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Code Issues Releases Activity

Input config: Bring back old style calibration. I can't seem to make the input

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widget list a class variable which isn't very safe (multipe instances of the
config gadget will act funny).
This commit is contained in:
James Cotton 2011-09-06 18:26:47 -05:00
parent d496f81c68
commit cabfbc229d
2 changed files with 96 additions and 0 deletions
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93
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -46,6 +46,8 @@
#define STICK_MIN_MOVE -8
#define STICK_MAX_MOVE 8
QList<inputChannelForm*> inputList;
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
@ -56,9 +58,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
inputList.clear();
int index=0;
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
inputChannelForm * inp=new inputChannelForm(this,index==0);
m_config->channelSettings->layout()->addWidget(inp);
inp->ui->channelName->setText(name);
@ -67,10 +72,13 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inp->ui->channelMin,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inp->ui->channelNeutral,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index);
inputList.append(inp);
++index;
}
connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToNormalWizard()));
connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
connect(manualSettingsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(settingsUpdated()));
connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
@ -970,3 +978,88 @@ void ConfigInputWidget::moveFMSlider()
m_config->fmsSlider->setValue(0);
}
}
void ConfigInputWidget::updateCalibration()
{
bool changed = false;
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
manualSettingsObj->updated();
settingsUpdated();
}
void ConfigInputWidget::settingsUpdated()
{
manualSettingsData=manualSettingsObj->getData();
Q_ASSERT(inputList.length() <= ManualControlSettings::CHANNELGROUPS_NUMELEM);
for(int i = 0; i < inputList.length(); i++) {
inputList[i]->ui->channelNeutral->setMaximum(manualSettingsData.ChannelMax[i]);
inputList[i]->ui->channelNeutral->setMinimum(manualSettingsData.ChannelMin[i]);
inputList[i]->ui->channelNeutral->setValue(manualSettingsData.ChannelNeutral[i]);
}
}
void ConfigInputWidget::simpleCalibration(bool enable)
{
if (enable) {
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
manualCommandData = manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
manualSettingsObj->setData(manualSettingsData);
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
UAVObject::Metadata mdata= manualCommandObj->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
} else {
manualCommandData = manualCommandObj->getData();
manualSettingsData = manualSettingsObj->getData();
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
// Force flight mode neutral to middle
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
// Force throttle to be near min
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
manualSettingsObj->setData(manualSettingsData);
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
}
}

3
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -132,6 +132,9 @@ private slots:
void dimOtherControls(bool value);
void moveFMSlider();
void invertControls();
void simpleCalibration(bool state);
void updateCalibration();
void settingsUpdated();
protected:
void resizeEvent(QResizeEvent *event);
virtual void enableControls(bool enable);