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Code Issues Releases Activity

Merged in f5soh/librepilot/LP-478_Wizard_stick_do_not_move (pull request #384)

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LP-478 TX Wizard issues
This commit is contained in:
Philippe Renon 2017-01-27 19:56:31 +00:00
commit ae74c7f3f0
3 changed files with 62 additions and 67 deletions
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32
flight/modules/Receiver/receiver.c
View File

@ -10,7 +10,7 @@
* pass it to ManualControl
*
* @file receiver.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Receiver module. Handles safety R/C link and flight mode.
*
@ -68,7 +68,7 @@
// safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 250
#define ASSISTEDCONTROL_DEADBAND_MINIMUM 2 // minimum value for a well bahaved Tx, in percent.
#define ASSISTEDCONTROL_DEADBAND_MINIMUM 2 // minimum value for a well behaved Tx, in percent.
// Private types
@ -198,24 +198,21 @@ static void receiverTask(__attribute__((unused)) void *parameters)
{
ManualControlSettingsData settings;
ManualControlCommandData cmd;
FlightStatusData flightStatus;
uint8_t armed;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
// For now manual instantiate extra instances of Accessory Desired. In future should be done dynamically
// this includes not even registering it if not used
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance(); // Accessory1
AccessoryDesiredCreateInstance(); // Accessory2
AccessoryDesiredCreateInstance(); // Accessory3
// Rssi input
AccessoryDesiredCreateInstance();
// Whenever the configuration changes, make sure it is safe to fly
ManualControlCommandGet(&cmd);
FlightStatusGet(&flightStatus);
/* Initialize the RcvrActivty FSM */
portTickType lastActivityTime = xTaskGetTickCount();
@ -241,17 +238,20 @@ static void receiverTask(__attribute__((unused)) void *parameters)
ManualControlSettingsGet(&settings);
SystemSettingsThrustControlGet(&thrustType);
FlightStatusArmedGet(&armed);
/* Update channel activity monitor */
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
if (armed == FLIGHTSTATUS_ARMED_DISARMED) {
if (updateRcvrActivity(&activity_fsm)) {
/* Reset the aging timer because activity was detected */
lastActivityTime = lastSysTime;
}
/* Read signal quality from the group used for the throttle */
(void)updateRcvrStatus(&activity_fsm,
settings.ChannelGroups.Throttle,
rssiValue);
}
/* Read signal quality from the group used for the throttle */
(void)updateRcvrStatus(&activity_fsm,
settings.ChannelGroups.Throttle,
rssiValue);
if (timeDifferenceMs(lastActivityTime, lastSysTime) > 5000) {
resetRcvrActivity(&activity_fsm);
resetRcvrStatus(&activity_fsm);
@ -794,7 +794,9 @@ group_completed:
return activity_updated;
}
/* Read signal quality from the specified group or use Rssi input value if any */
/**
* Read signal quality from the specified group or use Rssi input value if any
*/
static bool updateRcvrStatus(
struct rcvr_activity_fsm *fsm,
ManualControlSettingsChannelGroupsOptions group, int8_t rssiValue)

96
ground/gcs/src/plugins/config/configinputwidget.cpp
View File

@ -58,7 +58,7 @@
#define MAX_INPUT_US 2500
#define CHANNEL_NUMBER_NONE 0
#define DEFAULT_FLIGHT_MODE_NUMBER 0
#define DEFAULT_FLIGHT_MODE_NUMBER 1
ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
ConfigTaskWidget(parent),
@ -200,6 +200,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
connect(ui->runCalibration, SIGNAL(toggled(bool)), this, SLOT(simpleCalibration(bool)));
connect(ReceiverActivity::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateReceiverActivityStatus()));
connect(FlightStatus::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateReceiverActivityStatus()));
ui->receiverActivityStatus->setStyleSheet("QLabel { background-color: darkGreen; color: rgb(255, 255, 255); \
border: 1px solid grey; border-radius: 5; margin:1px; font:bold;}");
@ -440,6 +442,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
groundChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0;
}
@ -662,12 +665,8 @@ void ConfigInputWidget::wzNext()
throttleError = false;
checkThrottleRange();
// Force flight mode number to be 1 if 2 CH ground vehicle was selected
if (transmitterType == ground) {
forceOneFlightMode();
}
manualSettingsObj->setData(manualSettingsData);
// move to Arming Settings tab
ui->stackedWidget->setCurrentIndex(0);
ui->tabWidget->setCurrentIndex(3);
@ -843,12 +842,12 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
extraWidgets.clear();
for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++) {
QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
if (!name.contains("Access") && !name.contains("Flight") &&
if (!name.contains("Access") && !name.contains("Flight") && !name.contains("Rssi") &&
(!name.contains("Collective") || transmitterType == heli)) {
QCheckBox *cb = new QCheckBox(name, this);
// Make sure checked status matches current one
cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
wizardUi->checkBoxesLayout->addWidget(cb, extraWidgets.size() / 4, extraWidgets.size() % 4);
wizardUi->checkBoxesLayout->addWidget(cb, extraWidgets.size() / 5, extraWidgets.size() % 5);
extraWidgets.append(cb);
connect(cb, SIGNAL(toggled(bool)), this, SLOT(invertControls()));
}
@ -917,12 +916,6 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(identifyControls()));
wizardUi->wzNext->setEnabled(true);
setTxMovement(nothing);
/* If flight mode stick isn't identified, force flight mode number to be 1 */
manualSettingsData = manualSettingsObj->getData();
if (manualSettingsData.ChannelGroups[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] ==
ManualControlSettings::CHANNELGROUPS_NONE) {
forceOneFlightMode();
}
break;
case wizardIdentifyCenter:
manualCommandData = manualCommandObj->getData();
@ -1182,6 +1175,7 @@ void ConfigInputWidget::identifyControls()
void ConfigInputWidget::identifyLimits()
{
uint16_t inputValue;
static uint16_t previousInputFMValue;
bool newLimitValue = false;
bool newFlightModeValue = false;
@ -1214,32 +1208,37 @@ void ConfigInputWidget::identifyLimits()
}
// Flightmode channel
if (i == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE) {
// Avoid duplicate values too close and error due to RcTx drift
int minSpacing = 100; // 100µs
for (int pos = 0; pos < manualSettingsData.FlightModeNumber + 1; ++pos) {
if (flightModeSignalValue[pos] == 0) {
newFlightModeValue = true;
// A new flightmode value can be set now
for (int checkpos = 0; checkpos < manualSettingsData.FlightModeNumber + 1; ++checkpos) {
// Check if value is already used, MinSpacing needed between values.
if ((flightModeSignalValue[checkpos] < inputValue + minSpacing) &&
(flightModeSignalValue[checkpos] > inputValue - minSpacing)) {
newFlightModeValue = false;
int deltaInput = abs(previousInputFMValue - inputValue);
previousInputFMValue = inputValue;
// Expecting two consecutive readings within a close value
if (deltaInput < 5) {
// Avoid duplicate values too close and error due to RcTx drift
int minSpacing = 100; // 100µs
for (int pos = 0; pos < manualSettingsData.FlightModeNumber + 1; ++pos) {
if (flightModeSignalValue[pos] == 0) {
