Merge pull request #1293 from DonLakeFlyer/RadioCalTrigger

Update Radio Cal trigger

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -27,9 +27,6 @@
 #include "AirframeComponent.h"
 #include "QGCPX4AirframeConfig.h"
 
-/// @brief Parameters which signal a change in setupComplete state
-static const char* triggerParams[] = { "SYS_AUTOSTART", NULL };
-
 #if 0
 // Broken by latest mavlink module changes. Not used yet. Comment out for now.
 // Discussing mavlink fix.
@@ -146,7 +143,7 @@ bool AirframeComponent::requiresSetup(void) const
 bool AirframeComponent::setupComplete(void) const
 {
     QVariant value;
-    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParams[0], value)) {
+    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "SYS_AUTOSTART", value)) {
         return value.toInt() != 0;
     } else {
         Q_ASSERT(false);
@@ -166,9 +163,9 @@ QString AirframeComponent::setupStateDescription(void) const
     return QString(stateDescription);
 }
 
-const char** AirframeComponent::setupCompleteChangedTriggerList(void) const
+QStringList AirframeComponent::setupCompleteChangedTriggerList(void) const
 {
-    return triggerParams;
+    return QStringList("SYS_AUTOSTART");
 }
 
 QStringList AirframeComponent::paramFilterList(void) const

src/AutoPilotPlugins/PX4/AirframeComponent.h

@@ -38,7 +38,7 @@ public:
     AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
-    virtual const char** setupCompleteChangedTriggerList(void) const;
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
 
     // Virtuals from VehicleComponent
     virtual QString name(void) const;

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -28,9 +28,6 @@
 #include "FlightModeConfig.h"
 #include "PX4AutoPilotPlugin.h"
 
-/// @brief Parameters which signal a change in setupComplete state
-static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL };
-
 struct SwitchListItem {
     const char* param;
     const char* name;
@@ -76,7 +73,7 @@ bool FlightModesComponent::requiresSetup(void) const
 bool FlightModesComponent::setupComplete(void) const
 {
     QVariant value;
-    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParams[0], value)) {
+    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_MODE_SW", value)) {
         return value.toInt() != 0;
     } else {
         Q_ASSERT(false);
@@ -96,9 +93,9 @@ QString FlightModesComponent::setupStateDescription(void) const
     return QString(stateDescription);
 }
 
-const char** FlightModesComponent::setupCompleteChangedTriggerList(void) const
+QStringList FlightModesComponent::setupCompleteChangedTriggerList(void) const
 {
-    return triggerParams;
+    return QStringList("RC_MAP_MODE_SW");
 }
 
 QStringList FlightModesComponent::paramFilterList(void) const

src/AutoPilotPlugins/PX4/FlightModesComponent.h

@@ -38,7 +38,7 @@ public:
     FlightModesComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
-    virtual const char** setupCompleteChangedTriggerList(void) const;
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
     
     // Virtuals from VehicleComponent
     virtual QString name(void) const;

src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml

@@ -27,7 +27,7 @@ Column {
         QGCLabel {
             horizontalAlignment: Text.AlignRight
             width: parent.width - posctl.contentWidth
-            text: autopilot.parameters["RC_MAP_POSCTL_SW"].value == 0 ? "Not mapped" : autopilot.parameters["RC_MAP_POSCTL_SW"].value
+            text: autopilot.parameters["RC_MAP_POSCTL_SW"].value == 0 ? "Disabled" : autopilot.parameters["RC_MAP_POSCTL_SW"].value
         }
     }
 
@@ -38,7 +38,7 @@ Column {
         QGCLabel {
             horizontalAlignment: Text.AlignRight
             width: parent.width - loiter.contentWidth
-            text: autopilot.parameters["RC_MAP_LOITER_SW"].value == 0 ? "Not mapped" : autopilot.parameters["RC_MAP_LOITER_SW"].value
+            text: autopilot.parameters["RC_MAP_LOITER_SW"].value == 0 ? "Disabled" : autopilot.parameters["RC_MAP_LOITER_SW"].value
         }
     }
 
@@ -49,7 +49,7 @@ Column {
         QGCLabel {
             horizontalAlignment: Text.AlignRight
             width: parent.width - rtl.contentWidth
-            text: autopilot.parameters["RC_MAP_RETURN_SW"].value == 0 ? "Not mapped" : autopilot.parameters["RC_MAP_RETURN_SW"].value
+            text: autopilot.parameters["RC_MAP_RETURN_SW"].value == 0 ? "Disabled" : autopilot.parameters["RC_MAP_RETURN_SW"].value
         }
     }
 }

src/AutoPilotPlugins/PX4/PX4Component.cc

@@ -39,15 +39,12 @@ void PX4Component::_parameterUpdated(int compId, QString paramName, QVariant val
     Q_UNUSED(value);
     
     if (compId == _paramMgr->getDefaultComponentId()) {
-        const char** prgTriggers = setupCompleteChangedTriggerList();
-        Q_ASSERT(prgTriggers);
-        
-        while (*prgTriggers != NULL) {
-            if (paramName == *prgTriggers) {
+        QStringList triggerList = setupCompleteChangedTriggerList();
+        foreach(QString triggerParam, triggerList) {
+            if (paramName == triggerParam) {
                 emit setupCompleteChanged(setupComplete());
                 return;
             }
-            prgTriggers++;
         }
     }
 }

src/AutoPilotPlugins/PX4/PX4Component.h

@@ -26,6 +26,8 @@
 
 #include "VehicleComponent.h"
 
+#include <QStringList>
+
 /// @file
 ///     @brief This class is used as an abstract base class for all PX4 VehicleComponent objects.
 ///     @author Don Gagne <don@thegagnes.com>
@@ -37,9 +39,9 @@ class PX4Component : public VehicleComponent
 public:
     PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
-    /// @brief Returns an array of parameter names for which a change should cause the setupCompleteChanged
-    ///         signal to be emitted. Last element is signalled by NULL. Must be implemented by upper level class.
-    virtual const char** setupCompleteChangedTriggerList(void) const = 0;
+    /// @brief Returns an list of parameter names for which a change should cause the setupCompleteChanged
+    ///         signal to be emitted. Last element is signalled by NULL.
+    virtual QStringList setupCompleteChangedTriggerList(void) const = 0;
     
 private slots:
     /// @brief Connected to QGCUASParamManagerInterface::parameterUpdated signal in order to signal

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -28,9 +28,6 @@
 #include "PX4RCCalibration.h"
 #include "PX4AutoPilotPlugin.h"
 
-/// @brief Parameters which signal a change in setupComplete state
-static const char* triggerParams[] = { "RC_MAP_ROLL", "RC_MAP_PITCH", "RC_MAP_YAW", "RC_MAP_THROTTLE", NULL };
-
 RadioComponent::RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
     PX4Component(uas, autopilot, parent),
     _name(tr("Radio"))
@@ -61,9 +58,12 @@ bool RadioComponent::requiresSetup(void) const
 
 bool RadioComponent::setupComplete(void) const
 {
-    for (size_t i=0; triggerParams[i] != NULL; i++) {
+    // Check for mapped attitude controls
+    QStringList attitudeMappings;
+    attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
+    foreach(QString mapParam, attitudeMappings) {
         QVariant value;
-        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParams[0], value)) {
+        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), mapParam, value)) {
             if (value.toInt() == 0) {
                 return false;
             }
@@ -73,6 +73,47 @@ bool RadioComponent::setupComplete(void) const
         }
     }
     
+    // Check for min/max/trim defaults for channel 1-4
+    
+    static const int rcMinDefault = 1000;
+    static const int rcMaxDefault = 2000;
+    static const int rcTrimDefault = 1500;
+
+    for (int i=1; i<5; i++) {
+        QVariant value;
+        int rcMin, rcMax, rcTrim;
+
+        QString param;
+        
+        param = QString("RC%1_MIN").arg(i);
+        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) {
+            rcMin = value.toInt();
+        } else {
+            Q_ASSERT(false);
+            return false;
+        }
+        
+        param = QString("RC%1_MAX").arg(i);
+        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) {
+            rcMax = value.toInt();
+        } else {
+            Q_ASSERT(false);
+            return false;
+        }
+        
+        param = QString("RC%1_TRIM").arg(i);
+        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) {
+            rcTrim = value.toInt();
+        } else {
+            Q_ASSERT(false);
+            return false;
+        }
+        
+        if (rcMin == rcMinDefault && rcMax == rcMaxDefault && rcTrim == rcTrimDefault) {
+            return false;
+        }
+    }
+    
     return true;
 }
 
@@ -88,9 +129,25 @@ QString RadioComponent::setupStateDescription(void) const
     return QString(stateDescription);
 }
 
-const char** RadioComponent::setupCompleteChangedTriggerList(void) const
+QStringList RadioComponent::setupCompleteChangedTriggerList(void) const
 {
-    return triggerParams;
+    QStringList triggers;
+    
+    // The best we can do to detect the need for a radio calibration is look for trim/min/max still being
+    // at defaults. We also look for attitude controls to be mapped. But since they default to channels
+    // they are not a very reliable source.
+    
+    // Attitude control mapping is always a trigger
+    triggers << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
+    
+    // We also trigger on min/max/trim for channels 1-4 which would normally be the attitude
+    // control channels. This may not always be the case, but it's the best we can
+    triggers << "RC1_MIN" << "RC1_MAX" << "RC1_TRIM";
+    triggers << "RC2_MIN" << "RC2_MAX" << "RC2_TRIM";
+    triggers << "RC3_MIN" << "RC3_MAX" << "RC3_TRIM";
+    triggers << "RC4_MIN" << "RC4_MAX" << "RC4_TRIM";
+    
+    return triggers;
 }
 
 QStringList RadioComponent::paramFilterList(void) const

src/AutoPilotPlugins/PX4/RadioComponent.h

@@ -39,7 +39,7 @@ public:
     RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
-    virtual const char** setupCompleteChangedTriggerList(void) const;
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
     
