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Code Issues Releases Activity

LP-551 Remove BankMode string and use UavObject definitions

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This commit is contained in:
Laurent Lalanne 2018-01-07 21:08:25 +01:00
parent 893264273f
commit e69a7ad238
2 changed files with 50 additions and 26 deletions
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71
ground/gcs/src/plugins/config/configoutputwidget.cpp
View File

@ -59,7 +59,7 @@
#define DEFAULT_MINOUTPUT_RANGE 900 #define DEFAULT_MINOUTPUT_RANGE 900
#define DEFAULT_MINOUTPUT_VALUE 1000 #define DEFAULT_MINOUTPUT_VALUE 1000
#define REVMOTOR_NEUTRAL_TARGET_VALUE 1500 #define REVMOTOR_NEUTRAL_TARGET_VALUE 1500
#define REVMOTOR_NEUTRAL_DIFF_VALUE 250 #define REVMOTOR_NEUTRAL_DIFF_VALUE 150
// Servo settings // Servo settings
#define SERVO_MAXOUTPUT_RANGE 2500 #define SERVO_MAXOUTPUT_RANGE 2500
@ -68,6 +68,8 @@
#define SERVO_MINOUTPUT_VALUE 1000 #define SERVO_MINOUTPUT_VALUE 1000
#define SERVO_NEUTRAL_VALUE 1500 #define SERVO_NEUTRAL_VALUE 1500
#define OUTPUT_WARNING_DISABLED -1
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent) ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{ {
m_ui = new Ui_OutputWidget(); m_ui = new Ui_OutputWidget();
@ -525,11 +527,14 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
case ActuatorSettings::BANKMODE_DSHOT: case ActuatorSettings::BANKMODE_DSHOT:
// 0 - 2000 UI limits, DShot min value is fixed to zero // 0 - 2000 UI limits, DShot min value is fixed to zero
if (channelForm->isServoOutput()) { if (channelForm->isServoOutput()) {
bank_mode_servo_warning = "DShot"; // Driving a servo using DShot do not make sense: break
bank_mode_servo_warning = ActuatorSettings::BANKMODE_DSHOT;
break; break;
} }
if (channelForm->isReversableMotor()) { if (channelForm->isReversableMotor()) {
reversable_motor_warning = "DShot"; // Bi-directional DShot not yet supported: apply normal settings
reversable_motor_warning = ActuatorSettings::BANKMODE_DSHOT;
} }
channelForm->setLimits(DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE); channelForm->setLimits(DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
channelForm->setRange(DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE); channelForm->setRange(DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
@ -542,8 +547,8 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE); channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE);
channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE); channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE); channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) { if (channelForm->isReversableMotor() && (reversable_motor_warning == OUTPUT_WARNING_DISABLED)) {
reversable_motor_warning = "PWMSync"; reversable_motor_warning = ActuatorSettings::BANKMODE_PWMSYNC;
} }
if (channelForm->isServoOutput()) { if (channelForm->isServoOutput()) {
// Servo: Some of them can handle PWMSync, 500 - 1900 UI limits // Servo: Some of them can handle PWMSync, 500 - 1900 UI limits
@ -554,8 +559,8 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
break; break;
case ActuatorSettings::BANKMODE_PWM: case ActuatorSettings::BANKMODE_PWM:
// PWM motor outputs fall to default // PWM motor outputs fall to default
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) { if (channelForm->isReversableMotor() && (reversable_motor_warning == OUTPUT_WARNING_DISABLED)) {
reversable_motor_warning = "PWM"; reversable_motor_warning = ActuatorSettings::BANKMODE_PWM;
} }
if (channelForm->isServoOutput()) { if (channelForm->isServoOutput()) {
// Servo: 500 - 2500 UI limits // Servo: 500 - 2500 UI limits
@ -567,31 +572,32 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
} }
case ActuatorSettings::BANKMODE_ONESHOT125: case ActuatorSettings::BANKMODE_ONESHOT125:
if (channelForm->isServoOutput()) { if (channelForm->isServoOutput()) {
bank_mode_servo_warning = "OneShot125"; bank_mode_servo_warning = ActuatorSettings::BANKMODE_ONESHOT125;
break; break;
} }
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) { if (channelForm->isReversableMotor() && (reversable_motor_warning == OUTPUT_WARNING_DISABLED)) {
reversable_motor_warning = "OneShot125"; reversable_motor_warning = ActuatorSettings::BANKMODE_ONESHOT125;
} }
case ActuatorSettings::BANKMODE_ONESHOT42: case ActuatorSettings::BANKMODE_ONESHOT42:
if (channelForm->isServoOutput()) { if (channelForm->isServoOutput()) {
bank_mode_servo_warning = "OneShot42"; bank_mode_servo_warning = ActuatorSettings::BANKMODE_ONESHOT42;
break; break;
} }
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) { if (channelForm->isReversableMotor() && (reversable_motor_warning == OUTPUT_WARNING_DISABLED)) {
reversable_motor_warning = "OneShot42"; reversable_motor_warning = ActuatorSettings::BANKMODE_ONESHOT42;
} }
case ActuatorSettings::BANKMODE_MULTISHOT: case ActuatorSettings::BANKMODE_MULTISHOT:
if (channelForm->isServoOutput()) { if (channelForm->isServoOutput()) {
bank_mode_servo_warning = "MultiShot"; bank_mode_servo_warning = ActuatorSettings::BANKMODE_MULTISHOT;
break; break;
} }
if (channelForm->isReversableMotor() && (reversable_motor_warning == "")) { if (channelForm->isReversableMotor() && (reversable_motor_warning == OUTPUT_WARNING_DISABLED)) {
reversable_motor_warning = "MultiShot"; reversable_motor_warning = ActuatorSettings::BANKMODE_MULTISHOT;
} }
