From c645738bc576038c1b3abf978d856f29db4ef2d8 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne
Date: Sun, 15 Feb 2015 18:32:01 +0100
Subject: [PATCH] OP-1723 Ground wizard, reversable motor support - Fixes
default outputs levels issue (OP-1718)
---
.../pages/outputcalibrationpage.cpp | 70 +++++++++++++++----
.../pages/outputcalibrationpage.ui | 40 +++++++++--
.../vehicleconfigurationhelper.cpp | 29 +++++---
.../setupwizard/vehicleconfigurationsource.h | 3 +-
4 files changed, 113 insertions(+), 29 deletions(-)
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
index cdf95e5c1..623669038 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
@@ -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 : %1 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("To find the neutral rate for this reversable motor, 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.
When done press button again to stop.
"));
+ }
} else if (currentPageIndex == 2) {
+ ui->servoPWMValue->setText(QString("Output value : %1 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 : %1 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 : %1 µs").arg(value));
// Adjust min and max
if (ui->reverseCheckbox->isChecked()) {
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.ui
index 1fdb2d918..202b766a2 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.ui
@@ -6,8 +6,8 @@
0
0
- 600
- 400
+ 776
+ 505
@@ -94,8 +94,10 @@ p, li { white-space: pre-wrap; }
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
p, li { white-space: pre-wrap; }
</style></head><body style=" font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">In this step we will set the neutral rate for the motor highlighted in the illustration to the right. <br />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. </span></p>
-<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To find </span><span style=" font-size:10pt; font-weight:600;">the neutral rate for this motor</span><span style=" font-size:10pt;">, press the Start button below and slide the slider to the right until the motor just starts to spin stable. <br /><br />When done press button again to stop.</span></p></body></html>
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">In this step we will set the neutral rate for the motor highlighted in the illustration to the right. <br />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. </span></p></body></html>
+
+
+ Qt::RichText
Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop
@@ -105,6 +107,29 @@ p, li { white-space: pre-wrap; }
+ -
+
+
+ <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 motor</span><span style=" font-size:10pt;">, press the Start button below and slide the slider to the right until the motor just starts to spin stable. <br/><br/>When done press button again to stop.</span></p></body></html>
+
+
+ Qt::RichText
+
+
+ Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop
+
+
+ true
+
+
+
+ -
+
+
+ Output value: 1000µs
+
+
+
-
@@ -184,6 +209,13 @@ p, li { white-space: pre-wrap; }
+ -
+
+
+ Output value: 1000µs
+
+
+
-
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
index 81bf4fd40..06f3056a1 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
@@ -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;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
index 37fcbe1a7..e9483c071 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
@@ -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) {}
};