mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-19 04:52:12 +01:00
Merge branch 'thread/OP-1756_Multi_Motor_Calibration' into next
This commit is contained in:
m_thread
commit
6fb19b99cb
@ -168,7 +168,7 @@ void ConnectionDiagram::setupGraphicsScene()
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case VehicleConfigurationSource::CONTROLLER_CC3D:
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prefix = "cc-";
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if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT ||
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m_configSource->getEscType() == VehicleConfigurationSource::ESC_RAPID) {
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m_configSource->getEscType() == VehicleConfigurationSource::ESC_RAPID) {
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suffix = "-oneshot";
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}
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break;
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@ -100,7 +100,7 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
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startChannelOutput(channels, safeValue);
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}
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void OutputCalibrationUtil::startChannelOutput(QList<quint16> channels, quint16 safeValue)
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void OutputCalibrationUtil::startChannelOutput(QList<quint16> &channels, quint16 safeValue)
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{
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if (c_prepared) {
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m_outputChannels = channels;
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@ -44,7 +44,7 @@ public:
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public slots:
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void startChannelOutput(quint16 channel, quint16 safeValue);
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void startChannelOutput(QList<quint16> channels, quint16 safeValue);
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void startChannelOutput(QList<quint16> &channels, quint16 safeValue);
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void stopChannelOutput();
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void setChannelOutputValue(quint16 value);
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@ -44,7 +44,7 @@ OutputCalibrationPage::OutputCalibrationPage(SetupWizard *wizard, QWidget *paren
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m_vehicleRenderer = new QSvgRenderer();
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// move the code that was here to setupVehicle() so we can determine which image to use.
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m_vehicleScene = new QGraphicsScene(this);
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m_vehicleScene = new QGraphicsScene(this);
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ui->vehicleView->setScene(m_vehicleScene);
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}
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@ -112,6 +112,7 @@ void OutputCalibrationPage::setupVehicle()
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m_actuatorSettings = getWizard()->getActuatorSettings();
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m_wizardIndexes.clear();
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m_vehicleElementIds.clear();
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m_vehicleElementTypes.clear();
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m_vehicleHighlightElementIndexes.clear();
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m_channelIndex.clear();
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m_currentWizardIndex = 0;
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@ -131,6 +132,9 @@ void OutputCalibrationPage::setupVehicle()
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// All element ids to load from the svg file and manage.
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m_vehicleElementIds << "tri" << "tri-frame" << "tri-m1" << "tri-m2" << "tri-m3" << "tri-s1";
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// The type of each element.
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m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << SERVO;
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// The index of the elementId to highlight ( not dim ) for each step
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// this is the index in the m_vehicleElementIds - 1.
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
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@ -146,6 +150,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(MULTI_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "quad-x" << "quad-x-frame" << "quad-x-m1" << "quad-x-m2" << "quad-x-m3" << "quad-x-m4";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
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m_channelIndex << 0 << 0 << 1 << 2 << 3;
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setupActuatorMinMaxAndNeutral(0, 3, 4);
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@ -154,6 +159,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(MULTI_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "quad-p" << "quad-p-frame" << "quad-p-m1" << "quad-p-m2" << "quad-p-m3" << "quad-p-m4";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
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m_channelIndex << 0 << 0 << 1 << 2 << 3;
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setupActuatorMinMaxAndNeutral(0, 3, 4);
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@ -162,6 +168,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(MULTI_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "hexa" << "hexa-frame" << "hexa-m1" << "hexa-m2" << "hexa-m3" << "hexa-m4" << "hexa-m5" << "hexa-m6";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
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m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
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setupActuatorMinMaxAndNeutral(0, 5, 6);
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@ -170,6 +177,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(MULTI_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "hexa-y6" << "hexa-y6-frame" << "hexa-y6-m2" << "hexa-y6-m1" << "hexa-y6-m4" << "hexa-y6-m3" << "hexa-y6-m6" << "hexa-y6-m5";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
