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Code Issues Releases Activity

OP-1756 Added code to set the actuator command for multiple channels at the same time from calibration.

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This commit is contained in:
m_thread 2015-03-01 22:48:35 +01:00
parent f2c80d7d06
commit 4046439433
4 changed files with 105 additions and 57 deletions
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2
ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
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@ -100,7 +100,7 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
startChannelOutput(channels, safeValue);
}
void OutputCalibrationUtil::startChannelOutput(QList<quint16> channels, quint16 safeValue)
void OutputCalibrationUtil::startChannelOutput(QList<quint16> &channels, quint16 safeValue)
{
if (c_prepared) {
m_outputChannels = channels;

2
ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h
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@ -44,7 +44,7 @@ public:
public slots:
void startChannelOutput(quint16 channel, quint16 safeValue);
void startChannelOutput(QList<quint16> channels, quint16 safeValue);
void startChannelOutput(QList<quint16> &channels, quint16 safeValue);
void stopChannelOutput();
void setChannelOutputValue(quint16 value);

153
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -357,7 +357,9 @@ void OutputCalibrationPage::setWizardPage()
qDebug() << "Current page: " << currentPageIndex;
ui->calibrationStack->setCurrentIndex(currentPageIndex);
int currentChannel = getCurrentChannel();
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
int currentChannel = currentChannels[0];
qDebug() << "Current channel: " << currentChannel + 1;
if (currentChannel >= 0) {
if (currentPageIndex == 1) {
@ -460,9 +462,17 @@ void OutputCalibrationPage::customBackClicked()
}
}
quint16 OutputCalibrationPage::getCurrentChannel()
void OutputCalibrationPage::getCurrentChannels(QList<quint16> &channels)
{
return m_channelIndex[m_currentWizardIndex];
if (ui->calibrateAllMotors->isChecked()) {
for(int i = 1; i < m_channelIndex.size(); i++) {
if (m_vehicleElementTypes[i + 1] == MOTOR) {
channels << m_channelIndex[i];
}
}
} else {
channels << m_channelIndex[m_currentWizardIndex];
}
}
void OutputCalibrationPage::enableAllMotorsCheckBox(bool enable)
@ -490,35 +500,43 @@ void OutputCalibrationPage::on_motorNeutralButton_toggled(bool checked)
{
ui->motorNeutralButton->setText(checked ? tr("Stop") : tr("Start"));
ui->motorNeutralSlider->setEnabled(checked);
quint16 channel = getCurrentChannel();
quint16 safeValue = m_actuatorSettings[channel].channelMin;
if (m_actuatorSettings[channel].isReversableMotor) {
safeValue = m_actuatorSettings[channel].channelNeutral;
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
quint16 safeValue = m_actuatorSettings[currentChannel].channelMin;
if (m_actuatorSettings[currentChannel].isReversableMotor) {
safeValue = m_actuatorSettings[currentChannel].channelNeutral;
}
onStartButtonToggle(ui->motorNeutralButton, channel, m_actuatorSettings[channel].channelNeutral, safeValue, ui->motorNeutralSlider);
onStartButtonToggle(ui->motorNeutralButton, currentChannels, m_actuatorSettings[currentChannel].channelNeutral, safeValue, ui->motorNeutralSlider);
}
void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16 channel, quint16 value, quint16 safeValue, QSlider *slider)
void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, QList<quint16> &channels,
quint16 value, quint16 safeValue, QSlider *slider)
{
if (button->isChecked()) {
// Start calibration
if (checkAlarms()) {
enableButtons(false);
enableServoSliders(true);
m_calibrationUtil->startChannelOutput(channel, safeValue);
m_calibrationUtil->startChannelOutput(channels, safeValue);
slider->setValue(value);
m_calibrationUtil->setChannelOutputValue(value);
} else {
button->setChecked(false);
}
} else {
// Servos and ReversableMotors
m_calibrationUtil->startChannelOutput(channel, m_actuatorSettings[channel].channelNeutral);
// Normal motor
// Stop calibration
quint16 channel = channels[0];
if ((button == ui->motorNeutralButton) && !m_actuatorSettings[channel].isReversableMotor) {
m_calibrationUtil->startChannelOutput(channel, m_actuatorSettings[channel].channelMin);
// Normal motor
m_calibrationUtil->startChannelOutput(channels, m_actuatorSettings[channel].channelMin);
} else {
// Servos and ReversableMotors
