mirror of
https://bitbucket.org/librepilot/librepilot.git
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4ebaa6f205
fix some cosmetic errors on the debug output fix the Vtail mixer setting that caused channel 4 to go crazy due to being undefined. Servo would sit and shake for no reason.
114 lines
4.2 KiB
C++
114 lines
4.2 KiB
C++
/**
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******************************************************************************
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*
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* @file outputcalibrationutil.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup
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* @{
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* @addtogroup OutputCalibrationUtil
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* @{
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* @brief
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "outputcalibrationutil.h"
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#include "actuatorcommand.h"
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#include "extensionsystem/pluginmanager.h"
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#include "vehicleconfigurationhelper.h"
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#include "manualcontrolsettings.h"
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OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
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QObject(parent), m_outputChannel(-1), m_safeValue(1000)
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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m_uavObjectManager = pm->getObject<UAVObjectManager>();
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Q_ASSERT(m_uavObjectManager);
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}
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OutputCalibrationUtil::~OutputCalibrationUtil()
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{
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stopChannelOutput();
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}
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void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
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{
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if (m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM) {
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// Start output...
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m_outputChannel = channel;
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m_safeValue = safeValue;
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qDebug() << "Starting output for channel " << m_outputChannel+1 << "...";
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ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
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Q_ASSERT(actuatorCommand);
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UAVObject::Metadata metaData = actuatorCommand->getMetadata();
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m_savedActuatorCommandMetadata = metaData;
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// Store current data for later restore
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m_savedActuatorCommandData = actuatorCommand->getData();
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// Enable actuator control from GCS...
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// Store current metadata for later restore
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UAVObject::SetFlightAccess(metaData, UAVObject::ACCESS_READONLY);
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UAVObject::SetFlightTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
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UAVObject::SetGcsTelemetryAcked(metaData, false);
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UAVObject::SetGcsTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
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metaData.gcsTelemetryUpdatePeriod = 100;
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// Apply changes
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actuatorCommand->setMetadata(metaData);
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actuatorCommand->updated();
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qDebug() << "Output for channel " << m_outputChannel+1 << " started.";
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}
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}
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void OutputCalibrationUtil::stopChannelOutput()
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{
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if (m_outputChannel >= 0) {
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qDebug() << "Stopping output for channel " << m_outputChannel+1 << "...";
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// Stop output...
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setChannelOutputValue(m_safeValue);
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qDebug() << "Settings output for channel " << m_outputChannel+1 << " to " << m_safeValue;
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// Restore metadata to what it was before
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ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
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Q_ASSERT(actuatorCommand);
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// actuatorCommand->setData(m_savedActuatorCommandData);
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actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
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actuatorCommand->updated();
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qDebug() << "Output for channel " << m_outputChannel+1 << " stopped.";
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m_outputChannel = -1;
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}
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}
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void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
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{
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if (m_outputChannel >= 0) {
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// Set output value
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qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
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ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
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Q_ASSERT(actuatorCommand);
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ActuatorCommand::DataFields data = actuatorCommand->getData();
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data.Channel[m_outputChannel] = value;
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actuatorCommand->setData(data);
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}
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}
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