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Commit 14597102 authored by Don Gagne's avatar Don Gagne
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Merge pull request #914 from DonLakeFlyer/RCCalV2 

Simpler RC Calibration
parents e59ba686 5f56bf7a
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Showing with 2657 additions and 1501 deletions
qgroundcontrol.pro
View file @ 14597102
......@@ -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 @ 14597102
......@@ -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 @ 14597102
......@@ -36,14 +36,12 @@
{ \
if (_nextButton->isEnabled() != !!((mask) & nextButtonMask) || \
_skipButton->isEnabled() != !!((mask) & skipButtonMask) || \
_cancelButton->isEnabled() != !!((mask) & cancelButtonMask) || \
_tryAgainButton->isEnabled() != !!((mask) & tryAgainButtonMask)) { \
_cancelButton->isEnabled() != !!((mask) & cancelButtonMask) ) { \
qDebug() << _statusLabel->text(); \
} \
QCOMPARE(_nextButton->isEnabled(), !!((mask) & nextButtonMask)); \
QCOMPARE(_skipButton->isEnabled(), !!((mask) & skipButtonMask)); \
QCOMPARE(_cancelButton->isEnabled(), !!((mask) & cancelButtonMask)); \
QCOMPARE(_tryAgainButton->isEnabled(), !!((mask) & tryAgainButtonMask)); \
}
// This allows you to write unit tests which will click the Cancel button the first time through, followed
......@@ -60,75 +58,74 @@
} \
}
const int PX4RCCalibrationTest::_stickSettleWait = PX4RCCalibration::_stickDetectSettleMSecs * 1.5;
const int PX4RCCalibrationTest::_testMinValue = PX4RCCalibration::_rcCalPWMDefaultMinValue + 10;
const int PX4RCCalibrationTest::_testMaxValue = PX4RCCalibration::_rcCalPWMDefaultMaxValue - 10;
const int PX4RCCalibrationTest::_testTrimValue = PX4RCCalibration::_rcCalPWMDefaultTrimValue + 10;
const int PX4RCCalibrationTest::_testThrottleTrimValue = PX4RCCalibration::_rcCalPWMDefaultMinValue + 10;
const int PX4RCCalibrationTest::_testCenterValue = PX4RCCalibrationTest::_testMinValue + ((PX4RCCalibrationTest::_testMaxValue - PX4RCCalibrationTest::_testMinValue) / 2);
/// @brief Maps from function index to channel index. -1 signals no mapping. Channel indices are offset 1 from function index
/// to catch bugs where function index is incorrectly used as channel index.
const int PX4RCCalibrationTest::_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax]= { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, -1 };
const int PX4RCCalibrationTest::_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax]= { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 };
const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettingsPreValidate[PX4RCCalibrationTest::_availableChannels] = {
// Function Min Value Max Value Trim Value Reversed MinMaxShown MinValid MaxValid
const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettings[PX4RCCalibrationTest::_availableChannels] = {
// Function Min Max # Reversed
// Channel 0 : Not mapped to function, Simulate invalid Min/Max
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, false },
// Channels 1-10 are mapped to all available modes, except for Aux2 which is skipped
{ PX4RCCalibration::rcCalFunctionRoll, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, true, true, true, true },
{ PX4RCCalibration::rcCalFunctionPitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionYaw, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, true, true, true, true },
{ PX4RCCalibration::rcCalFunctionThrottle, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testThrottleTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionModeSwitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionPosCtlSwitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionLoiterSwitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionReturnSwitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionFlaps, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionAux1, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
// Channel 11 : Not mapped to function, Simulate invalid Min/Max
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, false },
// Channels 1-11 are mapped to all available modes
{ PX4RCCalibration::rcCalFunctionRoll, _testMinValue, _testMaxValue, 0, true },
{ PX4RCCalibration::rcCalFunctionPitch, _testMinValue, _testMaxValue, 0, false },
{ PX4RCCalibration::rcCalFunctionYaw, _testMinValue, _testMaxValue, 0, true },
{ PX4RCCalibration::rcCalFunctionThrottle, _testMinValue, _testMaxValue, 0, false },
{ PX4RCCalibration::rcCalFunctionModeSwitch, _testMinValue, _testMaxValue, 0, false },
{ PX4RCCalibration::rcCalFunctionPosCtlSwitch, _testMinValue, _testMaxValue, 0, false },
{ PX4RCCalibration::rcCalFunctionLoiterSwitch, _testMinValue, _testMaxValue, 0, false },
{ PX4RCCalibration::rcCalFunctionReturnSwitch, _testMinValue, _testMaxValue, 0, false },
{ PX4RCCalibration::rcCalFunctionFlaps, _testMinValue, _testMaxValue, 0, false },
{ PX4RCCalibration::rcCalFunctionAux1, _testMinValue, _testMaxValue, 0, false },
{ PX4RCCalibration::rcCalFunctionAux2, _testMinValue, _testMaxValue, 0, false },
// Channel 12 : Not mapped to function, Simulate invalid Min, valid Max
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, true },
{ PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testMaxValue, 0, false },
// Channel 13 : Not mapped to function, Simulate valid Min, invalid Max
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, false },
{ PX4RCCalibration::rcCalFunctionMax, _testMinValue, _testCenterValue, 0, false },
// Channels 14-17: Not mapped to function, Simulate invalid Min/Max, since available channel Min/Max is still shown
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, false },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, false },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, false },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, false },
{ PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
};
const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettingsPostValidate[PX4RCCalibration::_chanMax] = {
// Function Min Value Max Value Trim Value Reversed MinMaxShown MinValid MaxValid
const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettingsValidate[PX4RCCalibration::_chanMax] = {
// Function Min Value Max Value Trim Value Reversed
// Channel 0 is not mapped and should be defaulted
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
// Channels 1-10 are mapped to all available modes, except for Aux2 which is skipped
{ PX4RCCalibration::rcCalFunctionRoll, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, true, true, true, true },
{ PX4RCCalibration::rcCalFunctionPitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionYaw, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, true, true, true, true },
{ PX4RCCalibration::rcCalFunctionThrottle, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testThrottleTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionModeSwitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionPosCtlSwitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionLoiterSwitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionReturnSwitch, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionFlaps, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionAux1, PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
// 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 },
// Channels 11-17 are not mapped and should be set to defaults
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
// Channels 12-17 are not mapped and should be set to defaults
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
{ PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false },
};
PX4RCCalibrationTest::PX4RCCalibrationTest(void) :
......@@ -144,11 +141,10 @@ void PX4RCCalibrationTest::initTestCase(void)
for (int function=0; function<PX4RCCalibration::rcCalFunctionMax; function++) {
int chanIndex = _rgFunctionChannelMap[function];
if (chanIndex != -1) {
Q_ASSERT(_rgChannelSettingsPreValidate[chanIndex].function == function);
Q_ASSERT(_rgChannelSettingsPostValidate[chanIndex].function == function);
Q_ASSERT(_rgChannelSettings[chanIndex].function == function);
Q_ASSERT(_rgChannelSettingsValidate[chanIndex].function == function);
}
}
Q_ASSERT(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionAux2] == -1);
}
void PX4RCCalibrationTest::init(void)
......@@ -164,6 +160,8 @@ void PX4RCCalibrationTest::init(void)
// This will instatiate the widget with no active UAS set
_calWidget = new PX4RCCalibration();
Q_CHECK_PTR(_calWidget);
_calWidget->_setUnitTestMode();
_calWidget->setVisible(true);
_mockUASManager->setMockActiveUAS(_mockUAS);
......@@ -171,39 +169,44 @@ void PX4RCCalibrationTest::init(void)
_cancelButton = _calWidget->findChild<QPushButton*>("rcCalCancel");
_nextButton = _calWidget->findChild<QPushButton*>("rcCalNext");
_skipButton = _calWidget->findChild<QPushButton*>("rcCalSkip");
_tryAgainButton = _calWidget->findChild<QPushButton*>("rcCalTryAgain");
Q_ASSERT(_cancelButton);
Q_ASSERT(_nextButton);
Q_ASSERT(_skipButton);
Q_ASSERT(_tryAgainButton);
_statusLabel = _calWidget->findChild<QLabel*>("rcCalStatus");
Q_ASSERT(_statusLabel);
for (size_t i=0; i<PX4RCCalibration::_chanMax; i++) {
QString radioWidgetName("radio%1Widget");
QString radioWidgetUserName("Radio %1");
RCChannelWidget* radioWidget = _calWidget->findChild<RCChannelWidget*>(radioWidgetName.arg(i+1));
QString radioWidgetName("channel%1Value");
RCValueWidget* radioWidget = _calWidget->findChild<RCValueWidget*>(radioWidgetName.arg(i+1));
Q_ASSERT(radioWidget);
_rgRadioWidget[i] = radioWidget;
_rgValueWidget[i] = radioWidget;
}
_rgSignals[0] = SIGNAL(nextButtonMessageBoxDisplayed());
_multiSpyNextButtonMessageBox = new MultiSignalSpy();
Q_CHECK_PTR(_multiSpyNextButtonMessageBox);
QCOMPARE(_multiSpyNextButtonMessageBox->init(_calWidget, _rgSignals, 1), true);
QCOMPARE(_calWidget->_currentStep, -1);
}
void PX4RCCalibrationTest::cleanup(void)
{
Q_ASSERT(_calWidget);
delete _calWidget;
Q_ASSERT(_mockUAS);
delete _mockUAS;
UASManager::setMockUASManager(NULL);
Q_ASSERT(_mockUASManager);
delete _mockUASManager;
Q_ASSERT(_calWidget);
delete _calWidget;
}
/// @brief Tests for correct behavior when active UAS is set into widget.
......@@ -217,7 +220,7 @@ void PX4RCCalibrationTest::_setUAS_test(void)
QCOMPARE(_calWidget->isEnabled(), false);
}
/// @brief Test for correct behavior in determining minimum numbers of channels for fligth.
/// @brief Test for correct behavior in determining minimum numbers of channels for flight.
void PX4RCCalibrationTest::_minRCChannels_test(void)
{
// Next button won't be enabled until we see the minimum number of channels.
......@@ -228,373 +231,218 @@ void PX4RCCalibrationTest::_minRCChannels_test(void)
QCOMPARE(_calWidget->_chanCount, chan+1);
// Validate Next button state
QTest::mouseClick(_nextButton, Qt::LeftButton);
bool signalFound = _multiSpyNextButtonMessageBox->waitForSignalByIndex(0, 200);
if (chan == PX4RCCalibration::_chanMinimum - 1) {
// Last channel should trigger enable
CHK_BUTTONS(nextButtonMask);
// Last channel should trigger Calibration available
QCOMPARE(signalFound, false);
QCOMPARE(_calWidget->_currentStep, 0);
} else {
// Still less than the minimum channels
CHK_BUTTONS(0);
// Still less than the minimum channels. Next button should show message box. Calibration should not start.
QCOMPARE(signalFound, true);
QCOMPARE(_calWidget->_currentStep, -1);
}
_multiSpyNextButtonMessageBox->clearAllSignals();
// Only available channels should have enabled widget. A ui update cycle needs to have passed so we wait a little.
// Only available channels should have visible widget. A ui update cycle needs to have passed so we wait a little.
QTest::qWait(PX4RCCalibration::_updateInterval * 2);
for (int chanWidget=0; chanWidget<PX4RCCalibration::_chanMax; chanWidget++) {
QCOMPARE(_rgRadioWidget[chanWidget]->isEnabled(), !!(chanWidget <= chan));
//qDebug() << _rgValueWidget[chanWidget]->objectName() << chanWidget << chan;
QCOMPARE(_rgValueWidget[chanWidget]->isVisible(), !!(chanWidget <= chan));
}
}
}
void PX4RCCalibrationTest::_beginState_worker(enum TestMode mode)
void PX4RCCalibrationTest::_beginCalibration(void)
{
bool tryCancel1 = true;
StartOver:
if (mode == testModeStandalone || mode == testModePrerequisite) {
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateBegin);
}
// Next button is always enabled in this state
CHK_BUTTONS(nextButtonMask | cancelButtonMask);
// Click the next button:
// We should now be waiting for movement on a channel to identify the first RC function. The Next button will stay
// disabled until the sticks are moved enough to identify the channel. For required functions the Skip button is
// disabled.
NEXT_OR_CANCEL(1);
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateIdentify);
// We should already have enough channels to proceed with calibration. Click next to start the process.
QTest::mouseClick(_nextButton, Qt::LeftButton);
QCOMPARE(_calWidget->_currentStep, 1);
CHK_BUTTONS(cancelButtonMask);
}
void PX4RCCalibrationTest::_beginState_test(void)
void PX4RCCalibrationTest::_stickMoveWaitForSettle(int channel, int value)
{
_beginState_worker(testModeStandalone);
//qDebug() << "_stickMoveWaitForSettle channel:value" << channel << value;
// Move the stick, this will initialized the settle checker
_mockUAS->emitRemoteControlChannelRawChanged(channel, value);
// Emit the signal again to start the settle timer
_mockUAS->emitRemoteControlChannelRawChanged(channel, value);
// Wait long enough for the settle timer to expire
QTest::qWait(PX4RCCalibration::_stickDetectSettleMSecs * 1.5);
// Emit the signal again so that we detect stick settle
_mockUAS->emitRemoteControlChannelRawChanged(channel, value);
}
void PX4RCCalibrationTest::_identifyState_worker(enum TestMode mode)
void PX4RCCalibrationTest::_stickMoveAutoStep(const char* functionStr, enum PX4RCCalibration::rcCalFunctions function, enum PX4RCCalibrationTest::MoveToDirection direction, bool identifyStep)
{
bool tryCancel1 = true;
Q_UNUSED(functionStr);
//qDebug() << "_stickMoveAutoStep function:direction:reversed:identifyStep" << functionStr << function << direction << identifyStep;
StartOver:
if (mode == testModeStandalone || mode == testModePrerequisite)
{
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateIdentify);
}
CHK_BUTTONS(cancelButtonMask);
int channel = _rgFunctionChannelMap[function];
int saveStep = _calWidget->_currentStep;
bool reversed = _rgChannelSettings[channel].reversed;
// Loop over all function identifying mapped channels
for (int function=0; function<PX4RCCalibration::rcCalFunctionMax; function++) {
int channelIndex = _rgFunctionChannelMap[function];
// If this function is not mapped we skip it
bool skipNonMapped = channelIndex == -1;
bool skipButtonEnabled = !PX4RCCalibration::_rgFunctionInfo[function].required;
int skipMask = skipButtonEnabled ? skipButtonMask : 0;
if (!identifyStep && direction != moveToCenter) {
// We have already identified the function channel mapping. Move other channels around to make sure there is no impact.
// We should now be waiting for movement on a channel to identify the RC function. The Next button will stay
// disabled until the sticks are moved enough to identify the channel. For required functions the Skip button is
// disabled.
CHK_BUTTONS(cancelButtonMask | skipMask);
// Skip this mapping if specified by test case data
if (skipNonMapped) {
QTest::mouseClick(_skipButton, Qt::LeftButton);
continue;
int otherChannel = channel + 1;
if (otherChannel >= PX4RCCalibration::_chanMax) {
otherChannel = 0;
}
// Move channel less than delta to make sure function is not identified
_mockUAS->emitRemoteControlChannelRawChanged(channelIndex, (float)PX4RCCalibration::_rcCalPWMCenterPoint + (PX4RCCalibration::_rcCalMoveDelta - 2.0f));
CHK_BUTTONS(cancelButtonMask | skipMask);
if (function != 0) {
// Try to assign a function index 0 channel to more than one function. This is not allowed so Next button should not enable.
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[0], (float)PX4RCCalibration::_rcCalPWMValidMinValue);
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[0], (float)PX4RCCalibration::_rcCalPWMValidMaxValue);
CHK_BUTTONS(cancelButtonMask | skipMask);
}
if (tryCancel1) {
NEXT_OR_CANCEL(1);
}
_stickMoveWaitForSettle(otherChannel, _testMinValue);
QCOMPARE(_calWidget->_currentStep, saveStep);
CHK_BUTTONS(cancelButtonMask);
// Move channel larger than delta to identify channel. We should now be sitting in a found state.
_mockUAS->emitRemoteControlChannelRawChanged(channelIndex, (float)PX4RCCalibration::_rcCalPWMCenterPoint + (PX4RCCalibration::_rcCalMoveDelta + 2.0f));
CHK_BUTTONS(cancelButtonMask | tryAgainButtonMask | nextButtonMask);
NEXT_OR_CANCEL(1);
_stickMoveWaitForSettle(otherChannel, PX4RCCalibration::_rcCalPWMCenterPoint);
QCOMPARE(_calWidget->_currentStep, saveStep);
CHK_BUTTONS(cancelButtonMask);
}
// We should now be waiting for min/max values.
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateMinMax);
CHK_BUTTONS(nextButtonMask | cancelButtonMask);
if (mode == testModeStandalone) {
_calWidget->_writeCalibration(false /* !trimsOnly */);
_validateParameters(validateMappingMask);
// Move channel to specified position to trigger next step
int value;
if (direction == moveToMin) {
value = reversed ? _testMaxValue : _testMinValue;
} else if (direction == moveToMax) {
value = reversed ? _testMinValue : _testMaxValue;
} else if (direction == moveToCenter) {
value = PX4RCCalibration::_rcCalPWMCenterPoint;
} else {
Q_ASSERT(false);
}
_stickMoveWaitForSettle(channel, value);
QCOMPARE(_calWidget->_currentStep, saveStep + 1);
}
void PX4RCCalibrationTest::_identifyState_test(void)
{
_identifyState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_minMaxState_worker(enum TestMode mode)
void PX4RCCalibrationTest::_switchMinMaxStep(void)
{
bool tryCancel1 = true;
StartOver:
if (mode == testModeStandalone || mode == testModePrerequisite) {
// The Min/Max calibration updates the radio channel ui widgets with the min/max values for all mapped channels.
// In order for those adio channel ui widgets to be updated correctly those functions must be alread mapped to a
// channel. So we have to run the _identifyState_test first to set up the internal state correctly.
_identifyState_worker(testModePrerequisite);
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateMinMax);
// We should now be waiting for min/max values.
CHK_BUTTONS(nextButtonMask | cancelButtonMask);
}
// Before we start sending rc values the widgets should all have min/max as invalid
for (int chan=0; chan<PX4RCCalibration::_chanMax; chan++) {
QCOMPARE(_rgRadioWidget[chan]->isMinValid(), false);
QCOMPARE(_rgRadioWidget[chan]->isMaxValid(), false);
}
CHK_BUTTONS(nextButtonMask | cancelButtonMask);
// Try setting a min/max value that is below the threshold to make sure min/max doesn't go valid
_mockUAS->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMinValue + 1));
_mockUAS->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMaxValue - 1));
QCOMPARE(_rgRadioWidget[0]->isMinValid(), false);
QCOMPARE(_rgRadioWidget[0]->isMaxValid(), false);
// Send min/max values for all channels
QCOMPARE(_rgValueWidget[0]->isMinValid(), false);
QCOMPARE(_rgValueWidget[0]->isMaxValid(), false);
// Send min/max values switch channels
for (int chan=0; chan<_availableChannels; chan++) {
//qDebug() << chan << _rgChannelSettingsPreValidate[chan].rcMin << _rgChannelSettingsPreValidate[chan].rcMax;
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)_rgChannelSettingsPreValidate[chan].rcMin);
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)_rgChannelSettingsPreValidate[chan].rcMax);
// Re-Center to not screw up next state
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
//qDebug() << chan << _rgChannelSettingsPreValidate[chan].rcMin << _rgChannelSettingsPreValidate[chan].rcMax;
_mockUAS->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMin);
_mockUAS->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMax);
}
_validateWidgets(validateMinMaxMask, _rgChannelSettingsPreValidate);
// Make sure throttle is at min
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], (float)PX4RCCalibration::_rcCalPWMValidMinValue);
// Click the next button: We should now be waiting for center throttle in prep for inversion detection.
// Throttle channel is at minimum so Next button should be disabled.
NEXT_OR_CANCEL(1);
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateCenterThrottle);
CHK_BUTTONS(cancelButtonMask);
_channelHomePosition();
if (mode == testModeStandalone) {
_calWidget->_writeCalibration(false /* !trimsOnly */);
_validateParameters(validateMinMaxMask);
}
}
void PX4RCCalibrationTest::_minMaxState_test(void)
{
_minMaxState_worker(testModeStandalone);
int saveStep = _calWidget->_currentStep;
QTest::mouseClick(_nextButton, Qt::LeftButton);
QCOMPARE(_calWidget->_currentStep, saveStep + 1);
}
void PX4RCCalibrationTest::_centerThrottleState_worker(enum TestMode mode)
void PX4RCCalibrationTest::_flapsDetectStep(void)
{
bool tryCancel1 = true;
int channel = _rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionFlaps];
StartOver:
if (mode == testModeStandalone || mode == testModePrerequisite) {
// In order to perform the center throttle state test the throttle channel has to have been identified.
// So we have to run the _identifyState_test first to set up the internal state correctly.
_identifyState_worker(testModePrerequisite);
_centerChannels();
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], (float)PX4RCCalibration::_rcCalPWMValidMinValue);
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateCenterThrottle);
// We should now be waiting for center throttle in prep for inversion detection.
// Throttle channel is at minimum so Next button should be disabled.
CHK_BUTTONS(cancelButtonMask);
}
// Move the throttle to just below rough center. Next should still be disabled
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], PX4RCCalibration::_rcCalPWMCenterPoint - PX4RCCalibration::_rcCalRoughCenterDelta - 1);
CHK_BUTTONS(cancelButtonMask);
//qDebug() << "_flapsDetectStep channel" << channel;
// Center the throttle and make sure Next button gets enabled
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], PX4RCCalibration::_rcCalPWMCenterPoint);
CHK_BUTTONS(cancelButtonMask | nextButtonMask);
// Test code can't handle reversed flaps channel
Q_ASSERT(!_rgChannelSettings[channel].reversed);
// Click the next button which should take us to our first channel inversion test. The Next button will stay disabled until
// the stick for the specified channel is moved down.
NEXT_OR_CANCEL(1);
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateDetectInversion);
CHK_BUTTONS(cancelButtonMask);
}
void PX4RCCalibrationTest::_centerThrottleState_test(void)
{
_centerThrottleState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_detectInversionState_worker(enum TestMode mode)
{
bool tryCancel1 = true;
bool tryCancel2 = true;
StartOver:
if (mode == testModeStandalone || mode == testModePrerequisite) {
// In order to perform the detect inversion test the roll/pitch/yaw/throttle functions must be mapped to a channel.
// So we have to run the _identifyState_test first to set up the internal state correctly.
_identifyState_worker(testModePrerequisite);
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateDetectInversion);
// We should now be at the first channel inversion test. The Next button will stay disabled until the stick for the specified
// channel is moved in the appropriate direction.
CHK_BUTTONS(cancelButtonMask);
}
CHK_BUTTONS(nextButtonMask | cancelButtonMask | skipButtonMask);
int saveStep = _calWidget->_currentStep;
// Loop over Attitude Control Functions (roll/yaw/pitch/throttle) to detect inversion
for (int chanFunction=PX4RCCalibration::rcCalFunctionFirstAttitudeFunction; chanFunction<=PX4RCCalibration::rcCalFunctionLastAttitudeFunction; chanFunction++) {
int channelIndex = _rgFunctionChannelMap[chanFunction];
if (chanFunction != 0) {
// Click next to move to next inversion to identify
NEXT_OR_CANCEL(1);
CHK_BUTTONS(cancelButtonMask);
}
// Move all channels except for the one we are trying to detect to min and max value to make sure there is no effect.
for (int chan=0; chan<_availableChannels; chan++) {
if (channelIndex != chan) {
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint + (PX4RCCalibration::_rcCalMoveDelta + 2.0f));
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint - (PX4RCCalibration::_rcCalMoveDelta + 2.0f));
CHK_BUTTONS(cancelButtonMask);
// Make sure to re-center for next inversion detect
//qDebug() << "Inversion recenter" << chan << PX4RCCalibration::_rcCalPWMCenterPoint;
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
}
}
// Move the channel we are detecting inversion on to the min or max value depending onn test case data.
// This should put us in the found state and enable the Next button.
float inversionValue = PX4RCCalibration::_rcCalPWMCenterPoint;
float inversionDelta = (float)(PX4RCCalibration::_rcCalMoveDelta + 2.0f);
if (_rgChannelSettingsPreValidate[channelIndex].reversed) {
inversionValue += inversionDelta;
} else {
inversionValue -= inversionDelta;
}
//qDebug() << "Reverse set" << chanFunction << channelIndex << inversionValue;
_mockUAS->emitRemoteControlChannelRawChanged(channelIndex, inversionValue);
CHK_BUTTONS(cancelButtonMask | tryAgainButtonMask | nextButtonMask);
}
// Wiggle channel to identify
_stickMoveWaitForSettle(channel, _testMaxValue);
_stickMoveWaitForSettle(channel, _testMinValue);
// Click the next button: We should now be waiting for low throttle in prep for trim detection.
// Throttle channel is at minimum so Next button should be disabled.
_centerChannels();
NEXT_OR_CANCEL(2);
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateTrims);
CHK_BUTTONS(cancelButtonMask);
// Leave channel on full flaps down
_stickMoveWaitForSettle(channel, _testMaxValue);
if (mode == testModeStandalone) {
_calWidget->_writeCalibration(false /* !trimsOnly */);
_validateParameters(validateMappingMask | validateReversedMask);
}
}
void PX4RCCalibrationTest::_detectInversionState_test(void)
{
_detectInversionState_worker(testModeStandalone);
// User has to hit next at this step
QCOMPARE(_calWidget->_currentStep, saveStep);
CHK_BUTTONS(nextButtonMask | cancelButtonMask | skipButtonMask);
QTest::mouseClick(_nextButton, Qt::LeftButton);
QCOMPARE(_calWidget->_currentStep, saveStep + 1);
}
void PX4RCCalibrationTest::_trimsState_worker(enum TestMode mode)
void PX4RCCalibrationTest::_switchSelectAutoStep(const char* functionStr, PX4RCCalibration::rcCalFunctions function)
{
bool tryCancel1 = true;
Q_UNUSED(functionStr);
//qDebug() << "_switchSelectAutoStep" << functionStr << "function:" << function;
StartOver:
if (mode == testModeStandalone || mode == testModePrerequisite) {
// In order to perform the trim state test the functions must be mapped and the min/max values must be set.
// So we have to run the _minMaxState_test first to set up the internal state correctly.
_minMaxState_worker(testModePrerequisite);
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateTrims);
// We should now be waiting for low throttle.
CHK_BUTTONS(cancelButtonMask);
}
// Send trim values to channels
for (int chan=0; chan<_availableChannels; chan++) {
//qDebug () << "Trim set" << chan << _rgChannelSettingsPreValidate[chan].rcTrim;
_mockUAS->emitRemoteControlChannelRawChanged(chan, _rgChannelSettingsPreValidate[chan].rcTrim);
int buttonMask = cancelButtonMask;
if (function != PX4RCCalibration::rcCalFunctionModeSwitch) {
buttonMask |= skipButtonMask;
}
_validateWidgets(validateTrimsMask, _rgChannelSettingsPreValidate);
CHK_BUTTONS(buttonMask);
// Throttle trim was set, so next should be enabled
CHK_BUTTONS(cancelButtonMask | nextButtonMask);
int saveStep = _calWidget->_currentStep;
// Click the next button which should set Trims and take us the Save step.