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m_vehicleHighlightElementIndexes << 0 << 2 << 1 << 4 << 3 << 6 << 5;
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m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
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setupActuatorMinMaxAndNeutral(0, 5, 6);
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@ -178,6 +186,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(MULTI_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "hexa-h" << "hexa-h-frame" << "hexa-h-m1" << "hexa-h-m2" << "hexa-h-m3" << "hexa-h-m4" << "hexa-h-m5" << "hexa-h-m6";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
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m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
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setupActuatorMinMaxAndNeutral(0, 5, 6);
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@ -186,6 +195,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(MULTI_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
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m_vehicleElementIds << "hexa-x" << "hexa-x-frame" << "hexa-x-m1" << "hexa-x-m2" << "hexa-x-m3" << "hexa-x-m4" << "hexa-x-m5" << "hexa-x-m6";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
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m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
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setupActuatorMinMaxAndNeutral(0, 5, 6);
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@ -195,6 +205,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(FIXEDWING_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 2 << 2 << 2 << 2;
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m_vehicleElementIds << "aileron" << "aileron-frame" << "aileron-motor" << "aileron-ail-left" << "aileron-ail-right" << "aileron-elevator" << "aileron-rudder";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
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m_channelIndex << 0 << 2 << 0 << 5 << 1 << 3;
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@ -206,6 +217,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(FIXEDWING_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 2 << 2 << 2;
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m_vehicleElementIds << "aileron-single" << "ail2-frame" << "ail2-motor" << "ail2-aileron" << "ail2-elevator" << "ail2-rudder";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
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m_channelIndex << 0 << 2 << 0 << 1 << 3;
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@ -217,6 +229,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(FIXEDWING_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 2 << 2;
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m_vehicleElementIds << "elevon" << "elevon-frame" << "elevon-motor" << "elevon-left" << "elevon-right";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3;
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m_channelIndex << 0 << 2 << 0 << 1;
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@ -228,6 +241,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(FIXEDWING_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 2 << 2 << 2 << 2;
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m_vehicleElementIds << "vtail" << "vtail-frame" << "vtail-motor" << "vtail-ail-left" << "vtail-ail-right" << "vtail-rudder-left" << "vtail-rudder-right";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
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m_channelIndex << 0 << 2 << 0 << 5 << 3 << 1;
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@ -241,6 +255,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(GROUND_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 2;
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m_vehicleElementIds << "car" << "car-frame" << "car-motor" << "car-steering";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2;
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m_channelIndex << 0 << 1 << 0;
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@ -252,6 +267,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(GROUND_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 1;
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m_vehicleElementIds << "tank" << "tank-frame" << "tank-left-motor" << "tank-right-motor";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2;
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m_channelIndex << 0 << 0 << 1;
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@ -263,6 +279,7 @@ void OutputCalibrationPage::setupVehicle()
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loadSVGFile(GROUND_SVG_FILE);
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m_wizardIndexes << 0 << 1 << 2;
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m_vehicleElementIds << "motorbike" << "motorbike-frame" << "motorbike-motor" << "motorbike-steering";
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m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
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m_vehicleHighlightElementIndexes << 0 << 1 << 2;
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m_channelIndex << 0 << 1 << 0;
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@ -308,6 +325,7 @@ void OutputCalibrationPage::setupVehicleItems()
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void OutputCalibrationPage::startWizard()
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{
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ui->calibrationStack->setCurrentIndex(m_wizardIndexes[0]);
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enableAllMotorsCheckBox(true);
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setupVehicleHighlightedPart();
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}
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@ -319,7 +337,11 @@ void OutputCalibrationPage::setupVehicleHighlightedPart()
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for (int i = 0; i < m_vehicleItems.size(); i++) {
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QGraphicsSvgItem *item = m_vehicleItems[i];
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item->setOpacity((highlightedIndex == i) ? highlightOpaque : dimOpaque);
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if (highlightedIndex == i || (ui->calibrateAllMotors->isChecked() && m_vehicleElementTypes[i + 1] == MOTOR)) {
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item->setOpacity(highlightOpaque);
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} else {
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item->setOpacity(dimOpaque);
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}
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}
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}
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@ -333,7 +355,9 @@ void OutputCalibrationPage::setWizardPage()
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qDebug() << "Current page: " << currentPageIndex;
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ui->calibrationStack->setCurrentIndex(currentPageIndex);
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int currentChannel = getCurrentChannel();
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QList<quint16> currentChannels;
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getCurrentChannels(currentChannels);
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int currentChannel = currentChannels[0];
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qDebug() << "Current channel: " << currentChannel + 1;
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if (currentChannel >= 0) {
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if (currentPageIndex == 1) {
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@ -378,11 +402,21 @@ void OutputCalibrationPage::initializePage()
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bool OutputCalibrationPage::validatePage()
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{
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if (!isFinished()) {
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m_currentWizardIndex++;
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if (ui->calibrateAllMotors->isChecked() &&
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m_currentWizardIndex > 0 &&
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m_wizardIndexes[m_currentWizardIndex - 1] == 1) {
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while (!isFinished() && m_wizardIndexes[m_currentWizardIndex] == 1) {
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m_currentWizardIndex++;
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}
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}
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}
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if (isFinished()) {
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getWizard()->setActuatorSettings(m_actuatorSettings);
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return true;
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} else {
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m_currentWizardIndex++;
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setWizardPage();
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return false;
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}
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@ -408,17 +442,46 @@ void OutputCalibrationPage::resizeEvent(QResizeEvent *event)
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void OutputCalibrationPage::customBackClicked()
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{
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if (m_currentWizardIndex > 0) {
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if (m_currentWizardIndex >= 0) {
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m_currentWizardIndex--;
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if (ui->calibrateAllMotors->isChecked()) {
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while (m_currentWizardIndex > 0 &&
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m_wizardIndexes[m_currentWizardIndex] == 1 &&
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m_wizardIndexes[m_currentWizardIndex - 1] == 1) {
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m_currentWizardIndex--;
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}
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}
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}
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if (m_currentWizardIndex >= 0) {
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setWizardPage();
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} else {
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getWizard()->back();
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}
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}
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quint16 OutputCalibrationPage::getCurrentChannel()
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void OutputCalibrationPage::getCurrentChannels(QList<quint16> &channels)
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{
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return m_channelIndex[m_currentWizardIndex];
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if (ui->calibrateAllMotors->isChecked()) {
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for (int i = 1; i < m_channelIndex.size(); i++) {
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if (m_vehicleElementTypes[i + 1] == MOTOR) {
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channels << m_channelIndex[i];
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}
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}
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} else {
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channels << m_channelIndex[m_currentWizardIndex];
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}
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}
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void OutputCalibrationPage::enableAllMotorsCheckBox(bool enable)
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{
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if (getWizard()->getVehicleType() == SetupWizard::VEHICLE_MULTI) {
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ui->calibrateAllMotors->setVisible(true);
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ui->calibrateAllMotors->setEnabled(enable);
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} else {
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ui->calibrateAllMotors->setChecked(false);
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ui->calibrateAllMotors->setVisible(false);
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}
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}
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|
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void OutputCalibrationPage::enableButtons(bool enable)
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@ -427,6 +490,7 @@ void OutputCalibrationPage::enableButtons(bool enable)
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getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
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getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
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getWizard()->button(QWizard::BackButton)->setEnabled(enable);
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enableAllMotorsCheckBox(enable);
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QApplication::processEvents();
|
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}
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|
||||
@ -434,35 +498,43 @@ void OutputCalibrationPage::on_motorNeutralButton_toggled(bool checked)
|
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{
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ui->motorNeutralButton->setText(checked ? tr("Stop") : tr("Start"));
|
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ui->motorNeutralSlider->setEnabled(checked);
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quint16 channel = getCurrentChannel();
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quint16 safeValue = m_actuatorSettings[channel].channelMin;
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if (m_actuatorSettings[channel].isReversableMotor) {
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safeValue = m_actuatorSettings[channel].channelNeutral;
|
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QList<quint16> currentChannels;
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getCurrentChannels(currentChannels);
|
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quint16 currentChannel = currentChannels[0];
|
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|
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quint16 safeValue = m_actuatorSettings[currentChannel].channelMin;
|
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|
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if (m_actuatorSettings[currentChannel].isReversableMotor) {
|
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safeValue = m_actuatorSettings[currentChannel].channelNeutral;
|
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}
|
||||
|
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onStartButtonToggle(ui->motorNeutralButton, channel, m_actuatorSettings[channel].channelNeutral, safeValue, ui->motorNeutralSlider);
|
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onStartButtonToggle(ui->motorNeutralButton, currentChannels, m_actuatorSettings[currentChannel].channelNeutral, safeValue, ui->motorNeutralSlider);
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}
|
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|
||||
void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16 channel, quint16 value, quint16 safeValue, QSlider *slider)
|
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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);
|
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m_calibrationUtil->startChannelOutput(channel, safeValue);
|
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m_calibrationUtil->startChannelOutput(channels, safeValue);
|
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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();
|
||||
@ -514,11 +586,13 @@ 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)
|
||||
@ -529,7 +603,12 @@ 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();
|
||||
}
|
||||
}
|
||||
@ -537,33 +616,41 @@ 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)
|
||||
{
|
||||
Q_UNUSED(position);
|
||||
quint16 value = ui->servoCenterAngleSlider->value();
|
||||
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);
|
||||
}
|
||||
}
|
||||
@ -575,21 +662,26 @@ 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);
|
||||
}
|
||||
}
|
||||
@ -601,21 +693,26 @@ 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);
|
||||
}
|
||||
}
|
||||
@ -624,14 +721,18 @@ 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);
|
||||
@ -641,16 +742,22 @@ 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);
|
||||
}
|
||||
}
|
||||
|
||||
void OutputCalibrationPage::on_calibrateAllMotors_toggled(bool checked)
|
||||
{
|
||||
Q_UNUSED(checked);
|
||||
setupVehicleHighlightedPart();
|
||||
}
|
||||
|
||||
void OutputCalibrationPage::resetOutputCalibrationUtil()
|
||||
{
|
||||
if (m_calibrationUtil) {
|
||||
|
||||
@ -49,7 +49,7 @@ public:
|
||||
|
||||
bool isFinished()
|
||||
{
|
||||
return m_currentWizardIndex >= m_wizardIndexes.size() - 1;
|
||||
return m_currentWizardIndex >= m_wizardIndexes.size();
|
||||
}
|
||||
|
||||
void loadSVGFile(QString file);
|
||||
@ -70,8 +70,10 @@ private slots:
|
||||
void on_servoMinAngleSlider_valueChanged(int position);
|
||||
void on_servoMaxAngleSlider_valueChanged(int position);
|
||||
void on_reverseCheckbox_toggled(bool checked);
|
||||
void on_calibrateAllMotors_toggled(bool checked);
|
||||
|
||||
private:
|
||||
enum ElementType { FULL, FRAME, MOTOR, SERVO };
|
||||
void setupVehicle();
|
||||
void startWizard();
|
||||
void setupVehicleItems();
|
||||
@ -79,10 +81,12 @@ 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;
|
||||
QSvgRenderer *m_vehicleRenderer;
|
||||
@ -92,6 +96,7 @@ private:
|
||||
qint16 m_currentWizardIndex;
|
||||
|
||||
QList<QString> m_vehicleElementIds;
|
||||
QList<ElementType> m_vehicleElementTypes;
|
||||
QList<QGraphicsSvgItem *> m_vehicleItems;
|
||||
QList<quint16> m_vehicleHighlightElementIndexes;
|
||||
QList<quint16> m_channelIndex;
|
||||
|
||||
@ -53,7 +53,7 @@
|
||||
<item row="1" column="0">
|
||||
<widget class="QStackedWidget" name="calibrationStack">
|
||||
<property name="currentIndex">
|
||||
<number>2</number>
|
||||
<number>1</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="intro">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
@ -123,6 +123,26 @@ p, li { white-space: pre-wrap; }
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="calibrateAllMotors">
|
||||
<property name="text">
|
||||
<string>Calibrate all motor outputs at the same time</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="motorPWMValue">
|
||||
<property name="text">
|
||||
|
||||
@ -489,6 +489,9 @@ void SetupWizard::customBackClicked()
|
||||
static_cast<OutputCalibrationPage *>(currentPage())->customBackClicked();
|
||||
} else {
|
||||
back();
|
||||
if (currentId() == PAGE_OUTPUT_CALIBRATION) {
|
||||
static_cast<OutputCalibrationPage *>(currentPage())->customBackClicked();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user