default: default:
// Motors 900 - 2000 UI limits // Motors 900 - 2000 UI limits
// Default values 1000 - 2000, neutral set to min // Default values 1000 - 2000, neutral set to min
// This settings are used for PWM, OneShot125, OneShot42 and MultiShot
currentNeutralValue = channelForm->getNeutralValue(); currentNeutralValue = channelForm->getNeutralValue();
channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE); channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE);
channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, DEFAULT_MAXOUTPUT_RANGE); channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, DEFAULT_MAXOUTPUT_RANGE);
@ -604,7 +610,7 @@ void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, Output
int neutralDiff = qAbs(REVMOTOR_NEUTRAL_TARGET_VALUE - currentNeutralValue); int neutralDiff = qAbs(REVMOTOR_NEUTRAL_TARGET_VALUE - currentNeutralValue);
if (neutralDiff < REVMOTOR_NEUTRAL_DIFF_VALUE) { if (neutralDiff < REVMOTOR_NEUTRAL_DIFF_VALUE) {
// Reset warning // Reset warning
reversable_motor_warning = ""; reversable_motor_warning = OUTPUT_WARNING_DISABLED;
} }
} }
} }
@ -613,8 +619,8 @@ void ConfigOutputWidget::onBankTypeChange()
{ {
QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender()); QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
bank_mode_servo_warning = ""; bank_mode_servo_warning = OUTPUT_WARNING_DISABLED;
reversable_motor_warning = ""; reversable_motor_warning = OUTPUT_WARNING_DISABLED;
if (bankModeCombo != NULL) { if (bankModeCombo != NULL) {
int bankNumber = 1; int bankNumber = 1;
@ -658,24 +664,26 @@ void ConfigOutputWidget::updateWarnings(UAVObject *)
} }
} }
if (reversable_motor_warning != "") { if (reversable_motor_warning > OUTPUT_WARNING_DISABLED) {
QString revmotor_warning_str; QString revmotor_warning_str;
if (reversable_motor_warning == "DShot") { if (reversable_motor_warning == ActuatorSettings::BANKMODE_DSHOT) {
// TODO: Implement bi-directional DShot // TODO: Implement bi-directional DShot
revmotor_warning_str = "There is at least one reversable motor using <b>DShot</b> in your configuration." revmotor_warning_str = "There is at least one reversable motor using <b>DShot</b> in your configuration."
"<p>Bi-directional DShot is not currently supported, you should use PWM, OneShotXXX or MultiShot.</p>"; "<p>Bi-directional DShot is not currently supported, you should use PWM, OneShotXXX or MultiShot.</p>";
} else { } else {
revmotor_warning_str = QString("There is at least one reversable motor using <b>%1</b> in your configuration.</b>" revmotor_warning_str = QString("There is at least one reversable motor using <b>%1</b> in your configuration.</b>"
"<p>Be sure you set the appropriate neutral value before saving and applying power to the vehicule.</p>").arg(reversable_motor_warning); "<p>Be sure you set the appropriate neutral value before saving and applying power to the vehicule.</p>").arg(bankModeName(reversable_motor_warning));
} }
setWarning(revmotor_warning_str); setWarning(revmotor_warning_str);
return; return;
} }
if (bank_mode_servo_warning != "") { if (bank_mode_servo_warning > OUTPUT_WARNING_DISABLED) {
QString servo_warning_str = QString("Bank using <b>%1</b> cannot drive a <b>servo output!</b>" QString servo_warning_str = QString("Bank using <b>%1</b> cannot drive a <b>servo output!</b>"
"<p>You must use PWM for this Bank or move the servo output to another compatible Bank.</p>").arg(bank_mode_servo_warning); "<p>You must use PWM for this bank or move the servo output to another compatible bank.</p>").arg(bankModeName(bank_mode_servo_warning));
setWarning(servo_warning_str); setWarning(servo_warning_str);
return; return;
} }
@ -689,6 +697,21 @@ void ConfigOutputWidget::setWarning(QString message)
m_ui->txtWarning->setText(message); m_ui->txtWarning->setText(message);
} }
QString ConfigOutputWidget::bankModeName(int index)
{
UAVDataObject *actuator = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(actuator);
UAVObjectField *field = actuator->getField("BankMode");
Q_ASSERT(field);
QStringList bankModeOptions;
if (field) {
bankModeOptions = field->getOptions();
}
return bankModeOptions.at(index);
}
OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) : OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) :
m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo) m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo)

5
ground/gcs/src/plugins/config/configoutputwidget.h
View File

@ -98,8 +98,8 @@ private:
int m_mccDataRate; int m_mccDataRate;
UAVObject::Metadata m_accInitialData; UAVObject::Metadata m_accInitialData;
QList<OutputBankControls> m_banks; QList<OutputBankControls> m_banks;
QString bank_mode_servo_warning; int bank_mode_servo_warning;
QString reversable_motor_warning; int reversable_motor_warning;
int currentNeutralValue; int currentNeutralValue;
OutputChannelForm *getOutputChannelForm(const int index) const; OutputChannelForm *getOutputChannelForm(const int index) const;
@ -108,6 +108,7 @@ private:
void setColor(QWidget *widget, const QColor color); void setColor(QWidget *widget, const QColor color);
void sendAllChannelTests(); void sendAllChannelTests();
void setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls); void setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls);
QString bankModeName(int index);
private slots: private slots:
void updateWarnings(UAVObject *); void updateWarnings(UAVObject *);