NEXT_OR_CANCEL(1);
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateSave);
CHK_BUTTONS(cancelButtonMask | nextButtonMask);
_validateWidgets(validateTrimsMask, _rgChannelSettingsPostValidate);
if (mode == testModeStandalone) {
_calWidget->_writeCalibration(false /* !trimsOnly */);
_validateParameters(validateTrimsMask);
}
// Wiggle stick for channel
int channel = _rgFunctionChannelMap[function];
_mockUAS->emitRemoteControlChannelRawChanged(channel, _testMinValue);
_mockUAS->emitRemoteControlChannelRawChanged(channel, _testMaxValue);
QCOMPARE(_calWidget->_currentStep, saveStep + 1);
}
void PX4RCCalibrationTest::_trimsState_test(void)
void PX4RCCalibrationTest::_fullCalibration_test(void)
{
_trimsState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_fullCalibration_test(void) {
_centerChannels();
QTest::mouseClick(_nextButton, Qt::LeftButton);
_beginState_worker(testModeFullSequence);
_identifyState_worker(testModeFullSequence);
_minMaxState_worker(testModeFullSequence);
_centerThrottleState_worker(testModeFullSequence);
_detectInversionState_worker(testModeFullSequence);
_trimsState_worker(testModeFullSequence);
_channelHomePosition();
QTest::mouseClick(_nextButton, Qt::LeftButton);
_beginCalibration();
_stickMoveAutoStep("Throttle", PX4RCCalibration::rcCalFunctionThrottle, moveToMax, true /* identify step */);
_stickMoveAutoStep("Throttle", PX4RCCalibration::rcCalFunctionThrottle, moveToMin, false /* not identify step */);
_stickMoveAutoStep("Yaw", PX4RCCalibration::rcCalFunctionYaw, moveToMax, true /* identify step */);
_stickMoveAutoStep("Yaw", PX4RCCalibration::rcCalFunctionYaw, moveToMin, false /* not identify step */);
_stickMoveAutoStep("Roll", PX4RCCalibration::rcCalFunctionRoll, moveToMax, true /* identify step */);
_stickMoveAutoStep("Roll", PX4RCCalibration::rcCalFunctionRoll, moveToMin, false /* not identify step */);
_stickMoveAutoStep("Pitch", PX4RCCalibration::rcCalFunctionPitch, moveToMax, true /* identify step */);
_stickMoveAutoStep("Pitch", PX4RCCalibration::rcCalFunctionPitch, moveToMin, false /* not identify step */);
_stickMoveAutoStep("Pitch", PX4RCCalibration::rcCalFunctionPitch, moveToCenter, false /* not identify step */);
_switchMinMaxStep();
_flapsDetectStep();
_stickMoveAutoStep("Flaps", PX4RCCalibration::rcCalFunctionFlaps, moveToMin, false /* not identify step */);
_switchSelectAutoStep("Mode", PX4RCCalibration::rcCalFunctionModeSwitch);
_switchSelectAutoStep("PostCtl", PX4RCCalibration::rcCalFunctionPosCtlSwitch);
_switchSelectAutoStep("Loiter", PX4RCCalibration::rcCalFunctionLoiterSwitch);
_switchSelectAutoStep("Return", PX4RCCalibration::rcCalFunctionReturnSwitch);
_switchSelectAutoStep("Aux1", PX4RCCalibration::rcCalFunctionAux1);
_switchSelectAutoStep("Aux2", PX4RCCalibration::rcCalFunctionAux2);
// One more click and the parameters should get saved
QTest::mouseClick(_nextButton, Qt::LeftButton);
_validateParameters(validateAllMask);
_validateWidgets(validateAllMask, _rgChannelSettingsPostValidate);
_validateParameters();
}
/// @brief Sends RC center point values on minimum set of channels.
void PX4RCCalibrationTest::_centerChannels(void)
/// @brief Sets rc input to Throttle down home position. Centers all other channels.
void PX4RCCalibrationTest::_channelHomePosition(void)
{
// Initialize available channels them to center point. This should also set the channel count above the
// minimum such that we can enter the idle state.
// Initialize available channels to center point.
for (int i=0; i<_availableChannels; i++) {
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
}
// Throttle to low position (throttle is not reversed)/
_mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue);
}
void PX4RCCalibrationTest::_validateParameters(int validateMask)
void PX4RCCalibrationTest::_validateParameters(void)
{
MockQGCUASParamManager* paramMgr = _mockUAS->getMockQGCUASParamManager();
MockQGCUASParamManager::ParamMap_t mapParamsSet = paramMgr->getMockSetParameters();
......@@ -604,104 +452,67 @@ void PX4RCCalibrationTest::_validateParameters(int validateMask)
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
if (validateMask & validateMappingMask) {
// Check mapping for all fuctions
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
int chanIndex = _rgFunctionChannelMap[chanFunction];
int expectedParameterValue;
if (chanIndex == -1) {
expectedParameterValue = 0; // 0 signals no mapping
} else {
expectedParameterValue = chanIndex + 1; // 1-based parameter value
}
if (validateMask & validateMappingMask) {
QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true);
QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedParameterValue);
}
}
}
// Check mapping for all fuctions
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
int chanIndex = _rgFunctionChannelMap[chanFunction];
int expectedParameterValue;
if (chanIndex == -1) {
expectedParameterValue = 0; // 0 signals no mapping
} else {
expectedParameterValue = chanIndex + 1; // 1-based parameter value
}
QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true);
QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedParameterValue);
}
// Validate the channel settings. Note the channels are 1-based in parameter names.
for (int chan = 0; chan<PX4RCCalibration::_chanMax; chan++) {
int oneBasedChannel = chan + 1;
int rcMinExpected, rcMaxExpected, rcTrimExpected;
bool convertOk;
// Required channels have min/max set on them. Remaining channels are left to default.
rcMinExpected = _rgChannelSettingsPostValidate[chan].rcMin;
rcMaxExpected = _rgChannelSettingsPostValidate[chan].rcMax;
rcTrimExpected = _rgChannelSettingsPostValidate[chan].rcTrim;
if (validateMask & validateMinMaxMask) {
QCOMPARE(mapParamsSet.contains(minTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet.contains(maxTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet[minTpl.arg(oneBasedChannel)].toInt(&convertOk), rcMinExpected);
QCOMPARE(convertOk, true);
QCOMPARE(mapParamsSet[maxTpl.arg(oneBasedChannel)].toInt(&convertOk), rcMaxExpected);
QCOMPARE(convertOk, true);
}
int rcMinExpected = _rgChannelSettingsValidate[chan].rcMin;
int rcMaxExpected = _rgChannelSettingsValidate[chan].rcMax;
int rcTrimExpected = _rgChannelSettingsValidate[chan].rcTrim;
bool rcReversedExpected = _rgChannelSettingsValidate[chan].reversed;
QCOMPARE(mapParamsSet.contains(minTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet.contains(maxTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet.contains(trimTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet.contains(revTpl.arg(oneBasedChannel)), true);
if (validateMask & validateTrimsMask) {
QCOMPARE(mapParamsSet.contains(trimTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet[trimTpl.arg(oneBasedChannel)].toInt(&convertOk), rcTrimExpected);
QCOMPARE(convertOk, true);
}
int rcMinActual = mapParamsSet[minTpl.arg(oneBasedChannel)].toInt(&convertOk);
QCOMPARE(convertOk, true);
int rcMaxActual = mapParamsSet[maxTpl.arg(oneBasedChannel)].toInt(&convertOk);
QCOMPARE(convertOk, true);
int rcTrimActual = mapParamsSet[trimTpl.arg(oneBasedChannel)].toInt(&convertOk);
QCOMPARE(convertOk, true);
float rcReversedFloat = mapParamsSet[revTpl.arg(oneBasedChannel)].toFloat(&convertOk);
QCOMPARE(convertOk, true);
bool rcReversedActual = (rcReversedFloat == -1.0f);
//qDebug() << "_validateParemeters expected channel:min:max:trim:rev" << chan << rcMinExpected << rcMaxExpected << rcTrimExpected << rcReversedExpected;
//qDebug() << "_validateParemeters actual channel:min:max:trim:rev" << chan << rcMinActual << rcMaxActual << rcTrimActual << rcReversedActual;
if (validateMask & validateReversedMask) {
float revValue = _rgChannelSettingsPostValidate[chan].reversed ? -1.0f : 1.0f;
//qDebug() << "Reverse validate" << chan << mapParamsSet[revTpl.arg(oneBasedChannel)].toFloat() << revValue;
QCOMPARE(mapParamsSet.contains(revTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet[revTpl.arg(oneBasedChannel)].toFloat(&convertOk), revValue);
QCOMPARE(convertOk, true);
}
QCOMPARE(rcMinExpected, rcMinActual);
QCOMPARE(rcMaxExpected, rcMaxActual);
QCOMPARE(rcTrimExpected, rcTrimActual);
QCOMPARE(rcReversedExpected, rcReversedActual);
}
if (validateMask & validateMappingMask) {
// Check mapping for all fuctions
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true);
int expectedValue;
if (_rgFunctionChannelMap[chanFunction] == -1) {
expectedValue = 0; // 0 signals no mapping
} else {
expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based
}
// qDebug() << chanFunction << expectedValue << mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt();
QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedValue);
}
}
}
// Check mapping for all fuctions
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true);
void PX4RCCalibrationTest::_validateWidgets(int validateMask, const struct ChannelSettings* rgChannelSettings)
{
// Radio channel widgets should be displaying the current min/max we just set. Wait a bit for ui to update before checking.
