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wip_compass
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@Williangalvani
Williangalvani committed Nov 12, 2024
1 parent c2aa79b commit 9057cc7
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Showing 6 changed files with 123 additions and 51 deletions.
12 changes: 12 additions & 0 deletions core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
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Expand Up @@ -67,6 +67,7 @@ import Vue, { PropType } from 'vue'
import mavlink2rest from '@/libs/MAVLink2Rest'
import autopilot_data from '@/store/autopilot'
import Parameter from '@/types/autopilot/parameter'
import { Dictionary } from '@/types/common'
export default Vue.extend({
name: 'InlineParameterEditor',
Expand Down Expand Up @@ -95,6 +96,10 @@ export default Vue.extend({
type: Boolean,
default: false,
},
metadataOverrides: {
type: Object as PropType<Dictionary<string>>,
default: () => ({}),
},
},
data() {
return {
Expand All @@ -111,6 +116,13 @@ export default Vue.extend({
const entries = Object.entries(this.param?.options ?? [])
const value_is_known = Object.keys(this.param?.options ?? []).map(parseFloat).includes(this.param?.value)
const options = entries.map(([value, name]) => ({ text: name, value: parseFloat(value), disabled: false }))
// replace entries in metadataOverrides
for (const [value, _name] of entries) {
if (value in this.metadataOverrides) {
const index = options.findIndex((option) => option.value === parseFloat(value))
options[index].text = this.metadataOverrides[value]
}
}
if (!value_is_known) {
options.push({ text: `Custom: ${this.param?.value}`, value: this.param?.value, disabled: false })
}
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84 changes: 64 additions & 20 deletions ...ontend/src/components/vehiclesetup/configuration/compass/ArdupilotMavlinkCompassSetup.vue
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@@ -1,31 +1,13 @@
<template>
<div class="pa-3">
<v-card>
<div class="main-container d-flex flex-col">
<div class="main-container d-flex flex-row">
<v-card outline class="mr-2 mb-2 flex-shrink-1 d-flex flex-col">
<div class="compass-container">
<compass-display :compasses="reordered_compasses" :colors="compass_colors" />
<v-card class="pa-2 ma-2" width="300px">
<v-card-title>
Declination
</v-card-title>
<v-card-text class="flex-shrink-1">
<parameter-switch label="Auto Declination" :parameter="compass_autodec" />
<p>
If you enable this option, the autopilot will automatically set the declination based on your current
location. A GPS or other absolute positioning system is required.
</p>
<v-text-field
label="Current Declination"
:disabled="compass_autodec?.value !== 0"
:value="printParam(compass_dec)"
@click="openParameterEditor(compass_dec)"
/>
</v-card-text>
</v-card>
</div>
<auto-coordinate-detector v-model="coordinates" />
</v-card>

