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Code Issues Releases Activity

Merge branch 'next' into abeck/OP-1721

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This commit is contained in:
abeck70 2015-02-19 12:19:28 +11:00
commit b61a76eeae
41 changed files with 1896 additions and 1133 deletions
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28
flight/libraries/sanitycheck.c
View File

@ -178,26 +178,26 @@ int32_t configuration_check()
}
}
uint8_t checks_disabled;
FlightModeSettingsDisableSanityChecksGet(&checks_disabled);
if (checks_disabled == FLIGHTMODESETTINGS_DISABLESANITYCHECKS_TRUE) {
severity = SYSTEMALARMS_ALARM_WARNING;
}
// query sanity check hooks
if (severity == SYSTEMALARMS_ALARM_OK) {
if (severity < SYSTEMALARMS_ALARM_CRITICAL) {
SANITYCHECK_CustomHookInstance *instance = NULL;
LL_FOREACH(hooks, instance) {
if (instance->enabled) {
alarmstatus = instance->hook();
if (alarmstatus != SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE) {
severity = SYSTEMALARMS_ALARM_WARNING;
severity = SYSTEMALARMS_ALARM_CRITICAL;
break;
}
}
}
}
uint8_t checks_disabled;
FlightModeSettingsDisableSanityChecksGet(&checks_disabled);
if (checks_disabled == FLIGHTMODESETTINGS_DISABLESANITYCHECKS_TRUE) {
severity = SYSTEMALARMS_ALARM_WARNING;
}
if (severity != SYSTEMALARMS_ALARM_OK) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
} else {
@ -287,6 +287,17 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
return false;
}
// if cruise control, ensure rate or acro are not set
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL) {
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_YAW; i++) {
if ((modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATE ||
modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ACRO)) {
return false;
}
}
}
// Warning: This assumes that certain conditions in the XML file are met. That
// FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL has the same numeric value for each channel
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL
@ -304,7 +315,6 @@ FrameType_t GetCurrentFrameType()
switch ((SystemSettingsAirframeTypeOptions)airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADH:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOX:

2
flight/modules/Actuator/actuator.c
View File

@ -806,7 +806,7 @@ static void actuator_update_rate_if_changed(const ActuatorSettingsData *actuator
freq[i] = 100; // Value must be small enough so CCr isn't update until the PIOS_Servo_Update is triggered
clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 8MHz timer clock
break;
case ACTUATORSETTINGS_BANKMODE_ONESHOT:
case ACTUATORSETTINGS_BANKMODE_PWMSYNC:
freq[i] = 100;
clock[i] = ACTUATOR_PWM_CLOCK;
break;

14
flight/modules/GPS/GPS.c
View File

@ -91,7 +91,12 @@ void updateGpsSettings(UAVObjEvent *ev);
#else
#if defined(PIOS_GPS_MINIMAL)
#define GPS_READ_BUFFER 32
#define STACK_SIZE_BYTES 500
#ifdef PIOS_INCLUDE_GPS_NMEA_PARSER
#define STACK_SIZE_BYTES 580 // NMEA
#else
#define STACK_SIZE_BYTES 440 // UBX
#endif // PIOS_INCLUDE_GPS_NMEA_PARSER
#else
#define STACK_SIZE_BYTES 650
#endif // PIOS_GPS_MINIMAL
@ -203,9 +208,11 @@ int32_t GPSInitialize(void)
GPSSettingsInitialize();
GPSSettingsDataProtocolGet(&gpsProtocol);
switch (gpsProtocol) {
#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
case GPSSETTINGS_DATAPROTOCOL_NMEA:
gps_rx_buffer = pios_malloc(NMEA_MAX_PACKET_LENGTH);
break;
#endif
case GPSSETTINGS_DATAPROTOCOL_UBX:
gps_rx_buffer = pios_malloc(sizeof(struct UBXPacket));
break;
@ -459,12 +466,12 @@ static void updateHwSettings()
}
}
#ifdef PIOS_INCLUDE_GPS_UBX_PARSER
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
load_mag_settings();
}
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
{
uint8_t ubxAutoConfig;
@ -537,7 +544,6 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
ubx_autoconfig_set(newconfig);
}
#endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */
#endif /* ifdef PIOS_INCLUDE_GPS_UBX_PARSER */
/**
* @}
* @}

73
flight/modules/GPS/NMEA.c
View File

@ -40,14 +40,13 @@
#include "GPS.h"
// #define ENABLE_DEBUG_MSG ///< define to enable debug-messages
#define DEBUG_PORT PIOS_COM_TELEM_RF ///< defines which serial port is ued for debug-messages
#define DEBUG_PORT PIOS_COM_TELEM_RF ///< defines which serial port is used for debug-messages
// Debugging
#ifdef ENABLE_DEBUG_MSG
// #define DEBUG_MSG_IN ///< define to display the incoming NMEA messages
// #define DEBUG_PARAMS ///< define to display the incoming NMEA messages split into its parameters
// #define DEBUG_MGSID_IN ///< define to display the the names of the incoming NMEA messages
// #define DEBUG_MSGID_IN ///< define to display the names of the incoming NMEA messages
// #define NMEA_DEBUG_PKT ///< define to enable debug of all NMEA messages
// #define NMEA_DEBUG_GGA ///< define to enable debug of GGA messages
// #define NMEA_DEBUG_VTG ///< define to enable debug of VTG messages
@ -68,40 +67,40 @@ struct nmea_parser {
bool (*handler)(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
};
static bool nmeaProcessGPGGA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGPRMC(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGPVTG(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGPGSA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGxGGA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGxRMC(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGxVTG(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGxGSA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
#if !defined(PIOS_GPS_MINIMAL)
static bool nmeaProcessGPZDA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGPGSV(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGxZDA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
static bool nmeaProcessGxGSV(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam);
#endif // PIOS_GPS_MINIMAL
static const struct nmea_parser nmea_parsers[] = {
{
.prefix = "GPGGA",
.handler = nmeaProcessGPGGA,
.prefix = "GGA",
.handler = nmeaProcessGxGGA,
},
{
.prefix = "GPVTG",
.handler = nmeaProcessGPVTG,
.prefix = "VTG",
.handler = nmeaProcessGxVTG,
},
{
.prefix = "GPGSA",
.handler = nmeaProcessGPGSA,
.prefix = "GSA",
.handler = nmeaProcessGxGSA,
},
{
.prefix = "GPRMC",
.handler = nmeaProcessGPRMC,
.prefix = "RMC",
.handler = nmeaProcessGxRMC,
},
#if !defined(PIOS_GPS_MINIMAL)
{
.prefix = "GPZDA",
.handler = nmeaProcessGPZDA,
.prefix = "ZDA",
.handler = nmeaProcessGxZDA,
},
{
.prefix = "GPGSV",
.handler = nmeaProcessGPGSV,
.prefix = "GSV",
.handler = nmeaProcessGxGSV,
},
#endif // PIOS_GPS_MINIMAL
};
@ -373,6 +372,8 @@ bool NMEA_update_position(char *nmea_sentence, GPSPositionSensorData *GpsData)
// Sample NMEA message: "GPRMC,000131.736,V,,,,,0.00,0.00,060180,,,N*43"
// The first parameter starts at the beginning of the message
// Skip first two character, allow GL, GN, GP...
p += 2;
params[0] = p;
nbParams = 1;
while (*p != 0) {
@ -406,11 +407,13 @@ bool NMEA_update_position(char *nmea_sentence, GPSPositionSensorData *GpsData)
parser = NMEA_find_parser_by_prefix(params[0]);
if (!parser) {
// No parser found
#ifdef DEBUG_MSGID_IN
DEBUG_MSG(" NO PARSER (\"%s\")\n", params[0]);
#endif
return false;
}
#ifdef DEBUG_MGSID_IN
#ifdef DEBUG_MSGID_IN
DEBUG_MSG("%s %d ", params[0]);
#endif
// Send the message to the parser and get it update the GpsData
@ -422,7 +425,9 @@ bool NMEA_update_position(char *nmea_sentence, GPSPositionSensorData *GpsData)
if (!parser->handler(GpsData, &gpsDataUpdated, params, nbParams)) {
// Parse failed
#ifdef DEBUG_MSGID_IN
DEBUG_MSG("PARSE FAILED (\"%s\")\n", params[0]);
#endif
if (gpsDataUpdated && (GpsData->Status == GPSPOSITIONSENSOR_STATUS_NOFIX)) {
GPSPositionSensorSet(GpsData);
}
@ -432,13 +437,13 @@ bool NMEA_update_position(char *nmea_sentence, GPSPositionSensorData *GpsData)
// All is fine :) Update object if data has changed
if (gpsDataUpdated) {
#ifdef DEBUG_MGSID_IN
#ifdef DEBUG_MSGID_IN
DEBUG_MSG("U");
#endif
GPSPositionSensorSet(GpsData);
}
#ifdef DEBUG_MGSID_IN
#ifdef DEBUG_MSGID_IN
DEBUG_MSG("\n");
#endif
return true;
@ -446,11 +451,11 @@ bool NMEA_update_position(char *nmea_sentence, GPSPositionSensorData *GpsData)
/**
* Parse an NMEA GPGGA sentence and update the given UAVObject
* Parse an NMEA GxGGA sentence and update the given UAVObject
* \param[in] A pointer to a GPSPositionSensor UAVObject to be updated.
* \param[in] An NMEA sentence with a valid checksum
*/
static bool nmeaProcessGPGGA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
static bool nmeaProcessGxGGA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
{
if (nbParam != 15) {
return false;
@ -499,11 +504,11 @@ static bool nmeaProcessGPGGA(GPSPositionSensorData *GpsData, bool *gpsDataUpdate
}
/**
* Parse an NMEA GPRMC sentence and update the given UAVObject
* Parse an NMEA GxRMC sentence and update the given UAVObject
* \param[in] A pointer to a GPSPositionSensor UAVObject to be updated.
* \param[in] An NMEA sentence with a valid checksum
*/
static bool nmeaProcessGPRMC(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
static bool nmeaProcessGxRMC(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
{
if (nbParam != 13) {
return false;
@ -567,11 +572,11 @@ static bool nmeaProcessGPRMC(GPSPositionSensorData *GpsData, bool *gpsDataUpdate
}
/**
* Parse an NMEA GPVTG sentence and update the given UAVObject
* Parse an NMEA GxVTG sentence and update the given UAVObject
* \param[in] A pointer to a GPSPositionSensor UAVObject to be updated.
* \param[in] An NMEA sentence with a valid checksum
*/
static bool nmeaProcessGPVTG(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
static bool nmeaProcessGxVTG(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
{
if (nbParam != 9 && nbParam != 10 /*GTOP GPS seems to gemnerate an extra parameter...*/) {
return false;
@ -592,11 +597,11 @@ static bool nmeaProcessGPVTG(GPSPositionSensorData *GpsData, bool *gpsDataUpdate
#if !defined(PIOS_GPS_MINIMAL)
/**
* Parse an NMEA GPZDA sentence and update the @ref GPSTime object
* Parse an NMEA GxZDA sentence and update the @ref GPSTime object
* \param[in] A pointer to a GPSPositionSensor UAVObject to be updated (unused).
* \param[in] An NMEA sentence with a valid checksum
*/
static bool nmeaProcessGPZDA(__attribute__((unused)) GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
static bool nmeaProcessGxZDA(__attribute__((unused)) GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
{
if (nbParam != 7) {
return false;
@ -636,7 +641,7 @@ static uint8_t gsv_processed_mask;
static uint16_t gsv_incomplete_error;
static uint16_t gsv_duplicate_error;
static bool nmeaProcessGPGSV(__attribute__((unused)) GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
static bool nmeaProcessGxGSV(__attribute__((unused)) GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
{
if (nbParam < 4) {
return false;
@ -723,7 +728,7 @@ static bool nmeaProcessGPGSV(__attribute__((unused)) GPSPositionSensorData *GpsD
* \param[in] A pointer to a GPSPositionSensor UAVObject to be updated.
* \param[in] An NMEA sentence with a valid checksum
*/
static bool nmeaProcessGPGSA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
static bool nmeaProcessGxGSA(GPSPositionSensorData *GpsData, bool *gpsDataUpdated, char *param[], uint8_t nbParam)
{
if (nbParam != 18) {
return false;

