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Commit 3f707f95 authored by Don Gagne's avatar Don Gagne
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Simpler RC Calibration

parent 9c48d0e9
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qgroundcontrol.pro
View file @ 3f707f95
......@@ -489,6 +489,7 @@ HEADERS += \
src/ui/px4_configuration/QGCPX4MulticopterConfig.h \
src/ui/px4_configuration/QGCPX4SensorCalibration.h \
src/ui/px4_configuration/PX4RCCalibration.h \
src/ui/px4_configuration/RCValueWidget.h \
src/ui/px4_configuration/PX4Bootloader.h \
src/ui/px4_configuration/PX4FirmwareUpgradeThread.h \
src/ui/px4_configuration/PX4FirmwareUpgrade.h \
......@@ -646,6 +647,7 @@ SOURCES += \
src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
src/ui/px4_configuration/PX4RCCalibration.cc \
src/ui/px4_configuration/RCValueWidget.cc \
src/ui/px4_configuration/PX4Bootloader.cc \
src/ui/px4_configuration/PX4FirmwareUpgradeThread.cc \
src/ui/px4_configuration/PX4FirmwareUpgrade.cc \
......
qgroundcontrol.qrc
View file @ 3f707f95
......@@ -175,6 +175,17 @@
<file>files/images/px4/calibration/accel_z-.png</file>
<file>files/images/px4/calibration/accel_y+.png</file>
<file>files/images/px4/calibration/mag_calibration_figure8.png</file>
<file>files/images/px4/calibration/radioCenter.png</file>
<file>files/images/px4/calibration/radioHome.png</file>
<file>files/images/px4/calibration/radioRollLeft.png</file>
<file>files/images/px4/calibration/radioRollRight.png</file>
<file>files/images/px4/calibration/radioPitchUp.png</file>
<file>files/images/px4/calibration/radioPitchDown.png</file>
<file>files/images/px4/calibration/radioYawLeft.png</file>
<file>files/images/px4/calibration/radioYawRight.png</file>
<file>files/images/px4/calibration/radioThrottleUp.png</file>
<file>files/images/px4/calibration/radioThrottleDown.png</file>
<file>files/images/px4/calibration/radioSwitchMinMax.png</file>
<file>files/images/px4/menu/sensors.png</file>
<file>files/images/px4/menu/firmware_upgrade.png</file>
<file>files/images/px4/menu/plane.png</file>
......
src/qgcunittest/PX4RCCalibrationTest.cc
View file @ 3f707f95
This diff is collapsed.
src/qgcunittest/PX4RCCalibrationTest.h
View file @ 3f707f95
......@@ -27,6 +27,7 @@
#include "AutoTest.h"
#include "MockUASManager.h"
#include "MockUAS.h"
#include "MultiSignalSpy.h"
#include "px4_configuration/PX4RCCalibration.h"
/// @file
......@@ -49,13 +50,6 @@ private slots:
void _setUAS_test(void);
void _minRCChannels_test(void);
//void _liveRC_test(void);
void _beginState_test(void);
void _identifyState_test(void);
void _minMaxState_test(void);
void _centerThrottleState_test(void);
void _detectInversionState_test(void);
void _trimsState_test(void);
void _fullCalibration_test(void);
private:
......@@ -66,13 +60,20 @@ private:
testModeFullSequence, ///< Run as full calibration sequence
};
void _centerChannels(void);
void _beginState_worker(enum TestMode mode);
void _identifyState_worker(enum TestMode mode);
void _minMaxState_worker(enum TestMode mode);
void _centerThrottleState_worker(enum TestMode mode);
void _detectInversionState_worker(enum TestMode mode);
void _trimsState_worker(enum TestMode mode);
enum MoveToDirection {
moveToMax,
moveToMin,
moveToCenter,
};
void _channelHomePosition(void);
void _minRCChannels(void);
void _beginCalibration(void);
void _stickMoveWaitForSettle(int channel, int value);
void _stickMoveAutoStep(const char* functionStr, enum PX4RCCalibration::rcCalFunctions function, enum MoveToDirection direction, bool identifyStep);
void _switchMinMaxStep(void);
void _flapsDetectStep(void);
void _switchSelectAutoStep(const char* functionStr, PX4RCCalibration::rcCalFunctions function);
enum {
validateMinMaxMask = 1 << 0,
......@@ -88,13 +89,9 @@ private:
int rcMax;
int rcTrim;
int reversed;
bool isMinMaxShown;
bool isMinValid;
bool isMaxValid;
};
void _validateParameters(int validateMask);
void _validateWidgets(int validateMask, const struct ChannelSettings* rgChannelSettings);
void _validateParameters(void);
MockUASManager* _mockUASManager;
MockUAS* _mockUAS;
......@@ -104,29 +101,30 @@ private:
enum {
nextButtonMask = 1 << 0,
cancelButtonMask = 1 << 1,
skipButtonMask = 1 << 2,
tryAgainButtonMask = 1 << 3
skipButtonMask = 1 << 2
};
QPushButton* _nextButton;
QPushButton* _cancelButton;
QPushButton* _skipButton;
QPushButton* _tryAgainButton;
QLabel* _statusLabel;
RCChannelWidget* _rgRadioWidget[PX4RCCalibration::_chanMax];
RCValueWidget* _rgValueWidget[PX4RCCalibration::_chanMax];
const char* _rgSignals[1];
MultiSignalSpy* _multiSpyNextButtonMessageBox;
// When settings values into min/max/trim we set them slightly different than the defaults so that
// we can distinguish between the two values.
static const int _testMinValue;
static const int _testMaxValue;
static const int _testTrimValue;
static const int _testThrottleTrimValue;
static const int _testCenterValue;
static const int _availableChannels = 18; ///< Simulate 18 channel RC Transmitter
static const int _stickSettleWait;
static const struct ChannelSettings _rgChannelSettingsPreValidate[_availableChannels];
static const struct ChannelSettings _rgChannelSettingsPostValidate[PX4RCCalibration::_chanMax];
static const struct ChannelSettings _rgChannelSettings[_availableChannels];
static const struct ChannelSettings _rgChannelSettingsValidate[PX4RCCalibration::_chanMax];
static const int _rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax];
};
......
src/ui/QGCPX4VehicleConfig.ui
View file @ 3f707f95
......@@ -94,14 +94,14 @@
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&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:'.Lucida Grande UI'; font-size:16pt; font-weight:600; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt; font-weight:400;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt; font-weight:400;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt; font-weight:400;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt; font-weight:400;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:24pt; font-weight:400;&quot;&gt;Coming Soon&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:24pt; font-weight:400;&quot;&gt;(Use Advanced Config instead)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'.Helvetica Neue DeskInterface'; font-size:16pt; font-weight:600; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;&quot;&gt;Coming Soon&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;&quot;&gt;(Use Advanced Config instead)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
......@@ -145,8 +145,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>592</width>
<height>1017</height>
<width>16</width>
<height>16</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
......@@ -266,14 +266,14 @@ p, li { white-space: pre-wrap; }
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&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:'.Lucida Grande UI'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:24pt;&quot;&gt;Coming Soon&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:24pt;&quot;&gt;(Use Radio Calibration instead)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'.Helvetica Neue DeskInterface'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;Coming Soon&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;(Use Radio Calibration instead)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
......@@ -287,14 +287,14 @@ p, li { white-space: pre-wrap; }
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&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:'.Lucida Grande UI'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:24pt;&quot;&gt;Coming Soon&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:24pt;&quot;&gt;(Use Advanced Config instead)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'.Helvetica Neue DeskInterface'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;Coming Soon&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'.Lucida Grande UI'; font-size:24pt;&quot;&gt;(Use Advanced Config instead)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
......