<v-card outline class="compass-calib-container mb-2">
<v-card-title>
<h3>Compass Calibration</h3>
Expand Down Expand Up @@ -92,6 +74,50 @@
</div>
</v-card-text>
</v-card>
<v-card outline class="mr-2 ml-2 mb-2">
<div class="d-block ma-3" style="width: 400px;">
<v-expansion-panels focusable>
<v-expansion-panel>
<v-expansion-panel-header>
<b>Declination</b> ({{ declination_short }})
<v-spacer />
</v-expansion-panel-header>
<v-expansion-panel-content>
<parameter-switch label="Auto Declination" :parameter="compass_autodec" />
<p>
If you enable this option, the autopilot will automatically set the
declination based on your current location.
A GPS or other absolute positioning system is required.
</p>
<v-text-field
v-if="compass_autodec?.value == 0"
label="Current Declination"
:value="printParam(compass_dec)"
@click="openParameterEditor(compass_dec)"
/>
</v-expansion-panel-content>
</v-expansion-panel>
<v-expansion-panel>
<v-expansion-panel-header>
<template #actions>
<v-icon v-if="coordinates_valid" color="success">
mdi-check-circle
</v-icon>
<v-icon v-else color="error">
mdi-alert
</v-icon>
</template>
<b>Global Position</b>
<v-spacer />
</v-expansion-panel-header>
<v-expansion-panel-content>
<auto-coordinate-detector v-model="coordinates" />
</v-expansion-panel-content>
</v-expansion-panel>
</v-expansion-panels>
</div>
</v-card>
</div>
<div class="compass-reorder-container d-flex flex-row">
<v-tabs v-model="tab" vertical color="primary">
Expand Down Expand Up @@ -206,6 +232,7 @@ import ParameterSwitch from '@/components/common/ParameterSwitch.vue'
import CompassDisplay from '@/components/vehiclesetup/configuration/compass/CompassDisplay.vue'
import CompassParams from '@/components/vehiclesetup/configuration/compass/CompassParams.vue'
import mavlink2rest from '@/libs/MAVLink2Rest'
import Listener from '@/libs/MAVLink2Rest/Listener'
import autopilot_data from '@/store/autopilot'
import Parameter, { printParam } from '@/types/autopilot/parameter'
import { Dictionary } from '@/types/common'
Expand Down Expand Up @@ -250,9 +277,11 @@ export default Vue.extend({
tab: 0,
color_options: ['green', 'blue', 'purple', 'red', 'orange', 'brown', 'grey', 'black'],
coordinates: undefined as { lat: number, lon: number } | undefined,
coordinates_valid: false,
reordered_compasses: [] as deviceId[],
edited_param: undefined as (undefined | Parameter),
edit_param_dialog: false,
gps_listener: undefined as Listener | undefined,
}
},
computed: {
Expand All @@ -267,6 +296,12 @@ export default Vue.extend({
results.GPS2 = 'black'
return results
},
declination_short(): string {
if (this.compass_autodec?.value === 1) {
return 'Automatic Declination'
}
return `${this.compass_dec?.value.toFixed(2) ?? 'N/A'} rad`
},
compass_autodec(): Parameter | undefined {
return autopilot_data.parameter('COMPASS_AUTODEC')
},
Expand Down Expand Up @@ -439,6 +474,15 @@ export default Vue.extend({
},
mounted() {
this.reordered_compasses = this.compasses
this.gps_listener = mavlink2rest.startListening('GLOBAL_POSITION_INT').setCallback((receivedMessage) => {
if (receivedMessage.message.lat !== 0 || receivedMessage.message.lon !== 0) {
this.coordinates_valid = true
}
}).setFrequency(0)
mavlink2rest.requestMessageRate('GLOBAL_POSITION_INT', 1, autopilot_data.system_id)
},
beforeDestroy() {
this.gps_listener?.discard()
},
methods: {
printParam,
Expand Down
72 changes: 44 additions & 28 deletions core/frontend/src/components/vehiclesetup/configuration/compass/AutoCoordinateDetector.vue
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Original file line number Diff line number Diff line change
@@ -1,26 +1,29 @@
<template>
<v-card class="position">
<v-card-title>
Vehicle Position
</v-card-title>
<v-card-text class="mt-3">
<div>
<v-alert v-if="!mavlink_lat" dense type="error" class="mt-4">
No valid GPS position!
</v-alert>