109
flight/pios/stm32f10x/pios_servo.c
View File

@ -40,8 +40,10 @@
static const struct pios_servo_cfg *servo_cfg;
// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
// static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
// used to skip updates when pulse length is higher than update cycle
static uint16_t pios_servo_bank_next_update[PIOS_SERVO_BANKS] = { 0 };
static uint16_t pios_servo_bank_max_pulse[PIOS_SERVO_BANKS] = { 0 };
// timer associated to each bank
static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
@ -49,7 +51,7 @@ static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
static uint8_t *pios_servo_pin_bank;
#define PIOS_SERVO_TIMER_CLOCK 1000000
#define PIOS_SERVO_SAFE_MARGIN 50
/**
* Initialise Servos
*/
@ -91,6 +93,12 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
pios_servo_pin_bank[j] = bank;
}
}
pios_servo_bank_timer[bank] = chan->timer;
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, ENABLE);
bank++;
}
@ -113,10 +121,6 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
}
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, ENABLE);
}
return 0;
@ -166,37 +170,106 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
return;
}
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[servo];
uint16_t val = position;
uint16_t margin = chan->timer->ARR / 50; // Leave 2% of period as margin to prevent overlaps
if (val > (chan->timer->ARR - margin)) {
val = chan->timer->ARR - margin;
}
uint8_t bank = pios_servo_pin_bank[servo];
if (pios_servo_bank_max_pulse[bank] < val) {
pios_servo_bank_max_pulse[bank] = val;
}
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, position);
TIM_SetCompare1(chan->timer, val);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, position);
TIM_SetCompare2(chan->timer, val);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, position);
TIM_SetCompare3(chan->timer, val);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, position);
TIM_SetCompare4(chan->timer, val);
break;
}
}
void PIOS_Servo_Update()
{
/*
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
const TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer) {
TIM_Cmd((TIM_TypeDef *)timer, ENABLE);
if (timer && pios_servo_bank_mode[i] == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
// a pulse to be generated is longer than cycle period. skip this update.
if (TIM_GetCounter((TIM_TypeDef *)timer) > (uint32_t)(pios_servo_bank_next_update[i] + PIOS_SERVO_SAFE_MARGIN)) {
TIM_GenerateEvent((TIM_TypeDef *)timer, TIM_EventSource_Update);
pios_servo_bank_next_update[i] = pios_servo_bank_max_pulse[i];
}
}
}
*/
pios_servo_bank_max_pulse[i] = 0;
}
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
uint8_t bank = pios_servo_pin_bank[i];
uint8_t mode = pios_servo_bank_mode[bank];
if (mode == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, 0);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, 0);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, 0);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, 0);
break;
}
}
}
}
void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
{
PIOS_Assert(bank < PIOS_SERVO_BANKS);
pios_servo_bank_mode[bank] = mode;
if (pios_servo_bank_timer[bank]) {
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
if (pios_servo_pin_bank[i] == bank) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_2:
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_3:
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_4:
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
}
}
}
// Setup the timer accordingly
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
}
}
void PIOS_Servo_SetBankMode(__attribute__((unused)) uint8_t bank, __attribute__((unused)) uint8_t mode) {}
uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
{

6
flight/pios/stm32f4xx/pios_servo.c
View File

@ -142,11 +142,7 @@ void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
}
}
}
if (mode != PIOS_SERVO_BANK_MODE_PWM) {
// TIM_UpdateDisableConfig(pios_servo_bank_timer[bank], ENABLE);
} else {
// TIM_UpdateDisableConfig(pios_servo_bank_timer[bank], DISABLE);
}
// Setup the timer accordingly
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);

12
flight/targets/boards/coptercontrol/board_hw_defs.c
View File

@ -1247,6 +1247,18 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
.num_channels = 1,
};
const struct pios_ppm_cfg pios_ppm_pin6_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
/* Use only the first channel for ppm */
.channels = &pios_tim_rcvrport_all_channels[5],
.num_channels = 1,
};
#endif /* PIOS_INCLUDE_PPM */
#if defined(PIOS_INCLUDE_PPM_FLEXI)

23
flight/targets/boards/coptercontrol/firmware/Makefile
View File

@ -30,6 +30,12 @@ USE_DSP_LIB ?= NO
# Set to YES to build a FW version that will erase data flash memory
ERASE_FLASH ?= NO
# Set to yes to include Gcsreceiver module
GCSRECEIVER ?= NO
# Enable Diag tasks ?
DIAG_TASKS ?= NO
# List of mandatory modules to include
MODULES += Attitude
MODULES += Stabilization
@ -103,7 +109,6 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/gyrostate.c
SRC += $(OPUAVSYNTHDIR)/attitudestate.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
SRC += $(OPUAVSYNTHDIR)/flightmodesettings.c
@ -116,15 +121,23 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/gpsvelocitysensor.c
SRC += $(OPUAVSYNTHDIR)/gpssettings.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
SRC += $(OPUAVSYNTHDIR)/perfcounter.c
# Command line option for Gcsreceiver module
ifeq ($(GCSRECEIVER), YES)
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
endif
# Enable Diag tasks and UAVOs needed
ifeq ($(DIAG_TASKS), YES)
CDEFS += -DDIAG_TASKS
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
SRC += $(OPUAVSYNTHDIR)/perfcounter.c
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
endif
else
## Test Code
SRC += $(OPTESTS)/test_common.c

6
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -97,10 +97,10 @@
/* PIOS receiver drivers */
#define PIOS_INCLUDE_PWM
#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PPM_FLEXI
/* #define PIOS_INCLUDE_PPM_FLEXI */
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_GCSRCVR
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
/* PIOS abstract receiver interface */
@ -142,7 +142,7 @@
/* #define PIOS_TELEM_PRIORITY_QUEUE */
#define PIOS_INCLUDE_GPS
#define PIOS_GPS_MINIMAL
#define PIOS_INCLUDE_GPS_NMEA_PARSER
/* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
#define PIOS_INCLUDE_GPS_UBX_PARSER
/* #define PIOS_GPS_SETS_HOMELOCATION */

94
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -32,6 +32,8 @@
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#include <taskinfo.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
@ -52,6 +54,9 @@
*/
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
static SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook();
static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 32
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 12
@ -712,8 +717,8 @@ void PIOS_Board_Init(void)
uint8_t hwsettings_rcvrport;
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
switch (hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLED:
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
#if defined(PIOS_INCLUDE_HCSR04)
{
uint32_t pios_hcsr04_id;
@ -721,7 +726,7 @@ void PIOS_Board_Init(void)
}
#endif
break;
case HWSETTINGS_CC_RCVRPORT_PWM:
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
#if defined(PIOS_INCLUDE_PWM)
{
uint32_t pios_pwm_id;
@ -735,12 +740,17 @@ void PIOS_Board_Init(void)
}
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_CC_RCVRPORT_PPM:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
if (hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT) {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_pin6_cfg);
} else {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
}
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
@ -750,7 +760,7 @@ void PIOS_Board_Init(void)
}
#endif /* PIOS_INCLUDE_PPM */
break;
case HWSETTINGS_CC_RCVRPORT_PPMPWM:
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
/* This is a combination of PPM and PWM inputs */
#if defined(PIOS_INCLUDE_PPM)
{
@ -777,6 +787,8 @@ void PIOS_Board_Init(void)
}
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
@ -794,15 +806,16 @@ void PIOS_Board_Init(void)
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
#ifndef PIOS_ENABLE_DEBUG_PINS
switch (hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLED:
case HWSETTINGS_CC_RCVRPORT_PWM:
case HWSETTINGS_CC_RCVRPORT_PPM:
case HWSETTINGS_CC_RCVRPORT_PPMPWM:
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_CC_RCVRPORT_OUTPUTS:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
break;
}
@ -841,6 +854,59 @@ void PIOS_Board_Init(void)
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
// Attach the board config check hook
SANITYCHECK_AttachHook(&CopterControlConfigHook);
// trigger a config check if actuatorsettings are updated
ActuatorSettingsInitialize();
ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
}
SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
{
// inhibit usage of oneshot for non supported RECEIVER port modes
uint8_t recmode;
HwSettingsCC_RcvrPortGet(&recmode);
uint8_t flexiMode;
uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
ActuatorSettingsBankModeGet(modes);
HwSettingsCC_FlexiPortGet(&flexiMode);
switch ((HwSettingsCC_RcvrPortOptions)recmode) {
// Those modes allows oneshot usage
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT ||
flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
(modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125)) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
} else {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
}
// inhibit oneshot for the following modes
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
}
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
// trigger a configuration check if ActuatorSettings are changed.
void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
configuration_check();
}
/**

2
flight/targets/boards/revoproto/firmware/inc/pios_config.h
View File

@ -108,8 +108,6 @@
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_SERVO
/* #define PIOS_INCLUDE_I2C_ESC */
#define PIOS_INCLUDE_OVERO
#define PIOS_OVERO_SPI
/* #define PIOS_INCLUDE_SDCARD */
/* #define LOG_FILENAME "startup.log" */
#define PIOS_INCLUDE_FLASH

2
ground/openpilotgcs/share/openpilotgcs/pfd/default/Panels.qml
View File

@ -893,7 +893,7 @@ Item {
Text {
text: ["FixedWing", "FixedWingElevon", "FixedWingVtail", "VTOL", "HeliCP", "QuadX", "QuadP",
"QuadH", "Hexa+", "Octo+", "Custom", "HexaX", "HexaH", "OctoV", "OctoCoaxP", "OctoCoaxX", "OctoX", "HexaCoax",
"Hexa+", "Octo+", "Custom", "HexaX", "HexaH", "OctoV", "OctoCoaxP", "OctoCoaxX", "OctoX", "HexaCoax",
"Tricopter", "GroundVehicleCar", "GroundVehicleDiff", "GroundVehicleMoto"][SystemSettings.AirframeType]
anchors.right: parent.right
color: "white"

4
ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
View File

@ -24,10 +24,10 @@ Item {
property variant thrustmodeColors : ["green", "grey", "grey", "grey", "grey", "grey", "grey", "grey",
"green", "green", "green", "cyan"]
// SystemSettings.AirframeType 3 - 18 : VtolPathFollower, check ThrustControl
// SystemSettings.AirframeType 3 - 17 : VtolPathFollower, check ThrustControl
property var thrust_mode: FlightStatus.FlightMode < 7 ? StabilizationDesired.StabilizationMode_Thrust :
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType > 2 && SystemSettings.AirframeType < 19
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType > 2 && SystemSettings.AirframeType < 18
&& VtolPathFollowerSettings.ThrustControl == 1 ? 11 :
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType < 3 ? 11: 0