m_calibrationUtil->startChannelOutput(channels, m_actuatorSettings[channel].channelNeutral);
}
m_calibrationUtil->stopChannelOutput();
@ -570,11 +588,13 @@ bool OutputCalibrationPage::checkAlarms()
void OutputCalibrationPage::debugLogChannelValues()
{
quint16 channel = getCurrentChannel();
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
qDebug() << "ChannelMin : " << m_actuatorSettings[channel].channelMin;
qDebug() << "ChannelNeutral: " << m_actuatorSettings[channel].channelNeutral;
qDebug() << "ChannelMax : " << m_actuatorSettings[channel].channelMax;
qDebug() << "ChannelMin : " << m_actuatorSettings[currentChannel].channelMin;
qDebug() << "ChannelNeutral: " << m_actuatorSettings[currentChannel].channelNeutral;
qDebug() << "ChannelMax : " << m_actuatorSettings[currentChannel].channelMax;
}
void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
@ -585,7 +605,12 @@ void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
if (ui->motorNeutralButton->isChecked()) {
quint16 value = ui->motorNeutralSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
m_actuatorSettings[getCurrentChannel()].channelNeutral = value;
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
foreach(quint16 channel, currentChannels) {
m_actuatorSettings[channel].channelNeutral = value;
}
debugLogChannelValues();
}
}
@ -593,9 +618,13 @@ void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
void OutputCalibrationPage::on_servoButton_toggled(bool checked)
{
ui->servoButton->setText(checked ? tr("Stop") : tr("Start"));
quint16 channel = getCurrentChannel();
quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
onStartButtonToggle(ui->servoButton, channel, safeValue, safeValue, ui->servoCenterAngleSlider);
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
quint16 safeValue = m_actuatorSettings[currentChannel].channelNeutral;
onStartButtonToggle(ui->servoButton, currentChannels, safeValue, safeValue, ui->servoCenterAngleSlider);
}
void OutputCalibrationPage::on_servoCenterAngleSlider_valueChanged(int position)
@ -603,23 +632,27 @@ void OutputCalibrationPage::on_servoCenterAngleSlider_valueChanged(int position)
Q_UNUSED(position);
quint16 value = ui->servoCenterAngleSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
quint16 channel = getCurrentChannel();
m_actuatorSettings[channel].channelNeutral = value;
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
m_actuatorSettings[currentChannel].channelNeutral = value;
ui->servoPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(value));
// Adjust min and max
if (ui->reverseCheckbox->isChecked()) {
if (value >= m_actuatorSettings[channel].channelMin) {
if (value >= m_actuatorSettings[currentChannel].channelMin) {
ui->servoMinAngleSlider->setValue(value);
}
if (value <= m_actuatorSettings[channel].channelMax) {
if (value <= m_actuatorSettings[currentChannel].channelMax) {
ui->servoMaxAngleSlider->setValue(value);
}
} else {
if (value <= m_actuatorSettings[channel].channelMin) {
if (value <= m_actuatorSettings[currentChannel].channelMin) {
ui->servoMinAngleSlider->setValue(value);
}
if (value >= m_actuatorSettings[channel].channelMax) {
if (value >= m_actuatorSettings[currentChannel].channelMax) {
ui->servoMaxAngleSlider->setValue(value);
}
}
@ -631,21 +664,26 @@ void OutputCalibrationPage::on_servoMinAngleSlider_valueChanged(int position)
Q_UNUSED(position);
quint16 value = ui->servoMinAngleSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
m_actuatorSettings[getCurrentChannel()].channelMin = value;
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
m_actuatorSettings[currentChannel].channelMin = value;
// Adjust neutral and max
if (ui->reverseCheckbox->isChecked()) {
if (value <= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
if (value <= m_actuatorSettings[currentChannel].channelNeutral) {
ui->servoCenterAngleSlider->setValue(value);
}
if (value <= m_actuatorSettings[getCurrentChannel()].channelMax) {
if (value <= m_actuatorSettings[currentChannel].channelMax) {
ui->servoMaxAngleSlider->setValue(value);
}
} else {
if (value >= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
if (value >= m_actuatorSettings[currentChannel].channelNeutral) {
ui->servoCenterAngleSlider->setValue(value);
}
if (value >= m_actuatorSettings[getCurrentChannel()].channelMax) {
if (value >= m_actuatorSettings[currentChannel].channelMax) {
ui->servoMaxAngleSlider->setValue(value);
}
}
@ -657,21 +695,26 @@ void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