     // Virtuals from VehicleComponent
     virtual QString name(void) const;

src/AutoPilotPlugins/PX4/RadioComponentSummary.qml

@@ -56,11 +56,33 @@ Column {
     Row {
         width: parent.width
 
-        QGCLabel { id: mode; text: "Mode switch:" }
+        QGCLabel { id: flaps; text: "Flaps:" }
         QGCLabel {
             horizontalAlignment: Text.AlignRight
-            width: parent.width - mode.contentWidth
-            text: autopilot.parameters["RC_MAP_MODE_SW"].value == 0 ? "Setup required" : autopilot.parameters["RC_MAP_MODE_SW"].value
+            width: parent.width - flaps.contentWidth
+            text: autopilot.parameters["RC_MAP_FLAPS"].value == 0 ? "Disabled" : autopilot.parameters["RC_MAP_FLAPS"].value
+        }
+    }
+
+    Row {
+        width: parent.width
+
+        QGCLabel { id: aux1; text: "Aux1:" }
+        QGCLabel {
+            horizontalAlignment: Text.AlignRight
+            width: parent.width - aux1.contentWidth
+            text: autopilot.parameters["RC_MAP_AUX1"].value == 0 ? "Disabled" : autopilot.parameters["RC_MAP_AUX1"].value
+        }
+    }
+
+    Row {
+        width: parent.width
+
+        QGCLabel { id: aux2; text: "Aux2:" }
+        QGCLabel {
+            horizontalAlignment: Text.AlignRight
+            width: parent.width - aux2.contentWidth
+            text: autopilot.parameters["RC_MAP_AUX2"].value == 0 ? "Disabled" : autopilot.parameters["RC_MAP_AUX2"].value
         }
     }
 }

src/AutoPilotPlugins/PX4/SafetyComponent.cc

@@ -29,9 +29,6 @@
 #include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
 
-/// @brief Parameters which signal a change in setupComplete state
-static const char* triggerParams[] = { NULL };
-
 SafetyComponent::SafetyComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
     PX4Component(uas, autopilot, parent),
     _name(tr("Safety"))
@@ -76,9 +73,9 @@ QString SafetyComponent::setupStateDescription(void) const
     return QString(stateDescription);
 }
 
-const char** SafetyComponent::setupCompleteChangedTriggerList(void) const
+QStringList SafetyComponent::setupCompleteChangedTriggerList(void) const
 {
-    return triggerParams;
+    return QStringList();
 }
 
 QStringList SafetyComponent::paramFilterList(void) const

src/AutoPilotPlugins/PX4/SafetyComponent.h

@@ -39,7 +39,7 @@ public:
     SafetyComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
-    virtual const char** setupCompleteChangedTriggerList(void) const;
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
     
     // Virtuals from VehicleComponent
     virtual QString name(void) const;

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -31,10 +31,6 @@
 
 // These two list must be kept in sync
 
-/// @brief Parameters which signal a change in setupComplete state
-static const char* triggerParams[] = {  "CAL_MAG0_ID", "CAL_GYRO0_ID", "CAL_ACC0_ID", NULL };
-static const char* triggerParamsFixedWing[] = {  "CAL_MAG0_ID", "CAL_GYRO0_ID", "CAL_ACC0_ID", "SENS_DPRES_OFF", NULL };
-
 SensorsComponent::SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
     PX4Component(uas, autopilot, parent),
     _name(tr("Sensors"))
@@ -65,13 +61,10 @@ bool SensorsComponent::requiresSetup(void) const
 
 bool SensorsComponent::setupComplete(void) const
 {
-    const char** prgTriggers = setupCompleteChangedTriggerList();
-    Q_ASSERT(prgTriggers);
-    
-    while (*prgTriggers != NULL) {
+    foreach(QString triggerParam, setupCompleteChangedTriggerList()) {
         QVariant value;
         
-        if (!_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), *prgTriggers, value)) {
+        if (!_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParam, value)) {
             Q_ASSERT(false);
             return false;
         }
@@ -79,8 +72,6 @@ bool SensorsComponent::setupComplete(void) const
         if (value.toFloat() == 0.0f) {
             return false;
         }
-        
-        prgTriggers++;
     }
 
     return true;
@@ -98,9 +89,16 @@ QString SensorsComponent::setupStateDescription(void) const
     return QString(stateDescription);
 }
 
-const char** SensorsComponent::setupCompleteChangedTriggerList(void) const
+QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
 {
-    return _uas->getSystemType() == MAV_TYPE_FIXED_WING ? triggerParamsFixedWing : triggerParams;
+    QStringList triggers;
+    
+    triggers << "CAL_MAG0_ID" << "CAL_GYRO0_ID" << "CAL_ACC0_ID";
+    if (_uas->getSystemType() == MAV_TYPE_FIXED_WING) {
+        triggers << "SENS_DPRES_OFF";
+    }
+    
+    return triggers;
 }
 
 QStringList SensorsComponent::paramFilterList(void) const

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -38,7 +38,7 @@ public:
     SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
-    virtual const char** setupCompleteChangedTriggerList(void) const;
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
     
     // Virtuals from VehicleComponent
     virtual QString name(void) const;