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Code Issues Releases Activity

LP-390 Tx wizard: identifyLimits, save only when needed - Prevent Rx glitches - Fixes for Output and Hardware pages

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This commit is contained in:
Laurent Lalanne 2016-08-23 13:40:03 +02:00
parent b16e4838eb
commit b33d655ec2
6 changed files with 109 additions and 58 deletions
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143
ground/gcs/src/plugins/config/configinputwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configinputwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
@ -31,6 +31,7 @@
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <utils/stylehelper.h>
#include <uavobjecthelper.h>
#include "ui_input.h"
#include "ui_input_wizard.h"
@ -61,6 +62,9 @@
#define STICK_MIN_MOVE -8
#define STICK_MAX_MOVE 8
#define MIN_INPUT_US 100
#define MAX_INPUT_US 2500
#define CHANNEL_NUMBER_NONE 0
#define DEFAULT_FLIGHT_MODE_NUMBER 0
@ -839,6 +843,10 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
manualSettingsData.ChannelMax[i] = manualSettingsData.ChannelNeutral[i];
}
}
UAVObjectUpdaterHelper updateHelper;
manualSettingsObj->setData(manualSettingsData, false);
updateHelper.doObjectAndWait(manualSettingsObj);
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(identifyLimits()));
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
@ -881,6 +889,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
{
UAVObjectUpdaterHelper updateHelper;
Q_ASSERT(step == wizardStep);
switch (step) {
case wizardWelcome:
@ -935,7 +945,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
}
}
manualSettingsObj->setData(manualSettingsData);
manualSettingsObj->setData(manualSettingsData, false);
updateHelper.doObjectAndWait(manualSettingsObj);
setTxMovement(nothing);
break;
case wizardIdentifyLimits:
@ -943,7 +954,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
manualSettingsObj->setData(manualSettingsData);
manualSettingsObj->setData(manualSettingsData, false);
updateHelper.doObjectAndWait(manualSettingsObj);
setTxMovement(nothing);
break;
case wizardIdentifyInverted:
@ -1178,59 +1190,77 @@ void ConfigInputWidget::identifyControls()
void ConfigInputWidget::identifyLimits()
{
uint16_t inputValue;
bool newLimitValue = false;
bool newFlightModeValue = false;
manualCommandData = manualCommandObj->getData();
for (uint i = 0; i < ManualControlSettings::CHANNELMAX_NUMELEM; ++i) {
if (manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
// Non inverted channel
if (manualSettingsData.ChannelMin[i] > manualCommandData.Channel[i]) {
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
inputValue = manualCommandData.Channel[i];
// Check if channel is already detected and prevent glitches
if ((manualSettingsData.ChannelNumber[i] != CHANNEL_NUMBER_NONE) &&
(inputValue > MIN_INPUT_US) && (inputValue < MAX_INPUT_US)) {
if (manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
// Non inverted channel
if (manualSettingsData.ChannelMin[i] > inputValue) {
manualSettingsData.ChannelMin[i] = inputValue;
newLimitValue = true;
}
if (manualSettingsData.ChannelMax[i] < inputValue) {
manualSettingsData.ChannelMax[i] = inputValue;
newLimitValue = true;
}
} else {
// Inverted channel
if (manualSettingsData.ChannelMax[i] > inputValue) {
manualSettingsData.ChannelMax[i] = inputValue;
newLimitValue = true;
}
if (manualSettingsData.ChannelMin[i] < inputValue) {
manualSettingsData.ChannelMin[i] = inputValue;
newLimitValue = true;
}
}
if (manualSettingsData.ChannelMax[i] < manualCommandData.Channel[i]) {
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
} else {
// Inverted channel
if (manualSettingsData.ChannelMax[i] > manualCommandData.Channel[i]) {
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
if (manualSettingsData.ChannelMin[i] < manualCommandData.Channel[i]) {
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
}
}
// Flightmode channel
if (i == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE) {
bool newFlightModeValue = true;
// 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) {
// 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] < manualCommandData.Channel[i] + minSpacing) &&
(flightModeSignalValue[checkpos] > manualCommandData.Channel[i] - minSpacing)) {
newFlightModeValue = false;
// 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;
}
}
}
// 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] = manualCommandData.Channel[i];
manualSettingsData.FlightModeNumber++;
// Show flight mode number
m_txFlightModeCountText->setText(QString().number(manualSettingsData.FlightModeNumber));
m_txFlightModeCountText->setVisible(true);
m_txFlightModeCountBG->setVisible(true);
}
}
}
}
}
manualSettingsObj->setData(manualSettingsData);
// Save only if something changed
if (newLimitValue || newFlightModeValue) {
UAVObjectUpdaterHelper updateHelper;
manualSettingsObj->setData(manualSettingsData, false);
updateHelper.doObjectAndWait(manualSettingsObj);
}
}
void ConfigInputWidget::setMoveFromCommand(int command)
@ -1671,7 +1701,9 @@ void ConfigInputWidget::invertControls()
}
}
}
manualSettingsObj->setData(manualSettingsData);
UAVObjectUpdaterHelper updateHelper;
manualSettingsObj->setData(manualSettingsData, false);
updateHelper.doObjectAndWait(manualSettingsObj);
}
void ConfigInputWidget::moveFMSlider()
@ -1922,8 +1954,9 @@ void ConfigInputWidget::updateCalibration()
}
}
}
manualSettingsObj->setData(manualSettingsData);
UAVObjectUpdaterHelper updateHelper;
manualSettingsObj->setData(manualSettingsData, false);
updateHelper.doObjectAndWait(manualSettingsObj);
manualSettingsObj->updated();
}
@ -2067,7 +2100,9 @@ void ConfigInputWidget::resetChannelSettings()
for (unsigned int channel = 0; channel < ManualControlSettings::CHANNELNUMBER_NUMELEM; channel++) {
manualSettingsData.ChannelGroups[channel] = ManualControlSettings::CHANNELGROUPS_NONE;
manualSettingsData.ChannelNumber[channel] = CHANNEL_NUMBER_NONE;
manualSettingsObj->setData(manualSettingsData);
UAVObjectUpdaterHelper updateHelper;
manualSettingsObj->setData(manualSettingsData, false);
updateHelper.doObjectAndWait(manualSettingsObj);
}
resetFlightModeSettings();
}
@ -2076,7 +2111,9 @@ void ConfigInputWidget::resetFlightModeSettings()
{
// Reset FlightMode settings
manualSettingsData.FlightModeNumber = DEFAULT_FLIGHT_MODE_NUMBER;
manualSettingsObj->setData(manualSettingsData);
UAVObjectUpdaterHelper updateHelper;
manualSettingsObj->setData(manualSettingsData, false);
updateHelper.doObjectAndWait(manualSettingsObj);
for (uint8_t pos = 0; pos < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM; pos++) {
flightModeSignalValue[pos] = 0;
}
@ -2110,7 +2147,9 @@ void ConfigInputWidget::resetActuatorSettings()
actuatorSettingsData.ChannelMin[output] = 1500;
actuatorSettingsData.ChannelNeutral[output] = 1500;
}
actuatorSettingsObj->setData(actuatorSettingsData);
UAVObjectUpdaterHelper updateHelper;
actuatorSettingsObj->setData(actuatorSettingsData, false);
updateHelper.doObjectAndWait(actuatorSettingsObj);
}
}