Q_UNUSED(position);
quint16 value = ui->servoMaxAngleSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
m_actuatorSettings[getCurrentChannel()].channelMax = value;
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
m_actuatorSettings[currentChannel].channelMax = value;
// Adjust neutral and min
if (ui->reverseCheckbox->isChecked()) {
if (value >= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
if (value >= m_actuatorSettings[currentChannel].channelNeutral) {
ui->servoCenterAngleSlider->setValue(value);
}
if (value >= m_actuatorSettings[getCurrentChannel()].channelMin) {
if (value >= m_actuatorSettings[currentChannel].channelMin) {
ui->servoMinAngleSlider->setValue(value);
}
} else {
if (value <= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
if (value <= m_actuatorSettings[currentChannel].channelNeutral) {
ui->servoCenterAngleSlider->setValue(value);
}
if (value <= m_actuatorSettings[getCurrentChannel()].channelMin) {
if (value <= m_actuatorSettings[currentChannel].channelMin) {
ui->servoMinAngleSlider->setValue(value);
}
}
@ -680,14 +723,18 @@ void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
void OutputCalibrationPage::on_reverseCheckbox_toggled(bool checked)
{
if (checked && m_actuatorSettings[getCurrentChannel()].channelMax > m_actuatorSettings[getCurrentChannel()].channelMin) {
quint16 oldMax = m_actuatorSettings[getCurrentChannel()].channelMax;
m_actuatorSettings[getCurrentChannel()].channelMax = m_actuatorSettings[getCurrentChannel()].channelMin;
m_actuatorSettings[getCurrentChannel()].channelMin = oldMax;
} else if (!checked && m_actuatorSettings[getCurrentChannel()].channelMax < m_actuatorSettings[getCurrentChannel()].channelMin) {
quint16 oldMax = m_actuatorSettings[getCurrentChannel()].channelMax;
m_actuatorSettings[getCurrentChannel()].channelMax = m_actuatorSettings[getCurrentChannel()].channelMin;
m_actuatorSettings[getCurrentChannel()].channelMin = oldMax;
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
if (checked && m_actuatorSettings[currentChannel].channelMax > m_actuatorSettings[currentChannel].channelMin) {
quint16 oldMax = m_actuatorSettings[currentChannel].channelMax;
m_actuatorSettings[currentChannel].channelMax = m_actuatorSettings[currentChannel].channelMin;
m_actuatorSettings[currentChannel].channelMin = oldMax;
} else if (!checked && m_actuatorSettings[currentChannel].channelMax < m_actuatorSettings[currentChannel].channelMin) {
quint16 oldMax = m_actuatorSettings[currentChannel].channelMax;
m_actuatorSettings[currentChannel].channelMax = m_actuatorSettings[currentChannel].channelMin;
m_actuatorSettings[currentChannel].channelMin = oldMax;
}
ui->servoCenterAngleSlider->setInvertedAppearance(checked);
ui->servoCenterAngleSlider->setInvertedControls(checked);
@ -697,13 +744,13 @@ void OutputCalibrationPage::on_reverseCheckbox_toggled(bool checked)
ui->servoMaxAngleSlider->setInvertedControls(checked);
if (ui->reverseCheckbox->isChecked()) {
ui->servoMaxAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMax);
ui->servoCenterAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelNeutral);
ui->servoMinAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMin);
ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
ui->servoCenterAngleSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
ui->servoMinAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMin);
} else {
ui->servoMinAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMin);
ui->servoCenterAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelNeutral);
ui->servoMaxAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMax);
ui->servoMinAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMin);
ui->servoCenterAngleSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
}
}

5
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
View File

@ -81,10 +81,11 @@ private:
void setWizardPage();
void enableButtons(bool enable);
void enableServoSliders(bool enabled);
void onStartButtonToggle(QAbstractButton *button, quint16 channel, quint16 value, quint16 safeValue, QSlider *slider);
void onStartButtonToggle(QAbstractButton *button, QList<quint16> &channels,
quint16 value, quint16 safeValue, QSlider *slider);
bool checkAlarms();
void debugLogChannelValues();
quint16 getCurrentChannel();
void getCurrentChannels(QList<quint16> &channels);
void enableAllMotorsCheckBox(bool enable);
Ui::OutputCalibrationPage *ui;