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Merged in f5soh/librepilot/LP-514_Dshot_Wizard (pull request #490)

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LP-514 Dshot Wizard support and other Esc types

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
This commit is contained in:
Lalanne Laurent 2018-04-29 17:28:34 +00:00 committed by Philippe Renon
commit c0152e0b34
29 changed files with 466 additions and 65 deletions
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4
ground/gcs/src/plugins/setupwizard/connectiondiagram.cpp
View File

@ -179,7 +179,9 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::CONTROLLER_CC: case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D: case VehicleConfigurationSource::CONTROLLER_CC3D:
prefix = "cc-"; prefix = "cc-";
if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT || if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT125 ||
m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT42 ||
m_configSource->getEscType() == VehicleConfigurationSource::ESC_MULTISHOT ||
m_configSource->getEscType() == VehicleConfigurationSource::ESC_SYNCHED) { m_configSource->getEscType() == VehicleConfigurationSource::ESC_SYNCHED) {
suffix = "-oneshot"; suffix = "-oneshot";
} }

6
ground/gcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
View File

@ -93,8 +93,10 @@ void EscCalibrationPage::resetAllSecurityCheckboxes()
int EscCalibrationPage::getHighOutputRate() int EscCalibrationPage::getHighOutputRate()
{ {
if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) { if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT125 ||
return HIGH_ONESHOT125_OUTPUT_PULSE_LENGTH_MICROSECONDS; getWizard()->getEscType() == SetupWizard::ESC_ONESHOT42 ||
getWizard()->getEscType() == SetupWizard::ESC_MULTISHOT) {
return HIGH_ONESHOT_MULTISHOT_OUTPUT_PULSE_LENGTH_MICROSECONDS;
} else { } else {
return HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS; return HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS;
} }

2
ground/gcs/src/plugins/setupwizard/pages/esccalibrationpage.h
View File

@ -59,7 +59,7 @@ private:
// Min value should match min value defined in vehicleconfigurationsource.h // Min value should match min value defined in vehicleconfigurationsource.h
static const int LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1000; static const int LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1000;
static const int HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1900; static const int HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1900;
static const int HIGH_ONESHOT125_OUTPUT_PULSE_LENGTH_MICROSECONDS = 2000; static const int HIGH_ONESHOT_MULTISHOT_OUTPUT_PULSE_LENGTH_MICROSECONDS = 2000;
Ui::EscCalibrationPage *ui; Ui::EscCalibrationPage *ui;
bool m_isCalibrating; bool m_isCalibrating;
OutputCalibrationUtil m_outputUtil; OutputCalibrationUtil m_outputUtil;

55
ground/gcs/src/plugins/setupwizard/pages/escpage.cpp
View File

@ -47,17 +47,41 @@ void EscPage::initializePage()
{ {
bool enabled = isSynchOrOneShotAvailable(); bool enabled = isSynchOrOneShotAvailable();
ui->oneshotESCButton->setEnabled(enabled); ui->oneshot125ESCButton->setEnabled(enabled);
if (ui->oneshotESCButton->isChecked() && !enabled) { ui->oneshot42ESCButton->setEnabled(enabled);
ui->oneshotESCButton->setChecked(false); ui->multishotESCButton->setEnabled(enabled);
if ((ui->oneshot125ESCButton->isChecked() ||
ui->oneshot42ESCButton->isChecked() ||
ui->multishotESCButton->isChecked()) && !enabled) {
ui->oneshot125ESCButton->setChecked(false);
ui->oneshot42ESCButton->setChecked(false);
ui->multishotESCButton->setChecked(false);
ui->rapidESCButton->setChecked(true); ui->rapidESCButton->setChecked(true);
} }
enabled = isFastDShotAvailable();
ui->dshot1200ESCButton->setEnabled(enabled);
if (ui->dshot1200ESCButton->isChecked() && !enabled) {
ui->dshot1200ESCButton->setChecked(false);
ui->dshot600ESCButton->setChecked(true);
}
} }
bool EscPage::validatePage() bool EscPage::validatePage()
{ {
if (ui->oneshotESCButton->isChecked()) { if (ui->dshot1200ESCButton->isChecked()) {
getWizard()->setEscType(SetupWizard::ESC_ONESHOT); getWizard()->setEscType(SetupWizard::ESC_DSHOT1200);
} else if (ui->dshot600ESCButton->isChecked()) {
getWizard()->setEscType(SetupWizard::ESC_DSHOT600);
} else if (ui->dshot150ESCButton->isChecked()) {
getWizard()->setEscType(SetupWizard::ESC_DSHOT150);
} else if (ui->multishotESCButton->isChecked()) {
getWizard()->setEscType(SetupWizard::ESC_MULTISHOT);
} else if (ui->oneshot42ESCButton->isChecked()) {
getWizard()->setEscType(SetupWizard::ESC_ONESHOT42);
} else if (ui->oneshot125ESCButton->isChecked()) {
getWizard()->setEscType(SetupWizard::ESC_ONESHOT125);
} else if (ui->rapidESCButton->isChecked()) { } else if (ui->rapidESCButton->isChecked()) {
if (isSynchOrOneShotAvailable()) { if (isSynchOrOneShotAvailable()) {
getWizard()->setEscType(SetupWizard::ESC_SYNCHED); getWizard()->setEscType(SetupWizard::ESC_SYNCHED);
@ -65,7 +89,7 @@ bool EscPage::validatePage()
getWizard()->setEscType(SetupWizard::ESC_RAPID); getWizard()->setEscType(SetupWizard::ESC_RAPID);
} }
} else if (ui->defaultESCButton->isChecked()) { } else if (ui->defaultESCButton->isChecked()) {
getWizard()->setEscType(SetupWizard::ESC_STANDARD); getWizard()->setEscType(SetupWizard::ESC_STANDARD300);
} }
return true; return true;
@ -107,3 +131,22 @@ bool EscPage::isSynchOrOneShotAvailable()
return available; return available;
} }
bool EscPage::isFastDShotAvailable()
{
bool available = true;
switch (getWizard()->getControllerType()) {
case SetupWizard::CONTROLLER_CC3D:
case SetupWizard::CONTROLLER_SPRACINGF3:
case SetupWizard::CONTROLLER_SPRACINGF3EVO:
case SetupWizard::CONTROLLER_PIKOBLX:
case SetupWizard::CONTROLLER_TINYFISH:
available = false;
break;
default:
break;
}
return available;
}

