mirror of
https://bitbucket.org/librepilot/librepilot.git
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180 lines
6.7 KiB
C++
180 lines
6.7 KiB
C++
/**
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******************************************************************************
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*
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* @file EscCalibrationPage.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @addtogroup
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* @{
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* @addtogroup EscCalibrationPage
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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 "esccalibrationpage.h"
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#include "ui_esccalibrationpage.h"
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#include "setupwizard.h"
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#include "mixersettings.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "vehicleconfigurationhelper.h"
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#include "actuatorsettings.h"
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#include <QThread>
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EscCalibrationPage::EscCalibrationPage(SetupWizard *wizard, QWidget *parent) :
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AbstractWizardPage(wizard, parent),
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ui(new Ui::EscCalibrationPage), m_isCalibrating(false)
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{
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ui->setupUi(this);
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ui->outputHigh->setEnabled(false);
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ui->outputLow->setEnabled(true);
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ui->outputLevel->setEnabled(true);
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ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
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connect(ui->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
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connect(ui->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
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connect(ui->securityCheckBox1, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
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connect(ui->securityCheckBox2, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
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connect(ui->securityCheckBox3, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
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}
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EscCalibrationPage::~EscCalibrationPage()
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{
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delete ui;
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}
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bool EscCalibrationPage::validatePage()
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{
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return true;
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}
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void EscCalibrationPage::enableButtons(bool enable)
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{
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getWizard()->button(QWizard::NextButton)->setEnabled(enable);
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getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
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getWizard()->button(QWizard::BackButton)->setEnabled(enable);
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getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
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ui->securityCheckBox1->setEnabled(enable);
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ui->securityCheckBox2->setEnabled(enable);
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ui->securityCheckBox3->setEnabled(enable);
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QApplication::processEvents();
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}
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void EscCalibrationPage::resetAllSecurityCheckboxes()
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{
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ui->securityCheckBox1->setChecked(false);
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ui->securityCheckBox2->setChecked(false);
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ui->securityCheckBox3->setChecked(false);
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}
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void EscCalibrationPage::startButtonClicked()
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{
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if (!m_isCalibrating) {
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m_isCalibrating = true;
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ui->startButton->setEnabled(false);
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enableButtons(false);
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ui->outputHigh->setEnabled(true);
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ui->outputLow->setEnabled(false);
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ui->nonconnectedLabel->setEnabled(false);
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ui->connectedLabel->setEnabled(true);
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ui->outputLevel->setText(QString(tr("%1 µs")).arg(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
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Q_ASSERT(uavoManager);
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MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
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Q_ASSERT(mSettings);
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QString mixerTypePattern = "Mixer%1Type";
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OutputCalibrationUtil::startOutputCalibration();
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// First check if any servo and set his value to 1500 (like Tricopter)
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for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
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UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
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Q_ASSERT(field);
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if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_SERVO)) {
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m_outputUtil.startChannelOutput(i, 1500);
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m_outputUtil.stopChannelOutput();
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}
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}
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// Find motors and start Esc procedure
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for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
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UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
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Q_ASSERT(field);
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if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_MOTOR)) {
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m_outputChannels << i;
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}
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}
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m_outputUtil.startChannelOutput(m_outputChannels, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
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QThread::msleep(100);
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m_outputUtil.setChannelOutputValue(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
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ui->stopButton->setEnabled(true);
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}
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}
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void EscCalibrationPage::stopButtonClicked()
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{
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if (m_isCalibrating) {
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ui->stopButton->setEnabled(false);
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ui->outputHigh->setEnabled(false);
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// Set to low pwm out
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m_outputUtil.setChannelOutputValue(LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
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ui->outputLevel->setText(QString(tr("%1 µs")).arg(LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
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QApplication::processEvents();
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QThread::msleep(2000);
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// Ramp down to off pwm out
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for (int i = LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS; i >= OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS; i -= 10) {
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m_outputUtil.setChannelOutputValue(i);
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ui->outputLevel->setText(QString(tr("%1 µs")).arg(i));
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QApplication::processEvents();
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QThread::msleep(200);
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}
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// Stop output
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m_outputUtil.stopChannelOutput();
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OutputCalibrationUtil::stopOutputCalibration();
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ui->outputLevel->setText(QString(tr("%1 µs")).arg(OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
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ui->outputHigh->setEnabled(false);
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ui->outputLow->setEnabled(true);
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ui->nonconnectedLabel->setEnabled(true);
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ui->connectedLabel->setEnabled(false);
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m_outputChannels.clear();
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m_isCalibrating = false;
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resetAllSecurityCheckboxes();
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enableButtons(true);
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}
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}
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void EscCalibrationPage::securityCheckBoxesToggled()
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{
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ui->startButton->setEnabled(ui->securityCheckBox1->isChecked() &&
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ui->securityCheckBox2->isChecked() &&
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ui->securityCheckBox3->isChecked());
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}
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void EscCalibrationPage::initializePage()
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{
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resetAllSecurityCheckboxes();
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}
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