src/ui/px4_configuration/PX4RCCalibration.h
View file @ 3f707f95
......@@ -32,8 +32,8 @@
#include <QWidget>
#include <QTimer>
#include "QGCToolWidget.h"
#include "UASInterface.h"
#include "RCValueWidget.h"
#include "ui_PX4RCCalibration.h"
......@@ -52,18 +52,23 @@ class PX4RCCalibration : public QWidget
public:
explicit PX4RCCalibration(QWidget *parent = 0);
~ PX4RCCalibration();
signals:
// @brief Signalled when in unit test mode and a message box should be displayed by the next button
void nextButtonMessageBoxDisplayed(void);
private slots:
void _rcCalNext(void);
void _rcCalTryAgain(void);
void _rcCalSkip(void);
void _rcCalCancel(void);
void _nextButton(void);
void _skipButton(void);
void _spektrumBind(void);
void _trimNYI(void);
void _updateView(void);
void _remoteControlChannelRawChanged(int chan, float val);
void _setActiveUAS(UASInterface* uas);
void _toggleSpektrumPairing(bool enabled);
void _parameterListUpToDate(void);
......@@ -105,52 +110,104 @@ private:
rcCalStateSave
};
typedef void (PX4RCCalibration::*inputFn)(enum rcCalFunctions function, int chan, int value);
typedef void (PX4RCCalibration::*buttonFn)(void);
struct stateMachineEntry {
enum rcCalFunctions function;
const char* instructions;
const char* image;
inputFn rcInputFn;
buttonFn nextFn;
buttonFn skipFn;
};
/// @brief A set of information associated with a function.
struct FunctionInfo {
const char* functionName; ///< User visible function name
const char* inversionMsg; ///< Message to display to user to detect inversion
const char* parameterName; ///< Parameter name for function mapping
bool required; ///< true: function must be mapped
};
/// @brief A set of information associated with a radio channel.
struct ChannelInfo {
enum rcCalFunctions function; ///< Function mapped to this channel, rcCalFunctionMax for none
bool reversed; ///< true: channel is reverse, false: not reversed
float rcMin; ///< Minimum RC value
float rcMax; ///< Maximum RC value
float rcTrim; ///< Trim position
int rcMin; ///< Minimum RC value
int rcMax; ///< Maximum RC value
int rcTrim; ///< Trim position
};
/// @brief Information to relate a function to it's value widget.
struct AttitudeInfo {
enum rcCalFunctions function;
RCValueWidget* valueWidget;
};
// Methods - see source code for documentation
int _currentStep; ///< Current step of state machine
const struct stateMachineEntry* _getStateMachineEntry(int step);
void _nextStep(void);
void _setupCurrentState(void);
void _inputCenterWaitBegin(enum rcCalFunctions function, int channel, int value);
void _inputStickDetect(enum rcCalFunctions function, int channel, int value);
void _inputStickMin(enum rcCalFunctions function, int channel, int value);
void _inputCenterWait(enum rcCalFunctions function, int channel, int value);
void _inputSwitchMinMax(enum rcCalFunctions function, int channel, int value);
void _inputFlapsDown(enum rcCalFunctions function, int channel, int value);
void _inputFlapsUp(enum rcCalFunctions function, int channel, int value);
void _inputSwitchDetect(enum rcCalFunctions function, int channel, int value);
void _inputFlapsDetect(enum rcCalFunctions function, int channel, int value);
void _switchDetect(enum rcCalFunctions function, int channel, int value, bool moveToNextStep);
void _saveFlapsDown(void);
void _skipFlaps(void);
void _saveAllTrims(void);
bool _stickSettleComplete(int value);
void _validateCalibration(void);
void _writeCalibration(bool trimsOnly);
void _writeCalibration(void);
void _resetInternalCalibrationValues(void);
void _setInternalCalibrationValuesFromParameters(void);
void _rcCalChannelWait(bool firstTime);
void _rcCalBegin(void);
void _rcCalNextIdentifyChannelMapping(void);
void _rcCalReadChannelsMinMax(void);
void _rcCalCenterThrottle(void);
void _rcCalNextDetectChannelInversion(void);
void _rcCalTrims(void);
void _startCalibration(void);
void _stopCalibration(void);
void _rcCalSave(void);
void _writeParameters(void);
void _rcCalSaveCurrentValues(void);
void _showMinMaxOnRadioWidgets(bool show);
void _showTrimOnRadioWidgets(bool show);
void _unitTestForceCalState(enum rcCalStates state);
// @brief Called by unit test code to set the mode to unit testing
void _setUnitTestMode(void){ _unitTestMode = true; }
// Member variables
static const char* _imageFilePrefix;
static const char* _imageHome;
static const char* _imageThrottleUp;
static const char* _imageThrottleDown;
static const char* _imageYawLeft;
static const char* _imageYawRight;
static const char* _imageRollLeft;
static const char* _imageRollRight;
static const char* _imagePitchUp;
static const char* _imagePitchDown;
static const char* _imageSwitchMinMax;
static const int _updateInterval; ///< Interval for ui update timer
static const struct FunctionInfo _rgFunctionInfo[rcCalFunctionMax]; ///< Information associated with each function.
