Merge remote-tracking branch 'origin/os/features/stick-deadband-next' into next

Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp

flight/Modules/ManualControl/manualcontrol.c

@@ -88,6 +88,7 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
 static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
 static bool okToArm(void);
 static bool validInputRange(int16_t min, int16_t max, uint16_t value);
+static void applyDeadband(float *value, float deadband);
 
 #define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
 #define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
@@ -317,6 +318,13 @@ static void manualControlTask(void *parameters)
 				cmd.Throttle       = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
 				flightMode         = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
 
+				// Apply deadband for Roll/Pitch/Yaw stick inputs
+				if (settings.Deadband) {
+					applyDeadband(&cmd.Roll, settings.Deadband);
+					applyDeadband(&cmd.Pitch, settings.Deadband);
+					applyDeadband(&cmd.Yaw, settings.Deadband);
+				}
+
 				if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID &&
 				   cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER &&
 				   cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT)
@@ -821,6 +829,20 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
 	return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
 }
 
+/**
+ * @brief Apply deadband to Roll/Pitch/Yaw channels
+ */
+static void applyDeadband(float *value, float deadband)
+{
+	if (fabs(*value) < deadband)
+		*value = 0.0f;
+	else
+		if (*value > 0.0f)
+			*value -= deadband;
+		else
+			*value += deadband;
+}
+
 /**
   * @}
   * @}

ground/openpilotgcs/src/plugins/config/configinputwidget.cpp

@@ -57,7 +57,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
 
     unsigned int index=0;
-    foreach(QString name,manualSettingsObj->getField("ChannelNumber")->getElementNames())
+    foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
     {
         Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
         inputChannelForm * inp=new inputChannelForm(this,index==0);
@@ -70,6 +70,9 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index);
         ++index;
     }
+
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
+
     connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
     connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
 
@@ -1096,7 +1099,7 @@ void ConfigInputWidget::invertControls()
         QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
         if(cb)
         {
-            int index=manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
+            int index = manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
             if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
                     (!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
             {

ground/openpilotgcs/src/plugins/config/input.ui

@@ -44,13 +44,85 @@ QGroupBox::title {
        <item row="0" column="0">
         <widget class="QStackedWidget" name="stackedWidget">
          <property name="currentIndex">
-          <number>1</number>
+          <number>0</number>
          </property>
          <widget class="QWidget" name="advancedPage">
           <layout class="QVBoxLayout" name="verticalLayout_4">
            <item>
             <layout class="QVBoxLayout" name="channelSettings"/>
            </item>
+           <item>
+            <spacer name="verticalSpacer_3">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Preferred</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>5</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <layout class="QGridLayout" name="gridLayout_3">
+             <item row="0" column="0">
+              <widget class="QLabel" name="labelDeadband">
+               <property name="text">
+                <string>Roll/Pitch/Yaw stick deadband</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QDoubleSpinBox" name="deadband">
+               <property name="toolTip">
+                <string>Stick deadband in percents of full range (0-10), zero to disable</string>
+               </property>
+               <property name="decimals">
+                <number>1</number>
+               </property>
+               <property name="maximum">
+                <double>10.000000000000000</double>
+               </property>
+               <property name="singleStep">
+                <double>0.100000000000000</double>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="3">
+              <spacer name="horizontalSpacer_3">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+            </layout>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Preferred</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>5</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
            <item>
             <widget class="QPushButton" name="configurationWizard">
              <property name="text">

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -13,6 +13,8 @@
 	<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
 	       elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
 	       
+        <field name="Deadband" units="%" type="float" elements="1" defaultvalue="0"/>
+
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->