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Code Issues Releases Activity

Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into thread/OP-1685_GUI_Fixes

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This commit is contained in:
abeck70 2015-02-19 08:30:41 +11:00
commit dc23a5bb43
12 changed files with 277 additions and 107 deletions
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44
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -60,10 +60,10 @@ QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
channelDesc[configData.ground.GroundVehicleSteering2 - 1] = QString("GroundSteering2");
}
if (configData.ground.GroundVehicleThrottle1 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundThrottle1");
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundMotor1");
}
if (configData.ground.GroundVehicleThrottle2 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundThrottle2");
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundMotor2");
}
return channelDesc;
}
@ -116,6 +116,13 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
// Default Curve2 range -1 -> +1, allow forward/reverse (Car and Tank)
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
initMixerCurves(frameType);
if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)") {
// Tank
m_vehicleImg->setElementId("tank");
@ -159,9 +166,9 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
// Motorcycle
m_vehicleImg->setElementId("motorbike");
setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Motorcycle"));
m_aircraft->gvMotor1ChannelBox->setEnabled(false);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor2ChannelBox->setEnabled(false);
m_aircraft->gvMotor2Label->setText("Rear motor");
@ -171,7 +178,11 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Balancing");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
// Curve1 for Motorcyle
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Rear throttle curve");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(false);
// Curve range 0 -> +1 (no reverse)
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
@ -201,19 +212,24 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Rear steering");
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Front throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
// Curve2 for Car
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
initMixerCurves(frameType);
// If new setup, set curves values
if (frameTypeSaved->getValue().toString() != "GroundVehicleCar") {
// Curve range 0 -> +1 (no reverse)
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0);
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0);
// Set curve2 range from -0.926 to 1 (forward / reverse)
// Take in account 4% offset in Throttle input after calibration
// 0.5 / 0.54 = 0.926
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0, -0.926);
}
}
@ -321,6 +337,8 @@ void ConfigGroundVehicleWidget::initMixerCurves(QString frameType)
// no, init a straight curve
if (frameType == "GroundVehicleDifferential") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 0.8, -0.8);
} else if (frameType == "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0, -1.0);
} else {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
@ -388,7 +406,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
// motor
int channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@ -495,7 +513,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);

29
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -1698,12 +1698,31 @@ void ConfigInputWidget::resetChannelSettings()
void ConfigInputWidget::resetActuatorSettings()
{
actuatorSettingsData = actuatorSettingsObj->getData();
// Clear all output data : Min, max, neutral = 1500
// 1500 = servo middle, can be applied to all outputs because board is 'Alwaysdisarmed'
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QString mixerType;
// Clear all output data : Min, max, neutral at same value
// 1000 for motors and 1500 for all others (Reversable motor included)
for (unsigned int output = 0; output < 12; output++) {
actuatorSettingsData.ChannelMax[output] = 1500;
actuatorSettingsData.ChannelMin[output] = 1000;
actuatorSettingsData.ChannelNeutral[output] = 1500;
QString mixerNumType = QString("Mixer%1Type").arg(output + 1);
UAVObjectField *field = mixer->getField(mixerNumType);
Q_ASSERT(field);
if (field) {
mixerType = field->getValue().toString();
}
if ((mixerType == "Motor") || (mixerType == "Disabled")) {
actuatorSettingsData.ChannelMax[output] = 1000;
actuatorSettingsData.ChannelMin[output] = 1000;
actuatorSettingsData.ChannelNeutral[output] = 1000;
} else {
actuatorSettingsData.ChannelMax[output] = 1500;
actuatorSettingsData.ChannelMin[output] = 1500;
actuatorSettingsData.ChannelNeutral[output] = 1500;
}
actuatorSettingsObj->setData(actuatorSettingsData);
}
}

1
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -40,6 +40,7 @@
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "actuatorsettings.h"
#include "mixersettings.h"
#include "flightmodesettings.h"
#include "receiveractivity.h"
#include <QGraphicsView>

9
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -203,6 +203,15 @@ void ConfigOutputWidget::runChannelTests(bool state)
if (state) {
sendAllChannelTests();
}
// Add info at end
if (!state && isDirty()) {
QMessageBox mbox;
mbox.setText(QString(tr("You may want to save your neutral settings.")));
mbox.setStandardButtons(QMessageBox::Ok);
mbox.setIcon(QMessageBox::Information);
mbox.exec();
}
}
OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const

140
ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
View File

@ -56,6 +56,15 @@ OutputChannelForm::OutputChannelForm(const int index, QWidget *parent) :
ui.actuatorMax->setMinimum(MINOUTPUT_VALUE);
ui.actuatorValue->setMinimum(MINOUTPUT_VALUE);
// Remove keyboard focus
ui.actuatorMin->setFocusPolicy(Qt::ClickFocus);
ui.actuatorMax->setFocusPolicy(Qt::ClickFocus);
ui.actuatorRev->setFocusPolicy(Qt::ClickFocus);
ui.actuatorLink->setFocusPolicy(Qt::ClickFocus);
ui.actuatorValue->setFocusPolicy(Qt::NoFocus);
setChannelRange();
disableMouseWheelEvents();
}
@ -120,11 +129,12 @@ void OutputChannelForm::enableChannelTest(bool state)
} else {
ui.actuatorMin->setEnabled(true);
ui.actuatorMax->setEnabled(true);
ui.actuatorRev->setEnabled(true);
if (m_mixerType != "Motor") {
ui.actuatorRev->setEnabled(true);
}
}
}
/**
* Toggles the channel linked state for use in testing mode
*/
@ -139,7 +149,7 @@ void OutputChannelForm::linkToggled(bool state)
if (!parent()) {
return;
}
int min = 10000;
int min = MAXOUTPUT_VALUE;
int linked_count = 0;
QList<OutputChannelForm *> outputChannelForms = parent()->findChildren<OutputChannelForm *>();
// set the linked channels of the parent widget to the same value
@ -179,7 +189,7 @@ int OutputChannelForm::max() const
*/
void OutputChannelForm::setMax(int maximum)
{
setRange(ui.actuatorMin->value(), maximum);
setRange(ui.actuatorMax->value(), maximum);
}
int OutputChannelForm::min() const
@ -192,7 +202,7 @@ int OutputChannelForm::min() const
*/
void OutputChannelForm::setMin(int minimum)
{
setRange(minimum, ui.actuatorMax->value());
setRange(minimum, ui.actuatorMin->value());
}
int OutputChannelForm::neutral() const
@ -216,11 +226,6 @@ void OutputChannelForm::setRange(int minimum, int maximum)
ui.actuatorMin->setValue(minimum);
ui.actuatorMax->setValue(maximum);
setChannelRange();
if (ui.actuatorMin->value() > ui.actuatorMax->value()) {
ui.actuatorRev->setChecked(true);
} else {
ui.actuatorRev->setChecked(false);
}
}
/**
@ -232,39 +237,59 @@ void OutputChannelForm::setRange(int minimum, int maximum)
*/
void OutputChannelForm::setChannelRange()
{
int oldMini = ui.actuatorNeutral->minimum();
int minValue = ui.actuatorMin->value();
int maxValue = ui.actuatorMax->value();
// int oldMaxi = ui.actuatorNeutral->maximum();
int oldMini = ui.actuatorNeutral->minimum();
int oldMaxi = ui.actuatorNeutral->maximum();
if (minValue <= maxValue) {
ui.actuatorNeutral->setRange(ui.actuatorMin->value(), ui.actuatorMax->value());
ui.actuatorRev->setChecked(false);
m_mixerType = outputMixerType();
// Red handle for Motors
if ((m_mixerType == "Motor") || (m_mixerType == "ReversableMotor")) {
ui.actuatorNeutral->setStyleSheet("QSlider::handle:horizontal { background: rgb(255, 100, 100); width: 18px; height: 28px;"
"margin: -3px 0; border-radius: 3px; border: 1px solid #777; }");
} else {
ui.actuatorNeutral->setRange(ui.actuatorMax->value(), ui.actuatorMin->value());
ui.actuatorRev->setChecked(true);
ui.actuatorNeutral->setStyleSheet("QSlider::handle:horizontal { background: rgb(196, 196, 196); width: 18px; height: 28px;"
"margin: -3px 0; border-radius: 3px; border: 1px solid #777; }");
}
// Normal motor will be *** never *** reversed : without arming a "Min" value (like 1900) can be applied !
if (m_mixerType == "Motor") {
if (minValue >= maxValue) {
// Keep old values
ui.actuatorMin->setValue(oldMini);
ui.actuatorMax->setValue(oldMaxi);
}
ui.actuatorRev->setChecked(false);
ui.actuatorRev->setEnabled(false);
ui.actuatorNeutral->setInvertedAppearance(false);
ui.actuatorNeutral->setRange(ui.actuatorMin->value(), ui.actuatorMax->value());
} else {
// Others output (!Motor)
// Auto check reverse checkbox SpinBox Min/Max changes
ui.actuatorRev->setEnabled(true);
if (minValue <= maxValue) {
