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https://bitbucket.org/librepilot/librepilot.git
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LP-551 Set default values in Output tab when user changes BankMode - Add warning for Bankmode mismatch (servo/motor)
This commit is contained in:
Laurent Lalanne
parent
4c9c3c202c
commit
b508e07845
@ -51,8 +51,21 @@
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#include <QTextEdit>
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#include <QMessageBox>
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#define MAXOUTPUT_VALUE 2500
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#define MINOUTPUT_VALUE 500
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// Motor settings
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#define DSHOT_MAXOUTPUT_RANGE 2000
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#define DSHOT_MINTOUTPUT_RANGE 0
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#define PWMSYNC_MAXOUTPUT_RANGE 1900
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#define DEFAULT_MAXOUTPUT_RANGE 2000
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#define DEFAULT_MINOUTPUT_RANGE 900
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#define DEFAULT_MINOUTPUT_VALUE 1000
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// Servo settings
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#define SERVO_MAXOUTPUT_RANGE 2500
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#define SERVO_MINOUTPUT_RANGE 500
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#define SERVO_MAXOUTPUT_VALUE 2000
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#define SERVO_MINOUTPUT_VALUE 1000
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#define SERVO_NEUTRAL_VALUE 1500
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ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
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{
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@ -506,15 +519,62 @@ void ConfigOutputWidget::updateAlwaysStabilizeStatus()
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void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls)
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{
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// Set UI limits according to the bankmode and destination
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switch (bankControls->modeCombo()->currentIndex()) {
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case ActuatorSettings::BANKMODE_DSHOT:
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channelForm->setLimits(0, 0, 0, 2000);
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// 0 - 2000 UI limits, DShot min value is fixed to zero
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if (channelForm->isServoOutput()) {
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bank_mode_servo_warning = "DShot";
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break;
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}
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channelForm->setLimits(DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
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channelForm->setRange(DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
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channelForm->setNeutral(DSHOT_MINTOUTPUT_RANGE);
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break;
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// case ActuatorSettings::BANKMODE_BRUSHED:
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// channelForm->setLimits(0, 0, 0, 100); // 0 to 100%
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// break;
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case ActuatorSettings::BANKMODE_PWMSYNC:
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// 900 - 1900 UI limits
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// Default values 1000 - 1900
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channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE);
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channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
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channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
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if (channelForm->isServoOutput()) {
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// Servo: Some of them can handle PWMSync, 500 - 1900 UI limits
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// Default values 1000 - 1900 + neutral 1500
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channelForm->setRange(SERVO_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
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channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
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}
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break;
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case ActuatorSettings::BANKMODE_PWM:
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// PWM motor outputs fall to default
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if (channelForm->isServoOutput()) {
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// Servo: 500 - 2500 UI limits
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// Default values 1000 - 2000 + neutral 1500
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channelForm->setLimits(SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE, SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE);
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channelForm->setRange(SERVO_MINOUTPUT_VALUE, SERVO_MAXOUTPUT_VALUE);
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channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
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break;
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}
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case ActuatorSettings::BANKMODE_ONESHOT125:
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if (channelForm->isServoOutput()) {
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bank_mode_servo_warning = "OneShot125";
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break;
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}
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case ActuatorSettings::BANKMODE_ONESHOT42:
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if (channelForm->isServoOutput()) {
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bank_mode_servo_warning = "OneShot42";
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break;
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}
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case ActuatorSettings::BANKMODE_MULTISHOT:
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if (channelForm->isServoOutput()) {
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bank_mode_servo_warning = "MultiShot";
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break;
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}
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default:
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channelForm->setLimits(MINOUTPUT_VALUE, MAXOUTPUT_VALUE, MINOUTPUT_VALUE, MAXOUTPUT_VALUE);
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// Motors 900 - 2000 UI limits
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// Default values 1000 - 2000, neutral set to min
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channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE);
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channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, DEFAULT_MAXOUTPUT_RANGE);
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channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
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break;
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}
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}
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@ -523,6 +583,8 @@ void ConfigOutputWidget::onBankTypeChange()
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{
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QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
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bank_mode_servo_warning = "";
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if (bankModeCombo != NULL) {
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int bankNumber = 1;
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QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
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@ -564,6 +626,12 @@ void ConfigOutputWidget::updateWarnings(UAVObject *)
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return;
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}
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}
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if (bank_mode_servo_warning != "") {
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QString servo_warning_str = QString("Bank using <b>%1</b> cannot drive a <b>servo output!</b>"
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"<p>You must use PWM for this Bank or move the servo output to another compatible Bank.</p>").arg(bank_mode_servo_warning);
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setWarning(servo_warning_str);
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return;
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}
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setWarning(NULL);
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}
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@ -98,6 +98,7 @@ private:
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int m_mccDataRate;
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UAVObject::Metadata m_accInitialData;
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QList<OutputBankControls> m_banks;
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QString bank_mode_servo_warning;
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OutputChannelForm *getOutputChannelForm(const int index) const;
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void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, QCheckBox *rev, int value);
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@ -28,6 +28,7 @@
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#include "outputchannelform.h"
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#include "ui_outputchannelform.h"
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#include <QDebug>
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OutputChannelForm::OutputChannelForm(const int index, QWidget *parent) :
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ChannelForm(index, parent), ui(new Ui::outputChannelForm), m_inChannelTest(false)
