_NUM_ASPD")->rawValue().toBool() &&
                    _vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f) {
                return false;
            }
        } else {
            if (!_vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "FW_ARSP_MODE")->rawValue().toBool() &&
                    _vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "CBRK_AIRSPD_CHK")->rawValue().toInt() != 162128 &&
                    _vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f) {
                return false;
            }
        }
    }
 
    return true;
}
 
QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
{
    QStringList triggers;
 
    triggers << _deviceIds << _magCalParam << _magEnabledParam;
    if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
        triggers << _airspeedCalTriggerParams;
    }
 
    return triggers;
}
 
QUrl SensorsComponent::setupSource(void) const
{
    return QUrl::fromUserInput("qrc:/qml/QGroundControl/AutoPilotPlugins/PX4/SensorsComponent.qml");
}
 
QStringList SensorsComponent::sections() const
{
    QStringList sectionList;
 
    // Compass (hidden when all mags disabled)
    bool allMagsDisabled = false;
    if (_vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, _magEnabledParam)) {
        allMagsDisabled = !_vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, _magEnabledParam)->rawValue().toBool();
    }
    if (!allMagsDisabled) {
        sectionList << tr("Compass");
    }
 
    sectionList << tr("Gyroscope");
    sectionList << tr("Accelerometer");
    sectionList << tr("Level Horizon");
 
    if (_airspeedCalSupported()) {
        sectionList << tr("Airspeed");
    }
 
    sectionList << tr("Orientations");
 
    return sectionList;
}
 
QUrl SensorsComponent::summaryQmlSource(void) const
{
    QString summaryQml;
 
    if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
        summaryQml = "qrc:/qml/QGroundControl/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml";
    } else {
        summaryQml = "qrc:/qml/QGroundControl/AutoPilotPlugins/PX4/SensorsComponentSummary.qml";
    }
 
    return QUrl::fromUserInput(summaryQml);
}
 
 bool SensorsComponent::_airspeedCalSupported(void) const
 {
    if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) {
        if (_vehicle->firmwareMajorVersion() > 1 || (_vehicle->firmwareMajorVersion() == 1 && _vehicle->firmwareMinorVersion() > 14)) {
            if (_vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "SYS_HAS_NUM_ASPD")->rawValue().toBool()) {
                return true;
            }
        } else {
            if (!_vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "FW_ARSP_MODE")->rawValue().toBool() &&
                    _vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "CBRK_AIRSPD_CHK")->rawValue().toInt() != 162128) {
                return true;
            }
        }
    }
 
    return false;
 }
 
 bool SensorsComponent::_airspeedCalRequired(void) const
 {
    return _airspeedCalSupported() && _vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f;
 }
 
bool SensorsComponent::sectionSetupComplete(const QString &sectionName) const
{
    auto *pm = _vehicle->parameterManager();
 
    if (sectionName == tr("Compass")) {
        bool magEnabled = true;
        if (pm->parameterExists(ParameterManager::defaultComponentId, _magEnabledParam)) {
            magEnabled = pm->getParameter(ParameterManager::defaultComponentId, _magEnabledParam)->rawValue().toBool();
        }
        if (!magEnabled) return true;
        return pm->getParameter(ParameterManager::defaultComponentId, _magCalParam)->rawValue().toFloat() != 0.0f;
    }
    if (sectionName == tr("Gyroscope")) {
        return pm->getParameter(ParameterManager::defaultComponentId, "CAL_GYRO0_ID")->rawValue().toFloat() != 0.0f;
    }
    if (sectionName == tr("Accelerometer")) {
        return pm->getParameter(ParameterManager::defaultComponentId, "CAL_ACC0_ID")->rawValue().toFloat() != 0.0f;
    }
    if (sectionName == tr("Level Horizon")) {
        // Level cal doesn't have a distinct completion indicator — consider complete if accel+gyro are done
        return pm->getParameter(ParameterManager::defaultComponentId, "CAL_ACC0_ID")->rawValue().toFloat() != 0.0f
            && pm->getParameter(ParameterManager::defaultComponentId, "CAL_GYRO0_ID")->rawValue().toFloat() != 0.0f;
    }
    if (sectionName == tr("Airspeed")) {
        return !_airspeedCalRequired();
    }
 
    return true;
}