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Code Issues Releases Activity

LP-551 Add warning for neutral setting with reversable motors

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This commit is contained in:
Laurent Lalanne 2018-01-07 14:55:04 +01:00
parent b508e07845
commit 893264273f
4 changed files with 73 additions and 14 deletions
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75
ground/gcs/src/plugins/config/configoutputwidget.cpp
View File

@ -52,20 +52,21 @@
#include <QMessageBox>
// Motor settings
#define DSHOT_MAXOUTPUT_RANGE 2000
#define DSHOT_MINTOUTPUT_RANGE 0
#define PWMSYNC_MAXOUTPUT_RANGE 1900
#define DEFAULT_MAXOUTPUT_RANGE 2000
#define DEFAULT_MINOUTPUT_RANGE 900
#define DEFAULT_MINOUTPUT_VALUE 1000
#define DSHOT_MAXOUTPUT_RANGE 2000
#define DSHOT_MINTOUTPUT_RANGE 0
#define PWMSYNC_MAXOUTPUT_RANGE 1900
#define DEFAULT_MAXOUTPUT_RANGE 2000
#define DEFAULT_MINOUTPUT_RANGE 900
#define DEFAULT_MINOUTPUT_VALUE 1000
#define REVMOTOR_NEUTRAL_TARGET_VALUE 1500
#define REVMOTOR_NEUTRAL_DIFF_VALUE 250
// Servo settings
#define SERVO_MAXOUTPUT_RANGE 2500
#define SERVO_MINOUTPUT_RANGE 500
#define SERVO_MAXOUTPUT_VALUE 2000
#define SERVO_MINOUTPUT_VALUE 1000
#define SERVO_NEUTRAL_VALUE 1500
#define SERVO_MAXOUTPUT_RANGE 2500
#define SERVO_MINOUTPUT_RANGE 500
#define SERVO_MAXOUTPUT_VALUE 2000
#define SERVO_MINOUTPUT_VALUE 1000
#define SERVO_NEUTRAL_VALUE 1500
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
@ -527,6 +528,9 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
bank_mode_servo_warning = "DShot";
break;
}
if (channelForm->isReversableMotor()) {
reversable_motor_warning = "DShot";
}
channelForm->setLimits(DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
channelForm->setRange(DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
channelForm->setNeutral(DSHOT_MINTOUTPUT_RANGE);
@ -534,9 +538,13 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
case ActuatorSettings::BANKMODE_PWMSYNC:
// 900 - 1900 UI limits
// Default values 1000 - 1900
currentNeutralValue = channelForm->getNeutralValue();
channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE);
channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) {
reversable_motor_warning = "PWMSync";
}
if (channelForm->isServoOutput()) {
// Servo: Some of them can handle PWMSync, 500 - 1900 UI limits
// Default values 1000 - 1900 + neutral 1500
@ -546,6 +554,9 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
break;
case ActuatorSettings::BANKMODE_PWM:
// PWM motor outputs fall to default
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) {
reversable_motor_warning = "PWM";
}
if (channelForm->isServoOutput()) {
// Servo: 500 - 2500 UI limits
// Default values 1000 - 2000 + neutral 1500
@ -559,31 +570,51 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
bank_mode_servo_warning = "OneShot125";
break;
}
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) {
reversable_motor_warning = "OneShot125";
}
case ActuatorSettings::BANKMODE_ONESHOT42:
if (channelForm->isServoOutput()) {
bank_mode_servo_warning = "OneShot42";
break;
}
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) {
reversable_motor_warning = "OneShot42";
}
case ActuatorSettings::BANKMODE_MULTISHOT:
if (channelForm->isServoOutput()) {
bank_mode_servo_warning = "MultiShot";
break;
}
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) {
reversable_motor_warning = "MultiShot";
}
default:
// Motors 900 - 2000 UI limits
// Default values 1000 - 2000, neutral set to min
currentNeutralValue = channelForm->getNeutralValue();
channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE);
channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, DEFAULT_MAXOUTPUT_RANGE);
channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
break;
}
// TODO: Implement bi-directional DShot
if (channelForm->isReversableMotor() && (bankControls->modeCombo()->currentIndex() != ActuatorSettings::BANKMODE_DSHOT)) {
int neutralDiff = qAbs(REVMOTOR_NEUTRAL_TARGET_VALUE - currentNeutralValue);
if (neutralDiff < REVMOTOR_NEUTRAL_DIFF_VALUE) {
// Reset warning
reversable_motor_warning = "";
}
}
}
void ConfigOutputWidget::onBankTypeChange()
{
QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
bank_mode_servo_warning = "";
bank_mode_servo_warning = "";
reversable_motor_warning = "";
if (bankModeCombo != NULL) {
int bankNumber = 1;
@ -626,12 +657,28 @@ void ConfigOutputWidget::updateWarnings(UAVObject *)
return;
}
}
if (reversable_motor_warning != "") {
QString revmotor_warning_str;
if (reversable_motor_warning == "DShot") {
// TODO: Implement bi-directional DShot
revmotor_warning_str = "There is at least one reversable motor using <b>DShot</b> in your configuration."
"<p>Bi-directional DShot is not currently supported, you should use PWM, OneShotXXX or MultiShot.</p>";
} else {
revmotor_warning_str = QString("There is at least one reversable motor using <b>%1</b> in your configuration.</b>"
"<p>Be sure you set the appropriate neutral value before saving and applying power to the vehicule.</p>").arg(reversable_motor_warning);
}
setWarning(revmotor_warning_str);
return;
}
if (bank_mode_servo_warning != "") {
QString servo_warning_str = QString("Bank using <b>%1</b> cannot drive a <b>servo output!</b>"
"<p>You must use PWM for this Bank or move the servo output to another compatible Bank.</p>").arg(bank_mode_servo_warning);
"<p>You must use PWM for this Bank or move the servo output to another compatible Bank.</p>").arg(bank_mode_servo_warning);
setWarning(servo_warning_str);
return;
}
setWarning(NULL);
}

2
ground/gcs/src/plugins/config/configoutputwidget.h
View File

@ -99,6 +99,8 @@ private:
UAVObject::Metadata m_accInitialData;
QList<OutputBankControls> m_banks;
QString bank_mode_servo_warning;
QString reversable_motor_warning;
int currentNeutralValue;
OutputChannelForm *getOutputChannelForm(const int index) const;
void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, QCheckBox *rev, int value);

9
ground/gcs/src/plugins/config/outputchannelform.cpp
View File

@ -376,6 +376,15 @@ void OutputChannelForm::sendChannelTest(int value)
emit channelChanged(index(), value);
}
/**
*
* Returns current neutral value
*/
int OutputChannelForm::getNeutralValue()
{
return ui->actuatorNeutral->value();
}
/**
*
* Returns MixerType

1
ground/gcs/src/plugins/config/outputchannelform.h
View File

@ -63,6 +63,7 @@ public slots:
void enableChannelTest(bool state);
QString outputMixerType();
void setLimits(int actuatorMinMinimum, int actuatorMinMaximum, int actuatorMaxMinimum, int actuatorMaxMaximum);
int getNeutralValue();
bool isServoOutput();
bool isNormalMotor();
bool isReversableMotor();