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Code Issues Releases Activity

set all the min and max values to 554 and 2400 per the Arduino servo library

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fix some cosmetic errors on the debug output
fix the Vtail mixer setting that caused channel 4 to go crazy due to being undefined. Servo would sit and shake for no reason.
This commit is contained in:
Kevin Finisterre 2014-05-25 16:05:13 -04:00
parent 4d250ff856
commit 4ebaa6f205
3 changed files with 60 additions and 7 deletions
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10
ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
View File

@ -52,7 +52,7 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
m_outputChannel = channel;
m_safeValue = safeValue;
qDebug() << "Starting output for channel " << m_outputChannel << "...";
qDebug() << "Starting output for channel " << m_outputChannel+1 << "...";
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
@ -74,17 +74,17 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
actuatorCommand->setMetadata(metaData);
actuatorCommand->updated();
qDebug() << "Output for channel " << m_outputChannel << " started.";
qDebug() << "Output for channel " << m_outputChannel+1 << " started.";
}
}
void OutputCalibrationUtil::stopChannelOutput()
{
if (m_outputChannel >= 0) {
qDebug() << "Stopping output for channel " << m_outputChannel << "...";
qDebug() << "Stopping output for channel " << m_outputChannel+1 << "...";
// Stop output...
setChannelOutputValue(m_safeValue);
qDebug() << "Settings output for channel " << m_outputChannel << " to " << m_safeValue;
qDebug() << "Settings output for channel " << m_outputChannel+1 << " to " << m_safeValue;
// Restore metadata to what it was before
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
@ -93,7 +93,7 @@ void OutputCalibrationUtil::stopChannelOutput()
actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
actuatorCommand->updated();
qDebug() << "Output for channel " << m_outputChannel << " stopped.";
qDebug() << "Output for channel " << m_outputChannel+1 << " stopped.";
m_outputChannel = -1;
}

38
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -161,6 +161,24 @@ void OutputCalibrationPage::setupVehicle()
m_actuatorSettings[6].channelNeutral = 1500;
m_actuatorSettings[7].channelNeutral = 1500;
// Arduino library defaults to 554 http://arduino.cc/en/Reference/ServoAttach,
// 600 is for HS85mg - http://www.servocity.com/html/hs-85mg__mighty_micro.html#.U4JEWhapKBU
// Same rules as above from the Arduino *generic* library and the servo city info for the 85mg
m_actuatorSettings[1].channelMin = 554;
m_actuatorSettings[1].channelMax = 2400;
m_actuatorSettings[2].channelMin = 554;
m_actuatorSettings[2].channelMax = 2400;
m_actuatorSettings[3].channelMin = 554;
m_actuatorSettings[3].channelMax = 2400;
m_actuatorSettings[4].channelMin = 554;
m_actuatorSettings[4].channelMax = 2400;
m_actuatorSettings[5].channelMin = 554;
m_actuatorSettings[5].channelMax = 2400;
m_actuatorSettings[6].channelMin = 554;
m_actuatorSettings[6].channelMax = 2400;
m_actuatorSettings[7].channelMin = 554;
m_actuatorSettings[7].channelMax = 2400;
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::FIXED_WING_VTAIL:
@ -180,6 +198,24 @@ void OutputCalibrationPage::setupVehicle()
m_actuatorSettings[6].channelNeutral = 1500;
m_actuatorSettings[7].channelNeutral = 1500;
// Arduino library defaults to 554 http://arduino.cc/en/Reference/ServoAttach,
// 600 is for HS85mg - http://www.servocity.com/html/hs-85mg__mighty_micro.html#.U4JEWhapKBU
// Same rules as above from the Arduino *generic* library and the servo city info for the 85mg
m_actuatorSettings[1].channelMin = 554;
m_actuatorSettings[1].channelMax = 2400;
m_actuatorSettings[2].channelMin = 554;
m_actuatorSettings[2].channelMax = 2400;
m_actuatorSettings[3].channelMin = 554;
m_actuatorSettings[3].channelMax = 2400;
m_actuatorSettings[4].channelMin = 554;
m_actuatorSettings[4].channelMax = 2400;
m_actuatorSettings[5].channelMin = 554;
m_actuatorSettings[5].channelMax = 2400;
m_actuatorSettings[6].channelMin = 554;
m_actuatorSettings[6].channelMax = 2400;
m_actuatorSettings[7].channelMin = 554;
m_actuatorSettings[7].channelMax = 2400;
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
default:
@ -255,7 +291,7 @@ void OutputCalibrationPage::setWizardPage()
ui->calibrationStack->setCurrentIndex(currentPageIndex);
int currentChannel = getCurrentChannel();
qDebug() << "Current channel: " << currentChannel;
qDebug() << "Current channel: " << currentChannel+1;
if (currentChannel >= 0) {
if (currentPageIndex == 1) {
ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);

19
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -311,13 +311,16 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
{
ActuatorSettings::DataFields data = actSettings->getData();
qDebug() << "Override center pulse for fixed wing servos\n";
qDebug() << "Override center, min and max pulses for fixed wing servos\n";
// move all but first chan to 1500 center pluse
QList<actuatorChannelSettings> actuatorSettings = m_configSource->getActuatorSettings();
for (quint16 i = 1; i < ActuatorSettings::CHANNELMAX_NUMELEM; i++) {
data.ChannelType[i] = ActuatorSettings::CHANNELTYPE_PWM;
data.ChannelAddr[i] = i;
data.ChannelMin[i] = 554; // Arduino library defaults to 554 http://arduino.cc/en/Reference/ServoAttach,
// 600 is for HS85mg - http://www.servocity.com/html/hs-85mg__mighty_micro.html#.U4JEWhapKBU
data.ChannelNeutral[i] = 1500;
data.ChannelMax[i] = 2400; // Same rules as above from the Arduino *generic* library and the servo city info for the 85mg
}
qDebug() << "Save Fixed Wing Actuator Data\n";
actSettings->setData(data);
@ -1346,6 +1349,20 @@ void VehicleConfigurationHelper::setupVtail()
channels[2].pitch = -50;
channels[2].yaw = 0;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
guiSettings.fixedwing.FixedWingThrottle = 1;
guiSettings.fixedwing.FixedWingRoll1 = 2;
guiSettings.fixedwing.FixedWingRoll2 = 3;