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@ -113,7 +114,7 @@ void OutputChannelForm::enableChannelTest(bool state)
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} else if (m_mixerType != "Disabled") {
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ui->actuatorMin->setEnabled(true);
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ui->actuatorMax->setEnabled(true);
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if (m_mixerType != "Motor") {
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if (!isNormalMotor()) {
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ui->actuatorRev->setEnabled(true);
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}
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}
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@ -212,6 +213,9 @@ void OutputChannelForm::setLimits(int actuatorMinMinimum, int actuatorMinMaximum
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ui->actuatorMax->setMaximum(actuatorMaxMaximum);
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ui->actuatorMin->setMinimum(actuatorMinMinimum);
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ui->actuatorMax->setMinimum(actuatorMaxMinimum);
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// Neutral slider limits
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ui->actuatorNeutral->setMinimum(actuatorMinMinimum);
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ui->actuatorNeutral->setMaximum(actuatorMaxMaximum);
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}
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/**
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@ -233,16 +237,35 @@ void OutputChannelForm::setRange(int minimum, int maximum)
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*/
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void OutputChannelForm::setChannelRange()
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{
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// Disable outputs not already set in MixerSettings
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if (isDisabledOutput()) {
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setLimits(1000, 1000, 1000, 1000);
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ui->actuatorMin->setValue(1000);
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ui->actuatorMax->setValue(1000);
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ui->actuatorMin->setEnabled(false);
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ui->actuatorMax->setEnabled(false);
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ui->actuatorRev->setEnabled(false);
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ui->actuatorLink->setEnabled(false);
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ui->actuatorValue->setEnabled(false);
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ui->actuatorRev->setChecked(false);
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ui->actuatorLink->setChecked(false);
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return;
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}
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ui->actuatorMin->setEnabled(true);
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ui->actuatorMax->setEnabled(true);
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ui->actuatorNeutral->setEnabled(true);
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ui->actuatorValue->setEnabled(true);
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ui->actuatorLink->setEnabled(true);
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int minValue = ui->actuatorMin->value();
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int maxValue = ui->actuatorMax->value();
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int oldMini = ui->actuatorNeutral->minimum();
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int oldMaxi = ui->actuatorNeutral->maximum();
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m_mixerType = outputMixerType();
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// Red handle for Motors
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if ((m_mixerType == "Motor") || (m_mixerType == "ReversableMotor")) {
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if (isNormalMotor() || isReversableMotor()) {
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ui->actuatorNeutral->setStyleSheet("QSlider::handle:horizontal { background: rgb(255, 100, 100); width: 18px; height: 28px;"
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"margin: -3px 0; border-radius: 3px; border: 1px solid #777; }");
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} else {
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@ -251,7 +274,7 @@ void OutputChannelForm::setChannelRange()
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}
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// Normal motor will be *** never *** reversed : without arming a "Min" value (like 1900) can be applied !
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if (m_mixerType == "Motor") {
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if (isNormalMotor()) {
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if (minValue >= maxValue) {
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// Keep old values
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ui->actuatorMin->setValue(oldMini);
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@ -279,25 +302,6 @@ void OutputChannelForm::setChannelRange()
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if (ui->actuatorNeutral->value() == oldMini) {
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ui->actuatorNeutral->setValue(ui->actuatorNeutral->minimum());
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}
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// Enable only outputs already set in mixer
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if (m_mixerType != "Disabled") {
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ui->actuatorMin->setEnabled(true);
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ui->actuatorMax->setEnabled(true);
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ui->actuatorNeutral->setEnabled(true);
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ui->actuatorValue->setEnabled(true);
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ui->actuatorLink->setEnabled(true);
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} else {
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ui->actuatorMin->setEnabled(false);
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ui->actuatorMax->setEnabled(false);
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ui->actuatorRev->setEnabled(false);
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ui->actuatorLink->setEnabled(false);
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ui->actuatorMin->setValue(1000);
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ui->actuatorMax->setValue(1000);
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ui->actuatorNeutral->setRange(minValue, maxValue);
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ui->actuatorNeutral->setValue(minValue);
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ui->actuatorValue->setEnabled(false);
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}
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}
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/**
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@ -389,3 +393,39 @@ QString OutputChannelForm::outputMixerType()
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return mixerType;
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}
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/**
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*
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* Returns true if a servo output
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*/
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bool OutputChannelForm::isServoOutput()
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{
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return !isNormalMotor() && !isReversableMotor() && !isDisabledOutput();
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}
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/**
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*
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* Returns true if output is a normal Motor
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*/
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bool OutputChannelForm::isNormalMotor()
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{
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return outputMixerType() == "Motor";
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}
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/**
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*
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* Returns true if output is a reversable Motor
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*/
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bool OutputChannelForm::isReversableMotor()
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{
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return outputMixerType() == "ReversableMotor";
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}
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/**
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*
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* Returns true if output is disabled
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*/
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bool OutputChannelForm::isDisabledOutput()
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{
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return outputMixerType() == "Disabled";
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}
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@ -63,6 +63,10 @@ public slots:
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void enableChannelTest(bool state);
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QString outputMixerType();
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void setLimits(int actuatorMinMinimum, int actuatorMinMaximum, int actuatorMaxMinimum, int actuatorMaxMaximum);
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bool isServoOutput();
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bool isNormalMotor();
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bool isReversableMotor();
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bool isDisabledOutput();
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signals:
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void channelChanged(int index, int value);
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