1
ground/gcs/src/plugins/setupwizard/pages/escpage.h
View File

@ -46,6 +46,7 @@ public:
private: private:
Ui::EscPage *ui; Ui::EscPage *ui;
bool isSynchOrOneShotAvailable(); bool isSynchOrOneShotAvailable();
bool isFastDShotAvailable();
}; };
#endif // ESCPAGE_H #endif // ESCPAGE_H

271
ground/gcs/src/plugins/setupwizard/pages/escpage.ui
View File

@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>641</width> <width>699</width>
<height>400</height> <height>549</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -59,7 +59,7 @@ p, li { white-space: pre-wrap; }
</font> </font>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Standard ESC: Slow refresh rate (50Hz), not recommended for Multirotors.</string> <string>Standard ESC: Minimal refresh rate (300Hz), for Multirotors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">QToolButton { border: none }</string> <string notr="true">QToolButton { border: none }</string>
@ -69,8 +69,8 @@ p, li { white-space: pre-wrap; }
</property> </property>
<property name="icon"> <property name="icon">
<iconset resource="../wizardResources.qrc"> <iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-ESC-up.png</normaloff> <normaloff>:/setupwizard/resources/bttn-esc300-up.png</normaloff>
<normalon>:/setupwizard/resources/bttn-ESC-down.png</normalon>:/setupwizard/resources/bttn-ESC-up.png</iconset> <normalon>:/setupwizard/resources/bttn-esc300-dwn.png</normalon>:/setupwizard/resources/bttn-esc300-up.png</iconset>
</property> </property>
<property name="iconSize"> <property name="iconSize">
<size> <size>
@ -139,10 +139,17 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="topMargin">
<number>0</number>
</property>
<item> <item>
<widget class="QToolButton" name="oneshotESCButton"> <widget class="QToolButton" name="oneshot125ESCButton">
<property name="enabled"> <property name="enabled">
<bool>false</bool> <bool>true</bool>
</property> </property>
<property name="font"> <property name="font">
<font> <font>
@ -150,18 +157,260 @@ p, li { white-space: pre-wrap; }
</font> </font>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>OneShot ESC: BLHeli, Kiss...</string> <string>OneShot125 ESC: BLHeli, Kiss...</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">QToolButton { border: none }</string> <string notr="true">QToolButton { border: none }</string>
</property> </property>
<property name="text"> <property name="text">
<string>OneShot ESC</string> <string>OneShot125 ESC</string>
</property> </property>
<property name="icon"> <property name="icon">
<iconset resource="../wizardResources.qrc"> <iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-oneshot-up.png</normaloff> <normaloff>:/setupwizard/resources/bttn-oneshot125-up.png</normaloff>
<normalon>:/setupwizard/resources/bttn-oneshot-dwn.png</normalon>:/setupwizard/resources/bttn-oneshot-up.png</iconset> <normalon>:/setupwizard/resources/bttn-oneshot125-dwn.png</normalon>:/setupwizard/resources/bttn-oneshot125-up.png</iconset>
</property>
<property name="iconSize">
<size>
<width>200</width>
<height>100</height>
</size>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<property name="autoExclusive">
<bool>true</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonTextUnderIcon</enum>
</property>
<property name="autoRaise">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="oneshot42ESCButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="toolTip">
<string>OneShot42 ESC: BLHeli, Kiss...</string>
</property>
<property name="styleSheet">
<string notr="true">QToolButton { border: none }</string>
</property>
<property name="text">
<string>OneShot42 ESC</string>
</property>
<property name="icon">
<iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-oneshot42-up.png</normaloff>
<normalon>:/setupwizard/resources/bttn-oneshot42-dwn.png</normalon>:/setupwizard/resources/bttn-oneshot42-up.png</iconset>
</property>
<property name="iconSize">
<size>
<width>200</width>
<height>100</height>
</size>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<property name="autoExclusive">
<bool>true</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonTextUnderIcon</enum>
</property>
<property name="autoRaise">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="multishotESCButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="toolTip">
<string>MultiShot ESC: BLHeli, Kiss...</string>
</property>
<property name="styleSheet">
<string notr="true">QToolButton { border: none }</string>
</property>
<property name="text">
<string>MultiShot ESC</string>
</property>
<property name="icon">
<iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-multishot-up.png</normaloff>
<normalon>:/setupwizard/resources/bttn-multishot-dwn.png</normalon>:/setupwizard/resources/bttn-multishot-up.png</iconset>
</property>
<property name="iconSize">
<size>
<width>200</width>
<height>100</height>
</size>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<property name="autoExclusive">
<bool>true</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonTextUnderIcon</enum>
</property>
<property name="autoRaise">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="topMargin">
<number>0</number>
</property>
<item>
<widget class="QToolButton" name="dshot150ESCButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="toolTip">
<string>DShot150 ESC: BLHeli_S...</string>
</property>
<property name="styleSheet">
<string notr="true">QToolButton { border: none }</string>
</property>
<property name="text">
<string>DShot150 ESC</string>
</property>
<property name="icon">
<iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-dshot150-up.png</normaloff>
<normalon>:/setupwizard/resources/bttn-dshot150-dwn.png</normalon>:/setupwizard/resources/bttn-dshot150-up.png</iconset>
</property>
<property name="iconSize">
<size>
<width>200</width>
<height>100</height>
</size>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<property name="autoExclusive">
<bool>true</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonTextUnderIcon</enum>
</property>
<property name="autoRaise">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="dshot600ESCButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="toolTip">
<string>DShot600 ESC: BLHeli_S...</string>
</property>
<property name="styleSheet">
<string notr="true">QToolButton { border: none }</string>
</property>
<property name="text">
<string>DShot600 ESC</string>
</property>
<property name="icon">
<iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-dshot600-up.png</normaloff>
<normalon>:/setupwizard/resources/bttn-dshot600-dwn.png</normalon>:/setupwizard/resources/bttn-dshot600-up.png</iconset>
</property>
<property name="iconSize">
<size>
<width>200</width>
<height>100</height>
</size>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<property name="autoExclusive">
<bool>true</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonTextUnderIcon</enum>
</property>
<property name="autoRaise">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="dshot1200ESCButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="toolTip">
<string>DShot1200 ESC: BLHeli_S...</string>
</property>
<property name="styleSheet">
<string notr="true">QToolButton { border: none }</string>
</property>
<property name="text">
<string>DShot1200 ESC</string>
</property>
<property name="icon">
<iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-dshot1200-up.png</normaloff>
<normalon>:/setupwizard/resources/bttn-dshot1200-dwn.png</normalon>:/setupwizard/resources/bttn-dshot1200-up.png</iconset>
</property> </property>
<property name="iconSize"> <property name="iconSize">
<size> <size>

75
ground/gcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -82,8 +82,8 @@ void OutputCalibrationPage::setupActuatorMinMaxAndNeutral(int motorChannelStart,
for (int servoid = 0; servoid < 12; servoid++) { for (int servoid = 0; servoid < 12; servoid++) {
if (servoid >= motorChannelStart && servoid <= motorChannelEnd) { if (servoid >= motorChannelStart && servoid <= motorChannelEnd) {
// Set to motor safe values // Set to motor safe values
m_actuatorSettings[servoid].channelMin = LOW_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelMin = getLowOutputRate();
m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelNeutral = getLowOutputRate();
m_actuatorSettings[servoid].channelMax = getHighOutputRate(); m_actuatorSettings[servoid].channelMax = getHighOutputRate();
m_actuatorSettings[servoid].isReversableMotor = false; m_actuatorSettings[servoid].isReversableMotor = false;
// Car, Tank, Boat and Boat differential should use reversable Esc/motors // Car, Tank, Boat and Boat differential should use reversable Esc/motors
@ -91,25 +91,25 @@ void OutputCalibrationPage::setupActuatorMinMaxAndNeutral(int motorChannelStart,
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL) || (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL)
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_BOAT) || (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_BOAT)
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL_BOAT)) { || (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL_BOAT)) {
m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MS;
m_actuatorSettings[servoid].isReversableMotor = true; m_actuatorSettings[servoid].isReversableMotor = true;
// Set initial output value
m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MILLISECONDS);
m_calibrationUtil->stopChannelOutput();
} }
// Set initial output value
m_calibrationUtil->startChannelOutput(servoid, m_actuatorSettings[servoid].channelNeutral);
m_calibrationUtil->stopChannelOutput();
} else if (servoid < totalUsedChannels) { } else if (servoid < totalUsedChannels) {
// Set to servo safe values // Set to servo safe values
m_actuatorSettings[servoid].channelMin = NEUTRAL_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelMin = NEUTRAL_OUTPUT_RATE_MS;
m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MS;
m_actuatorSettings[servoid].channelMax = NEUTRAL_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelMax = NEUTRAL_OUTPUT_RATE_MS;
// Set initial servo output value // Set initial servo output value
m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MILLISECONDS); m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MS);
m_calibrationUtil->stopChannelOutput(); m_calibrationUtil->stopChannelOutput();
} else { } else {
// "Disable" these channels // "Disable" these channels
m_actuatorSettings[servoid].channelMin = LOW_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelMin = LOW_OUTPUT_RATE_MS;
m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MS;
m_actuatorSettings[servoid].channelMax = LOW_OUTPUT_RATE_MILLISECONDS; m_actuatorSettings[servoid].channelMax = LOW_OUTPUT_RATE_MS;
} }
} }
} }
@ -466,11 +466,18 @@ void OutputCalibrationPage::setWizardPage()
qDebug() << "Current channel: " << currentChannel + 1; qDebug() << "Current channel: " << currentChannel + 1;
if (currentChannel >= 0) { if (currentChannel >= 0) {
if (currentPageIndex == 1) { if (currentPageIndex == 1) {
// Set Min, Neutral and Max for slider in all cases, needed for DShot.
ui->motorNeutralSlider->setMinimum(m_actuatorSettings[currentChannel].channelMin);
ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral); ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
ui->motorPWMValue->setText(QString(tr("Output value : <b>%1</b> µs")).arg(m_actuatorSettings[currentChannel].channelNeutral)); ui->motorNeutralSlider->setMaximum(m_actuatorSettings[currentChannel].channelMin + NEUTRAL_OUTPUT_RATE_RANGE);
if (ui->motorNeutralSlider->minimum() == LOW_OUTPUT_RATE_DSHOT) {
// DShot output
ui->motorPWMValue->setText(tr("Digital output value : <b>%1</b>").arg(m_actuatorSettings[currentChannel].channelNeutral));
} else {
ui->motorPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(m_actuatorSettings[currentChannel].channelNeutral));
}
// Reversable motor found // Reversable motor found
if (m_actuatorSettings[currentChannel].isReversableMotor) { if (m_actuatorSettings[currentChannel].isReversableMotor) {
ui->motorNeutralSlider->setMinimum(m_actuatorSettings[currentChannel].channelMin);
ui->motorNeutralSlider->setMaximum(m_actuatorSettings[currentChannel].channelMax); 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>")); 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>"));
} }
@ -781,10 +788,10 @@ bool OutputCalibrationPage::checkAlarms()
if (data.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) { if (data.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
QMessageBox mbox(this); QMessageBox mbox(this);
mbox.setText(QString(tr("The actuator module is in an error state.\n\n" mbox.setText(tr("The actuator module is in an error state.\n\n"
"Please make sure the correct firmware version is used then " "Please make sure the correct firmware version is used then "
"restart the wizard and try again. If the problem persists please " "restart the wizard and try again. If the problem persists please "
"consult the librepilot.org support forum."))); "consult the librepilot.org support forum."));
mbox.setStandardButtons(QMessageBox::Ok); mbox.setStandardButtons(QMessageBox::Ok);
mbox.setIcon(QMessageBox::Critical); mbox.setIcon(QMessageBox::Critical);
@ -816,20 +823,40 @@ void OutputCalibrationPage::debugLogChannelValues(bool showFirst)
qDebug() << "ChannelMax : " << m_actuatorSettings[currentChannel].channelMax; qDebug() << "ChannelMax : " << m_actuatorSettings[currentChannel].channelMax;
} }
int OutputCalibrationPage::getLowOutputRate()
{
if (getWizard()->getEscType() == VehicleConfigurationSource::ESC_DSHOT150 ||
getWizard()->getEscType() == VehicleConfigurationSource::ESC_DSHOT600 ||
getWizard()->getEscType() == VehicleConfigurationSource::ESC_DSHOT1200) {
return LOW_OUTPUT_RATE_DSHOT;
}
return LOW_OUTPUT_RATE_PWM_MS;
}
int OutputCalibrationPage::getHighOutputRate() int OutputCalibrationPage::getHighOutputRate()
{ {
if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) { if (getWizard()->getEscType() == VehicleConfigurationSource::ESC_ONESHOT125 ||
return HIGH_OUTPUT_RATE_MILLISECONDS_ONESHOT125; getWizard()->getEscType() == VehicleConfigurationSource::ESC_ONESHOT42 ||
} else { getWizard()->getEscType() == VehicleConfigurationSource::ESC_MULTISHOT) {
return HIGH_OUTPUT_RATE_MILLISECONDS_PWM; return HIGH_OUTPUT_RATE_ONESHOT_MULTISHOT_MS;
} else if (getWizard()->getEscType() == VehicleConfigurationSource::ESC_DSHOT150 ||
getWizard()->getEscType() == VehicleConfigurationSource::ESC_DSHOT600 ||
getWizard()->getEscType() == VehicleConfigurationSource::ESC_DSHOT1200) {
return HIGH_OUTPUT_RATE_DSHOT;
} }
return HIGH_OUTPUT_RATE_PWM_MS;
} }
void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value) void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
{ {
Q_UNUSED(value); Q_UNUSED(value);
ui->motorPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(value));
if (ui->motorNeutralSlider->minimum() == LOW_OUTPUT_RATE_DSHOT) {
// DShot output
ui->motorPWMValue->setText(tr("Digital output value : <b>%1</b>").arg(value));
} else {
ui->motorPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(value));
}
if (ui->motorNeutralButton->isChecked()) { if (ui->motorNeutralButton->isChecked()) {
quint16 value = ui->motorNeutralSlider->value(); quint16 value = ui->motorNeutralSlider->value();
m_calibrationUtil->setChannelOutputValue(value); m_calibrationUtil->setChannelOutputValue(value);

