core: frontend: add accelerometer calibration

core/frontend/src/components/common/StatusTextWatcher.vue

@@ -11,7 +11,7 @@ export default {
   props: {
     filter: {
       type: RegExp,
-      default: '',
+      default: /.*/,
     },
   },
   data() {

core/frontend/src/components/vehiclesetup/Configure.vue

@@ -63,6 +63,7 @@ import autopilot from '@/store/autopilot_manager'
 import settings from '@/store/settings'
 
 import SpinningLogo from '../common/SpinningLogo.vue'
+import ArdupilotAccelerometerSetup from './configuration/accelerometer/ArdupilotAccelerometerSetup.vue'
 import ArdupilotMavlinkCompassSetup from './configuration/compass/ArdupilotMavlinkCompassSetup.vue'
 import LightsConfigration from './configuration/lights.vue'
 import GripperInfo from './overview/gripper.vue'
@@ -90,14 +91,15 @@ export default Vue.extend({
     ParamSets,
     LightsConfigration,
     ArdupilotMavlinkCompassSetup,
+    ArdupilotAccelerometerSetup,
     SpinningLogo,
   },
   data() {
     return {
       page_selected: null as string | null,
       pages: [
         { title: 'Parameters', component: ParamSets },
-        { title: 'Accelerometer', component: undefined },
+        { title: 'Accelerometer', component: ArdupilotAccelerometerSetup },
         { title: 'Compass', component: ArdupilotMavlinkCompassSetup },
         { title: 'Baro', component: undefined },
         { title: 'Gripper', component: undefined },

core/frontend/src/components/vehiclesetup/configuration/accelerometer/ArdupilotAccelerometerSetup.vue

@@ -0,0 +1,140 @@
+<template>
+  <div class="d-flex flex-col justify-center">
+    <v-card v-if="params_finished_loaded" outline class="pa-5 mt-4 mr-2 mb-2">
+      <v-simple-table>
+        <tr v-for="imu in imus" :key="imu.deviceIdNumber">
+          <td>{{ imu.deviceName }}</td>
+          <td>
+            <v-icon
+              v-if="imu_is_calibrated[imu.param]"
+              v-tooltip="'Sensor is calibrated and good to use'"
+              color="green"
+            >
+              mdi-emoticon-happy-outline
+            </v-icon>
+            <v-icon
+              v-else
+              v-tooltip="'Sensor needs to be calibrated'"
+              color="red"
+            >
+              mdi-emoticon-sad-outline
+            </v-icon>
+            {{ 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 ${getCalibrationTemperature(imu)} ºC`"
+              color="green"
+            >
+              mdi-thermometer-check
+            </v-icon>
+            <v-icon
+              v-else
+              v-tooltip="'Sensor thermometer needs to be calibrated'"
+              color="red"
+            >
+              mdi-thermometer-off
+            </v-icon>
+          </td>
+          <td>
+            <FullAccelerometerCalibration />
+          </td>
+          <td>
+            <QuickAccelerometerCalibration />
+          </td>
+        </tr>
+      </v-simple-table>
+    </v-card>
+    <spinning-logo
+      v-else
+      size="50%"
+      :subtitle="`${loaded_params}/${total_params} parameters loaded`"
+    />
+  </div>
+</template>
+<script lang="ts">
+import Vue from 'vue'
+
+// eslint-disable-next-line
+import FullAccelerometerCalibration from '@/components/vehiclesetup/configuration/accelerometer/FullAccelerometerCalibration.vue'
+import autopilot_data from '@/store/autopilot'
+import { Dictionary } from '@/types/common'
+import decode, { deviceId } from '@/utils/deviceid_decoder'
+
+import QuickAccelerometerCalibration from './QuickAccelerometerCalibration.vue'
+
+export default Vue.extend({
+  name: 'ArdupilotAccelerometerSetup',
+  components: {
+    FullAccelerometerCalibration,
+    QuickAccelerometerCalibration,
+  },
+  data() {
+    return {
+    }
+  },
+  computed: {
+    params_finished_loaded(): boolean {
+      return autopilot_data.finished_loading
+    },
+    loaded_params(): number {
+      return autopilot_data.parameters_loaded
+    },
+    total_params(): number {
+      return autopilot_data.parameters_total
+    },
+    imus() : deviceId[] {
+      return autopilot_data.parameterRegex('^INS_ACC.*_ID')
+        .filter((param) => param.value !== 0)
+        .map((parameter) => decode(parameter.name, parameter.value))
+    },
+    // TODO: refactor, same code as OnboardSensors.vue
+    imu_is_calibrated(): Dictionary<boolean> {
+      const results = {} as Dictionary<boolean>
+      for (const imu of this.imus) {
+        const param_radix = imu.param.split('_ID')[0]
+        const offset_params_names = [`${param_radix}OFFS_X`, `${param_radix}OFFS_Y`, `${param_radix}OFFS_Z`]
+        const scale_params_names = [`${param_radix}SCAL_X`, `${param_radix}SCAL_Y`, `${param_radix}SCAL_Z`]
+        const offset_params = offset_params_names.map(
+          (name) => autopilot_data.parameter(name),
+        )
+        const scale_params = scale_params_names.map(
+          (name) => autopilot_data.parameter(name),
+        )
+        const is_at_default_offsets = offset_params.every((param) => param?.value === 0.0)
+        const is_at_default_scale = scale_params.every((param) => param?.value === 1.0)
+        results[imu.param] = offset_params.isEmpty() || scale_params.isEmpty()
+        || !is_at_default_offsets || !is_at_default_scale
+      }
+      return results
+    },
+    imu_temperature_is_calibrated(): Dictionary<{ calibrated: boolean, calibrationTemperature: number }> {
+      const results = {} as Dictionary<{ calibrated: boolean, calibrationTemperature: number }>
+      for (const imu of this.imus) {
+        let param_radix = imu.param.split('_ID')[0]
+        // CALTEMP parameters contains ID for the first sensor, _ID does not, so we need to add it
+        if (!/\d$/.test(param_radix)) {
+          param_radix += '1'
+        }
+        const name = `${param_radix}_CALTEMP`
+        const parameter = autopilot_data.parameter(name)
+        results[imu.param] = {
+          calibrated: parameter !== undefined && parameter.value !== -300,
+          calibrationTemperature: parameter?.value ?? 0,
+        }
+      }
+      return results
+    },
+  },
+  methods: {
+    getCalibrationTemperature(imu: deviceId) {
+      return this.imu_temperature_is_calibrated[imu.param].calibrationTemperature.toFixed(0)
+    },
+  },
+})
+</script>
+<style scoped="true">
+td {
+  padding-left: 5px !important;
+  padding-right: 5px !important;
+}
+</style>