newFlightModeValue = true;
// A new flightmode value can be set now
for (int checkpos = 0; checkpos < manualSettingsData.FlightModeNumber + 1; ++checkpos) {
// Check if value is already used, MinSpacing needed between values.
if ((flightModeSignalValue[checkpos] < inputValue + minSpacing) &&
(flightModeSignalValue[checkpos] > inputValue - minSpacing)) {
newFlightModeValue = false;
}
}
}
// Be sure FlightModeNumber is < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM (6)
if ((manualSettingsData.FlightModeNumber < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM) && newFlightModeValue) {
// Start from 0, erase previous count
if (pos == 0) {
manualSettingsData.FlightModeNumber = 0;
// Be sure FlightModeNumber is < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM (6)
if ((manualSettingsData.FlightModeNumber < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM) && newFlightModeValue) {
// Start from 0, erase previous count
if (pos == 0) {
manualSettingsData.FlightModeNumber = 0;
}
// Store new value and increase FlightModeNumber
flightModeSignalValue[pos] = inputValue;
manualSettingsData.FlightModeNumber++;
// Show flight mode number
m_txFlightModeCountText->setText(QString().number(manualSettingsData.FlightModeNumber));
m_txFlightModeCountText->setVisible(true);
m_txFlightModeCountBG->setVisible(true);
}
// Store new value and increase FlightModeNumber
flightModeSignalValue[pos] = inputValue;
manualSettingsData.FlightModeNumber++;
// Show flight mode number
m_txFlightModeCountText->setText(QString().number(manualSettingsData.FlightModeNumber));
m_txFlightModeCountText->setVisible(true);
m_txFlightModeCountBG->setVisible(true);
}
}
}
@ -2013,11 +2012,6 @@ void ConfigInputWidget::simpleCalibration(bool enable)
restoreMdataSingle(manualCommandObj, &manualControlMdata);
// Force flight mode number to be 1 if 2 channel ground vehicle was confirmed
if (transmitterType == ground) {
forceOneFlightMode();
}
for (unsigned int i = 0; i < ManualControlSettings::CHANNELNUMBER_RSSI; i++) {
if ((i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) || (i == ManualControlSettings::CHANNELNUMBER_THROTTLE)) {
adjustSpecialNeutrals();
@ -2148,19 +2142,16 @@ void ConfigInputWidget::resetActuatorSettings()
}
}
void ConfigInputWidget::forceOneFlightMode()
{
manualSettingsData = manualSettingsObj->getData();
manualSettingsData.FlightModeNumber = 1;
manualSettingsObj->setData(manualSettingsData);
}
void ConfigInputWidget::updateReceiverActivityStatus()
{
ReceiverActivity *receiverActivity = ReceiverActivity::GetInstance(getObjectManager());
Q_ASSERT(receiverActivity);
FlightStatus *flightStatus = FlightStatus::GetInstance(getObjectManager());
Q_ASSERT(flightStatus);
UAVObjectField *activeGroup = receiverActivity->getField(QString("ActiveGroup"));
Q_ASSERT(activeGroup);
@ -2170,12 +2161,15 @@ void ConfigInputWidget::updateReceiverActivityStatus()
QString activeGroupText = activeGroup->getValue().toString();
QString activeChannelText = activeChannel->getValue().toString();
if (activeGroupText != "None") {
ui->receiverActivityStatus->setText(tr("%1 input - Channel %2").arg(activeGroupText).arg(activeChannelText));
ui->receiverActivityStatus->setStyleSheet("QLabel { background-color: green; color: rgb(255, 255, 255); \
border: 1px solid grey; border-radius: 5; margin:1px; font:bold;}");
} else {
ui->receiverActivityStatus->setText(tr("No activity"));
bool armed = (flightStatus->getArmed() == FlightStatus::ARMED_ARMED);
QString receiverActivityText = armed ? tr("Disabled (Armed)") : tr("No activity");
ui->receiverActivityStatus->setText(receiverActivityText);
ui->receiverActivityStatus->setStyleSheet("QLabel { background-color: darkGreen; color: rgb(255, 255, 255); \
border: 1px solid grey; border-radius: 5; margin:1px; font:bold;}");
}

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

@ -228,7 +228,6 @@ private slots:
void resetChannelSettings();
void resetFlightModeSettings();
void resetActuatorSettings();
void forceOneFlightMode();
void updateReceiverActivityStatus();
void failsafeFlightModeChanged(int index);