A valid (usually GPS) position is required for the calibration to estimate the local world magnetic field.
Estimation of the local magnetic field improves the calibration quality as it allows a 3D fusion of the compass data.
Estimation of the local magnetic field improves the calibration quality as it
allows a 3D fusion of the compass data.
<br>
<br>
<v-tooltip bottom>
<template #activator="{ on }">
<v-icon dense :color="mavlink_lat ? 'green' : 'orange'" v-on="on">
{{ mavlink_lat ? "mdi-check-circle" : "mdi-alert-circle" }}
</v-icon>
</template>
<span>{{ mavlink_lat ? "Valid GPS position" : "No valid GPS position" }}</span>
</v-tooltip>
<b>Current vehicle coordinates:</b>
<br>
<div v-if="!warnonly">
<v-tooltip bottom>
<template #activator="{ on }">
<v-icon dense :color="mavlink_lat ? 'green' : 'orange'" v-on="on">
{{ mavlink_lat ? "mdi-check-circle" : "mdi-alert-circle" }}
</v-icon>
</template>
<span>{{ mavlink_lat ? "Valid GPS position" : "No valid GPS position" }}</span>
</v-tooltip>
<b>Current vehicle coordinates:</b>
<br>
{{ mavlink_lat?.toFixed(5) ?? "N/A" }} {{ mavlink_lon?.toFixed(5) ?? "N/A" }}
<br>
<template v-if="!mavlink_lat && supports_setting_position">
<br>
</div>
<template v-if="!mavlink_lat && supports_setting_position && !warnonly">
<v-icon dense :color="geoip_lat ? 'green' : 'red'">
{{ geoip_lat ? "mdi-check-circle" : "mdi-alert-circle" }}
</v-icon>
Expand All @@ -34,22 +37,31 @@
</v-tooltip>
<b>GeoIP coordinates:</b>
<br>
{{ geoip_lat ?? "N/A" }} {{ geoip_lon ?? "N/A" }}
{{ geoip_lat ?? "N/A" }} {{ geoip_lon ?? "N/A" }}
<br>
</template>
<v-card v-if="!mavlink_lat && supports_setting_position" class="pa-4">
<v-alert dense type="error">
No valid GPS position!
</v-alert>
<v-card v-if="!mavlink_lat && supports_setting_position && !warnonly" class="pa-4">
<div class="d-flex flex-column justify-space-between">
<v-btn class="ma-1" v-if="!manual_coordinates" small color="primary" @click="setOrigin(geoip_lat ?? 0, geoip_lon ?? 0)">
<v-btn
v-if="!manual_coordinates"
class="ma-1"
small
color="primary"
@click="setOrigin(geoip_lat ?? 0, geoip_lon ?? 0)"
>
Use GeoIP coordinates
</v-btn>
<v-btn class="ma-1" v-if="!mavlink_lat && !manual_coordinates" small color="primary" @click="manual_coordinates = true">
<v-btn
v-if="!mavlink_lat && !manual_coordinates"
class="ma-1"
small
color="primary"
@click="manual_coordinates = true"
>
Enter custom coordinate
</v-btn>
</div>

<div v-if="manual_coordinates">
<v-text-field
v-model="manual_lat"
Expand All @@ -68,8 +80,7 @@
</v-btn>
</div>
</v-card>
</v-card-text>
</v-card>
</div>
</template>

<script lang="ts">
Expand All @@ -94,6 +105,11 @@ export default {
required: false,
default: undefined,
},
warnonly: {
type: Boolean,
required: false,
default: false,
},
},
data() {
return {
Expand Down
2 changes: 1 addition & 1 deletion core/frontend/src/components/vehiclesetup/configuration/compass/CompassDisplay.vue
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Expand Up @@ -334,6 +334,6 @@ export default Vue.extend({
.compass canvas {
border-radius: 15%;
border: 1px solid var(--v-primary-base);
background-color: ivory;
background-color: white;
}
</style>
3 changes: 1 addition & 2 deletions core/frontend/src/components/vehiclesetup/configuration/compass/FullCompassCalibrator.vue
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Expand Up @@ -36,7 +36,7 @@

<auto-coordinate-detector
v-if="state === states.IDLE"
v-model="coordinates"
warnonly="true"
/>
<compass-mask-picker v-if="state === states.IDLE" v-model="compass_mask" :devices="compasses" />
<v-divider />
Expand Down Expand Up @@ -128,7 +128,6 @@ export default {
data() {
return {
dialog: false,
coordinates: undefined as { lat: number, lon: number } | undefined,
compass_mask: 0,
status_type: '' as string | undefined,
status_text: '' as string | undefined,
Expand Down
1 change: 1 addition & 0 deletions ...ntend/src/components/vehiclesetup/configuration/compass/LargeVehicleCompassCalibrator.vue
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Expand Up @@ -21,6 +21,7 @@
A Valid position is required for Compass Learn to estimate the local world magnetic field.
<auto-coordinate-detector
v-model="coordinates"
warnonly="true"
/>
<compass-mask-picker v-model="compass_mask" :devices="compasses" />
<v-divider />
Expand Down

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