int _rgFunctionChannelMapping[rcCalFunctionMax]; ///< Maps from rcCalFunctions to channel index. _chanMax indicates channel not set for this function.
static const int _attitudeControls = 5;
struct AttitudeInfo _rgAttitudeControl[_attitudeControls];
int _chanCount; ///< Number of actual rc channels available
static const int _chanMax = 18; ///< Maximum number of supported rc channels
......@@ -169,16 +226,17 @@ private:
static const int _rcCalPWMValidMaxValue;
static const int _rcCalPWMDefaultMinValue;
static const int _rcCalPWMDefaultMaxValue;
static const int _rcCalPWMDefaultTrimValue;
static const int _rcCalRoughCenterDelta;
static const float _rcCalMoveDelta;
static const float _rcCalMinDelta;
static const int _rcCalMoveDelta;
static const int _rcCalSettleDelta;
static const int _rcCalMinDelta;
float _rcValueSave[_chanMax]; ///< Saved values prior to detecting channel movement
int _rcValueSave[_chanMax]; ///< Saved values prior to detecting channel movement
float _rcRawValue[_chanMax]; ///< Current set of raw channel values
int _rcRawValue[_chanMax]; ///< Current set of raw channel values
RCChannelWidget* _rgRadioWidget[_chanMax]; ///< Array of radio channel widgets
RCValueWidget* _rgRCValueMonitorWidget[_chanMax]; ///< Array of radio channel value widgets
QLabel* _rgRCValueMonitorLabel[_chanMax]; ///< Array of radio channel value labels
UASInterface* _mav; ///< The current MAV
QGCUASParamManagerInterface* _paramMgr;
......@@ -188,6 +246,15 @@ private:
Ui::PX4RCCalibration* _ui;
QTimer _updateTimer; ///< Timer used to update widgete ui
int _stickDetectChannel;
int _stickDetectInitialValue;
int _stickDetectValue;
bool _stickDetectSettleStarted;
QTime _stickDetectSettleElapsed;
static const int _stickDetectSettleMSecs;
bool _unitTestMode;
};
#endif // PX4RCCalibration_H
src/ui/px4_configuration/RCValueWidget.cc 0 → 100644
View file @ 3f707f95
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "RCValueWidget.h"
#include <QPainter>
#include <QDebug>
#define DIMMEST_COLOR QColor::fromRgb(0,100,0)
#define MIDBRIGHT_COLOR QColor::fromRgb(0,180,0)
#define BRIGHTEST_COLOR QColor::fromRgb(64,255,0)
RCValueWidget::RCValueWidget(QWidget *parent) :
QWidget(parent),
_smallMode(false),
_value(_centerValue),
_min(_centerValue),
_max(_centerValue),
_trim(_centerValue),
_minValid(false),
_maxValid(false),
_showMinMax(false),
_showTrim(false),
_fgColor(255, 255, 255)
{
setAutoFillBackground(true);
}
/// @brief Draws the control
void RCValueWidget::paintEvent(QPaintEvent *event)
{
QPainter painter(this);
painter.setRenderHints(QPainter::Antialiasing);
Q_UNUSED(event);
int curVal = _value;
if (curVal > _maxRange) {
curVal = _maxRange;
}
if (curVal < _minRange) {
curVal = _minRange;
}
QPen pen(_fgColor);
pen.setWidth(1);
painter.setPen(pen);
if (_smallMode) {
painter.drawLine(0, height() / 2, width(), height() / 2);
} else {
// The value bar itself it centered in the control
QRect rectValueBar(0, (rect().height() - _barHeight)/2, rect().width() - 1, _barHeight);
painter.drawRoundedRect(rectValueBar, _barHeight/2, _barHeight/2);
}
// Draw the RC value circle
int radius = _smallMode ? 4 : _barHeight;
int curValNormalized;
if (_reversed) {
curValNormalized = _centerValue - (curVal - _centerValue);
} else {
curValNormalized = curVal;
}
QPoint ptCenter(width() * ((float)(curValNormalized-_minRange) / (_maxRange-_minRange)), height() / 2);
QBrush brush(QColor(128, 128, 128));
painter.setBrush(brush);
painter.drawEllipse(ptCenter, radius, radius);
#if 0
int fontHeight = painter.fontMetrics().height();
int rowHeigth = fontHeight + 2;
painter.setBrush(Qt::Dense4Pattern);
painter.setPen(QColor::fromRgb(128,128,64));
int curVal = _value;
if (curVal > _maxRange) {
curVal = _maxRange;
}
if (curVal < _minRange) {
curVal = _minRange;
}
if (isEnabled()) {
QLinearGradient hGradientBrush(0, 0, this->width(), this->height());
hGradientBrush.setColorAt(0.0,DIMMEST_COLOR);
hGradientBrush.setColorAt(0.5,MIDBRIGHT_COLOR);
hGradientBrush.setColorAt(1.0, BRIGHTEST_COLOR);
// Calculate how much horizontal space we need to show a min/max value. We must be able to display four numeric
// digits for the rc value, plus we add another digit for spacing.
int minMaxDisplayWidth = painter.fontMetrics().width("00000");
// Draw the value axis line with center and end point tick marks. We need to leave enough space on the left and the right
// for the Min/Max value displays.
QRect rcValueAxis(minMaxDisplayWidth, rowHeigth * 2, width() - (minMaxDisplayWidth * 2), rowHeigth);
int yLine = rcValueAxis.y() + rcValueAxis.height() / 2;
painter.drawLine(rcValueAxis.left(), yLine, rcValueAxis.right(), yLine);
painter.drawLine(rcValueAxis.left(), rcValueAxis.top(), rcValueAxis.left(), rcValueAxis.bottom());
painter.drawLine(rcValueAxis.right(), rcValueAxis.top(), rcValueAxis.right(), rcValueAxis.bottom());
painter.drawLine(rcValueAxis.left() + rcValueAxis.width() / 2, rcValueAxis.top(), rcValueAxis.left() + rcValueAxis.width() / 2, rcValueAxis.bottom());
painter.setPen(QColor::fromRgb(50,255,50));
painter.setBrush(hGradientBrush);
if (_showMinMax) {
QString text;
// Draw the Min numeric value display to the left
painter.drawText(0, rowHeigth, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, "Min");
if (_minValid) {
text = QString::number(_min);
} else {
text = "----";
}
painter.drawText(0, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, text);
// Draw the Max numeric value display to the right
painter.drawText(width() - minMaxDisplayWidth, rowHeigth, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, "Max");
if (_maxValid) {
text = QString::number(_max);
} else {
text = QString::number(_max);
}
painter.drawText(width() - minMaxDisplayWidth, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, text);
// Draw the Min/Max tick marks on the axis
int xTick;
if (_minValid) {
int xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_min-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
}
if (_maxValid) {
xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_max-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
}
}
if (_showTrim) {
// Draw the Trim value pointer
_drawValuePointer(&painter,
rcValueAxis.left() + (rcValueAxis.width() * ((float)(_trim-_minRange) / (_maxRange-_minRange))), // x position for tip of triangle
(rowHeigth * 2) + (rowHeigth / 2) - 1, // y position for tip of triangle
rowHeigth / 2, // heigth of triangle
false); // draw upside down
// Draw the Trim value label
QString trimStr = tr("Trim %1").arg(QString::number(_trim));
int trimTextWidth = painter.fontMetrics().width(trimStr);
painter.drawText(rcValueAxis.left() + (rcValueAxis.width() * ((float)(_trim-_minRange) / (_maxRange-_minRange))) - (trimTextWidth / 2),
rowHeigth,
trimTextWidth,
fontHeight,
Qt::AlignLeft | Qt::AlignBottom,
trimStr);
}
// Draw the RC value pointer
_drawValuePointer(&painter,
rcValueAxis.left() + (rcValueAxis.width() * ((float)(curVal-_minRange) / (_maxRange-_minRange))), // x position for tip of triangle
(rowHeigth * 2) + (rowHeigth / 2) + 1, // y position for tip of triangle
rowHeigth / 2, // heigth of triangle
true); // draw right side up
// Draw the control value
QString valueStr = QString::number(_value);
int valueTextWidth = painter.fontMetrics().width(valueStr);
painter.drawText(rcValueAxis.left() + (rcValueAxis.width() * ((float)(_value-_minRange) / (_maxRange-_minRange))) - (valueTextWidth / 2),
rowHeigth * 3,
valueTextWidth,
fontHeight,
Qt::AlignLeft | Qt::AlignBottom,
valueStr);
painter.setPen(QColor::fromRgb(0,128,0));
painter.setBrush(hGradientBrush);
} else {
painter.setPen(QColor(Qt::gray));
painter.drawText(0, 0, width(), height(), Qt::AlignHCenter | Qt::AlignVCenter, tr("not available"));
}
#endif
}
void RCValueWidget::setValue(int value)
{
_value = value;
update();
}
void RCValueWidget::showMinMax(bool show)
{
_showMinMax = show;
update();
}
void RCValueWidget::showTrim(bool show)
{
_showTrim = show;
update();
}
void RCValueWidget::setValueAndMinMax(int val, int min, int max)
{
setValue(val);
setMinMax(min,max);
}
void RCValueWidget::setMinMax(int min, int max)
{
_min = min;
_max = max;
update();
}
void RCValueWidget::setMin(int min)
{
_min = min;
update();
}
void RCValueWidget::setMax(int max)
{
_max = max;
update();
}
void RCValueWidget::setTrim(int value)
{
_trim = value;
update();
}
/// @brief Draw rc value pointer triangle.
/// @param painter Draw using this painter
/// @param x X position for tip of triangle
/// @param y Y position for tip of triangle
/// @param heigth Height of triangle
/// @param rightSideUp true: draw triangle right side up, false: draw triangle upside down
void RCValueWidget::_drawValuePointer(QPainter* painter, int xTip, int yTip, int height, bool rightSideUp)
{
QPointF trianglePoints[3];
// Topmost tip of triangle points to value
trianglePoints[0].setX(xTip);
trianglePoints[0].setY(yTip);
int yBottom;
if (rightSideUp) {
yBottom = yTip + height;
} else {
yBottom = yTip - height;
}
// Right bottom tip of triangle
trianglePoints[1].setX(xTip + (height * 0.75));
trianglePoints[1].setY(yBottom);
// Left bottom tip of triangle
trianglePoints[2].setX(xTip - (height * 0.75));
trianglePoints[2].setY(yBottom);
painter->drawPolygon (trianglePoints, 3);
}
/// @brief Set whether the Min range value is valid or not.
void RCValueWidget::setMinValid(bool valid)
{
_minValid = valid;
update();
}
/// @brief Set whether the Max range value is valid or not.
void RCValueWidget::setMaxValid(bool valid)
{
_maxValid = valid;
update();
}
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