5
ground/gcs/src/plugins/config/configoutputwidget.cpp
View File

@ -37,6 +37,7 @@
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjecthelper.h>
#include "mixersettings.h"
#include "actuatorcommand.h"
@ -459,7 +460,9 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
UAVObjectUpdaterHelper updateHelper;
actuatorSettings->setData(actuatorSettingsData, false);
updateHelper.doObjectAndWait(actuatorSettings);
}
FlightModeSettings *flightModeSettings = FlightModeSettings::GetInstance(getObjectManager());

5
ground/gcs/src/plugins/config/configrevohwwidget.cpp
View File

@ -31,6 +31,7 @@
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjecthelper.h>
#include "hwsettings.h"
@ -131,7 +132,9 @@ void ConfigRevoHWWidget::updateObjectsFromWidgets()
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
}
hwSettings->setData(data);
UAVObjectUpdaterHelper updateHelper;
hwSettings->setData(data, false);
updateHelper.doObjectAndWait(hwSettings);
}
void ConfigRevoHWWidget::usbVCPPortChanged(int index)

5
ground/gcs/src/plugins/config/configrevonanohwwidget.cpp
View File

@ -31,6 +31,7 @@
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjecthelper.h>
#include "hwsettings.h"
@ -124,7 +125,9 @@ void ConfigRevoNanoHWWidget::updateObjectsFromWidgets()
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
}
hwSettings->setData(data);
UAVObjectUpdaterHelper updateHelper;
hwSettings->setData(data, false);
updateHelper.doObjectAndWait(hwSettings);
}
void ConfigRevoNanoHWWidget::usbVCPPortChanged(int index)

5
ground/gcs/src/plugins/config/configsparky2hwwidget.cpp
View File

@ -31,6 +31,7 @@
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjecthelper.h>
#include "hwsettings.h"
@ -126,7 +127,9 @@ void ConfigSparky2HWWidget::updateObjectsFromWidgets()
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
}
hwSettings->setData(data);
UAVObjectUpdaterHelper updateHelper;
hwSettings->setData(data, false);
updateHelper.doObjectAndWait(hwSettings);
}
void ConfigSparky2HWWidget::usbVCPPortChanged(int index)

4
ground/gcs/src/plugins/config/inputchannelform.cpp
View File

@ -91,8 +91,8 @@ void InputChannelForm::updateNeutralMark()
ui->channelNeutral->setStyleSheet(
"QSlider::groove:horizontal { border: 1px solid rgb(196, 196, 196); margin: 0px 23px 0px 23px; height: 6px; border-radius: 2px; "
"background: qlineargradient(x1:0, y1:0, x2:1, y2:0, stop:" + QString::number(neutralPosition - 0.01) + " transparent, stop:"
+ QString::number(neutralPosition) + " red, stop:" + QString::number(neutralPosition + 0.01) + " transparent); }"
"background: qlineargradient(x1:0, y1:0, x2:1, y2:0, stop:" + QString::number(qBound(0., neutralPosition - 0.01, 1.)) + " transparent, stop:"
+ QString::number(qBound<double>(0., neutralPosition, 1.)) + " red, stop:" + QString::number(qBound(0., neutralPosition + 0.01, 1.)) + " transparent); }"
"QSlider::add-page:horizontal { background: rgba(255,255,255,120); border: 1px solid #777; margin: 0px 23px 0px 2px; border-radius: 4px; }"
"QSlider::sub-page:horizontal { background: rgba(78,147,246,120); border: 1px solid #777; margin: 0px 2px 0px 23px; border-radius: 4px; }"