Merge branch 'rel-14.10' of ssh://git.openpilot.org/OpenPilot into rel-14.10

ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp

@@ -36,7 +36,7 @@ bool OutputCalibrationUtil::c_prepared = false;
 ActuatorCommand::Metadata OutputCalibrationUtil::c_savedActuatorCommandMetaData;
 
 OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
-    QObject(parent), m_outputChannel(-1), m_safeValue(1000)
+    QObject(parent), m_safeValue(1000)
 {}
 
 OutputCalibrationUtil::~OutputCalibrationUtil()
@@ -93,15 +93,17 @@ void OutputCalibrationUtil::stopOutputCalibration()
     }
 }
 
-void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
+void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue) {
+    QList<quint16> channels;
+    channels.append(channel);
+    startChannelOutput(channels, safeValue);
+}
+
+void OutputCalibrationUtil::startChannelOutput(QList<quint16> channels, quint16 safeValue)
 {
     if (c_prepared) {
-        if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
+        m_outputChannels = channels;
-            // Start output...
+        m_safeValue = safeValue;
-            m_outputChannel = channel;
-            m_safeValue     = safeValue;
-            qDebug() << "Output for channel " << m_outputChannel + 1 << " started.";
-        }
     } else {
         qDebug() << "OutputCalibrationUtil not started.";
     }
@@ -110,15 +112,9 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
 void OutputCalibrationUtil::stopChannelOutput()
 {
     if (c_prepared) {
-        if (m_outputChannel >= 0) {
+        setChannelOutputValue(m_safeValue);
-            qDebug() << "Stopping output for channel " << m_outputChannel + 1 << "...";
+        m_outputChannels.clear();
-            // Stop output...
+        qDebug() << "OutputCalibrationUtil output stopped.";
-            setChannelOutputValue(m_safeValue);
-            qDebug() << "Settings output for channel " << m_outputChannel + 1 << " to " << m_safeValue;
-            qDebug() << "Output for channel " << m_outputChannel + 1 << " stopped.";
-
-            m_outputChannel = -1;
-        }
     } else {
         qDebug() << "OutputCalibrationUtil not started.";
     }
@@ -127,15 +123,20 @@ void OutputCalibrationUtil::stopChannelOutput()
 void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
 {
     if (c_prepared) {
-        if (m_outputChannel >= 0) {
+        ActuatorCommand *actuatorCommand = getActuatorCommandObject();
+        ActuatorCommand::DataFields data = actuatorCommand->getData();
+        foreach (quint32 channel, m_outputChannels) {
             // Set output value
-            qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
+            if (channel <= ActuatorCommand::CHANNEL_NUMELEM){
-            ActuatorCommand *actuatorCommand = getActuatorCommandObject();
+                qDebug() << "OutputCalibrationUtil setting output value for channel " << channel << " to " << value << ".";
-            ActuatorCommand::DataFields data = actuatorCommand->getData();
+                data.Channel[channel] = value;
-            data.Channel[m_outputChannel] = value;
+            } else {
-            actuatorCommand->setData(data);
+                qDebug() << "OutputCalibrationUtil could not set output value for channel " << channel
-        } else {
+                         << " to " << value << "." << "Channel out of bounds" << channel << ".";
-            qDebug() << "OutputCalibrationUtil not started.";
+            }
         }
+        actuatorCommand->setData(data);
+    } else {
+        qDebug() << "OutputCalibrationUtil not started.";
     }
 }

ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h

@@ -44,13 +44,14 @@ public:
 
 public slots:
     void startChannelOutput(quint16 channel, quint16 safeValue);
+    void startChannelOutput(QList<quint16> channels, quint16 safeValue);
     void stopChannelOutput();
     void setChannelOutputValue(quint16 value);
 
 private:
     static bool c_prepared;
     static ActuatorCommand::Metadata c_savedActuatorCommandMetaData;
-    qint16 m_outputChannel;
+    QList<quint16> m_outputChannels;
     quint16 m_safeValue;
 };
 

ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp

@@ -102,17 +102,19 @@ void EscCalibrationPage::startButtonClicked()
         MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
         Q_ASSERT(mSettings);
         QString mixerTypePattern = "Mixer%1Type";
+
         OutputCalibrationUtil::startOutputCalibration();
         for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
             UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
             Q_ASSERT(field);
             if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_MOTOR)) {
-                OutputCalibrationUtil *output = new OutputCalibrationUtil();
+                m_outputChannels << i;
-                output->startChannelOutput(i, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
-                output->setChannelOutputValue(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
-                m_outputs << output;
             }
         }
+        m_outputUtil.startChannelOutput(m_outputChannels, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
+        QThread::msleep(100);
+        m_outputUtil.setChannelOutputValue(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
+
         ui->stopButton->setEnabled(true);
     }
 }
@@ -124,35 +126,29 @@ void EscCalibrationPage::stopButtonClicked()
         ui->outputHigh->setEnabled(false);
 
         // Set to low pwm out
-        foreach(OutputCalibrationUtil * output, m_outputs) {
+        m_outputUtil.setChannelOutputValue(LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
-            output->setChannelOutputValue(LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
-        }
         ui->outputLevel->setText(QString(tr("%1 µs")).arg(LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
         QApplication::processEvents();
         QThread::msleep(2000);
 
         // Ramp down to off pwm out
         for (int i = LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS; i >= OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS; i -= 10) {
-            foreach(OutputCalibrationUtil * output, m_outputs) {
+            m_outputUtil.setChannelOutputValue(i);
-                output->setChannelOutputValue(i);
-            }
             ui->outputLevel->setText(QString(tr("%1 µs")).arg(i));
             QApplication::processEvents();
             QThread::msleep(200);
         }
 
         // Stop output
-        foreach(OutputCalibrationUtil * output, m_outputs) {
+        m_outputUtil.stopChannelOutput();
-            output->stopChannelOutput();
-            delete output;
-        }
         OutputCalibrationUtil::stopOutputCalibration();
+
         ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
         ui->outputHigh->setEnabled(false);
         ui->outputLow->setEnabled(true);
         ui->nonconnectedLabel->setEnabled(true);
         ui->connectedLabel->setEnabled(false);
-        m_outputs.clear();
+        m_outputChannels.clear();
         m_isCalibrating = false;
         resetAllSecurityCheckboxes();
         enableButtons(true);

ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.h

@@ -58,8 +58,8 @@ private:
     static const int HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1900;
     Ui::EscCalibrationPage *ui;
     bool m_isCalibrating;
-
+    OutputCalibrationUtil m_outputUtil;
-    QList<OutputCalibrationUtil *> m_outputs;
+    QList<quint16> m_outputChannels;
 };
 
 #endif // ESCCALIBRATIONPAGE_H