QTest::qWait(PX4RCCalibration::_updateInterval * 2);
for (int chan=0; chan<_availableChannels; chan++) {
RCChannelWidget* radioWidget = _rgRadioWidget[chan];
Q_ASSERT(radioWidget);
if (validateMask & validateMinMaxMask) {
//qDebug() << chan;
QCOMPARE(radioWidget->isMinMaxShown(), rgChannelSettings[chan].isMinMaxShown);
QCOMPARE(radioWidget->min(), rgChannelSettings[chan].rcMin);
QCOMPARE(radioWidget->max(), rgChannelSettings[chan].rcMax);
QCOMPARE(radioWidget->isMinValid(), rgChannelSettings[chan].isMinValid);
QCOMPARE(radioWidget->isMaxValid(), rgChannelSettings[chan].isMaxValid);
}
if (validateMask & validateTrimsMask) {
//qDebug() << "Trim validate widget" << chan;
QCOMPARE(radioWidget->trim(), rgChannelSettings[chan].rcTrim);
int expectedValue;
if (_rgFunctionChannelMap[chanFunction] == -1) {
expectedValue = 0; // 0 signals no mapping
} else {
expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based
}
// qDebug() << chanFunction << expectedValue << mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt();
QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedValue);
}
for (int chan=_availableChannels; chan<PX4RCCalibration::_chanMax; chan++) {
QCOMPARE(_rgRadioWidget[chan]->isEnabled(), false);
}
}
\ No newline at end of file
}
src/qgcunittest/PX4RCCalibrationTest.h
View file @ 14597102
......@@ -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 @ 14597102
......@@ -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.cc
View file @ 14597102
......@@ -21,7 +21,6 @@
======================================================================*/
/// @file
/// @brief PX4 RC Calibration Widget
/// @author Don Gagne <don@thegagnes.com
......@@ -33,53 +32,85 @@
const int PX4RCCalibration::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets
const int PX4RCCalibration::_rcCalPWMCenterPoint = ((PX4RCCalibration::_rcCalPWMValidMaxValue - PX4RCCalibration::_rcCalPWMValidMinValue) / 2.0f) + PX4RCCalibration::_rcCalPWMValidMinValue;
// FIXME: Double check these mins againt 150% throws
const int PX4RCCalibration::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
const int PX4RCCalibration::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max range value
const int PX4RCCalibration::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
const int PX4RCCalibration::_rcCalPWMDefaultMaxValue = 2000; ///< Default value for Max if not set
const int PX4RCCalibration::_rcCalPWMDefaultTrimValue = PX4RCCalibration::_rcCalPWMCenterPoint; ///< Default value for Trim if not set
const int PX4RCCalibration::_rcCalRoughCenterDelta = 200; ///< Delta around center point which is considered to be roughly centered
const float PX4RCCalibration::_rcCalMoveDelta = 300.0f; ///< Amount of delta which is considered stick movement
const float PX4RCCalibration::_rcCalMinDelta = 100.0f; ///< Amount of delta allowed around min value to consider channel at min
const int PX4RCCalibration::_rcCalRoughCenterDelta = 50; ///< Delta around center point which is considered to be roughly centered
const int PX4RCCalibration::_rcCalMoveDelta = 300; ///< Amount of delta past center which is considered stick movement
const int PX4RCCalibration::_rcCalSettleDelta = 20; ///< Amount of delta which is considered no stick movement
const int PX4RCCalibration::_rcCalMinDelta = 100; ///< Amount of delta allowed around min value to consider channel at min
const int PX4RCCalibration::_stickDetectSettleMSecs = 500;
const char* PX4RCCalibration::_imageFilePrefix = ":files/images/px4/calibration/";
const char* PX4RCCalibration::_imageHome = "radioHome.png";
const char* PX4RCCalibration::_imageThrottleUp = "radioThrottleUp.png";
const char* PX4RCCalibration::_imageThrottleDown = "radioThrottleDown.png";
const char* PX4RCCalibration::_imageYawLeft = "radioYawLeft.png";
const char* PX4RCCalibration::_imageYawRight = "radioYawRight";
const char* PX4RCCalibration::_imageRollLeft = "radioRollLeft.png";
const char* PX4RCCalibration::_imageRollRight = "radioRollRight.png";
const char* PX4RCCalibration::_imagePitchUp = "radioPitchUp";
const char* PX4RCCalibration::_imagePitchDown = "radioPitchDown";
const char* PX4RCCalibration::_imageSwitchMinMax = "radioSwitchMinMax";
const struct PX4RCCalibration::FunctionInfo PX4RCCalibration::_rgFunctionInfo[PX4RCCalibration::rcCalFunctionMax] = {
// Name Inversion Message Parameter required
{ "Roll / Aileron", "Move stick left.", "RC_MAP_ROLL", true },
{ "Pitch / Elevator", "Move stick down.", "RC_MAP_PITCH", true },
{ "Yaw / Rudder", "Move stick left", "RC_MAP_YAW", true },
{ "Throttle", "Move stick down", "RC_MAP_THROTTLE", true },
{ "Main Mode Switch", NULL, "RC_MAP_MODE_SW", true },
{ "Posctl switch", NULL, "RC_MAP_POSCTL_SW", false },
{ "Loiter Switch", NULL, "RC_MAP_LOITER_SW", false },
{ "Return Switch", NULL, "RC_MAP_RETURN_SW", false },
{ "Flaps", NULL, "RC_MAP_FLAPS", false },
{ "Aux1", NULL, "RC_MAP_AUX1", false },
{ "Aux2", NULL, "RC_MAP_AUX2", false },
//Parameter required
{ "RC_MAP_ROLL" },
{ "RC_MAP_PITCH" },
{ "RC_MAP_YAW" },
{ "RC_MAP_THROTTLE" },
{ "RC_MAP_MODE_SW" },
{ "RC_MAP_POSCTL_SW" },
{ "RC_MAP_LOITER_SW" },
{ "RC_MAP_RETURN_SW" },
{ "RC_MAP_FLAPS" },
{ "RC_MAP_AUX1" },
{ "RC_MAP_AUX2" },
};
PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
QWidget(parent),
_currentStep(-1),
_chanCount(0),
_rcCalState(rcCalStateChannelWait),
_mav(NULL),
_paramMgr(NULL),
_parameterListUpToDateSignalled(false),
_ui(new Ui::PX4RCCalibration)
_ui(new Ui::PX4RCCalibration),
_unitTestMode(false)
{
_ui->setupUi(this);
// Initialize arrays of widget control pointers. This allows for more efficient code writing using "for" loops.
// Initialize arrays of monitor control pointers. This allows for more efficient code writing using "for" loops.
for (int chan=0; chan<_chanMax; chan++) {
QString radioWidgetName("radio%1Widget");
QString radioWidgetUserName("Channel %1");
QString radioWidgetName;
RCChannelWidget* radioWidget = findChild<RCChannelWidget*>(radioWidgetName.arg(chan+1));
Q_ASSERT(radioWidget);
radioWidgetName = "channel%1Value";
RCValueWidget* monitorWidget = findChild<RCValueWidget*>(radioWidgetName.arg(chan+1));
Q_ASSERT(monitorWidget);
_rgRCValueMonitorWidget[chan] = monitorWidget;
monitorWidget->setSmallMode(); // Monitor display uses small display
radioWidget->setTitle(radioWidgetUserName.arg(chan+1));
_rgRadioWidget[chan] = radioWidget;
radioWidgetName = "channel%1Label";
QLabel* monitorLabel = findChild<QLabel*>(radioWidgetName.arg(chan+1));
Q_ASSERT(monitorLabel);
_rgRCValueMonitorLabel[chan] = monitorLabel;
}
// Initialize array of attitude controls. Order here doesn't matter.
_rgAttitudeControl[0].function = rcCalFunctionThrottle;
_rgAttitudeControl[0].valueWidget = _ui->throttleValue;
_rgAttitudeControl[1].function = rcCalFunctionYaw;
_rgAttitudeControl[1].valueWidget = _ui->yawValue;
_rgAttitudeControl[2].function = rcCalFunctionRoll;
_rgAttitudeControl[2].valueWidget = _ui->rollValue;
_rgAttitudeControl[3].function = rcCalFunctionPitch;
_rgAttitudeControl[3].valueWidget = _ui->pitchValue;
_rgAttitudeControl[4].function = rcCalFunctionFlaps;
_rgAttitudeControl[4].valueWidget = _ui->flapsValue;
_setActiveUAS(UASManager::instance()->getActiveUAS());
......@@ -90,27 +121,531 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
fSucceeded = connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(_setActiveUAS(UASInterface*)));
Q_ASSERT(fSucceeded);
fSucceeded = connect(_ui->spektrumPairButton, SIGNAL(clicked(bool)), this, SLOT(_toggleSpektrumPairing(bool)));
Q_ASSERT(fSucceeded);
connect(_ui->spektrumBind, &QPushButton::clicked, this, &PX4RCCalibration::_spektrumBind);
_updateTimer.setInterval(150);
_updateTimer.start();
fSucceeded = connect(&_updateTimer, SIGNAL(timeout()), this, SLOT(_updateView()));
Q_ASSERT(fSucceeded);
connect(&_updateTimer, &QTimer::timeout, this, &PX4RCCalibration::_updateView);
fSucceeded= connect(_ui->rcCalCancel, SIGNAL(clicked(void)), this, SLOT(_rcCalCancel(void)));
Q_ASSERT(fSucceeded);
connect(_ui->rcCalCancel, &QPushButton::clicked, this, &PX4RCCalibration::_stopCalibration);
connect(_ui->rcCalSkip, &QPushButton::clicked, this, &PX4RCCalibration::_skipButton);
connect(_ui->rcCalNext, &QPushButton::clicked, this, &PX4RCCalibration::_nextButton);
connect(_ui->rollTrim, &QPushButton::clicked, this, &PX4RCCalibration::_trimNYI);
connect(_ui->yawTrim, &QPushButton::clicked, this, &PX4RCCalibration::_trimNYI);
connect(_ui->pitchTrim, &QPushButton::clicked, this, &PX4RCCalibration::_trimNYI);
connect(_ui->throttleTrim, &QPushButton::clicked, this, &PX4RCCalibration::_trimNYI);
_stopCalibration();
}
fSucceeded= connect(_ui->rcCalSkip, SIGNAL(clicked(void)), this, SLOT(_rcCalSkip(void)));
Q_ASSERT(fSucceeded);
PX4RCCalibration::~PX4RCCalibration()
{
}
fSucceeded= connect(_ui->rcCalTryAgain, SIGNAL(clicked(void)), this, SLOT(_rcCalTryAgain(void)));
Q_ASSERT(fSucceeded);
/// @brief Returns the state machine entry for the specified state.