13
ground/gcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
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@ -87,10 +87,14 @@ private slots:
private: private:
enum ElementType { FULL, FRAME, MOTOR, SERVO }; enum ElementType { FULL, FRAME, MOTOR, SERVO };
static const int LOW_OUTPUT_RATE_MILLISECONDS = 1000; static const int LOW_OUTPUT_RATE_DSHOT = 0;
static const int NEUTRAL_OUTPUT_RATE_MILLISECONDS = 1500; static const int HIGH_OUTPUT_RATE_DSHOT = 2000;
static const int HIGH_OUTPUT_RATE_MILLISECONDS_PWM = 1900; static const int LOW_OUTPUT_RATE_MS = 1000;
static const int HIGH_OUTPUT_RATE_MILLISECONDS_ONESHOT125 = 2000; static const int LOW_OUTPUT_RATE_PWM_MS = 1000;
static const int HIGH_OUTPUT_RATE_PWM_MS = 1900;
static const int NEUTRAL_OUTPUT_RATE_RANGE = 500;
static const int NEUTRAL_OUTPUT_RATE_MS = 1500;
static const int HIGH_OUTPUT_RATE_ONESHOT_MULTISHOT_MS = 2000;
void setupVehicle(); void setupVehicle();
void startWizard(); void startWizard();
@ -112,6 +116,7 @@ private:
void getCurrentChannels(QList<quint16> &channels); void getCurrentChannels(QList<quint16> &channels);
void enableAllMotorsCheckBox(bool enable); void enableAllMotorsCheckBox(bool enable);
int getLowOutputRate();
int getHighOutputRate(); int getHighOutputRate();
quint16 getCurrentChannel(); quint16 getCurrentChannel();

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27
ground/gcs/src/plugins/setupwizard/setupwizard.cpp
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@ -181,7 +181,10 @@ int SetupWizard::nextId() const
} }
case PAGE_BIAS_CALIBRATION: case PAGE_BIAS_CALIBRATION:
if (getVehicleType() == VEHICLE_MULTI) { if ((getVehicleType() == VEHICLE_MULTI) &&
(getEscType() != ESC_DSHOT150) &&
(getEscType() != ESC_DSHOT600) &&
(getEscType() != ESC_DSHOT1200)) {
return PAGE_ESC_CALIBRATION; return PAGE_ESC_CALIBRATION;
} else { } else {
return PAGE_OUTPUT_CALIBRATION; return PAGE_OUTPUT_CALIBRATION;
@ -414,14 +417,32 @@ QString SetupWizard::getSummaryText()
case ESC_STANDARD: case ESC_STANDARD:
summary.append(tr("Standard ESC (%1 Hz)").arg(VehicleConfigurationHelper::LEGACY_ESC_FREQUENCY)); summary.append(tr("Standard ESC (%1 Hz)").arg(VehicleConfigurationHelper::LEGACY_ESC_FREQUENCY));
break; break;
case ESC_STANDARD300:
summary.append(tr("Standard ESC (%1 Hz)").arg(VehicleConfigurationHelper::LEGACY_MULTI_ESC_FREQUENCY));
break;
case ESC_RAPID: case ESC_RAPID:
summary.append(tr("Rapid ESC (%1 Hz)").arg(VehicleConfigurationHelper::RAPID_ESC_FREQUENCY)); summary.append(tr("Rapid ESC (%1 Hz)").arg(VehicleConfigurationHelper::RAPID_ESC_FREQUENCY));
break; break;
case ESC_SYNCHED: case ESC_SYNCHED:
summary.append(tr("Synched ESC")); summary.append(tr("Synched ESC"));
break; break;
case ESC_ONESHOT: case ESC_ONESHOT125:
summary.append(tr("Oneshot ESC")); summary.append(tr("Oneshot125 ESC"));
break;
case ESC_ONESHOT42:
summary.append(tr("Oneshot42 ESC"));
break;
case ESC_MULTISHOT:
summary.append(tr("Multishot ESC"));
break;
case ESC_DSHOT150:
summary.append(tr("Dshot150 ESC"));
break;
case ESC_DSHOT600:
summary.append(tr("Dshot600 ESC"));
break;
case ESC_DSHOT1200:
summary.append(tr("Dshot1200 ESC"));
break; break;
default: default:
summary.append(tr("Unknown")); summary.append(tr("Unknown"));

39
ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -157,7 +157,9 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PWMNOONESHOT; data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PWMNOONESHOT;
break; break;
case VehicleConfigurationSource::INPUT_PPM: case VehicleConfigurationSource::INPUT_PPM:
if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT || if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT125 ||
m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT42 ||
m_configSource->getEscType() == VehicleConfigurationSource::ESC_MULTISHOT ||
m_configSource->getEscType() == VehicleConfigurationSource::ESC_SYNCHED) { m_configSource->getEscType() == VehicleConfigurationSource::ESC_SYNCHED) {
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPM_PIN8ONESHOT; data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPM_PIN8ONESHOT;
} else { } else {
@ -515,6 +517,7 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
ActuatorSettings *actSettings = ActuatorSettings::GetInstance(m_uavoManager); ActuatorSettings *actSettings = ActuatorSettings::GetInstance(m_uavoManager);
qint16 escFrequence = LEGACY_ESC_FREQUENCY; qint16 escFrequence = LEGACY_ESC_FREQUENCY;
qint16 escDShotMode = LEGACY_DSHOT_MODE;
ActuatorSettings::BankModeOptions bankMode = ActuatorSettings::BANKMODE_PWM; ActuatorSettings::BankModeOptions bankMode = ActuatorSettings::BANKMODE_PWM;
switch (m_configSource->getEscType()) { switch (m_configSource->getEscType()) {
@ -522,6 +525,10 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
escFrequence = LEGACY_ESC_FREQUENCY; escFrequence = LEGACY_ESC_FREQUENCY;
bankMode = ActuatorSettings::BANKMODE_PWM; bankMode = ActuatorSettings::BANKMODE_PWM;
break; break;
case VehicleConfigurationSource::ESC_STANDARD300:
escFrequence = LEGACY_MULTI_ESC_FREQUENCY;
bankMode = ActuatorSettings::BANKMODE_PWM;
break;
case VehicleConfigurationSource::ESC_RAPID: case VehicleConfigurationSource::ESC_RAPID:
bankMode = ActuatorSettings::BANKMODE_PWM; bankMode = ActuatorSettings::BANKMODE_PWM;
escFrequence = RAPID_ESC_FREQUENCY; escFrequence = RAPID_ESC_FREQUENCY;
@ -530,9 +537,32 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
bankMode = ActuatorSettings::BANKMODE_PWMSYNC; bankMode = ActuatorSettings::BANKMODE_PWMSYNC;
escFrequence = PWMSYNC_ESC_FREQUENCY; escFrequence = PWMSYNC_ESC_FREQUENCY;
break; break;
case VehicleConfigurationSource::ESC_ONESHOT: case VehicleConfigurationSource::ESC_ONESHOT125:
bankMode = ActuatorSettings::BANKMODE_ONESHOT125; bankMode = ActuatorSettings::BANKMODE_ONESHOT125;
escFrequence = ONESHOT_ESC_FREQUENCY; escFrequence = ESC_FREQUENCY_ZERO;
break;
case VehicleConfigurationSource::ESC_ONESHOT42:
bankMode = ActuatorSettings::BANKMODE_ONESHOT42;
escFrequence = ESC_FREQUENCY_ZERO;
break;
case VehicleConfigurationSource::ESC_MULTISHOT:
bankMode = ActuatorSettings::BANKMODE_MULTISHOT;
escFrequence = ESC_FREQUENCY_ZERO;
break;
case VehicleConfigurationSource::ESC_DSHOT150:
bankMode = ActuatorSettings::BANKMODE_DSHOT;
escFrequence = ESC_FREQUENCY_ZERO;
escDShotMode = DSHOT_MODE_150;
break;
case VehicleConfigurationSource::ESC_DSHOT600:
bankMode = ActuatorSettings::BANKMODE_DSHOT;
escFrequence = ESC_FREQUENCY_ZERO;
// escDShotFrequence = LEGACY_DSHOT_ESC_FREQUENCY;
break;
case VehicleConfigurationSource::ESC_DSHOT1200:
bankMode = ActuatorSettings::BANKMODE_DSHOT;
escFrequence = ESC_FREQUENCY_ZERO;
escDShotMode = DSHOT_MODE_1200;
break; break;
default: default:
break; break;
@ -574,6 +604,7 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
switch (m_configSource->getVehicleSubType()) { switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y: case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
// Servo always on channel 4 // Servo always on channel 4
data.DShotMode = escDShotMode;
data.BankUpdateFreq[0] = escFrequence; data.BankUpdateFreq[0] = escFrequence;
data.BankMode[0] = bankMode; data.BankMode[0] = bankMode;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO
@ -591,6 +622,7 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
break; break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X: case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS: case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
data.DShotMode = escDShotMode;
data.BankUpdateFreq[0] = escFrequence; data.BankUpdateFreq[0] = escFrequence;
data.BankMode[0] = bankMode; data.BankMode[0] = bankMode;
data.BankUpdateFreq[1] = escFrequence; data.BankUpdateFreq[1] = escFrequence;
@ -617,6 +649,7 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V:
data.DShotMode = escDShotMode;
data.BankUpdateFreq[0] = escFrequence; data.BankUpdateFreq[0] = escFrequence;
data.BankMode[0] = bankMode; data.BankMode[0] = bankMode;
data.BankUpdateFreq[1] = escFrequence; data.BankUpdateFreq[1] = escFrequence;

18
ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
View File

@ -61,15 +61,19 @@ public:
VehicleConfigurationHelper(VehicleConfigurationSource *configSource); VehicleConfigurationHelper(VehicleConfigurationSource *configSource);
bool setupVehicle(bool save = true); bool setupVehicle(bool save = true);
bool setupHardwareSettings(bool save = true); bool setupHardwareSettings(bool save = true);
static const qint16 LEGACY_ESC_FREQUENCY = 50; static const qint16 LEGACY_ESC_FREQUENCY = 50;
static const qint16 RAPID_ESC_FREQUENCY = 490; static const qint16 LEGACY_MULTI_ESC_FREQUENCY = 300;
static const qint16 PWMSYNC_ESC_FREQUENCY = 0; static const qint16 RAPID_ESC_FREQUENCY = 490;
static const qint16 ONESHOT_ESC_FREQUENCY = 0; static const qint16 PWMSYNC_ESC_FREQUENCY = 0;
static const qint16 ANALOG_SERVO_FREQUENCY = 50; static const qint16 ESC_FREQUENCY_ZERO = 0;
static const qint16 DIGITAL_SERVO_FREQUENCY = 333; static const qint16 DSHOT_MODE_150 = 150;
static const qint16 LEGACY_DSHOT_MODE = 600;
static const qint16 DSHOT_MODE_1200 = 1200;
static const qint16 ANALOG_SERVO_FREQUENCY = 50;
static const qint16 DIGITAL_SERVO_FREQUENCY = 333;
static const int MIXER_TYPE_NONE = 0; static const int MIXER_TYPE_NONE = 0;
static const int MIXER_TYPE_MOTOR = 1; static const int MIXER_TYPE_MOTOR = 1;
static const int MIXER_TYPE_REVERSABLEMOTOR = 2; static const int MIXER_TYPE_REVERSABLEMOTOR = 2;
static const int MIXER_TYPE_SERVO = 3; static const int MIXER_TYPE_SERVO = 3;

