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Code Issues Releases Activity

OP-1723 Ground wizard, reversable motor support - Fixes default outputs levels issue (OP-1718)

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This commit is contained in:
Laurent Lalanne 2015-02-15 18:32:01 +01:00
parent f1f8e285e9
commit c645738bc5
4 changed files with 113 additions and 29 deletions
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70
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;
}
@ -70,24 +72,39 @@ 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;
m_actuatorSettings[servoid].channelNeutral = 1000;
m_actuatorSettings[servoid].channelMax = 1000;
}
qDebug() << "**** " << servoid << " ***** " << m_actuatorSettings[servoid].channelMin << " " << m_actuatorSettings[servoid].channelNeutral << " " << m_actuatorSettings[servoid].channelMax;
}
}
@ -101,6 +118,12 @@ void OutputCalibrationPage::setupVehicle()
m_currentWizardIndex = 0;
m_vehicleScene->clear();
if (m_calibrationUtil) {
delete m_calibrationUtil;
m_calibrationUtil = 0;
}
m_calibrationUtil = new OutputCalibrationUtil();
switch (getWizard()->getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
// Loads the SVG file resourse and sets the scene
@ -120,7 +143,7 @@ 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;
@ -213,7 +236,7 @@ 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 +249,7 @@ 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 +271,7 @@ 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 +280,6 @@ void OutputCalibrationPage::setupVehicle()
break;
}
if (m_calibrationUtil) {
delete m_calibrationUtil;
m_calibrationUtil = 0;
}
m_calibrationUtil = new OutputCalibrationUtil();
setupVehicleItems();
}
@ -326,7 +343,15 @@ void OutputCalibrationPage::setWizardPage()
if (currentChannel >= 0) {
if (currentPageIndex == 1) {
ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
ui->motorPWMValue->setText(QString("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 don't start. <br/><br/>When done press button again to stop.</span></p></body></html>"));
}
} else if (currentPageIndex == 2) {
ui->servoPWMValue->setText(QString("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 +441,11 @@ 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 +455,6 @@ 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 +462,16 @@ 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->objectName() == "motorNeutralButton") && !m_actuatorSettings[channel].isReversableMotor) {
m_calibrationUtil->startChannelOutput(channel, m_actuatorSettings[channel].channelMin);
}
m_calibrationUtil->stopChannelOutput();
OutputCalibrationUtil::stopOutputCalibration();
enableServoSliders(false);
enableButtons(true);
}
@ -492,6 +529,8 @@ void OutputCalibrationPage::debugLogChannelValues()
void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
{
Q_UNUSED(value);
ui->motorPWMValue->setText(QString("Output value : <b>%1</b> µs").arg(value));
if (ui->motorNeutralButton->isChecked()) {
quint16 value = ui->motorNeutralSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
@ -515,6 +554,7 @@ void OutputCalibrationPage::on_servoCenterAngleSlider_valueChanged(int position)
m_calibrationUtil->setChannelOutputValue(value);
quint16 channel = getCurrentChannel();
m_actuatorSettings[channel].channelNeutral = value;
ui->servoPWMValue->setText(QString("Output value : <b>%1</b> µs").arg(value));
// Adjust min and max
if (ui->reverseCheckbox->isChecked()) {

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">

29
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -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) {}
};