const PX4RCCalibration::stateMachineEntry* PX4RCCalibration::_getStateMachineEntry(int step)
{
static const char* msgBegin = "Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
"It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\n"
"Click Next to continue";
static const char* msgThrottleUp = "Move the Throttle stick all the way up and hold it there...";
static const char* msgThrottleDown = "Move the Throttle stick all the way down and leave it there...";
static const char* msgYawLeft = "Move the Yaw stick all the way to the left and hold it there...";
static const char* msgYawRight = "Move the Yaw stick all the way to the right and hold it there...";
static const char* msgRollLeft = "Move the Roll stick all the way to the left and hold it there...";
static const char* msgRollRight = "Move the Roll stick all the way to the right and hold it there...";
static const char* msgPitchDown = "Move the Pitch stick all the way down and hold it there...";
static const char* msgPitchUp = "Move the Pitch stick all the way up and hold it there...";
static const char* msgPitchCenter = "Allow the Pitch stick to move back to center...";
static const char* msgModeSwitch = "Next we will assign the channel for the Mode Switch. Move the switch or dial up and down to select the channel.";
static const char* msgPosCtlSwitch = "Next we will assign the channel for the PosCtl Switch. Move the switch or dial up and down to select the channel.\n\n"
"You can click Skip if you don't want to assign this switch.";
static const char* msgLoiterSwitch = "Next we will assign the channel for the Loiter Switch. Move the switch or dial up and down to select the channel.\n\n"
"You can click Skip if you don't want to assign this switch.";
static const char* msgReturnSwitch = "Next we will assign the channel for the Return Switch. Move the switch or dial up and down to select the channel.\n\n"
"You can click Skip if you don't want to assign this switch.";
static const char* msgAux1Switch = "Move the switch or dial you want to use for Aux1.\n\n"
"You can click Skip if you don't want to assign.";
static const char* msgAux2Switch = "Move the switch or dial you want to use for Aux2.\n\n"
"You can click Skip if you don't want to assign.";
static const char* msgSwitchMinMax = "Move all the transmitter switches and/or dials back and forth to their extreme positions.";
static const char* msgFlapsDetect = "Move the switch or dial you want to use for Flaps back and forth a few times. "
"Then leave the switch/dial at the position you want to use for Flaps fully extended.\n\n"
"Click Next to continue.\n"
"If you won't be using Flaps, click Skip.";
static const char* msgFlapsUp = "Move the switch or dial you want to use for Flaps to the position you want to use for Flaps fully retracted.";
static const char* msgComplete = "All settings have been captured. Click Next to write the new parameters to your board.";
static const stateMachineEntry rgStateMachine[] = {
//Function
{ rcCalFunctionMax, msgBegin, _imageHome, &PX4RCCalibration::_inputCenterWaitBegin, &PX4RCCalibration::_saveAllTrims, NULL },
{ rcCalFunctionThrottle, msgThrottleUp, _imageThrottleUp, &PX4RCCalibration::_inputStickDetect, NULL, NULL },
{ rcCalFunctionThrottle, msgThrottleDown, _imageThrottleDown, &PX4RCCalibration::_inputStickMin, NULL, NULL },
{ rcCalFunctionYaw, msgYawRight, _imageYawRight, &PX4RCCalibration::_inputStickDetect, NULL, NULL },
{ rcCalFunctionYaw, msgYawLeft, _imageYawLeft, &PX4RCCalibration::_inputStickMin, NULL, NULL },
{ rcCalFunctionRoll, msgRollRight, _imageRollRight, &PX4RCCalibration::_inputStickDetect, NULL, NULL },
{ rcCalFunctionRoll, msgRollLeft, _imageRollLeft, &PX4RCCalibration::_inputStickMin, NULL, NULL },
{ rcCalFunctionPitch, msgPitchUp, _imagePitchUp, &PX4RCCalibration::_inputStickDetect, NULL, NULL },
{ rcCalFunctionPitch, msgPitchDown, _imagePitchDown, &PX4RCCalibration::_inputStickMin, NULL, NULL },
{ rcCalFunctionPitch, msgPitchCenter, _imageHome, &PX4RCCalibration::_inputCenterWait, NULL, NULL },
{ rcCalFunctionMax, msgSwitchMinMax, _imageSwitchMinMax, &PX4RCCalibration::_inputSwitchMinMax, &PX4RCCalibration::_nextStep, NULL },
{ rcCalFunctionFlaps, msgFlapsDetect, _imageThrottleDown, &PX4RCCalibration::_inputFlapsDetect, &PX4RCCalibration::_saveFlapsDown, &PX4RCCalibration::_skipFlaps },
{ rcCalFunctionFlaps, msgFlapsUp, _imageThrottleDown, &PX4RCCalibration::_inputFlapsUp, NULL, NULL },
{ rcCalFunctionModeSwitch, msgModeSwitch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, NULL },
{ rcCalFunctionPosCtlSwitch, msgPosCtlSwitch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep },
{ rcCalFunctionLoiterSwitch, msgLoiterSwitch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep },
{ rcCalFunctionReturnSwitch, msgReturnSwitch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep },
{ rcCalFunctionAux1, msgAux1Switch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep },
{ rcCalFunctionAux2, msgAux2Switch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep },
{ rcCalFunctionMax, msgComplete, _imageThrottleDown, NULL, &PX4RCCalibration::_writeCalibration, NULL },
};
Q_ASSERT(step >=0 && step < (int)(sizeof(rgStateMachine) / sizeof(rgStateMachine[0])));
return &rgStateMachine[step];
}
fSucceeded= connect(_ui->rcCalNext, SIGNAL(clicked(void)), this, SLOT(_rcCalNext(void)));
Q_ASSERT(fSucceeded);
void PX4RCCalibration::_nextStep(void)
{
_currentStep++;
_setupCurrentState();
}
/// @brief Sets up the state machine according to the current step from _currentStep.
void PX4RCCalibration::_setupCurrentState(void)
{
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
_ui->rcCalStatus->setText(state->instructions);
_ui->radioIcon->setPixmap(QPixmap(QString(_imageFilePrefix) + state->image));
_stickDetectChannel = _chanMax;
_stickDetectSettleStarted = false;
_rcCalSaveCurrentValues();
_ui->rcCalNext->setEnabled(state->nextFn != NULL);
_ui->rcCalSkip->setEnabled(state->skipFn != NULL);
}
/// @brief This routine is called whenever a raw value for an RC channel changes. It will call the input
/// function as specified by the state machine.
/// @param chan RC channel on which signal is coming from (0-based)
/// @param fval Current value for channel
void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
{
Q_ASSERT(chan >= 0 && chan <= _chanMax);
// We always update raw values
_rcRawValue[chan] = fval;
//qDebug() << "Raw value" << chan << fval;
if (_currentStep == -1) {
// Track the receiver channel count by keeping track of how many channels we see
if (chan + 1 > (int)_chanCount) {
_chanCount = chan + 1;
_ui->receiverInfo->setText(tr("%1 channel receiver").arg(_chanCount));
if (_chanCount < _chanMinimum) {
_ui->rcCalStatus->setText(tr("Detected %1 radio channels. To operate PX4, you need at least %2 channels.").arg(_chanCount).arg(_chanMinimum));
} else {
_ui->rcCalStatus->clear();
}
}
}
if (_currentStep != -1) {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
if (state->rcInputFn) {
(this->*state->rcInputFn)(state->function, chan, fval);
}
}
}
void PX4RCCalibration::_nextButton(void)
{
if (_currentStep == -1) {
// Need to have enough channels
if (_chanCount < _chanMinimum) {
if (_unitTestMode) {
emit nextButtonMessageBoxDisplayed();
} else {
QMessageBox::warning(this, tr("Receiver"), tr("Detected %1 radio channels. To operate PX4, you need at least %2 channels.").arg(_chanCount).arg(_chanMinimum));
}
return;
}
_startCalibration();
} else {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
Q_ASSERT(state->nextFn);
(this->*state->nextFn)();
}
}
void PX4RCCalibration::_skipButton(void)
{
Q_ASSERT(_currentStep != -1);
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
Q_ASSERT(state->skipFn);
(this->*state->skipFn)();
}
void PX4RCCalibration::_trimNYI(void)
{
QMessageBox::warning(this, tr("Set Trim"), tr("Setting individual trims is not yet implemented. You will need to go through full calibration to set trims."));
}
void PX4RCCalibration::_saveAllTrims(void)
{
// We save all trims as the first step. At this point no channels are mapped but it should still
// allow us to get good trims for the roll/pitch/yaw/throttle even though we don't know which
// channels they are yet. AS we continue through the process the other channels will get their
// trims reset to correct values.
for (int i=0; i<_chanCount; i++) {
//qDebug() << "_saveAllTrims trim" << _rcRawValue[i];
_rgChannelInfo[i].rcTrim = _rcRawValue[i];
}
_nextStep();
}
/// @brief Waits for the sticks to be centered, enabling Next when done.
void PX4RCCalibration::_inputCenterWaitBegin(enum rcCalFunctions function, int chan, int value)
{
Q_UNUSED(function);
Q_UNUSED(chan);
Q_UNUSED(value);
// FIXME: Doesn't wait for center
_ui->rcCalNext->setEnabled(true);
}
bool PX4RCCalibration::_stickSettleComplete(int value)
{
// We are waiting for the stick to settle out to a max position
if (abs(_stickDetectValue - value) > _rcCalSettleDelta) {
// Stick is moving too much to consider stopped
//qDebug() << "_stickSettleComplete still moving, _stickDetectValue:value" << _stickDetectValue << value;
_stickDetectValue = value;
_stickDetectSettleStarted = false;
} else {
// Stick is still positioned within the specified small range
if (_stickDetectSettleStarted) {
// We have already started waiting
if (_stickDetectSettleElapsed.elapsed() > _stickDetectSettleMSecs) {
// Stick has stayed positioned in one place long enough, detection is complete.
return true;
}
} else {
// Start waiting for the stick to stay settled for _stickDetectSettleWaitMSecs msecs
//qDebug() << "_stickSettleComplete starting settle timer, _stickDetectValue:value" << _stickDetectValue << value;
_stickDetectSettleStarted = true;
_stickDetectSettleElapsed.start();
}
}
return false;
}
void PX4RCCalibration::_inputStickDetect(enum rcCalFunctions function, int channel, int value)
{
//qDebug() << "_inputStickDetect function:channel:value" << function << channel << value;
// If this channel is already used in a mapping we can't use it again
if (_rgChannelInfo[channel].function != rcCalFunctionMax) {
return;
}
if (_stickDetectChannel == _chanMax) {
// We have not detected enough movement on a channel yet
if (abs(_rcValueSave[channel] - value) > _rcCalMoveDelta) {
// Stick has moved far enough to consider it as being selected for the function
//qDebug() << "_inputStickDetect starting settle wait, function:channel:value" << function << channel << value;
// Setup up to detect stick being pegged to min or max value
_stickDetectChannel = channel;
_stickDetectInitialValue = value;
_stickDetectValue = value;
}
} else if (channel == _stickDetectChannel) {
if (_stickSettleComplete(value)) {
ChannelInfo* info = &_rgChannelInfo[channel];
//qDebug() << "_inputStickDetect settle complete, function:channel:value" << function << channel << value;
// Stick detection is complete. Stick should be at max position.
// Map the channel to the function
_rgFunctionChannelMapping[function] = channel;
info->function = function;
// Channel should be at max value, if it is below initial set point the the channel is reversed.
info->reversed = value < _rcValueSave[channel];
if (info->reversed) {
_rgRCValueMonitorWidget[channel]->setMin(value);
_rgRCValueMonitorWidget[channel]->setMinValid(true);
_rgChannelInfo[channel].rcMin = value;
} else {
_rgRCValueMonitorWidget[channel]->setMax(value);
_rgRCValueMonitorWidget[channel]->setMaxValid(true);
_rgChannelInfo[channel].rcMax = value;
}
_nextStep();
}
}
}
void PX4RCCalibration::_inputStickMin(enum rcCalFunctions function, int channel, int value)
{
// We only care about the channel mapped to the function we are working on
if (_rgFunctionChannelMapping[function] != channel) {
return;
}
if (_stickDetectChannel == _chanMax) {
// Setup up to detect stick being pegged to extreme position
if (_rgChannelInfo[channel].reversed) {
if (value > _rcCalPWMCenterPoint + _rcCalMoveDelta) {
_stickDetectChannel = channel;
_stickDetectInitialValue = value;
_stickDetectValue = value;
}
} else {
if (value < _rcCalPWMCenterPoint - _rcCalMoveDelta) {
_stickDetectChannel = channel;
_stickDetectInitialValue = value;
_stickDetectValue = value;
}
}
} else {
// We are waiting for the selected channel to settle out
if (_stickSettleComplete(value)) {
ChannelInfo* info = &_rgChannelInfo[channel];
// Stick detection is complete. Stick should be at min position.
if (info->reversed) {
_rgRCValueMonitorWidget[channel]->setMax(value);
_rgRCValueMonitorWidget[channel]->setMaxValid(true);
_rgChannelInfo[channel].rcMax = value;
} else {
_rgRCValueMonitorWidget[channel]->setMin(value);
_rgRCValueMonitorWidget[channel]->setMinValid(true);
_rgChannelInfo[channel].rcMin = value;
}
_nextStep();
}
}
}
void PX4RCCalibration::_inputCenterWait(enum rcCalFunctions function, int channel, int value)
{
// We only care about the channel mapped to the function we are working on
if (_rgFunctionChannelMapping[function] != channel) {
return;
}
if (_stickDetectChannel == _chanMax) {
// Sticks have not yet moved close enough to center
if (abs(_rcCalPWMCenterPoint - value) < _rcCalRoughCenterDelta) {
// Stick has moved close enough to center that we can start waiting for it to settle
_stickDetectChannel = channel;
_stickDetectInitialValue = value;
_stickDetectValue = value;
}
} else {
if (_stickSettleComplete(value)) {
_nextStep();
}
}
}
/// @brief Saves min/max for non-mapped channels
void PX4RCCalibration::_inputSwitchMinMax(enum rcCalFunctions function, int channel, int value)
{
Q_UNUSED(function);
// If the channel is mapped we already have min/max
if (_rgChannelInfo[channel].function != rcCalFunctionMax) {
return;
}
if (abs(_rcCalPWMCenterPoint - value) > _rcCalMoveDelta) {
// Stick has moved far enough from center to consider for min/max
if (value < _rcCalPWMCenterPoint) {
int minValue = qMin(_rgChannelInfo[channel].rcMin, value);
//qDebug() << "_inputSwitchMinMax setting min channel:min" << channel << minValue;
_rgChannelInfo[channel].rcMin = minValue;
_rgRCValueMonitorWidget[channel]->setMin(minValue);
_rgRCValueMonitorWidget[channel]->setMinValid(true);
} else {
int maxValue = qMax(_rgChannelInfo[channel].rcMax, value);
//qDebug() << "_inputSwitchMinMax setting max channel:max" << channel << maxValue;
_rgChannelInfo[channel].rcMax = maxValue;
_rgRCValueMonitorWidget[channel]->setMax(maxValue);
_rgRCValueMonitorWidget[channel]->setMaxValid(true);
}
}
}
void PX4RCCalibration::_skipFlaps(void)
{
// Flaps channel may have been identified. Clear it out.
for (int i=0; i<_chanCount; i++) {
if (_rgChannelInfo[i].function == PX4RCCalibration::rcCalFunctionFlaps) {
_rgChannelInfo[i].function = rcCalFunctionMax;
}
}
_rgFunctionChannelMapping[PX4RCCalibration::rcCalFunctionFlaps] = _chanMax;
// Skip over flap steps
_currentStep += 2;
_setupCurrentState();
}
void PX4RCCalibration::_saveFlapsDown(void)
{
int channel = _rgFunctionChannelMapping[rcCalFunctionFlaps];
if (channel == _chanMax) {
// Channel not yet mapped, still waiting for switch to move
if (_unitTestMode) {
emit nextButtonMessageBoxDisplayed();
} else {
QMessageBox::warning(this, tr("Flaps switch"), tr("Flaps switch has not yet been detected."));
}
return;
}
Q_ASSERT(channel != -1);
ChannelInfo* info = &_rgChannelInfo[channel];
int rcValue = _rcRawValue[channel];
// Switch detection is complete. Switch should be at flaps fully extended position.
// Channel should be at max value, if it is below initial set point the channel is reversed.
info->reversed = rcValue < _rcValueSave[channel];
if (info->reversed) {
_rgRCValueMonitorWidget[channel]->setMin(rcValue);
_rgRCValueMonitorWidget[channel]->setMinValid(true);
_rgChannelInfo[channel].rcMin = rcValue;
} else {
_rgRCValueMonitorWidget[channel]->setMax(rcValue);
_rgRCValueMonitorWidget[channel]->setMaxValid(true);
_rgChannelInfo[channel].rcMax = rcValue;
}
_nextStep();
}
void PX4RCCalibration::_inputFlapsUp(enum rcCalFunctions function, int channel, int value)
{
Q_UNUSED(function);
// FIXME: Duplication
Q_ASSERT(function == rcCalFunctionFlaps);
// We only care about the channel mapped to flaps
if (_rgFunctionChannelMapping[rcCalFunctionFlaps] != channel) {
return;
}
if (_stickDetectChannel == _chanMax) {
// Setup up to detect stick being pegged to extreme position
if (_rgChannelInfo[channel].reversed) {
if (value > _rcCalPWMCenterPoint + _rcCalMoveDelta) {
_stickDetectChannel = channel;
_stickDetectInitialValue = value;
_stickDetectValue = value;
}
} else {
if (value < _rcCalPWMCenterPoint - _rcCalMoveDelta) {
_stickDetectChannel = channel;
_stickDetectInitialValue = value;
_stickDetectValue = value;
}
}
} else {
// We are waiting for the selected channel to settle out
if (_stickSettleComplete(value)) {
ChannelInfo* info = &_rgChannelInfo[channel];
// Stick detection is complete. Stick should be at min position.
if (info->reversed) {
_rgRCValueMonitorWidget[channel]->setMax(value);
_rgRCValueMonitorWidget[channel]->setMaxValid(true);
_rgChannelInfo[channel].rcMax = value;
} else {
_rgRCValueMonitorWidget[channel]->setMin(value);
_rgRCValueMonitorWidget[channel]->setMinValid(true);
_rgChannelInfo[channel].rcMin = value;
}
_nextStep();
}
}
}
void PX4RCCalibration::_switchDetect(enum rcCalFunctions function, int channel, int value, bool moveToNextStep)
{
// If this channel is already used in a mapping we can't use it again
if (_rgChannelInfo[channel].function != rcCalFunctionMax) {
return;
}
_rcCalChannelWait(true);
if (abs(_rcValueSave[channel] - value) > _rcCalMoveDelta) {
ChannelInfo* info = &_rgChannelInfo[channel];
// Switch has moved far enough to consider it as being selected for the function
// Map the channel to the function
_rgChannelInfo[channel].function = function;
_rgFunctionChannelMapping[function] = channel;
info->function = function;
//qDebug() << "Function:" << function << "mapped to:" << channel;
if (moveToNextStep) {
_nextStep();
}
}
}
void PX4RCCalibration::_inputSwitchDetect(enum rcCalFunctions function, int channel, int value)
{
_switchDetect(function, channel, value, true /* move to next step after detection */);
}
void PX4RCCalibration::_inputFlapsDetect(enum rcCalFunctions function, int channel, int value)
{
_switchDetect(function, channel, value, false /* do not move to next step after detection */);
}
/// @brief Resets internal calibration values to their initial state in preparation for a new calibration sequence.
......@@ -135,7 +670,7 @@ void PX4RCCalibration::_resetInternalCalibrationValues(void)
_showTrimOnRadioWidgets(false);
}
/// @brief Resets internal calibration values to their initial state in preparation for a new calibration sequence.
