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Code Issues Releases Activity

OP-1644 Really set FlightMode neutral centered + some minor fixes in code

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This commit is contained in:
Laurent Lalanne 2015-02-03 21:50:45 +01:00
parent c2a8f8fe11
commit 23865ed0b0
1 changed files with 12 additions and 14 deletions
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26
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
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@ -551,15 +551,13 @@ void ConfigInputWidget::wzNext()
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE] +
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] -
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.04);
if ((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] -
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]) < 100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE] -
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]) < 100)) {
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE] =
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE] +
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] -
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]) / 2;
}
// Force flight mode neutral to middle
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE] =
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE] +
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] -
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]) / 2;
manualSettingsObj->setData(manualSettingsData);
// move to Arming Settings tab
ui->stackedWidget->setCurrentIndex(0);
@ -1595,7 +1593,7 @@ void ConfigInputWidget::updateCalibration()
(reverse[i] && manualSettingsData.ChannelMax[i] > manualCommandData.Channel[i])) {
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
if (i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE || i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) {
if ((i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) || (i == ManualControlSettings::CHANNELNUMBER_THROTTLE)) {
adjustSpecialNeutrals();
} else {
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
@ -1659,7 +1657,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
restoreMdataSingle(manualCommandObj, &manualControlMdata);
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
if (i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE || i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) {
if ((i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) || (i == ManualControlSettings::CHANNELNUMBER_THROTTLE)) {
adjustSpecialNeutrals();
} else {
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
@ -1680,9 +1678,9 @@ void ConfigInputWidget::adjustSpecialNeutrals()
// FlightMode and Throttle need special neutral settings
//
// Force flight mode neutral to middle
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE] =
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] +
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]) / 2;
// Force throttle to be near min, add 4% from total range to avoid arming issues
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =