Update radio cal triggers

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