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Code Issues Releases Activity

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

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
This commit is contained in:
James Cotton 2012-03-21 16:03:40 -05:00
commit 6350ec575e
4 changed files with 102 additions and 3 deletions
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22
flight/Modules/ManualControl/manualcontrol.c
View File

@ -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;
}
/**
* @}
* @}

7
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -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])))
{

74
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -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">

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -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 -->