410
ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
View File

@ -6649,15 +6649,13 @@ Applique et Enregistre tous les paramètres sur la SD</translation>
<translation>Sortie</translation>
</message>
<message>
<location/>
<source>Output Update Speed</source>
<translatorcomment>Bof...</translatorcomment>
<translation>Fréquence Mise à Jour Sorties</translation>
<translation type="vanished">Fréquence Mise à Jour Sorties</translation>
</message>
<message>
<location/>
<source>Channel:</source>
<translation>Canal :</translation>
<translation type="vanished">Canal :</translation>
</message>
<message>
<location/>
@ -6763,16 +6761,58 @@ Applique et Enregistre tous les paramètres sur la SD</translation>
<translation>Test en Temps Réel</translation>
</message>
<message>
<location/>
<source>Setup &quot;RapidESC&quot; here: usual value is 490 Hz for multirotor airframes.
</source>
<translation>Configurer ici &quot;RapidESC&quot; : 490Hz est une valeur classique pour les multirotors.</translation>
<translation type="vanished">Configurer ici &quot;RapidESC&quot; : 490Hz est une valeur classique pour les multirotors.</translation>
</message>
<message>
<location/>
<source>490</source>
<translation></translation>
</message>
<message>
<location/>
<source>Output configuration</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>Bank(Channels):</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>Setup output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value
</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>Mode:</source>
<translation type="unfinished">Mode :</translation>
</message>
<message>
<location/>
<source>Setup output mode. Use PWM or OneShot with Standard ESCs.
Several other ESCs like BLHeli 13+ can use the more advanced OneShot125.
When using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>Calibration status</source>
<translation type="unfinished">Statut de l&apos;étalonnage</translation>
</message>
</context>
<context>
<name>outputChannelForm</name>
@ -6786,20 +6826,14 @@ Applique et Enregistre tous les paramètres sur la SD</translation>
<source>Link</source>
<translation>Lien</translation>
</message>
<message>
<location/>
<source>#</source>
<translation></translation>
</message>
<message>
<location/>
<source>Channel Number</source>
<translation>Numéro Canal</translation>
</message>
<message>
<location/>
<source>Minimum PWM value, beware of not overdriving your servo.</source>
<translation>Valeur minimum PWM, attention de respecter les limites de votre servo.</translation>
<translation type="vanished">Valeur minimum PWM, attention de respecter les limites de votre servo.</translation>
</message>
<message>
<location/>
@ -6832,9 +6866,8 @@ Applique et Enregistre tous les paramètres sur la SD</translation>
<translation>Mode de sortie</translation>
</message>
<message>
<location/>
<source>Maximum PWM value, beware of not overdriving your servo.</source>
<translation>Valeur maximum PWM, attention de respecter les limites de votre servo.</translation>
<translation type="vanished">Valeur maximum PWM, attention de respecter les limites de votre servo.</translation>
</message>
<message>
<location/>
@ -6843,13 +6876,40 @@ Applique et Enregistre tous les paramètres sur la SD</translation>
</message>
<message>
<location/>
<source>0:</source>
<source>-</source>
<translation></translation>
</message>
<message>
<location/>
<source>-</source>
<translation></translation>
<source> # - Bank</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>Minimum PWM value, beware of not overdriving your servo.
Using OneShot125 a value of 1000(uS) here will produce a pulse of 125(uS).</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>0</source>
<translation type="unfinished">0</translation>
</message>
<message>
<location/>
<source>Bank number</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source> 0</source>
<translation type="unfinished"></translation>
</message>
<message>
<location/>
<source>Maximum value, beware of not overdriving your servo.
Using OneShot125 a value of 2000(uS) here will produce a pulse of 250(uS).</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
@ -9609,19 +9669,32 @@ Veuillez sélectionner le type de multirotor désiré pour la configuration ci-d
</message>
<message>
<location/>
<location filename="../../../src/plugins/setupwizard/pages/outputcalibrationpage.cpp" line="+415"/>
<location line="+90"/>
<location filename="../../../src/plugins/setupwizard/pages/outputcalibrationpage.cpp" line="+435"/>
<location line="+104"/>
<source>Start</source>
<translation>Démarrer</translation>
</message>
<message>
<location filename="../../../src/plugins/setupwizard/pages/outputcalibrationpage.cpp" line="-90"/>
<location line="+90"/>
<location filename="../../../src/plugins/setupwizard/pages/outputcalibrationpage.cpp" line="-198"/>
<location line="+8"/>
<location line="+178"/>
<location line="+25"/>
<source>Output value : &lt;b&gt;%1&lt;/b&gt; µs</source>
<translation>Valeur de sortie : &lt;b&gt;%1&lt;/b&gt; µs</translation>
</message>
<message>
<location line="-206"/>
<source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To find &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;the neutral rate for this reversable motor&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;, press the Start button below and slide the slider to the right or left until you find the value where the motor doesn&apos;t start. &lt;br/&gt;&lt;br/&gt;When done press button again to stop.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Pour trouver &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;la valeur de neutre de ce moteur inversable&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;, appuyez sur le bouton Démarrer et bouger le curseur à gauche ou à droite jusqu&apos;à trouver la position centrale où le moteur ne démarre pas. &lt;br/&gt;&lt;br/&gt;Lorsque c&apos;est terminé, appuyer à nouveau sur le bouton pour arrêter.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</translation>
</message>
<message>
<location line="+89"/>
<location line="+104"/>
<source>Stop</source>
<translation>Arrêter</translation>
</message>
<message>
<location line="-41"/>
<location line="-43"/>
<source>The actuator module is in an error state.
Please make sure the correct firmware version is used then restart the wizard and try again. If the problem persists please consult the openpilot.org support forum.</source>
@ -9668,14 +9741,13 @@ p, li { white-space: pre-wrap; }
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:&apos;Lucida Grande&apos;; font-size:10pt;&quot;&gt;En fonction du véhicule que vous avez sélectionné, les moteurs pilotés par des variateurs et/ou les servos contrôlés directement par la carte OpenPilot devront-être calibrés. Les étapes suivantes vous guideront en toute sécurité dans ce processus. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</translation>
</message>
<message>
<location/>
<source>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:&apos;Cantarell&apos;; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;In this step we will set the neutral rate for the motor highlighted in the illustration to the right. &lt;br /&gt;Please pay attention to the details and in particular the motors position and its rotation direction. Ensure the motors are spinning in the correct direction as shown in the diagram. Swap any 2 motor wires to change the direction of a motor. &lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To find &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;the neutral rate for this motor&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;, press the Start button below and slide the slider to the right until the motor just starts to spin stable. &lt;br /&gt;&lt;br /&gt;When done press button again to stop.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
<translation type="vanished">&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:&apos;Cantarell&apos;; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
@ -9698,6 +9770,29 @@ p, li { white-space: pre-wrap; }
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Cochez &quot;Inverser&quot; pour changer la direction de mouvement du servo.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;
</translation>
</message>
<message>
<location/>
<source>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:&apos;Cantarell&apos;; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;In this step we will set the neutral rate for the motor highlighted in the illustration to the right. &lt;br /&gt;Please pay attention to the details and in particular the motors position and its rotation direction. Ensure the motors are spinning in the correct direction as shown in the diagram. Swap any 2 motor wires to change the direction of a motor. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:&apos;Cantarell&apos;; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;A cette étapes nous allons ajuster le neutre du moteur mis en évidence dans l&apos;illustration à droite. &lt;br/&gt;Veuillez faire attention aux détails et en particulier à la position et au sens de rotation du moteur concerné. Soyez certain que le moteur tourne dans le bon sens comme indiqué sur l&apos;illustration ci-contre. Vous pouvez intervertir deux fils du moteur pour changer son sens de rotation. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</translation>
</message>
<message>
<location/>
<source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To find &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;the neutral rate for this motor&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;, press the Start button below and slide the slider to the right until the motor just starts to spin stable. &lt;br/&gt;&lt;br/&gt;When done press button again to stop.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Pour trouver &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;le neutre de ce moteur&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;, appuyez sur le bouton &quot;Démarrer&quot; ci-dessous et bougez le curseur vers la droite jusqu&apos;à ce que le moteur démarre et tourne de manière régulière. &lt;br /&gt;&lt;br /&gt;Lorsque c&apos;est réglé, appuyez à nouveau sur le bouton pour arrêter.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</translation>
</message>
<message>
<location/>
<source>Output value: 1000µs</source>
<translation>Valeur de sortie : &lt;b&gt;1000&lt;/b&gt; µs</translation>
</message>
</context>
<context>
<name>RebootPage</name>
@ -10529,7 +10624,7 @@ p, li { white-space: pre-wrap; }
<context>
<name>ConfigMultiRotorWidget</name>
<message>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp" line="+152"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp" line="+169"/>
<source>Input</source>
<translation>Entrée</translation>
</message>
@ -10539,7 +10634,7 @@ p, li { white-space: pre-wrap; }
<translation>Sortie</translation>
</message>
<message>
<location line="+376"/>
<location line="+419"/>
<location line="+24"/>
<location line="+31"/>
<location line="+31"/>
@ -10547,18 +10642,33 @@ p, li { white-space: pre-wrap; }
<location line="+24"/>
<location line="+24"/>
<location line="+44"/>
<location line="+202"/>
<location line="+255"/>
<location line="+70"/>
<source>Configuration OK</source>
<translation>Configuration OK</translation>
</message>
<message>
<location line="-307"/>
<location line="-360"/>
<source>&lt;font color=&apos;red&apos;&gt;ERROR: Assign a Yaw channel&lt;/font&gt;</source>
<translation>&lt;font color=&apos;red&apos;&gt;ERREUR : Veuillez affecter le canal de Yaw&lt;/font&gt;</translation>
</message>
<message>
<location line="+378"/>
<location line="+429"/>
<source>Duplicate channel in motor outputs</source>
<translation>Canaux en double dans le sorties moteur</translation>
</message>
<message>
<location line="+21"/>
<source>Channel already used</source>
<translation>Canal déjà utilisé</translation>
</message>
<message>
<location line="+4"/>
<source>Select output channel for Accessory%1 RcInput</source>
<translation>Sélectionnez le canal de sortie pour l&apos;entrée RC Accessory%1</translation>
</message>
<message>
<location line="+9"/>
<source>&lt;font color=&apos;red&apos;&gt;ERROR: Assign all %1 motor channels&lt;/font&gt;</source>
<translation>&lt;font color=&apos;red&apos;&gt;ERREUR : Veuillez affecter tous les %1 canaux moteurs&lt;/font&gt;</translation>
</message>
@ -10645,7 +10755,7 @@ Voulez-vous toujours continuer ?</translation>
<translation>Vous devrez reconfigurer manuellement les paramètres d&apos;armement lorsque l&apos;assistant sera terminé. Après la dernière étape de l&apos;assistant, vous serez redirigé vers l&apos;écran des Paramètres d&apos;Armement.</translation>
</message>
<message>
<location line="+224"/>
<location line="+211"/>
<source>Next</source>
<translation>Suivant</translation>
</message>
@ -11522,7 +11632,7 @@ Double clic sur la légende ou le tracé pour afficher/cacher la légende.</tran
<translation>Écriture paramètres de stabilisation</translation>
</message>
<message>
<location line="+135"/>
<location line="+146"/>
<source>Writing mixer settings</source>
<translation>Écriture paramètres mixeur</translation>
</message>
@ -11734,7 +11844,7 @@ Double clic sur la légende ou le tracé pour afficher/cacher la légende.</tran
<context>
<name>UploaderGadgetWidget</name>
<message>
<location filename="../../../src/plugins/uploader/uploadergadgetwidget.cpp" line="+284"/>
<location filename="../../../src/plugins/uploader/uploadergadgetwidget.cpp" line="+286"/>
<source>Connected Device</source>
<translation>Périphérique Connecté</translation>
</message>
@ -11751,12 +11861,12 @@ Double clic sur la légende ou le tracé pour afficher/cacher la légende.</tran
</message>
<message>
<location line="+30"/>
<location line="+474"/>
<location line="+484"/>
<source>Device</source>
<translation>Périphérique</translation>
</message>
<message>
<location line="-393"/>
<location line="-403"/>
<source>http://wiki.openpilot.org/display/Doc/Erase+board+settings</source>
<translation></translation>
</message>
@ -11766,66 +11876,71 @@ Double clic sur la légende ou le tracé pour afficher/cacher la légende.</tran
<translation>En cours d&apos;exécution</translation>
</message>
<message>
<location line="+245"/>
<location line="+255"/>
<source>Timed out while waiting for all boards to be disconnected!</source>
<translatorcomment>Bof</translatorcomment>
<translation type="unfinished">Expiration du temps d&apos;attente de la déconnexion de toutes les cartes !</translation>
</message>
<message>
<location line="-190"/>
<location line="+205"/>
<location line="-193"/>
<location line="+208"/>
<source>Timed out while waiting for a board to be connected!</source>
<translatorcomment>Bof</translatorcomment>
<translation type="unfinished">Expiration du temps dans l&apos;attente d&apos;une connexion de carte !</translation>
</message>
<message>
<location line="-216"/>
<location line="-238"/>
<source>To upgrade the OPLinkMini board please disconnect it from the USB port, press the Upgrade again button and follow instructions on screen.</source>
<translation>Pour mettre à jour une carte OPLinkMini veuillez la déconnecterdu port USB, appuyez à nouveau sur le bouton de mise à jour et suivez les instructions à l&apos;écran.</translation>
</message>
<message>
<location line="+19"/>
<source>Timed out while waiting for a board to be fully connected!</source>
<translation type="unfinished">Expiration du temps dans l&apos;attente d&apos;une connexion complète de carte !</translation>
<translation>Expiration du temps dans l&apos;attente d&apos;une connexion complète de carte !</translation>
</message>
<message>
<location line="+23"/>
<location line="+24"/>
<source>Failed to enter bootloader mode.</source>
<translation type="unfinished">Échec du passage en mode bootloader.</translation>
<translation>Échec du passage en mode bootloader.</translation>
</message>
<message>
<location line="+28"/>
<source>Unknown board id &apos;0x%1&apos;</source>
<translation type="unfinished">Carte inconnue id &apos;0x%1&apos;</translation>
<translation>Carte inconnue id &apos;0x%1&apos;</translation>
</message>
<message>
<location line="+7"/>
<source>Firmware image not found.</source>
<translation type="unfinished">Image firmware non trouvée.</translation>
<translation>Image firmware non trouvée.</translation>
</message>
<message>
<location line="+6"/>
<source>Could not open firmware image for reading.</source>
<translation type="unfinished">Impossible d&apos;ouvrir l&apos;image de firmware en lecture.</translation>
<translation>Impossible d&apos;ouvrir l&apos;image de firmware en lecture.</translation>
</message>
<message>
<location line="+10"/>
<source>Could not enter direct firmware upload mode.</source>