2
ground/gcs/src/plugins/setupwizard/vehicleconfigurationsource.h
View File

@ -65,7 +65,7 @@ public:
MULTI_ROTOR_OCTO_X, MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS, MULTI_ROTOR_OCTO_X, MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS,
FIXED_WING_DUAL_AILERON, FIXED_WING_AILERON, FIXED_WING_ELEVON, FIXED_WING_VTAIL, HELI_CCPM, FIXED_WING_DUAL_AILERON, FIXED_WING_AILERON, FIXED_WING_ELEVON, FIXED_WING_VTAIL, HELI_CCPM,
GROUNDVEHICLE_MOTORCYCLE, GROUNDVEHICLE_CAR, GROUNDVEHICLE_DIFFERENTIAL, GROUNDVEHICLE_BOAT, GROUNDVEHICLE_DIFFERENTIAL_BOAT }; GROUNDVEHICLE_MOTORCYCLE, GROUNDVEHICLE_CAR, GROUNDVEHICLE_DIFFERENTIAL, GROUNDVEHICLE_BOAT, GROUNDVEHICLE_DIFFERENTIAL_BOAT };
enum ESC_TYPE { ESC_ONESHOT, ESC_SYNCHED, ESC_RAPID, ESC_STANDARD, ESC_UNKNOWN }; enum ESC_TYPE { ESC_DSHOT1200, ESC_DSHOT600, ESC_DSHOT150, ESC_MULTISHOT, ESC_ONESHOT42, ESC_ONESHOT125, ESC_SYNCHED, ESC_RAPID, ESC_STANDARD300, ESC_STANDARD, ESC_UNKNOWN };
enum SERVO_TYPE { SERVO_ANALOG, SERVO_DIGITAL, SERVO_UNKNOWN }; enum SERVO_TYPE { SERVO_ANALOG, SERVO_DIGITAL, SERVO_UNKNOWN };
enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_SRXL, INPUT_HOTT_SUMD, INPUT_EXBUS, INPUT_IBUS, INPUT_UNKNOWN }; enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_SRXL, INPUT_HOTT_SUMD, INPUT_EXBUS, INPUT_IBUS, INPUT_UNKNOWN };
enum AIRSPEED_TYPE { AIRSPEED_ESTIMATE, AIRSPEED_EAGLETREE, AIRSPEED_MS4525, AIRSPEED_DISABLED }; enum AIRSPEED_TYPE { AIRSPEED_ESTIMATE, AIRSPEED_EAGLETREE, AIRSPEED_MS4525, AIRSPEED_DISABLED };

18
ground/gcs/src/plugins/setupwizard/wizardResources.qrc
View File

@ -12,8 +12,8 @@
<file>resources/bttn-plane-down.png</file> <file>resources/bttn-plane-down.png</file>
<file>resources/bttn-plane-over.png</file> <file>resources/bttn-plane-over.png</file>
<file>resources/bttn-plane-up.png</file> <file>resources/bttn-plane-up.png</file>
<file>resources/bttn-ESC-down.png</file> <file>resources/bttn-esc-down.png</file>
<file>resources/bttn-ESC-up.png</file> <file>resources/bttn-esc-up.png</file>
<file>resources/bttn-ppm-down.png</file> <file>resources/bttn-ppm-down.png</file>
<file>resources/bttn-ppm-up.png</file> <file>resources/bttn-ppm-up.png</file>
<file>resources/bttn-pwm-down.png</file> <file>resources/bttn-pwm-down.png</file>
@ -52,8 +52,22 @@
<file>resources/bttn-upgrade-up.png</file> <file>resources/bttn-upgrade-up.png</file>
<file>resources/not-connected.png</file> <file>resources/not-connected.png</file>
<file>resources/connected.png</file> <file>resources/connected.png</file>
<file>resources/bttn-esc300-dwn.png</file>
<file>resources/bttn-esc300-up.png</file>
<file>resources/bttn-oneshot-dwn.png</file> <file>resources/bttn-oneshot-dwn.png</file>
<file>resources/bttn-oneshot-up.png</file> <file>resources/bttn-oneshot-up.png</file>
<file>resources/bttn-oneshot125-dwn.png</file>
<file>resources/bttn-oneshot125-up.png</file>
<file>resources/bttn-oneshot42-dwn.png</file>
<file>resources/bttn-oneshot42-up.png</file>
<file>resources/bttn-multishot-dwn.png</file>
<file>resources/bttn-multishot-up.png</file>
<file>resources/bttn-dshot150-dwn.png</file>
<file>resources/bttn-dshot150-up.png</file>
<file>resources/bttn-dshot600-dwn.png</file>
<file>resources/bttn-dshot600-up.png</file>
<file>resources/bttn-dshot1200-dwn.png</file>
<file>resources/bttn-dshot1200-up.png</file>
<file>resources/bttn-srxl-down.png</file> <file>resources/bttn-srxl-down.png</file>
<file>resources/bttn-srxl-up.png</file> <file>resources/bttn-srxl-up.png</file>
<file>resources/bttn-hott-down.png</file> <file>resources/bttn-hott-down.png</file>