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Commit c7488064 authored by Don Gagne's avatar Don Gagne
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New implementation of PX4 RC Calibration

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src/ui/px4_configuration/PX4RCCalibration.cc 0 → 100644
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src/ui/px4_configuration/PX4RCCalibration.h 0 → 100644
View file @ c7488064
/*=====================================================================
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
/// @brief PX4 RC Calibration Widget
/// @author Don Gagne <don@thegagnes.com
#ifndef PX4RCCalibration_H
#define PX4RCCalibration_H
#include <QWidget>
#include <QTimer>
#include "QGCToolWidget.h"
#include "UASInterface.h"
#include "ui_PX4RCCalibration.h"
class PX4RCCalibrationTest;
namespace Ui {
class PX4RCCalibration;
}
class PX4RCCalibration : public QWidget
{
Q_OBJECT
friend class PX4RCCalibrationTest; ///< This allows our unit test to access internal information needed.
public:
explicit PX4RCCalibration(QWidget *parent = 0);
private slots:
void _rcCalNext(void);
void _rcCalTryAgain(void);
void _rcCalSkip(void);
void _rcCalCancel(void);
void _updateView(void);
void _remoteControlChannelRawChanged(int chan, float val);
void _setActiveUAS(UASInterface* uas);
void _toggleSpektrumPairing(bool enabled);
private:
/// @brief These identify the various controls functions. They are also used as indices into the _rgFunctioInfo
/// aray.
enum rcCalFunctions {
rcCalFunctionRoll,
rcCalFunctionPitch,
rcCalFunctionYaw,
rcCalFunctionThrottle,
rcCalFunctionModeSwitch,
rcCalFunctionPosCtlSwitch,
rcCalFunctionLoiterSwitch,
rcCalFunctionReturnSwitch,
rcCalFunctionFlaps,
rcCalFunctionAux1,
rcCalFunctionAux2,
rcCalFunctionMax,
// Attitude functions are roll/pitch/yaw/throttle
rcCalFunctionFirstAttitudeFunction = rcCalFunctionRoll,
rcCalFunctionLastAttitudeFunction = rcCalFunctionThrottle,
// Non-Attitude functions are everthing else
rcCalFunctionFirstNonAttitudeFunction = rcCalFunctionModeSwitch,
rcCalFunctionLastNonAttitudeFunction = rcCalFunctionAux2,
};
/// @brief The states of the calibration state machine.
enum rcCalStates {
rcCalStateChannelWait,
rcCalStateBegin,
rcCalStateIdentify,
rcCalStateMinMax,
rcCalStateCenterThrottle,
rcCalStateDetectInversion,
rcCalStateTrims,
rcCalStateSave
};
/// @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
};
// Methods - see source code for documentation
void _writeCalibration(bool trimsOnly);
void _resetInternalCalibrationValues(void);
void _copyAndSetTrims(void);
void _rcCalChannelWait(bool firstTime);
void _rcCalBegin(void);
void _rcCalNextIdentifyChannelMapping(void);
void _rcCalReadChannelsMinMax(void);
void _rcCalCenterThrottle(void);
void _rcCalNextDetectChannelInversion(void);
void _rcCalTrims(void);
void _rcCalSave(void);
void _rcCalSaveCurrentValues(void);
void _showMinMaxOnRadioWidgets(bool show);
void _unitTestForceCalState(enum rcCalStates state);
// Member variables
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.
int _chanCount; ///< Number of actual rc channels available
static const int _chanMax = 18; ///< Maximum number of supported rc channels
static const int _chanMinimum = 5; ///< Minimum numner of channels required to run PX4
struct ChannelInfo _rgChannelInfo[_chanMax]; ///< Information associated with each rc channel
enum rcCalStates _rcCalState; ///< Current calibration state
int _rcCalStateCurrentChannel; ///< Current channel being worked on in rcCalStateIdentify and rcCalStateDetectInversion
bool _rcCalStateChannelComplete; ///< Work associated with current channel is complete
int _rcCalStateIdentifyOldMapping; ///< Previous mapping for channel being currently identified
int _rcCalStateReverseOldMapping; ///< Previous mapping for channel being currently used to detect inversion
static const int _rcCalPWMCenterPoint; ///< PWM center value;
static const int _rcCalPWMValidMinValue; ///< Valid minimum PWM value
static const int _rcCalPWMValidMaxValue; ///< Valid maximum PWM value
static const int _rcCalRoughCenterDelta; ///< Delta around center point which is considered to be roughly centered
static const float _rcCalMoveDelta; ///< Amount of delta which is considered stick movement
static const float _rcCalMinDelta; ///< Amount of delta allowed around min value to consider channel at min
float _rcValueSave[_chanMax]; ///< Saved values prior to detecting channel movement
float _rcRawValue[_chanMax]; ///< Current set of raw channel values
QGCRadioChannelDisplay* _rgAttitudeRadioWidget[4]; ///< Array of Attitide Function radio channel widgets
QGCRadioChannelDisplay* _rgRadioWidget[_chanMax]; ///< Array of radio channel widgets
UASInterface* _mav; ///< The current MAV
Ui::PX4RCCalibration* _ui;
QTimer _updateTimer; ///< Timer used to update widgete ui
};
#endif // PX4RCCalibration_H
src/ui/px4_configuration/PX4RCCalibration.ui 0 → 100644
View file @ c7488064
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>PX4RCCalibration</class>
<widget class="QWidget" name="PX4RCCalibration">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1151</width>
<height>926</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0" columnstretch="0,0,0">
<item row="0" column="1">
<widget class="QGCRadioChannelDisplay" name="throttleWidget" native="true">
<property name="minimumSize">
<size>
<width>50</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>200</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QGCRadioChannelDisplay" name="yawWidget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QGCRadioChannelDisplay" name="pitchWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>200</height>
</size>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QGCRadioChannelDisplay" name="rollWidget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QPushButton" name="rcCopyTrimButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Copy the trim values from roll / pitch / yaw from manual flight to the autonomous flight modes.</string>
</property>
<property name="text">
<string>Copy Attitude Trims</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="rcCalStatus">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="rcCalFound">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="rcCalTryAgain">
<property name="text">
<string>Try Again</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rcCalSkip">
<property name="text">
<string>Skip</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rcCalCancel">
<property name="text">
<string>Cancel</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rcCalNext">
<property name="text">
<string>Next</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Spektrum RC</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<widget class="QPushButton" name="spektrumPairButton">
<property name="text">
<string>Pair Receiver</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="dsm2RadioButton">
<property name="text">
<string>DSM2 Mode</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="dsmxRadioButton">
<property name="text">
<string>DSMX Mode (3 to 7 channels)</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="dsmx8RadioButton">
<property name="text">
<string>DSMX Mode (8 or more channels)</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item row="0" column="1" rowspan="2">
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGCRadioChannelDisplay" name="radio1Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio2Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio3Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio4Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio5Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio6Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio7Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio8Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio9Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio10Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio11Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio12Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio13Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio14Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio15Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio16Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio17Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio18Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>QGCRadioChannelDisplay</class>
<extends>QWidget</extends>
<header>ui/designer/QGCRadioChannelDisplay.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
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