<translation type="unfinished">Impossible de passer en mode DFU.</translation>
<translation>Impossible de passer en mode DFU.</translation>
</message>
<message>
<location line="+6"/>
<source>Firmware upload failed.</source>
<translation type="unfinished">Échec du téléversement du firmware.</translation>
<translation>Échec du téléversement du firmware.</translation>
</message>
<message>
<location line="+8"/>
<source>Failed to upload firmware description.</source>
<translation type="unfinished">Échec du téléversement de la description firmware.</translation>
<translation>Échec du téléversement de la description firmware.</translation>
</message>
<message>
<location line="+15"/>
<location line="+17"/>
<source>Timed out while booting.</source>
<translation type="unfinished">Expiration du temps d&apos;attente lors du démarrage.</translation>
<translation>Expiration du temps d&apos;attente lors du démarrage.</translation>
</message>
<message>
<location line="+66"/>
<location line="+67"/>
<source>Please disconnect your OpenPilot board.</source>
<translation>Veuillez déconnecter votre carte OpenPilot.</translation>
</message>
@ -11848,7 +11963,7 @@ Double clic sur la légende ou le tracé pour afficher/cacher la légende.</tran
<translation>La carte doit être connectée à un port USB !</translation>
</message>
<message>
<location line="+143"/>
<location line="+147"/>
<source>Waiting for all OpenPilot boards to be disconnected from USB.</source>
<translation>Attente de la déconnexion de toutes les cartes connectées en USB.</translation>
</message>
@ -11866,37 +11981,37 @@ Double clic sur la légende ou le tracé pour afficher/cacher la légende.</tran
<message>
<location line="+7"/>
<source>Bringing the board into boot loader mode. Please wait.</source>
<translation type="unfinished">Passage de la carte en mode bootloader. Veuillez patienter.</translation>
<translation>Passage de la carte en mode bootloader. Veuillez patienter.</translation>
</message>
<message>
<location line="+1"/>
<source>Step %1</source>
<translation type="unfinished">Étape %1</translation>
<translation>Étape %1</translation>
</message>
<message>
<location line="+17"/>
<source>Rebooting the board. Please wait.</source>
<translation type="unfinished">Redémarrage de la carte. Veuillez patienter.</translation>
<translation>Redémarrage de la carte. Veuillez patienter.</translation>
</message>
<message>
<location line="+3"/>
<source>Rebooting and erasing the board. Please wait.</source>
<translation type="unfinished">Redémarrage et effacement de la carte. Veuillez patienter.</translation>
<translation>Redémarrage et effacement de la carte. Veuillez patienter.</translation>
</message>
<message>
<location line="+4"/>
<source>Board was updated successfully. Press OK to finish.</source>
<translation type="unfinished">La carte a été mise à jour avec succès. Appuyez sur OK pour terminer.</translation>
<translation>La carte a été mise à jour avec succès. Appuyez sur OK pour terminer.</translation>
</message>
<message>
<location line="+7"/>
<source>Something went wrong.</source>
<translation type="unfinished">Quelque chose c&apos;est mal passé.</translation>
<translation>Quelque chose c&apos;est mal passé.</translation>
</message>
<message>
<location line="+2"/>
<source> Press OK to finish, you will have to manually upgrade the board.</source>
<translation type="unfinished"> Appuyez sur OK pour terminer, vous devrez mettre à jour votre carte manuellement.</translation>
<translation> Appuyez sur OK pour terminer, vous devrez mettre à jour votre carte manuellement.</translation>
</message>
<message>
<source>Bringing the board into boot loader mode.</source>
@ -11986,7 +12101,7 @@ La carte sera redémarrée et tous les paramètres effacés.</translation>
<translation>Veuillez vérifier que la carte n&apos;est pas armée et appuyez à nouveau Réinitialiser pour continuer ou allumer/éteindre la carte pour forcer la réinitialisation.</translation>
</message>
<message>
<location line="-449"/>
<location line="-465"/>
<source></source>
<translation>Annuler</translation>
</message>
@ -12428,12 +12543,12 @@ La carte sera redémarrée et tous les paramètres effacés.</translation>
<message>
<location/>
<source>Source:</source>
<translation type="unfinished">Source :</translation>
<translation>Source :</translation>
</message>
<message>
<location/>
<source>The source of Curve 1 will always be Throttle</source>
<translation type="unfinished">La source de la Courbe 1 est toujours Throttle</translation>
<translation>La source de la Courbe 1 est toujours Throttle</translation>
</message>
<message>
<location/>
@ -12818,6 +12933,76 @@ Les valeurs classiques sont de 100% en configuration + et 50% en configuration X
<source>Select the Multirotor frame type</source>
<translation>Sélectionner ici le type de châssis Multirotor</translation>
</message>
<message>
<location/>
<source>Select output channel for Accessory0 RcInput</source>
<translation>Sélectionnez le canal de sortie pour l&apos;entrée RC Accessory0</translation>
</message>
<message>
<location/>
<source>Accessory1</source>
<translation></translation>
</message>
<message>
<location/>
<source>RcOutput channels</source>
<translation>Canaux de sortie RC</translation>
</message>
<message>
<location/>
<source>RC Output</source>
<translation>Sorties RC</translation>
</message>
<message>
<location/>
<source>Accessory0</source>
<translation></translation>
</message>
<message>
<location/>
<source>RC Input</source>
<translation>Entrées RC</translation>
</message>
<message>
<location/>
<source>Select output channel for Accessory2 RcInput</source>
<translation>Sélectionnez le canal de sortie pour l&apos;entrée RC Accessory2</translation>
</message>
<message>
<location/>
<source>Select output channel for Accessory1 RcInput</source>
<translation>Sélectionnez le canal de sortie pour l&apos;entrée RC Accessory1</translation>
</message>
<message>
<location/>
<source>Accessory2</source>
<translation></translation>
</message>
<message>
<location/>
<source>RcOutput curve</source>
<translation>Courbe de sortie RC</translation>
</message>
<message>
<location/>
<source>Curve</source>
<translation>Courbe</translation>
</message>
<message>
<location/>
<source>Select output curve for Accessory0 RcInput</source>
<translation>Sélectionnez la courbe de mixage pour l&apos;entrée RC Accessory0</translation>
</message>
<message>
<location/>
<source>Select output curve for Accessory1 RcInput</source>
<translation>Sélectionnez la courbe de mixage pour l&apos;entrée RC Accessory1</translation>
</message>
<message>
<location/>
<source>Select output curve for Accessory2 RcInput</source>
<translation>Sélectionnez la courbe de mixage pour l&apos;entrée RC Accessory2</translation>
</message>
</context>
<context>
<name>RevoHWWidget</name>
@ -12909,7 +13094,7 @@ Méfiez-vous de ne pas vous verrouiller l&apos;accès !</translation>
<context>
<name>OPLinkWidget</name>
<message>
<location filename="../../../src/plugins/config/pipxtreme.ui"/>
<location filename="../../../src/plugins/config/oplink.ui"/>
<source>Form</source>
<translation>Formulaire</translation>
</message>
@ -13060,9 +13245,8 @@ Méfiez-vous de ne pas vous verrouiller l&apos;accès !</translation>
<translation>Tx Perdus</translation>
</message>
<message>
<location/>
<source>TX Resent</source>
<translation>TX Renvoyés</translation>
<translation type="vanished">TX Renvoyés</translation>
</message>
<message>
<location/>
@ -13209,14 +13393,12 @@ Méfiez-vous de ne pas vous verrouiller l&apos;accès !</translation>
<translation>Canal Mini</translation>
</message>
<message>
<location/>
<source>Channel Set</source>
<translation>Canal fixe</translation>
<translation type="vanished">Canal fixe</translation>
</message>
<message>
<location/>
<source>Sets the random sequence of channels to use for frequency hopping.</source>
<translation>Fixe une séquence aléatoire de canaux à utiliser pour les sauts de fréquence.</translation>
<translation type="vanished">Fixe une séquence aléatoire de canaux à utiliser pour les sauts de fréquence.</translation>
</message>
<message>
<location/>
@ -13261,17 +13443,17 @@ Méfiez-vous de ne pas vous verrouiller l&apos;accès !</translation>
<message>
<location/>
<source>Channel 0 is 430 MHz, channel 250 is 440 MHz, and the channel spacing is 40 KHz.</source>
<translation type="unfinished">Canal 0 correspond à 430Mhz, canal 249 à 440Mhz, et l&apos;espacement des canaux est de 40KHz. {0 ?} {430 ?} {250 ?} {440 ?} {40 ?}</translation>
<translation>Canal 0 correspond à 430Mhz, canal 250 à 440Mhz, et l&apos;espacement des canaux est de 40KHz. </translation>
</message>
<message>
<location/>
<source>440.000 (MHz)</source>
<translation type="unfinished"></translation>
<translation></translation>
</message>
<message>
<location/>
<source>430.000 (MHz)</source>
<translation type="unfinished"></translation>
<translation></translation>
</message>
</context>
<context>
@ -13445,7 +13627,7 @@ p, li { white-space: pre-wrap; }
<context>
<name>ConfigOutputWidget</name>
<message>
<location filename="../../../src/plugins/config/configoutputwidget.cpp" line="+144"/>
<location filename="../../../src/plugins/config/configoutputwidget.cpp" line="+160"/>
<source>The actuator module is in an error state. This can also occur because there are no inputs. Please fix these before testing outputs.</source>
<translation>Le module actionneur est en erreur. Cela peut aussi arriver lorsque il n&apos;y a pas d&apos;entrées (Rx radiocommande). Veuillez corriger cela avant de tester les sorties.</translation>
</message>
@ -13455,10 +13637,23 @@ p, li { white-space: pre-wrap; }
<translation>Cette option démarre vos moteurs avec la valeur sélectionnée sur les curseurs, indépendamment de l&apos;émetteur. Il est recommandé d&apos;enlever les hélices des moteurs. Êtes-vous sûr de vouloir faire ça ?</translation>
</message>
<message>
<location line="+253"/>
<location line="+35"/>
<source>You may want to save your neutral settings.</source>
<translation>Vous pouvez enregistrer vos changements des réglages de neutre.</translation>
</message>
<message>
<location line="+238"/>
<source>http://wiki.openpilot.org/x/WIGf</source>
<translation></translation>
</message>
<message>
<location line="+16"/>
<source>OneShot only works with MainPort settings marked with &quot;+OneShot&quot;
Using &quot;PPM_PIN6+OneShot&quot; bank 4 (output 6) must be set to PWM</source>
<translation type="unfinished">OneShot fonctionne uniquement avec les réglages de Mainport marqués avec &quot;+OneShot&quot;
En utilisant &quot;PPM_PIN6+OneShot&quot; la banque 4 (sortie 6) doit être réglée sur PWM
</translation>
</message>
</context>
<context>
<name>ConfigRevoHWWidget</name>
@ -14298,36 +14493,25 @@ Veuillez vérifier le fichier.
<context>
<name>ConfigPipXtremeWidget</name>
<message>
<location filename="../../../src/plugins/config/configpipxtremewidget.cpp" line="+154"/>
<location line="+9"/>
<location line="+9"/>
<location line="+9"/>
<source>Unbind</source>
<translation>Dissocier</translation>
<translation type="vanished">Dissocier</translation>
</message>
<message>
<location line="-27"/>
<location line="+9"/>
<location line="+9"/>
<location line="+9"/>
<source>Bind</source>
<translation>Associer</translation>
<translation type="vanished">Associer</translation>
</message>
<message>
<location line="+34"/>
<source>Unknown</source>
<translation>Inconnu</translation>
<translation type="vanished">Inconnu</translation>
</message>
<message>
<location line="+107"/>
<source>Information</source>
<translation>Information</translation>
<translation type="vanished">Information</translation>
</message>
<message>
<location line="+0"/>
<source>To apply the changes when binding/unbinding the board must be rebooted or power cycled.</source>
<translatorcomment>détachement ou dissociation ~ unbinding ? tr Bof</translatorcomment>
<translation>Pour appliquer les changements d&apos;association/dissociation la carte doit être redémarrée ou débranchée/rebranchée.</translation>
<translation type="vanished">Pour appliquer les changements d&apos;association/dissociation la carte doit être redémarrée ou débranchée/rebranchée.</translation>
</message>
</context>
<context>
@ -14640,7 +14824,7 @@ et même conduire au crash. A utiliser avec prudence.</translation>
<translation>Personnalisé</translation>
</message>
<message>
<location line="+315"/>
<location line="+314"/>
<source>http://wiki.openpilot.org/x/44Cf</source>
<translation></translation>
</message>
@ -14813,7 +14997,7 @@ et même conduire au crash. A utiliser avec prudence.</translation>
<context>
<name>TimedDialog</name>
<message>
<location filename="../../../src/plugins/uploader/uploadergadgetwidget.cpp" line="-654"/>
<location filename="../../../src/plugins/uploader/uploadergadgetwidget.cpp" line="-653"/>
<source>Cancel</source>
<translation>Annuler</translation>
</message>
@ -15587,7 +15771,7 @@ A noter : Pour le GPS OpenPilot v8, veuillez choisir l&apos;option GPS U-Blox.</
<message>
<location filename="../../../src/plugins/setupwizard/pages/esccalibrationpage.cpp" line="+49"/>
<location line="+49"/>
<location line="+32"/>
<location line="+42"/>
<location line="+7"/>
<location line="+9"/>
<source>%1 µs</source>
@ -15762,22 +15946,56 @@ p, li { white-space: pre-wrap; }
<message>
<location filename="../../../src/plugins/uploader/rebootdialog.ui"/>
<source>Reboot</source>
<translation type="unfinished">Redémarrage</translation>
<translation>Redémarrage</translation>
</message>
<message>
<location/>
<source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Please wait. Your controller is rebooting.&lt;br/&gt;This can take up to a minute.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation type="unfinished">&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Veuillez patienter. Votre contrôleur redémarre&lt;br/&gt;Cela peut prendre jusqu&apos;à une minute.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</translation>
<translation>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Veuillez patienter. Votre contrôleur redémarre&lt;br/&gt;Cela peut prendre jusqu&apos;à une minute.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</translation>
</message>
<message>
<location/>
<source>Ok</source>
<translation type="unfinished">Ok</translation>
<translation>Ok</translation>
</message>
<message>
<location filename="../../../src/plugins/uploader/rebootdialog.cpp" line="+69"/>
<source>&lt;font color=&apos;red&apos;&gt;Reboot failed!&lt;/font&gt;&lt;p&gt;Please perform a manual reboot by power cycling the board.&lt;br&gt;To power cycle the controller remove all batteries and the USB cable for at least 30 seconds.&lt;br&gt;After 30 seconds, plug in the board again and wait for it to connect, this can take a few seconds.&lt;br&gt;Then press Ok.&lt;/p&gt;</source>
<translation type="unfinished">&lt;font color=&apos;red&apos;&gt;Le rédémarrage a échoué !&lt;/font&gt;&lt;p&gt;Veuillez effectuer un redémarrage manuel de la carte.&lt;br&gt;Pour redémarrer la carte contrôleur, envelez toutes les batteries ainsi que le câble USB pour au moins 30 secondes.&lt;br&gt;Après 30 secondes, connecter à nouveau la carte et attendez qu&apos;elle soit connectée, cela peut prendre quelques secondes.&lt;br&gt;Ensuite cliquez sur Ok.&lt;/p&gt;</translation>
<translation>&lt;font color=&apos;red&apos;&gt;Le rédémarrage a échoué !&lt;/font&gt;&lt;p&gt;Veuillez effectuer un redémarrage manuel de la carte.&lt;br&gt;Pour redémarrer la carte contrôleur, envelez toutes les batteries ainsi que le câble USB pour au moins 30 secondes.&lt;br&gt;Après 30 secondes, connecter à nouveau la carte et attendez qu&apos;elle soit connectée, cela peut prendre quelques secondes.&lt;br&gt;Cliquez ensuite sur Ok.&lt;/p&gt;</translation>
</message>
</context>
<context>
<name>ConfigOPLinkWidget</name>
<message>
<location filename="../../../src/plugins/config/configoplinkwidget.cpp" line="+152"/>
<location line="+9"/>
<location line="+9"/>
<location line="+9"/>
<source>Unbind</source>
<translation>Dissocier</translation>
</message>
<message>
<location line="-27"/>
<location line="+9"/>
<location line="+9"/>
<location line="+9"/>
<source>Bind</source>
<translation>Associer</translation>
</message>
<message>
<location line="+34"/>
<source>Unknown</source>
<translation>Inconnu</translation>
</message>
<message>
<location line="+107"/>
<source>Information</source>
<translation>Information</translation>
</message>
<message>
<location line="+0"/>
<source>To apply the changes when binding/unbinding the board must be rebooted or power cycled.</source>
<translation>Pour appliquer les changements d&apos;association/dissociation la carte doit être redémarrée ou débranchée/rebranchée.</translation>
</message>
</context>
</TS>