ui.actuatorRev->setChecked(false);
ui.actuatorNeutral->setInvertedAppearance(false);
ui.actuatorNeutral->setRange(minValue, maxValue);
} else {
ui.actuatorRev->setChecked(true);
ui.actuatorNeutral->setInvertedAppearance(true);
ui.actuatorNeutral->setRange(maxValue, minValue);
}
}
// If old neutral was Min, stay Min
if (ui.actuatorNeutral->value() == oldMini) {
ui.actuatorNeutral->setValue(ui.actuatorNeutral->minimum());
}
// Enable only outputs already set in mixer
if (name() != "-") {
if (m_mixerType != "Disabled") {
ui.actuatorMin->setEnabled(true);
ui.actuatorMax->setEnabled(true);
ui.actuatorNeutral->setEnabled(true);
ui.actuatorValue->setEnabled(true);
// Enable checkboxes Rev and Link if some range
if (minValue != maxValue) {
ui.actuatorRev->setEnabled(true);
ui.actuatorLink->setEnabled(true);
} else {
ui.actuatorRev->setEnabled(false);
ui.actuatorLink->setEnabled(false);
}
} else {
ui.actuatorMin->setEnabled(false);
ui.actuatorMax->setEnabled(false);
@ -273,13 +298,9 @@ void OutputChannelForm::setChannelRange()
ui.actuatorMin->setValue(1000);
ui.actuatorMax->setValue(1000);
ui.actuatorNeutral->setRange(minValue, maxValue);
ui.actuatorNeutral->setEnabled(false);
ui.actuatorNeutral->setValue(minValue);
ui.actuatorValue->setEnabled(false);
}
// if (ui.actuatorNeutral->value() == oldMaxi)
// this can be dangerous if it happens to be controlling a motor at the time!
// ui.actuatorNeutral->setValue(ui.actuatorNeutral->maximum());
}
/**
@ -287,30 +308,17 @@ void OutputChannelForm::setChannelRange()
*/
void OutputChannelForm::reverseChannel(bool state)
{
// Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
// the situations below can happen!
if (state && (ui.actuatorMax->value() < ui.actuatorMin->value())) {
return;
}
if (!state && (ui.actuatorMax->value() > ui.actuatorMin->value())) {
return;
}
// if 'state' (reverse channel requested) apply only if not already reversed
if ((state && (ui.actuatorMax->value() > ui.actuatorMin->value()))
|| (!state && (ui.actuatorMax->value() < ui.actuatorMin->value()))) {
// Now, swap the min & max values (spin boxes)
int temp = ui.actuatorMax->value();
ui.actuatorMax->setValue(ui.actuatorMin->value());
ui.actuatorMin->setValue(temp);
ui.actuatorNeutral->setInvertedAppearance(state);
// Now, swap the min & max values (only on the spinboxes, the slider does not change!)
int temp = ui.actuatorMax->value();
ui.actuatorMax->setValue(ui.actuatorMin->value());
ui.actuatorMin->setValue(temp);
// Also update the channel value
// This is a trick to force the slider to update its value and
// emit the right signal itself, because our sendChannelTest(int) method
// relies on the object sender's identity.
if (ui.actuatorNeutral->value() < ui.actuatorNeutral->maximum()) {
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value() + 1);
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value() - 1);
} else {
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value() - 1);
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value() + 1);
setChannelRange();
return;
}
}
@ -328,10 +336,6 @@ void OutputChannelForm::sendChannelTest(int value)
return;
}
if (ui.actuatorRev->isChecked()) {
// the channel is reversed
value = ui.actuatorMin->value() - value + ui.actuatorMax->value();
}
// update the label
ui.actuatorValue->setValue(value);
@ -370,3 +374,21 @@ void OutputChannelForm::sendChannelTest(int value)
}
emit channelChanged(index(), value);
}
/**
*
* Returns MixerType
*/
QString OutputChannelForm::outputMixerType()
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QString mixerNumType = QString("Mixer%1Type").arg(index() + 1);
UAVObjectField *field = mixer->getField(mixerNumType);
Q_ASSERT(field);
QString mixerType = field->getValue().toString();
return mixerType;
}

2
ground/openpilotgcs/src/plugins/config/outputchannelform.h
View File

@ -58,6 +58,7 @@ public slots:
void setNeutral(int value);
void setRange(int minimum, int maximum);
void enableChannelTest(bool state);
QString outputMixerType();
signals:
void channelChanged(int index, int value);
@ -65,6 +66,7 @@ signals:
private:
Ui::outputChannelForm ui;
bool m_inChannelTest;
QString m_mixerType;
private slots:
void linkToggled(bool state);

10
ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
View File

@ -104,6 +104,16 @@ void EscCalibrationPage::startButtonClicked()
QString mixerTypePattern = "Mixer%1Type";
OutputCalibrationUtil::startOutputCalibration();
// First check if any servo and set his value to 1500 (like Tricopter)
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_SERVO)) {
m_outputUtil.startChannelOutput(i, 1500);
m_outputUtil.stopChannelOutput();
}
}
// Find motors and start Esc procedure
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);

76
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;
}
@ -70,18 +72,32 @@ 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;
@ -101,6 +117,8 @@ void OutputCalibrationPage::setupVehicle()
m_currentWizardIndex = 0;
m_vehicleScene->clear();
resetOutputCalibrationUtil();
switch (getWizard()->getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
// Loads the SVG file resourse and sets the scene
@ -120,7 +138,7 @@ 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;
@ -180,7 +198,7 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 1 << 3;
setupActuatorMinMaxAndNeutral(2, 2, 5);
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -213,7 +231,7 @@ 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 +244,7 @@ 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 +266,7 @@ 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 +275,6 @@ void OutputCalibrationPage::setupVehicle()
break;
}
if (m_calibrationUtil) {
delete m_calibrationUtil;
m_calibrationUtil = 0;
}
m_calibrationUtil = new OutputCalibrationUtil();
setupVehicleItems();
}
@ -326,7 +338,15 @@ void OutputCalibrationPage::setWizardPage()
if (currentChannel >= 0) {
if (currentPageIndex == 1) {
ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
ui->motorPWMValue->setText(QString(tr("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 doesn't start. <br/><br/>When done press button again to stop.</span></p></body></html>"));
}
} else if (currentPageIndex == 2) {
ui->servoPWMValue->setText(tr("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 +436,11 @@ 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 +450,6 @@ 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 +457,16 @@ 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 == ui->motorNeutralButton) && !m_actuatorSettings[channel].isReversableMotor) {
m_calibrationUtil->startChannelOutput(channel, m_actuatorSettings[channel].channelMin);
}
m_calibrationUtil->stopChannelOutput();
OutputCalibrationUtil::stopOutputCalibration();
enableServoSliders(false);
enableButtons(true);
}
@ -492,6 +524,8 @@ void OutputCalibrationPage::debugLogChannelValues()
void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
{
Q_UNUSED(value);
ui->motorPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(value));
if (ui->motorNeutralButton->isChecked()) {
quint16 value = ui->motorNeutralSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
@ -515,6 +549,7 @@ void OutputCalibrationPage::on_servoCenterAngleSlider_valueChanged(int position)
m_calibrationUtil->setChannelOutputValue(value);
quint16 channel = getCurrentChannel();
m_actuatorSettings[channel].channelNeutral = value;
ui->servoPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(value));
// Adjust min and max
if (ui->reverseCheckbox->isChecked()) {
@ -615,3 +650,12 @@ void OutputCalibrationPage::on_reverseCheckbox_toggled(bool checked)
ui->servoMaxAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMax);
}
}
void OutputCalibrationPage::resetOutputCalibrationUtil()
{
if (m_calibrationUtil) {
delete m_calibrationUtil;
m_calibrationUtil = 0;
}
m_calibrationUtil = new OutputCalibrationUtil();
}

1
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
View File

@ -100,6 +100,7 @@ private:
QList<actuatorChannelSettings> m_actuatorSettings;
OutputCalibrationUtil *m_calibrationUtil;
void resetOutputCalibrationUtil();
static const QString MULTI_SVG_FILE;
static const QString FIXEDWING_SVG_FILE;

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) {}
};