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Code Issues Releases Activity

OP-1747 Updated code in SetupWizard to use different max rate outputs for pwm and OneShot125.

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This commit is contained in:
m_thread 2015-03-05 21:45:08 +01:00
parent d77c317e37
commit d4c562eb11
4 changed files with 39 additions and 14 deletions
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13
ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
View File

@ -85,6 +85,15 @@ void EscCalibrationPage::resetAllSecurityCheckboxes()
ui->securityCheckBox3->setChecked(false);
}
int EscCalibrationPage::getHighOutputRate()
{
if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) {
return HIGH_ONESHOT125_OUTPUT_PULSE_LENGTH_MICROSECONDS;
} else {
return HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS;
}
}
void EscCalibrationPage::startButtonClicked()
{
if (!m_isCalibrating) {
@ -95,7 +104,7 @@ void EscCalibrationPage::startButtonClicked()
ui->outputLow->setEnabled(false);
ui->nonconnectedLabel->setEnabled(false);
ui->connectedLabel->setEnabled(true);
ui->outputLevel->setText(QString(tr("%1 µs")).arg(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
ui->outputLevel->setText(QString(tr("%1 µs")).arg(getHighOutputRate()));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavoManager);
@ -123,7 +132,7 @@ void EscCalibrationPage::startButtonClicked()
}
m_outputUtil.startChannelOutput(m_outputChannels, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
QThread::msleep(100);
m_outputUtil.setChannelOutputValue(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
m_outputUtil.setChannelOutputValue(getHighOutputRate());
ui->stopButton->setEnabled(true);
}

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

@ -56,10 +56,12 @@ private:
static const int LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1050;
static const int OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 900;
static const int HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1900;
static const int HIGH_ONESHOT125_OUTPUT_PULSE_LENGTH_MICROSECONDS = 2000;
Ui::EscCalibrationPage *ui;
bool m_isCalibrating;
OutputCalibrationUtil m_outputUtil;
QList<quint16> m_outputChannels;
int getHighOutputRate();
};
#endif // ESCCALIBRATIONPAGE_H

33
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -77,32 +77,32 @@ void OutputCalibrationPage::setupActuatorMinMaxAndNeutral(int motorChannelStart,
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 = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = getHighOutputRate();
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].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].isReversableMotor = true;
// Set initial output value
m_calibrationUtil->startChannelOutput(servoid, 1500);
m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MILLISECONDS);
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;
m_actuatorSettings[servoid].channelMin = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
// Set initial servo output value
m_calibrationUtil->startChannelOutput(servoid, 1500);
m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MILLISECONDS);
m_calibrationUtil->stopChannelOutput();
} else {
// "Disable" these channels
m_actuatorSettings[servoid].channelMin = 1000;
m_actuatorSettings[servoid].channelNeutral = 1000;
m_actuatorSettings[servoid].channelMax = 1000;
m_actuatorSettings[servoid].channelMin = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = LOW_OUTPUT_RATE_MILLISECONDS;
}
}
}
@ -521,6 +521,15 @@ void OutputCalibrationPage::debugLogChannelValues()
qDebug() << "ChannelMax : " << m_actuatorSettings[channel].channelMax;
}
int OutputCalibrationPage::getHighOutputRate()
{
if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) {
return HIGH_OUTPUT_RATE_MILLISECONDS_ONESHOT125;
} else {
return HIGH_OUTPUT_RATE_MILLISECONDS_PWM;
}
}
void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
{
Q_UNUSED(value);

5
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
View File

@ -72,6 +72,10 @@ private slots:
void on_reverseCheckbox_toggled(bool checked);
private:
static const int LOW_OUTPUT_RATE_MILLISECONDS = 1000;
static const int NEUTRAL_OUTPUT_RATE_MILLISECONDS = 1500;
static const int HIGH_OUTPUT_RATE_MILLISECONDS_PWM = 1900;
static const int HIGH_OUTPUT_RATE_MILLISECONDS_ONESHOT125 = 2000;
void setupVehicle();
void startWizard();
void setupVehicleItems();
@ -82,6 +86,7 @@ private:
void onStartButtonToggle(QAbstractButton *button, quint16 channel, quint16 value, quint16 safeValue, QSlider *slider);
bool checkAlarms();
void debugLogChannelValues();
int getHighOutputRate();
quint16 getCurrentChannel();
Ui::OutputCalibrationPage *ui;