112
ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
View File

@ -116,8 +116,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>622</width>
<height>519</height>
<width>624</width>
<height>510</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
@ -309,18 +309,14 @@
</layout>
</item>
<item row="2" column="1">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0">
<item row="5" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0">
<item row="4" column="0">
<widget class="QComboBox" name="cbFlexi"/>
</item>
<item row="1" column="4">
<item row="6" column="0">
<widget class="QComboBox" name="cbTele"/>
</item>
<item row="3" column="3">
<widget class="QLabel" name="label_8">
<property name="text">
<string>USB HID Port</string>
@ -330,49 +326,14 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="cbTele"/>
</item>
<item row="1" column="1" rowspan="5" colspan="3">
<widget class="QLabel" name="label_2">
<item row="7" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string/>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QComboBox" name="cbRcvr"/>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>MainPort</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QComboBox" name="cbUsbHid"/>
</item>
<item row="4" column="4">
<widget class="QComboBox" name="cbUsbVcp"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>FlexiPort</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="3" column="4">
<item row="5" column="3">
<widget class="QLabel" name="label_9">
<property name="text">
<string>USB VCP Port</string>
@ -382,17 +343,40 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_7">
<item row="3" column="1" rowspan="5" colspan="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string>RcvrPort</string>
<string/>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="5">
<item row="5" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Main Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Flexi Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QComboBox" name="cbUsbHid"/>
</item>
<item row="4" column="4">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -405,6 +389,22 @@
</property>
</spacer>
</item>
<item row="6" column="3">
<widget class="QComboBox" name="cbUsbVcp"/>
</item>
<item row="2" column="1" colspan="2" alignment="Qt::AlignLeft">
<widget class="QComboBox" name="cbRcvr"/>
</item>
<item row="1" column="1" colspan="2" alignment="Qt::AlignLeft">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Receiver Port</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0">

44
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -60,10 +60,10 @@ QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
channelDesc[configData.ground.GroundVehicleSteering2 - 1] = QString("GroundSteering2");
}
if (configData.ground.GroundVehicleThrottle1 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundThrottle1");
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundMotor1");
}
if (configData.ground.GroundVehicleThrottle2 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundThrottle2");
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundMotor2");
}
return channelDesc;
}
@ -116,6 +116,13 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
// Default Curve2 range -1 -> +1, allow forward/reverse (Car and Tank)
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
initMixerCurves(frameType);
if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)") {
// Tank
m_vehicleImg->setElementId("tank");
@ -159,9 +166,9 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
// Motorcycle
m_vehicleImg->setElementId("motorbike");
setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Motorcycle"));
m_aircraft->gvMotor1ChannelBox->setEnabled(false);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor2ChannelBox->setEnabled(false);
m_aircraft->gvMotor2Label->setText("Rear motor");
@ -171,7 +178,11 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Balancing");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
// Curve1 for Motorcyle
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Rear throttle curve");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(false);
// Curve range 0 -> +1 (no reverse)
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
@ -201,19 +212,24 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Rear steering");
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Front throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
// Curve2 for Car
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
initMixerCurves(frameType);
// If new setup, set curves values
if (frameTypeSaved->getValue().toString() != "GroundVehicleCar") {
// Curve range 0 -> +1 (no reverse)
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0);
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0);
// Set curve2 range from -0.926 to 1 (forward / reverse)
// Take in account 4% offset in Throttle input after calibration
// 0.5 / 0.54 = 0.926
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0, -0.926);
}
}
@ -321,6 +337,8 @@ void ConfigGroundVehicleWidget::initMixerCurves(QString frameType)
// no, init a straight curve
if (frameType == "GroundVehicleDifferential") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 0.8, -0.8);
} else if (frameType == "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0, -1.0);
} else {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
@ -388,7 +406,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
// motor
int channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@ -495,7 +513,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);

21
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -154,7 +154,7 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
m_aircraft->quadShape->setScene(scene);
QStringList multiRotorTypes;
multiRotorTypes << "Tricopter Y" << "Quad +" << "Quad X" << "Quad H" << "Hexacopter" << "Hexacopter X" << "Hexacopter H"
multiRotorTypes << "Tricopter Y" << "Quad +" << "Quad X" << "Hexacopter" << "Hexacopter X" << "Hexacopter H"
<< "Hexacopter Y6" << "Octocopter" << "Octocopter X" << "Octocopter V" << "Octo Coax +" << "Octo Coax X";
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
@ -195,12 +195,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
setYawMixLevel(50);
} else if (frameType == "QuadH" || frameType == "Quad H") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad H"));
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(70);
setYawMixLevel(50);
} else if (frameType == "QuadP" || frameType == "Quad +") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
@ -296,8 +290,6 @@ void ConfigMultiRotorWidget::setupEnabledControls(QString frameType)
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
} else if (frameType == "QuadP" || frameType == "Quad +") {
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
} else if (frameType == "QuadH" || frameType == "Quad H") {
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
@ -445,12 +437,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2, multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSW);
} else if (frameType == "QuadH") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2, multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSW);
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorN);
@ -564,9 +550,6 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
} else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
airframeType = "QuadX";
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Quad H") {
airframeType = "QuadH";
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
airframeType = "Hexa";
setupHexa(true);
@ -840,8 +823,6 @@ void ConfigMultiRotorWidget::updateAirframe(QString frameType)
elementId = "quad-x";
} else if (frameType == "QuadP" || frameType == "Quad +") {
elementId = "quad-plus";
} else if (frameType == "QuadH" || frameType == "Quad H") {
elementId = "quad-h";
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
elementId = "quad-hexa";
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {

1
ground/openpilotgcs/src/plugins/config/configgadget.qrc
View File

@ -54,5 +54,6 @@
<file>images/calibration/plane-swd.png</file>
<file>images/calibration/board-swd.png</file>
<file>images/gear.png</file>
<file>images/error.svg</file>
</qresource>
</RCC>

29
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -1698,12 +1698,31 @@ void ConfigInputWidget::resetChannelSettings()
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'
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QString mixerType;
// Clear all output data : Min, max, neutral at same value
// 1000 for motors and 1500 for all others (Reversable motor included)
for (unsigned int output = 0; output < 12; output++) {
actuatorSettingsData.ChannelMax[output] = 1500;
actuatorSettingsData.ChannelMin[output] = 1000;
actuatorSettingsData.ChannelNeutral[output] = 1500;
QString mixerNumType = QString("Mixer%1Type").arg(output + 1);
UAVObjectField *field = mixer->getField(mixerNumType);
Q_ASSERT(field);
if (field) {
mixerType = field->getValue().toString();
}
if ((mixerType == "Motor") || (mixerType == "Disabled")) {
actuatorSettingsData.ChannelMax[output] = 1000;
actuatorSettingsData.ChannelMin[output] = 1000;
actuatorSettingsData.ChannelNeutral[output] = 1000;
} else {
actuatorSettingsData.ChannelMax[output] = 1500;
actuatorSettingsData.ChannelMin[output] = 1500;
actuatorSettingsData.ChannelNeutral[output] = 1500;
}
actuatorSettingsObj->setData(actuatorSettingsData);
}
}

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

@ -40,6 +40,7 @@
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "actuatorsettings.h"
#include "mixersettings.h"
#include "flightmodesettings.h"
#include "receiveractivity.h"
#include <QGraphicsView>

42
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -32,7 +32,6 @@
#include "mixersettings.h"
#include "actuatorcommand.h"
#include "actuatorsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
#include <extensionsystem/pluginmanager.h>
@ -53,6 +52,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
ui = new Ui_OutputWidget();
ui->setupUi(this);
ui->gvFrame->setVisible(false);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
@ -105,6 +106,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
addWidgetBinding("ActuatorSettings", "BankMode", ui->cb_outputMode5, 4, 0, true);
addWidgetBinding("ActuatorSettings", "BankMode", ui->cb_outputMode6, 5, 0, true);
SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
connect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
populateWidgets();
@ -115,6 +119,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
ConfigOutputWidget::~ConfigOutputWidget()
{
SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
disconnect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
// Do nothing
}
@ -196,6 +203,15 @@ void ConfigOutputWidget::runChannelTests(bool state)
if (state) {
sendAllChannelTests();
}
// Add info at end
if (!state && isDirty()) {
QMessageBox mbox;
mbox.setText(QString(tr("You may want to save your neutral settings.")));
mbox.setStandardButtons(QMessageBox::Ok);
mbox.setIcon(QMessageBox::Information);
mbox.exec();
}
}
OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const
@ -436,3 +452,27 @@ void ConfigOutputWidget::stopTests()
{
ui->channelOutTest->setChecked(false);
}
void ConfigOutputWidget::updateWarnings(UAVObject *)
{
SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
setWarning(tr("OneShot only works with Receiver Port settings marked with '+OneShot'<br>"
"When using Receiver Port setting 'PPM_PIN6+OneShot' "
"<b><font color='#C3A8FF'>Bank 4 (output 6,9-10)</font></b> must be set to PWM"));
return;
}
}
setWarning(NULL);
}
void ConfigOutputWidget::setWarning(QString message)
{
ui->gvFrame->setVisible(!message.isNull());
ui->picWarning->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
ui->txtWarning->setText(message);
}

5
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -37,6 +37,8 @@
#include <QWidget>
#include <QList>
#include "systemalarms.h"
class Ui_OutputWidget;
class OutputChannelForm;
@ -50,11 +52,11 @@ public:
protected:
void enableControls(bool enable);
void setWarning(QString message);
private:
Ui_OutputWidget *ui;
QList<QSlider> sliders;
void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, QCheckBox *rev, int value);
void assignOutputChannel(UAVDataObject *obj, QString &str);
@ -70,6 +72,7 @@ private:
UAVObject::Metadata accInitialData;
private slots:
void updateWarnings(UAVObject *);
void stopTests();
virtual void refreshWidgetsValues(UAVObject *obj = NULL);
void updateObjectsFromWidgets();

4
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -85,7 +85,6 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_QUADH:
case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
@ -316,8 +315,7 @@ int ConfigVehicleTypeWidget::frameCategory(QString frameType)
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
return ConfigVehicleTypeWidget::FIXED_WING;
} else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Quad H" || frameType == "QuadH"
|| frameType == "Hexa" || frameType == "Hexacopter"
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
|| frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
|| frameType == "HexaH" || frameType == "Hexacopter H" || frameType == "Hexacopter Y6"
|| frameType == "Octo" || frameType == "Octocopter"

35
ground/openpilotgcs/src/plugins/config/images/error.svg Normal file
View File

@ -0,0 +1,35 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg id="svg3247" xmlns="http://www.w3.org/2000/svg" height="48" width="48" version="1.0" xmlns:xlink="http://www.w3.org/1999/xlink">
<defs id="defs3249">
<linearGradient id="linearGradient2411" y2="5.4676" gradientUnits="userSpaceOnUse" x2="63.397" gradientTransform="matrix(2.1154 0 0 2.1153 -107.58 32.427)" y1="-12.489" x1="63.397">
<stop id="stop4875" style="stop-color:#fff" offset="0"/>
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1568
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<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Setup output mode. Use PWM or PWMSync with Standard ESCs.&lt;br/&gt;Several other ESCs like BLHeli 13+ can use the more advanced OneShot125.&lt;br/&gt;When using OneShot125 all values set in min/max and idle are divided by &lt;br/&gt;eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="1" column="7">
<widget class="QComboBox" name="cb_outputRate6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Setup PWM rate here: usual value is 490 Hz for multirotor airframes.&lt;br/&gt;PWMSync and OneShot125 does not use this value.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
<item>
<property name="text">
<string>490</string>
</property>
</item>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="chBank6">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="7">
<widget class="QComboBox" name="cb_outputMode6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Setup output mode. Use PWM or PWMSync with Standard ESCs.&lt;br/&gt;Several other ESCs like BLHeli 13+ can use the more advanced OneShot125.&lt;br/&gt;When using OneShot125 all values set in min/max and idle are divided by &lt;br/&gt;eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="chBank1">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Bank(Channels):</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer_4">
<item>
<widget class="QFrame" name="gvFrame">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="3">
<widget class="QLabel" name="chBank2">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="cb_outputRate1">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value
</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<item>
<property name="text">
<string>50</string>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin">
<number>0</number>
</property>
</item>
<item>
<property name="text">
<string>60</string>
<property name="topMargin">
<number>0</number>
</property>
</item>
<item>
<property name="text">
<string>125</string>
<property name="rightMargin">
<number>0</number>
</property>
</item>
<item>
<property name="text">
<string>165</string>
<property name="bottomMargin">
<number>0</number>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
<item>
<property name="text">
<string>490</string>
</property>
</item>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="cb_outputRate2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
<item>
<property name="text">
<string>490</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="text">
<string>Update rate:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QComboBox" name="cb_outputRate3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
<item>
<property name="text">
<string>490</string>
</property>
</item>
</widget>
</item>
<item row="1" column="5">
<widget class="QComboBox" name="cb_outputRate4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
<item>
<property name="text">
<string>490</string>
</property>
</item>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="chBank6">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QComboBox" name="cb_outputRate5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
<item>
<property name="text">
<string>490</string>
</property>
</item>
</widget>
</item>
<item row="1" column="7">
<widget class="QComboBox" name="cb_outputRate6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
<item>
<property name="text">
<string>490</string>
</property>
</item>
</widget>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="text">
<string>Mode:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="cb_outputMode1">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup output mode. Use PWM or OneShot with Standard ESCs.
Several other ESCs like BLHeli 13+ can use the more advanced OneShot125.
When using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="cb_outputMode2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QComboBox" name="cb_outputMode3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
</property>
</widget>
</item>
<item row="2" column="5">
<widget class="QComboBox" name="cb_outputMode4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QComboBox" name="cb_outputMode5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
</property>
</widget>
</item>
<item row="2" column="7">
<widget class="QComboBox" name="cb_outputMode6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
</property>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>70</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="picWarning">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="txtWarning">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>

156
ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
View File

@ -27,6 +27,9 @@
#include "outputchannelform.h"
#define MAXOUTPUT_VALUE 2500
#define MINOUTPUT_VALUE 500
OutputChannelForm::OutputChannelForm(const int index, QWidget *parent) :
ChannelForm(index, parent), ui(), m_inChannelTest(false)
{
@ -45,6 +48,23 @@ OutputChannelForm::OutputChannelForm(const int index, QWidget *parent) :
ui.actuatorLink->setChecked(false);
connect(ui.actuatorLink, SIGNAL(toggled(bool)), this, SLOT(linkToggled(bool)));
// Set limits
ui.actuatorMin->setMaximum(MAXOUTPUT_VALUE);
ui.actuatorMax->setMaximum(MAXOUTPUT_VALUE);
ui.actuatorValue->setMaximum(MAXOUTPUT_VALUE);
ui.actuatorMin->setMinimum(MINOUTPUT_VALUE);
ui.actuatorMax->setMinimum(MINOUTPUT_VALUE);
ui.actuatorValue->setMinimum(MINOUTPUT_VALUE);
// Remove keyboard focus
ui.actuatorMin->setFocusPolicy(Qt::ClickFocus);
ui.actuatorMax->setFocusPolicy(Qt::ClickFocus);
ui.actuatorRev->setFocusPolicy(Qt::ClickFocus);
ui.actuatorLink->setFocusPolicy(Qt::ClickFocus);
ui.actuatorValue->setFocusPolicy(Qt::NoFocus);
setChannelRange();
disableMouseWheelEvents();
}
@ -109,11 +129,12 @@ void OutputChannelForm::enableChannelTest(bool state)
} else {
ui.actuatorMin->setEnabled(true);
ui.actuatorMax->setEnabled(true);
ui.actuatorRev->setEnabled(true);
if (m_mixerType != "Motor") {
ui.actuatorRev->setEnabled(true);
}
}
}
/**
* Toggles the channel linked state for use in testing mode
*/
@ -128,7 +149,7 @@ void OutputChannelForm::linkToggled(bool state)
if (!parent()) {
return;
}
int min = 10000;
int min = MAXOUTPUT_VALUE;
int linked_count = 0;
QList<OutputChannelForm *> outputChannelForms = parent()->findChildren<OutputChannelForm *>();
// set the linked channels of the parent widget to the same value
@ -168,7 +189,7 @@ int OutputChannelForm::max() const
*/
void OutputChannelForm::setMax(int maximum)
{
setRange(ui.actuatorMin->value(), maximum);
setRange(ui.actuatorMax->value(), maximum);
}
int OutputChannelForm::min() const
@ -181,7 +202,7 @@ int OutputChannelForm::min() const
*/
void OutputChannelForm::setMin(int minimum)
{
setRange(minimum, ui.actuatorMax->value());
setRange(minimum, ui.actuatorMin->value());
}
int OutputChannelForm::neutral() const
@ -205,11 +226,6 @@ void OutputChannelForm::setRange(int minimum, int maximum)
ui.actuatorMin->setValue(minimum);
ui.actuatorMax->setValue(maximum);
setChannelRange();
if (ui.actuatorMin->value() > ui.actuatorMax->value()) {
ui.actuatorRev->setChecked(true);
} else {
ui.actuatorRev->setChecked(false);
}
}
/**
@ -221,25 +237,70 @@ void OutputChannelForm::setRange(int minimum, int maximum)
*/
void OutputChannelForm::setChannelRange()
{
int oldMini = ui.actuatorNeutral->minimum();
int minValue = ui.actuatorMin->value();
int maxValue = ui.actuatorMax->value();
// int oldMaxi = ui.actuatorNeutral->maximum();
int oldMini = ui.actuatorNeutral->minimum();
int oldMaxi = ui.actuatorNeutral->maximum();
if (ui.actuatorMin->value() < ui.actuatorMax->value()) {
ui.actuatorNeutral->setRange(ui.actuatorMin->value(), ui.actuatorMax->value());
ui.actuatorRev->setChecked(false);
m_mixerType = outputMixerType();
// Red handle for Motors
if ((m_mixerType == "Motor") || (m_mixerType == "ReversableMotor")) {
ui.actuatorNeutral->setStyleSheet("QSlider::handle:horizontal { background: rgb(255, 100, 100); width: 18px; height: 28px;"
"margin: -3px 0; border-radius: 3px; border: 1px solid #777; }");
} else {
ui.actuatorNeutral->setRange(ui.actuatorMax->value(), ui.actuatorMin->value());
ui.actuatorRev->setChecked(true);
ui.actuatorNeutral->setStyleSheet("QSlider::handle:horizontal { background: rgb(196, 196, 196); width: 18px; height: 28px;"
"margin: -3px 0; border-radius: 3px; border: 1px solid #777; }");
}
// Normal motor will be *** never *** reversed : without arming a "Min" value (like 1900) can be applied !
if (m_mixerType == "Motor") {
if (minValue >= maxValue) {
// Keep old values
ui.actuatorMin->setValue(oldMini);
ui.actuatorMax->setValue(oldMaxi);
}
ui.actuatorRev->setChecked(false);
ui.actuatorRev->setEnabled(false);
ui.actuatorNeutral->setInvertedAppearance(false);
ui.actuatorNeutral->setRange(ui.actuatorMin->value(), ui.actuatorMax->value());
} else {
// Others output (!Motor)
// Auto check reverse checkbox SpinBox Min/Max changes
ui.actuatorRev->setEnabled(true);
if (minValue <= maxValue) {
ui.actuatorRev->setChecked(false);
ui.actuatorNeutral->setInvertedAppearance(false);
ui.actuatorNeutral->setRange(minValue, maxValue);
} else {
ui.actuatorRev->setChecked(true);
ui.actuatorNeutral->setInvertedAppearance(true);
ui.actuatorNeutral->setRange(maxValue, minValue);
}
}
// If old neutral was Min, stay Min
if (ui.actuatorNeutral->value() == oldMini) {
ui.actuatorNeutral->setValue(ui.actuatorNeutral->minimum());
}
// if (ui.actuatorNeutral->value() == oldMaxi)
// this can be dangerous if it happens to be controlling a motor at the time!
// ui.actuatorNeutral->setValue(ui.actuatorNeutral->maximum());
// Enable only outputs already set in mixer
if (m_mixerType != "Disabled") {
ui.actuatorMin->setEnabled(true);
ui.actuatorMax->setEnabled(true);
ui.actuatorNeutral->setEnabled(true);
ui.actuatorValue->setEnabled(true);
} else {
ui.actuatorMin->setEnabled(false);
ui.actuatorMax->setEnabled(false);
ui.actuatorRev->setEnabled(false);
ui.actuatorLink->setEnabled(false);
ui.actuatorMin->setValue(1000);
ui.actuatorMax->setValue(1000);
ui.actuatorNeutral->setRange(minValue, maxValue);
ui.actuatorNeutral->setValue(minValue);
ui.actuatorValue->setEnabled(false);
}
}
/**
@ -247,30 +308,17 @@ void OutputChannelForm::setChannelRange()
*/
void OutputChannelForm::reverseChannel(bool state)
{
// Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
// the situations below can happen!
if (state && (ui.actuatorMax->value() < ui.actuatorMin->value())) {
return;
}
if (!state && (ui.actuatorMax->value() > ui.actuatorMin->value())) {
return;
}
// if 'state' (reverse channel requested) apply only if not already reversed
if ((state && (ui.actuatorMax->value() > ui.actuatorMin->value()))
|| (!state && (ui.actuatorMax->value() < ui.actuatorMin->value()))) {
// Now, swap the min & max values (spin boxes)
int temp = ui.actuatorMax->value();
ui.actuatorMax->setValue(ui.actuatorMin->value());
ui.actuatorMin->setValue(temp);
ui.actuatorNeutral->setInvertedAppearance(state);
// Now, swap the min & max values (only on the spinboxes, the slider does not change!)
int temp = ui.actuatorMax->value();
ui.actuatorMax->setValue(ui.actuatorMin->value());
ui.actuatorMin->setValue(temp);
// Also update the channel value
// This is a trick to force the slider to update its value and
// emit the right signal itself, because our sendChannelTest(int) method
// relies on the object sender's identity.
if (ui.actuatorNeutral->value() < ui.actuatorNeutral->maximum()) {
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value() + 1);
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value() - 1);
} else {
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value() - 1);
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value() + 1);
setChannelRange();
return;
}
}
@ -288,10 +336,6 @@ void OutputChannelForm::sendChannelTest(int value)
return;
}
if (ui.actuatorRev->isChecked()) {
// the channel is reversed
value = ui.actuatorMin->value() - value + ui.actuatorMax->value();
}
// update the label
ui.actuatorValue->setValue(value);
@ -330,3 +374,21 @@ void OutputChannelForm::sendChannelTest(int value)
}
emit channelChanged(index(), value);
}
/**
*
* Returns MixerType
*/
QString OutputChannelForm::outputMixerType()
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QString mixerNumType = QString("Mixer%1Type").arg(index() + 1);
UAVObjectField *field = mixer->getField(mixerNumType);
Q_ASSERT(field);
QString mixerType = field->getValue().toString();
return mixerType;
}

2
ground/openpilotgcs/src/plugins/config/outputchannelform.h
View File

@ -58,6 +58,7 @@ public slots:
void setNeutral(int value);
void setRange(int minimum, int maximum);
void enableChannelTest(bool state);
QString outputMixerType();
signals:
void channelChanged(int index, int value);
@ -65,6 +66,7 @@ signals:
private:
Ui::outputChannelForm ui;
bool m_inChannelTest;
QString m_mixerType;
private slots:
void linkToggled(bool state);

8
ground/openpilotgcs/src/plugins/config/outputchannelform.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>768</width>
<height>54</height>
<height>55</height>
</rect>
</property>
<property name="windowTitle">
@ -289,8 +289,7 @@ margin:1px;</string>
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PWM value, beware of not overdriving your servo.
Using OneShot125 a value of 1000(uS) here will produce a pulse of 125(uS).</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Minimum PWM value, beware of not overdriving your servo.&lt;br/&gt;Using OneShot125 a value of 1000(µs) here will produce a pulse of 125(µs).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -628,8 +627,7 @@ margin:1px;</string>
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum value, beware of not overdriving your servo.
Using OneShot125 a value of 2000(uS) here will produce a pulse of 250(uS).</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Minimum PWM value, beware of not overdriving your servo.&lt;br/&gt;Using OneShot125 a value of 1000(µs) here will produce a pulse of 125(µs).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>

3
ground/openpilotgcs/src/plugins/ophid/inc/ophid_hidapi.h
View File

@ -33,9 +33,6 @@
#include <QDebug>
#include <QString>
#include <QMutex>
#if defined(Q_OS_LINUX)
#include <usb.h>
#endif
#include "../hidapi/hidapi.h"
#include "ophid_const.h"
#include "ophid_global.h"

30
ground/openpilotgcs/src/plugins/ophid/ophid.pro
View File

@ -38,38 +38,20 @@ macx {
-framework IOKit
}
linux-g++ {
linux {
SOURCES += src/ophid_usbmon_linux.cpp
LIBS += -lusb -ludev
LIBS += -ludev -lrt -lpthread
# hidapi library
## rawhid
# SOURCES += hidapi/linux/hid.c
## libusb
SOURCES += hidapi/libusb/hid.c
LIBS += `pkg-config libusb-1.0 --libs` -lrt -lpthread
INCLUDEPATH += /usr/include/libusb-1.0
# INCLUDEPATH += `pkg-config libusb-1.0 --cflags`
CONFIG += link_pkgconfig
PKGCONFIG += libusb-1.0
!exists(/usr/include/libusb-1.0) {
error(Install libusb-1.0.0-dev using your package manager.)
error(Install libusb-1.0-0-dev using your package manager.)
}
}
linux-g++-64 {
SOURCES += src/ophid_usbmon_linux.cpp
LIBS += -lusb -ludev
# hidapi library
## rawhid
# SOURCES += hidapi/linux/hid.c
## libusb
SOURCES += hidapi/libusb/hid.c
LIBS += `pkg-config libusb-1.0 --libs` -lrt -lpthread
INCLUDEPATH += /usr/include/libusb-1.0
# INCLUDEPATH += `pkg-config libusb-1.0 --cflags`
!exists(/usr/include/libusb-1.0) {
error(Install libusb-1.0.0-dev using your package manager.)
}
}

10
ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
View File

@ -104,6 +104,16 @@ void EscCalibrationPage::startButtonClicked()
QString mixerTypePattern = "Mixer%1Type";
OutputCalibrationUtil::startOutputCalibration();
// First check if any servo and set his value to 1500 (like Tricopter)
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_SERVO)) {
m_outputUtil.startChannelOutput(i, 1500);
m_outputUtil.stopChannelOutput();
}
}
// Find motors and start Esc procedure
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);

4
ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
View File

@ -77,10 +77,10 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
{
switch (selectedType) {
case VehicleConfigurationSource::INPUT_PWM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWM;
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWMNOONESHOT;
case VehicleConfigurationSource::INPUT_PPM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPM;
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPMNOONESHOT;
case VehicleConfigurationSource::INPUT_SBUS:
return data.CC_MainPort != HwSettings::CC_MAINPORT_SBUS;

