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A few safety parameters added

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- added a small safety margin to keep the motors from spinning at 0% throttle
- added protection against weird values and values outside the margins
- some code style fixes added
This commit is contained in:
Nuno Guedes 2013-05-01 23:22:41 +01:00
parent 7bfc0f7962
commit 764412fd13
1 changed files with 16 additions and 6 deletions
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20
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
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@ -101,11 +101,17 @@ void GCSControlGadget::manualControlCommandUpdated(UAVObject * obj) {
double yaw = obj->getField("Yaw")->getDouble(); double yaw = obj->getField("Yaw")->getDouble();
double throttle = obj->getField("Throttle")->getDouble(); double throttle = obj->getField("Throttle")->getDouble();
// necessary against incorect values from not configured joysticks // necessary against having the wrong joystick profile chosen, which shows weird values
if (throttle >= -1.0 && throttle <= 1.0) if (throttle > -1.0 && throttle <= 1.0) {
{
// convert ManualControlCommand.Throttle range (0..1) to the widget's throttle stick range (-1..+1) // convert ManualControlCommand.Throttle range (0..1) to the widget's throttle stick range (-1..+1)
throttle = -1.0 + (throttle * 2.0); throttle = -1.0 + (throttle * 2.0);
} else {
// with the safety value (line 206), this helps keep the sticks insde the margins
if (throttle <= -1.0) {
throttle = -1.0;
} else {
throttle = 1.0;
}
} }
// Remap RPYT to left X/Y and right X/Y depending on mode // Remap RPYT to left X/Y and right X/Y depending on mode
@ -193,11 +199,15 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
if (((GCSControlGadgetWidget *)m_widget)->getGCSControl()==false || ((GCSControlGadgetWidget *)m_widget)->getUDPControl()) if (((GCSControlGadgetWidget *)m_widget)->getGCSControl()==false || ((GCSControlGadgetWidget *)m_widget)->getUDPControl())
return; return;
if (newThrottle != oldThrottle) //if (newThrottle != oldThrottle) {
{
// convert widget's throttle stick range (-1..+1) to ManualControlCommand.Throttle range (0..1) // convert widget's throttle stick range (-1..+1) to ManualControlCommand.Throttle range (0..1)
newThrottle = (newThrottle + 1.0) / 2.0; newThrottle = (newThrottle + 1.0) / 2.0;
// safety value to stop the motors from spinning at 0% throttle
if (newThrottle <= 0.01 ) {
newThrottle = -1;
} }
//}
if((newThrottle != oldThrottle) || (newPitch != oldPitch) || (newYaw != oldYaw) || (newRoll != oldRoll)) { if((newThrottle != oldThrottle) || (newPitch != oldPitch) || (newYaw != oldYaw) || (newRoll != oldRoll)) {