rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-18 08:54:15 +01:00
Code Issues Releases Activity

OP-1660 Apply special neutral settings for Throttle and FlightMode - Increase Throttle neutral offset to 4%.

Browse Source
This commit is contained in:
Laurent Lalanne 2014-12-25 00:14:32 +01:00
parent f6c9183dbf
commit e9582bf55c
2 changed files with 31 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

47
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -534,7 +534,7 @@ void ConfigInputWidget::wzNext()
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE] +
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] -
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.02);
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.04);
if ((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] -
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]) < 100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE] -
@ -1547,7 +1547,11 @@ void ConfigInputWidget::updateCalibration()
(reverse[i] && manualSettingsData.ChannelMax[i] > manualCommandData.Channel[i])) {
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
if (i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE || i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) {
adjustSpecialNeutrals();
} else {
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
}
}
manualSettingsObj->setData(manualSettingsData);
@ -1575,9 +1579,9 @@ void ConfigInputWidget::simpleCalibration(bool enable)
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
fastMdataSingle(manualCommandObj, &manualControlMdata);
@ -1592,22 +1596,31 @@ void ConfigInputWidget::simpleCalibration(bool enable)
restoreMdataSingle(manualCommandObj, &manualControlMdata);
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
if (i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE || i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) {
adjustSpecialNeutrals();
} else {
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()));
}
}
void ConfigInputWidget::adjustSpecialNeutrals()
{
// FlightMode and Throttle need special neutral settings
//
// 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, add 4% from total range to avoid arming issues
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE] +
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] -
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.04);
}

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

@ -188,6 +188,7 @@ private slots:
void updatePositionSlider();
void invertControls();
void simpleCalibration(bool state);
void adjustSpecialNeutrals();
void updateCalibration();
protected: