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Commit 5d50f2d2 authored by Don Gagne's avatar Don Gagne
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Make sure trims are within min/max

parent 0945e503
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src/qgcunittest/PX4RCCalibrationTest.cc
View file @ 5d50f2d2
......@@ -109,17 +109,17 @@ const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChan
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
// Channels 1-11 are mapped to all available modes
{ PX4RCCalibration::rcCalFunctionRoll, _testMinValue, _testMaxValue, _testCenterValue, true },
{ PX4RCCalibration::rcCalFunctionPitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionYaw, _testMinValue, _testMaxValue, _testCenterValue, true },
{ PX4RCCalibration::rcCalFunctionThrottle, _testMinValue, _testMaxValue, _testMinValue, false },
{ PX4RCCalibration::rcCalFunctionModeSwitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionPosCtlSwitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionLoiterSwitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionReturnSwitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionFlaps, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionAux1, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionAux2, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionRoll, _testMinValue, _testMaxValue, _testCenterValue, true },
{ PX4RCCalibration::rcCalFunctionPitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionYaw, _testMinValue, _testMaxValue, _testCenterValue, true },
{ PX4RCCalibration::rcCalFunctionThrottle, _testMinValue, _testMaxValue, _testMinValue, false },
{ PX4RCCalibration::rcCalFunctionModeSwitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionPosCtlSwitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionLoiterSwitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionReturnSwitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionFlaps, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionAux1, _testMinValue, _testMaxValue, _testCenterValue, false },
{ PX4RCCalibration::rcCalFunctionAux2, _testMinValue, _testMaxValue, _testCenterValue, false },
// Channels 12-17 are not mapped and should be set to defaults
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
......@@ -435,8 +435,9 @@ void PX4RCCalibrationTest::_channelHomePosition(void)
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
}
// Throttle to low position (throttle is not reversed)/
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue);
// Throttle to min - 1 (throttle is not reversed). We do this so that the trim value is below the min value. This should end up
// being validated and raised to min value. If not, something is wrong with RC Cal code.
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue - 1);
}
void PX4RCCalibrationTest::_validateParameters(void)
......
src/ui/px4_configuration/PX4RCCalibration.cc
View file @ 5d50f2d2
......@@ -837,6 +837,12 @@ void PX4RCCalibration::_validateCalibration(void)
case rcCalFunctionYaw:
case rcCalFunctionRoll:
case rcCalFunctionPitch:
// Make sure trim is within min/max
if (info->rcTrim < info->rcMin) {
info->rcTrim = info->rcMin;
} else if (info->rcTrim > info->rcMax) {
info->rcTrim = info->rcMax;
}
break;
default:
// Non-attitude control channels have calculated trim
......@@ -858,7 +864,6 @@ void PX4RCCalibration::_validateCalibration(void)
/// @brief Saves the rc calibration values to the board parameters.
/// @param trimsOnly true: write only trim values, false: write all calibration values
void PX4RCCalibration::_writeCalibration(void)
{
if (!_mav) return;
......
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