76
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -54,6 +54,8 @@ OutputCalibrationPage::~OutputCalibrationPage()
delete m_calibrationUtil;
m_calibrationUtil = 0;
}
OutputCalibrationUtil::stopOutputCalibration();
delete ui;
}
@ -70,18 +72,32 @@ void OutputCalibrationPage::setupActuatorMinMaxAndNeutral(int motorChannelStart,
// servos since a value out of range can actually destroy the
// vehicle if unlucky.
// Motors are not that important. REMOVE propellers always!!
OutputCalibrationUtil::startOutputCalibration();
for (int servoid = 0; servoid < 12; servoid++) {
if (servoid >= motorChannelStart && servoid <= motorChannelEnd) {
// Set to motor safe values
m_actuatorSettings[servoid].channelMin = 1000;
m_actuatorSettings[servoid].channelNeutral = 1000;
m_actuatorSettings[servoid].channelMax = 1900;
m_actuatorSettings[servoid].channelMin = 1000;
m_actuatorSettings[servoid].channelNeutral = 1000;
m_actuatorSettings[servoid].channelMax = 1900;
m_actuatorSettings[servoid].isReversableMotor = false;
// Car and Tank should use reversable Esc/motors
if ((getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_CAR)
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL)) {
m_actuatorSettings[servoid].channelNeutral = 1500;
m_actuatorSettings[servoid].isReversableMotor = true;
// Set initial output value
m_calibrationUtil->startChannelOutput(servoid, 1500);
m_calibrationUtil->stopChannelOutput();
}
} else if (servoid < totalUsedChannels) {
// Set to servo safe values
m_actuatorSettings[servoid].channelMin = 1500;
m_actuatorSettings[servoid].channelNeutral = 1500;
m_actuatorSettings[servoid].channelMax = 1500;
// Set initial servo output value
m_calibrationUtil->startChannelOutput(servoid, 1500);
m_calibrationUtil->stopChannelOutput();
} else {
// "Disable" these channels
m_actuatorSettings[servoid].channelMin = 1000;
@ -101,6 +117,8 @@ void OutputCalibrationPage::setupVehicle()
m_currentWizardIndex = 0;
m_vehicleScene->clear();
resetOutputCalibrationUtil();
switch (getWizard()->getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
// Loads the SVG file resourse and sets the scene
@ -120,7 +138,7 @@ void OutputCalibrationPage::setupVehicle()
// The channel number to configure for each step.
m_channelIndex << 0 << 0 << 1 << 2 << 3;
setupActuatorMinMaxAndNeutral(0, 2, 3);
setupActuatorMinMaxAndNeutral(0, 2, 4);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -180,7 +198,7 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 1 << 3;
setupActuatorMinMaxAndNeutral(2, 2, 5);
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -213,7 +231,7 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 3 << 1;
setupActuatorMinMaxAndNeutral(2, 2, 5);
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -226,7 +244,7 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
setupActuatorMinMaxAndNeutral(0, 1, 2);
setupActuatorMinMaxAndNeutral(1, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -248,7 +266,7 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
setupActuatorMinMaxAndNeutral(0, 1, 2);
setupActuatorMinMaxAndNeutral(1, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -257,12 +275,6 @@ void OutputCalibrationPage::setupVehicle()
break;
}
if (m_calibrationUtil) {
delete m_calibrationUtil;
m_calibrationUtil = 0;
}
m_calibrationUtil = new OutputCalibrationUtil();
setupVehicleItems();
}
@ -326,7 +338,15 @@ void OutputCalibrationPage::setWizardPage()
if (currentChannel >= 0) {
if (currentPageIndex == 1) {
ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
ui->motorPWMValue->setText(QString(tr("Output value : <b>%1</b> µs")).arg(m_actuatorSettings[currentChannel].channelNeutral));
// Reversable motor found
if (m_actuatorSettings[currentChannel].isReversableMotor) {
ui->motorNeutralSlider->setMinimum(m_actuatorSettings[currentChannel].channelMin);
ui->motorNeutralSlider->setMaximum(m_actuatorSettings[currentChannel].channelMax);
ui->motorInfo->setText(tr("<html><head/><body><p><span style=\" font-size:10pt;\">To find </span><span style=\" font-size:10pt; font-weight:600;\">the neutral rate for this reversable motor</span><span style=\" font-size:10pt;\">, press the Start button below and slide the slider to the right or left until you find the value where the motor doesn't start. <br/><br/>When done press button again to stop.</span></p></body></html>"));
}
} else if (currentPageIndex == 2) {
ui->servoPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(m_actuatorSettings[currentChannel].channelNeutral));
if (m_actuatorSettings[currentChannel].channelMax < m_actuatorSettings[currentChannel].channelMin &&
!ui->reverseCheckbox->isChecked()) {
ui->reverseCheckbox->setChecked(true);
@ -416,6 +436,11 @@ void OutputCalibrationPage::on_motorNeutralButton_toggled(bool checked)
ui->motorNeutralSlider->setEnabled(checked);
quint16 channel = getCurrentChannel();
quint16 safeValue = m_actuatorSettings[channel].channelMin;
if (m_actuatorSettings[channel].isReversableMotor) {
safeValue = m_actuatorSettings[channel].channelNeutral;
}
onStartButtonToggle(ui->motorNeutralButton, channel, m_actuatorSettings[channel].channelNeutral, safeValue, ui->motorNeutralSlider);
}
@ -425,7 +450,6 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
if (checkAlarms()) {
enableButtons(false);
enableServoSliders(true);
OutputCalibrationUtil::startOutputCalibration();
m_calibrationUtil->startChannelOutput(channel, safeValue);
slider->setValue(value);
m_calibrationUtil->setChannelOutputValue(value);
@ -433,8 +457,16 @@ void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16
button->setChecked(false);
}
} else {
// Servos and ReversableMotors
m_calibrationUtil->startChannelOutput(channel, m_actuatorSettings[channel].channelNeutral);
// Normal motor
if ((button == ui->motorNeutralButton) && !m_actuatorSettings[channel].isReversableMotor) {
m_calibrationUtil->startChannelOutput(channel, m_actuatorSettings[channel].channelMin);
}
m_calibrationUtil->stopChannelOutput();
OutputCalibrationUtil::stopOutputCalibration();
enableServoSliders(false);
enableButtons(true);
}
@ -492,6 +524,8 @@ void OutputCalibrationPage::debugLogChannelValues()
void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
{
Q_UNUSED(value);
ui->motorPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(value));
if (ui->motorNeutralButton->isChecked()) {
quint16 value = ui->motorNeutralSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
@ -515,6 +549,7 @@ void OutputCalibrationPage::on_servoCenterAngleSlider_valueChanged(int position)
m_calibrationUtil->setChannelOutputValue(value);
quint16 channel = getCurrentChannel();
m_actuatorSettings[channel].channelNeutral = value;
ui->servoPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(value));
// Adjust min and max
if (ui->reverseCheckbox->isChecked()) {
@ -615,3 +650,12 @@ void OutputCalibrationPage::on_reverseCheckbox_toggled(bool checked)
ui->servoMaxAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMax);
}
}
void OutputCalibrationPage::resetOutputCalibrationUtil()
{
if (m_calibrationUtil) {
delete m_calibrationUtil;
m_calibrationUtil = 0;
}
m_calibrationUtil = new OutputCalibrationUtil();
}

1
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
View File

@ -100,6 +100,7 @@ private:
QList<actuatorChannelSettings> m_actuatorSettings;
OutputCalibrationUtil *m_calibrationUtil;
void resetOutputCalibrationUtil();
static const QString MULTI_SVG_FILE;
static const QString FIXEDWING_SVG_FILE;

40
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>600</width>
<height>400</height>
<width>776</width>
<height>505</height>
</rect>
</property>
<property name="windowTitle">
@ -94,8 +94,10 @@ p, li { white-space: pre-wrap; }
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;In this step we will set the neutral rate for the motor highlighted in the illustration to the right. &lt;br /&gt;Please pay attention to the details and in particular the motors position and its rotation direction. Ensure the motors are spinning in the correct direction as shown in the diagram. Swap any 2 motor wires to change the direction of a motor. &lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To find &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;the neutral rate for this motor&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;, press the Start button below and slide the slider to the right until the motor just starts to spin stable. &lt;br /&gt;&lt;br /&gt;When done press button again to stop.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;In this step we will set the neutral rate for the motor highlighted in the illustration to the right. &lt;br /&gt;Please pay attention to the details and in particular the motors position and its rotation direction. Ensure the motors are spinning in the correct direction as shown in the diagram. Swap any 2 motor wires to change the direction of a motor. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="textFormat">
<enum>Qt::RichText</enum>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
@ -105,6 +107,29 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="motorInfo">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To find &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;the neutral rate for this motor&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;, press the Start button below and slide the slider to the right until the motor just starts to spin stable. &lt;br/&gt;&lt;br/&gt;When done press button again to stop.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="textFormat">
<enum>Qt::RichText</enum>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="motorPWMValue">
<property name="text">
<string>Output value: 1000µs</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="motorNeutralSlider">
<property name="enabled">
@ -184,6 +209,13 @@ p, li { white-space: pre-wrap; }
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="servoPWMValue">
<property name="text">
<string>Output value: 1000µs</string>
</property>
</widget>
</item>
<item>
<widget class="QWidget" name="widget" native="true">
<layout class="QFormLayout" name="formLayout">

35
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -139,7 +139,7 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
// Reset all ports
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_DISABLED;
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_DISABLEDONESHOT;
// Default mainport to be active telemetry link
data.CC_MainPort = HwSettings::CC_MAINPORT_TELEMETRY;
@ -147,10 +147,10 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_DISABLED;
switch (m_configSource->getInputType()) {
case VehicleConfigurationSource::INPUT_PWM:
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PWM;
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PWMNOONESHOT;
break;
case VehicleConfigurationSource::INPUT_PPM:
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPM;
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPMNOONESHOT;
break;
case VehicleConfigurationSource::INPUT_SBUS:
// We have to set teletry on flexport since s.bus needs the mainport.
@ -679,8 +679,10 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
}
}
// Default maxThrottle
// Default maxThrottle and minThrottle
float maxThrottle = 0.9;
float minThrottle = 0;
// Save mixer values for sliders
switch (m_configSource->getVehicleType()) {
@ -737,17 +739,26 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
{
switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::GROUNDVEHICLE_MOTORCYCLE:
case VehicleConfigurationSource::GROUNDVEHICLE_CAR:
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
maxThrottle = 1;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_CAR:
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
// Set curve2 range from -0.926 to 1 : take in account 4% offset in Throttle input
// 0.5 / 0.54 = 0.926
maxThrottle = 1;
minThrottle = -0.926;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL:
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
maxThrottle = 0.8;
minThrottle = -0.8;
break;
default:
break;
@ -765,7 +776,7 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
UAVObjectField *field = mSettings->getField(throttlePattern.arg(i));
Q_ASSERT(field);
for (quint32 i = 0; i < field->getNumElements(); i++) {
field->setValue(i * (maxThrottle / (field->getNumElements() - 1)), i);
field->setValue(minThrottle + (i * ((maxThrottle - minThrottle) / (field->getNumElements() - 1))), i);
}
}
@ -2033,7 +2044,7 @@ void VehicleConfigurationHelper::setupCar()
channels[0].yaw = 100;
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[1].throttle1 = 0;
channels[1].throttle2 = 100;
channels[1].roll = 0;
@ -2058,7 +2069,7 @@ void VehicleConfigurationHelper::setupTank()
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Left Motor (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
channels[0].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[0].throttle1 = 0;
channels[0].throttle2 = 100;
channels[0].roll = 0;
@ -2066,7 +2077,7 @@ void VehicleConfigurationHelper::setupTank()
channels[0].yaw = 100;
// Right Motor (Chan 2)
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[1].throttle1 = 0;
channels[1].throttle2 = 100;
channels[1].roll = 0;
@ -2098,10 +2109,10 @@ void VehicleConfigurationHelper::setupMotorcycle()
channels[0].pitch = 0;
channels[0].yaw = 100;
// Motor (Chan 2)
// Motor (Chan 2) : Curve1, no reverse
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 0;
channels[1].throttle2 = 100;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = 0;

3
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
View File

@ -46,9 +46,10 @@ struct actuatorChannelSettings {
quint16 channelMin;
quint16 channelNeutral;
quint16 channelMax;
bool isReversableMotor;
// Default values
actuatorChannelSettings() : channelMin(1000), channelNeutral(1000), channelMax(1900) {}
actuatorChannelSettings() : channelMin(1000), channelNeutral(1000), channelMax(1900), isReversableMotor(false) {}
};

9
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -2,14 +2,7 @@
<object name="ActuatorSettings" singleinstance="true" settings="true" category="Control">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,OneShot,OneShot125" defaultvalue="PWM"
limits="%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125;"
/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,PWMSync,OneShot125" defaultvalue="PWM"/>
<field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="HwSettings" singleinstance="true" settings="true" category="System">
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled+OneShot,PWM+NoOneShot,PPM+NoOneShot,PPM+PWM+NoOneShot,PPM+Outputs+NoOneShot,PPM_PIN6+OneShot, Outputs+OneShot" defaultvalue="PWM+NoOneShot"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>

1
shared/uavobjectdefinition/systemalarms.xml
View File

@ -35,6 +35,7 @@
<option>None</option>
<option>RebootRequired</option>
<option>FlightMode</option>
<option>UnsupportedConfig_OneShot</option>
</options>
</field>
<field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0">

2
shared/uavobjectdefinition/systemsettings.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="SystemSettings" singleinstance="true" settings="true" category="System">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,QuadH,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="VehicleName" units="char" type="uint8" elements="20" defaultvalue="0"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" />
<!-- Which way the vehicle controls its thrust. Can be through