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93 lines
3.3 KiB
C++
93 lines
3.3 KiB
C++
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/**
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******************************************************************************
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*
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* @file outputcalibrationutil.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup
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* @{
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* @addtogroup OutputCalibrationUtil
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* @{
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* @brief
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "outputcalibrationutil.h"
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#include "actuatorcommand.h"
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#include "extensionsystem/pluginmanager.h"
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OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
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QObject(parent), m_outputChannel(0)
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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m_uavObjectManager = pm->getObject<UAVObjectManager>();
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Q_ASSERT(m_uavObjectManager);
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}
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void OutputCalibrationUtil::startChannelOutput(quint16 channel)
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{
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if(m_outputChannel == 0 && channel > 0 && channel <= ActuatorCommand::CHANNEL_NUMELEM)
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{
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ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
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Q_ASSERT(actuatorCommand);
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UAVObject::Metadata metaData = actuatorCommand->getMetadata();
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m_savedActuatorMetadata = metaData;
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UAVObject::SetFlightAccess(metaData, UAVObject::ACCESS_READONLY);
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UAVObject::SetFlightTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
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UAVObject::SetGcsTelemetryAcked(metaData, false);
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UAVObject::SetGcsTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
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metaData.gcsTelemetryUpdatePeriod = 100;
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actuatorCommand->setMetadata(metaData);
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actuatorCommand->updated();
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//Start output...
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m_outputChannel = channel;
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}
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}
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void OutputCalibrationUtil::stopChannelOutput()
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{
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if(m_outputChannel > 0)
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{
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//Stop output...
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ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
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Q_ASSERT(actuatorCommand);
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UAVObject::Metadata metaData = actuatorCommand->getMetadata();
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// Restore metadata to what it was before
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metaData = m_savedActuatorMetadata;
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actuatorCommand->setMetadata(metaData);
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actuatorCommand->updated();
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m_outputChannel = 0;
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}
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}
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void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
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{
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if(m_outputChannel > 0)
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{
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//Set output value
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ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
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Q_ASSERT(actuatorCommand);
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ActuatorCommand::DataFields data = actuatorCommand->getData();
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data.Channel[m_outputChannel - 1] = value;
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actuatorCommand->setData(data);
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}
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}
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