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Code Issues Releases Activity

OP-1660 Disable all outputs while calibrate (Manual calibration or Wizard) : No servo jitter

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This commit is contained in:
Laurent Lalanne 2014-12-30 09:49:35 +01:00
parent 64cea89d3e
commit 90e4e9276e
2 changed files with 39 additions and 1 deletions
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34
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
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@ -71,6 +71,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(), 0);
accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(), 1);
accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(), 2);
actuatorSettingsObj = ActuatorSettings::GetInstance(getObjectManager());
// Only instance 0 is present if the board is not connected.
// The other instances are populated lazily.
@ -411,9 +412,13 @@ void ConfigInputWidget::goToWizard()
previousFlightModeSettingsData = flightModeSettingsData;
flightModeSettingsData.Arming = FlightModeSettings::ARMING_ALWAYSDISARMED;
flightModeSettingsObj->setData(flightModeSettingsData);
// Stash actuatorSettings
actuatorSettingsData = actuatorSettingsObj->getData();
previousActuatorSettingsData = actuatorSettingsData;
// Now reset channel settings
// Now reset channel and actuator settings (disable outputs)
resetChannelSettings();
resetActuatorSettings();
// Use faster input update rate.
fastMdata();
@ -453,6 +458,7 @@ void ConfigInputWidget::wzCancel()
// Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData);
flightModeSettingsObj->setData(previousFlightModeSettingsData);
actuatorSettingsObj->setData(previousActuatorSettingsData);
}
void ConfigInputWidget::registerControlActivity()
@ -534,6 +540,9 @@ void ConfigInputWidget::wzNext()
// Restore original input update rate.
restoreMdata();
// Load actuator settings back from beginning of wizard
actuatorSettingsObj->setData(previousActuatorSettingsData);
// Leave setting the throttle neutral until the final Next press,
// else the throttle scaling causes the graphical stick movement to not
// match the tx stick
@ -1617,6 +1626,13 @@ void ConfigInputWidget::simpleCalibration(bool enable)
fastMdataSingle(manualCommandObj, &manualControlMdata);
// Stash actuatorSettings
actuatorSettingsData = actuatorSettingsObj->getData();
previousActuatorSettingsData = actuatorSettingsData;
// Disable all actuators
resetActuatorSettings();
connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration()));
} else {
ui->configurationWizard->setEnabled(true);
@ -1639,6 +1655,9 @@ void ConfigInputWidget::simpleCalibration(bool enable)
manualSettingsObj->setData(manualSettingsData);
// Load actuator settings back from beginning of manual calibration
actuatorSettingsObj->setData(previousActuatorSettingsData);
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration()));
}
}
@ -1675,3 +1694,16 @@ void ConfigInputWidget::resetChannelSettings()
manualSettingsObj->setData(manualSettingsData);
}
}
void ConfigInputWidget::resetActuatorSettings()
{
actuatorSettingsData = actuatorSettingsObj->getData();
// Clear all output data : Min, max, neutral = 1500
// 1500 = servo middle, can be applied to all outputs because board is 'Alwaysdisarmed'
for (unsigned int output = 0; output < 12; output++) {
actuatorSettingsData.ChannelMax[output] = 1500;
actuatorSettingsData.ChannelMin[output] = 1500;
actuatorSettingsData.ChannelNeutral[output] = 1500;
actuatorSettingsObj->setData(actuatorSettingsData);
}
}

6
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -39,6 +39,7 @@
#include <QRadioButton>
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "actuatorsettings.h"
#include "flightmodesettings.h"
#include "receiveractivity.h"
#include <QGraphicsView>
@ -123,6 +124,10 @@ private:
ManualControlSettings::DataFields manualSettingsData;
ManualControlSettings::DataFields previousManualSettingsData;
ActuatorSettings *actuatorSettingsObj;
ActuatorSettings::DataFields actuatorSettingsData;
ActuatorSettings::DataFields previousActuatorSettingsData;
FlightModeSettings *flightModeSettingsObj;
FlightModeSettings::DataFields flightModeSettingsData;
FlightModeSettings::DataFields previousFlightModeSettingsData;
@ -193,6 +198,7 @@ private slots:
void adjustSpecialNeutrals();
void updateCalibration();
void resetChannelSettings();
void resetActuatorSettings();
protected:
void resizeEvent(QResizeEvent *event);