/// @brief Sets internal calibration values from the stored parameters
void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
{
Q_ASSERT(_paramMgr);
......@@ -221,32 +756,34 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
}
/// @brief Sets a connected Spektrum receiver into bind mode
void PX4RCCalibration::_toggleSpektrumPairing(bool enabled)
{
Q_UNUSED(enabled);
if (!_ui->dsm2RadioButton->isChecked() && !_ui->dsmxRadioButton->isChecked()
&& !_ui->dsmx8RadioButton->isChecked()) {
// Reject
QMessageBox warnMsgBox;
warnMsgBox.setText(tr("Please select a Spektrum Protocol Version"));
warnMsgBox.setInformativeText(tr("Please select either DSM2 or DSM-X\ndirectly below the pair button,\nbased on the receiver type."));
warnMsgBox.setStandardButtons(QMessageBox::Ok);
warnMsgBox.setDefaultButton(QMessageBox::Ok);
(void)warnMsgBox.exec();
return;
}
void PX4RCCalibration::_spektrumBind(void)
{
Q_ASSERT(_mav);
QMessageBox bindTypeMsg(this);
bindTypeMsg.setWindowModality(Qt::ApplicationModal);
QPushButton* dsm2Mode = bindTypeMsg.addButton("DSM2", QMessageBox::AcceptRole);
QPushButton* dsmx7Mode = bindTypeMsg.addButton("DSMX (7 channels or less)", QMessageBox::AcceptRole);
QPushButton* dsmx8Mode = bindTypeMsg.addButton("DSMX (8 channels or more)", QMessageBox::AcceptRole);
bindTypeMsg.addButton(QMessageBox::Cancel);
UASInterface* mav = UASManager::instance()->getActiveUAS();
if (mav) {
int rxSubType;
if (_ui->dsm2RadioButton->isChecked())
rxSubType = 0;
else if (_ui->dsmxRadioButton->isChecked())
rxSubType = 1;
else // if (_ui->dsmx8RadioButton->isChecked())
rxSubType = 2;
mav->pairRX(0, rxSubType);
bindTypeMsg.setWindowTitle(tr("Spektrum Bind"));
bindTypeMsg.setText(tr("Place Spektrum satellite receiver in bind mode. Select which mode below."));
int bindType = 0;
if (bindTypeMsg.exec() != QMessageBox::Cancel) {
if (bindTypeMsg.clickedButton() == dsm2Mode) {
bindType = 0;
} else if (bindTypeMsg.clickedButton() == dsmx7Mode) {
bindType = 1;
} else if (bindTypeMsg.clickedButton() == dsmx8Mode) {
bindType = 2;
} else {
Q_ASSERT(false);
}
_mav->pairRX(0, bindType);
}
}
......@@ -288,15 +825,30 @@ void PX4RCCalibration::_validateCalibration(void)
// Validate Min/Max values. Although the channel appears as available we still may
// not have good min/max/trim values for it. Set to defaults if needed.
if (info->rcMin > _rcCalPWMValidMinValue || info->rcMax < _rcCalPWMValidMaxValue) {
//qDebug() << "_validateCalibration resetting channel" << chan;
info->rcMin = _rcCalPWMDefaultMinValue;
info->rcMax = _rcCalPWMDefaultMaxValue;
info->rcTrim = _rcCalPWMDefaultTrimValue;
info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
} else {
switch (_rgChannelInfo[chan].function) {
case rcCalFunctionThrottle:
case rcCalFunctionYaw:
case rcCalFunctionRoll:
case rcCalFunctionPitch:
break;
default:
// Non-attitude control channels have calculated trim
info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
break;
}
}
} else {
// Unavailable channels are set to defaults
//qDebug() << "_validateCalibration resetting unavailable channel" << chan;
info->rcMin = _rcCalPWMDefaultMinValue;
info->rcMax = _rcCalPWMDefaultMaxValue;
info->rcTrim = _rcCalPWMDefaultTrimValue;
info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
info->reversed = false;
}
}
......@@ -305,7 +857,7 @@ 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(bool trimsOnly)
void PX4RCCalibration::_writeCalibration(void)
{
if (!_mav) return;
......@@ -321,464 +873,117 @@ void PX4RCCalibration::_writeCalibration(bool trimsOnly)
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Note that the rc parameters are all float, so you must cast to float in order to get the right QVariant
for (int chan = 0; chan<_chanMax; chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
int oneBasedChannel = chan + 1;
paramMgr->setPendingParam(0, trimTpl.arg(oneBasedChannel), info->rcTrim);
if (!trimsOnly) {
paramMgr->setPendingParam(0, minTpl.arg(oneBasedChannel), info->rcMin);
paramMgr->setPendingParam(0, maxTpl.arg(oneBasedChannel), info->rcMax);
paramMgr->setPendingParam(0, revTpl.arg(oneBasedChannel), info->reversed ? -1.0f : 1.0f);
}
paramMgr->setPendingParam(0, trimTpl.arg(oneBasedChannel), (float)info->rcTrim);
paramMgr->setPendingParam(0, minTpl.arg(oneBasedChannel), (float)info->rcMin);
paramMgr->setPendingParam(0, maxTpl.arg(oneBasedChannel), (float)info->rcMax);
paramMgr->setPendingParam(0, revTpl.arg(oneBasedChannel), info->reversed ? -1.0f : 1.0f);
}
if (!trimsOnly) {
// Write function mapping parameters
for (size_t i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
if (_rgFunctionChannelMapping[i] == _chanMax) {
// 0 signals no mapping
paramChannel = 0;
} else {
// Note that the channel value is 1-based
paramChannel = _rgFunctionChannelMapping[i] + 1;
}
paramMgr->setPendingParam(0, _rgFunctionInfo[i].parameterName, paramChannel);
// Write function mapping parameters
for (size_t i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
if (_rgFunctionChannelMapping[i] == _chanMax) {
// 0 signals no mapping
paramChannel = 0;
} else {
// Note that the channel value is 1-based
paramChannel = _rgFunctionChannelMapping[i] + 1;
}
paramMgr->setPendingParam(0, _rgFunctionInfo[i].parameterName, paramChannel);
}
//let the param mgr manage sending all the pending RC_foo updates and persisting after
paramMgr->sendPendingParameters(true, true);
}
/// @brief This routine is called whenever a raw value for an RC channel changes. Depending on the current
/// calibration state, it will update internal values and ui accordingly.
/// @param chan RC channel on which signal is coming from (0-based)
/// @param fval Current value for channel
void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
{
Q_ASSERT(chan >=0 && chan <= _chanMax);
// We always update raw values
_rcRawValue[chan] = fval;
//qDebug() << "Raw value" << chan << fval;
// Update state machine
switch (_rcCalState) {
case rcCalStateChannelWait:
// While we are waiting detect the minimum number of RC channels
if (chan + 1 > (int)_chanCount) {
_chanCount = chan + 1;
if (_chanCount >= _chanMinimum) {
_ui->rcCalNext->setEnabled(true);
_ui->rcCalStatus->setText(tr("Detected %1 radio channels.").arg(_chanCount));
} else if (_chanCount < _chanMinimum) {
_ui->rcCalStatus->setText(tr("Detected %1 radio channels. To operate PX4, you need at least %2 channels.").arg(_chanCount).arg(_chanMinimum));
}
}
// Capture raw values so channel widgets are live
_rcRawValue[chan] = fval;
break;
case rcCalStateIdentify:
if (!_rcCalStateChannelComplete) {
// If this channel is already used in a mapping we can't used it again
bool channelAlreadyMapped = !(_rgChannelInfo[chan].function == rcCalFunctionMax);
// If the channel moved considerably, pick it
if (!channelAlreadyMapped && fabsf(_rcValueSave[chan] - fval) > _rcCalMoveDelta) {
Q_ASSERT(_rcCalStateCurrentChannel >= 0 && _rcCalStateCurrentChannel < rcCalFunctionMax);
_rgFunctionChannelMapping[_rcCalStateCurrentChannel] = chan;
_rgChannelInfo[chan].function = (enum rcCalFunctions)_rcCalStateCurrentChannel;
_updateView();
// Confirm found channel
QString msg = tr("Found %1 [Channel %2]").arg(_rgFunctionInfo[_rcCalStateCurrentChannel].functionName).arg(chan + 1);
_ui->rcCalFound->setText(msg);
//qDebug() << msg;
_ui->rcCalTryAgain->setEnabled(true);
_ui->rcCalNext->setEnabled(true);
_ui->rcCalSkip->setEnabled(false);
_rcCalStateChannelComplete =true;
}
}
break;
case rcCalStateMinMax:
if (fval < _rgChannelInfo[chan].rcMin && fval <= _rcCalPWMValidMinValue) {
_rgRadioWidget[chan]->setMinValid(true);
_rgChannelInfo[chan].rcMin = fval;
}
if (fval > _rgChannelInfo[chan].rcMax && fval >= _rcCalPWMValidMaxValue) {
_rgRadioWidget[chan]->setMaxValid(true);
_rgChannelInfo[chan].rcMax = fval;
}
break;
case rcCalStateCenterThrottle:
// If the throttle is roughly centered, enable the Next button
Q_ASSERT(_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax);
if (chan == _rgFunctionChannelMapping[rcCalFunctionThrottle] &&
fabsf(fval - _rcCalPWMCenterPoint) < _rcCalRoughCenterDelta) {
_ui->rcCalNext->setEnabled(true);
}
break;
case rcCalStateDetectInversion:
if (!_rcCalStateChannelComplete) {
// We only care about the channel we are looking for
Q_ASSERT(_rcCalStateCurrentChannel >= 0 && _rcCalStateCurrentChannel < rcCalFunctionMax);
if (chan == _rgFunctionChannelMapping[_rcCalStateCurrentChannel]) {
// If the channel moved considerably use it to determine inversion
//qDebug() << "Detect inversion" << chan << _rcValueSave[chan] << fval << _rcCalMoveDelta;
if (fabsf(_rcValueSave[chan] - fval) > _rcCalMoveDelta) {
// Request was made to move channel to a lower value. If value goes up the channel is reversed.
bool reversed = fval > _rcValueSave[chan];
_rgChannelInfo[chan].reversed = reversed;
_updateView();
// Confirm inversion detection
QString msg = tr("Channel for %1 ").arg(_rgFunctionInfo[_rcCalStateCurrentChannel].functionName);
if (reversed) {
msg += tr("is reversed.");
} else {
msg += tr("is not reversed.");
}
_ui->rcCalFound->setText(msg);
//qDebug() << msg;
_ui->rcCalTryAgain->setEnabled(true);
_ui->rcCalNext->setEnabled(true);
_ui->rcCalSkip->setEnabled(false);
_rcCalStateChannelComplete =true;
}
}
}
break;
case rcCalStateTrims:
// Update the trim values for attitude functions only
if (_rgChannelInfo[chan].function >= rcCalFunctionFirstAttitudeFunction && _rgChannelInfo[chan].function <= rcCalFunctionLastAttitudeFunction) {
int mappedChannel = _rgFunctionChannelMapping[_rgChannelInfo[chan].function];
// All Attitude Functions should be mapped
Q_ASSERT(mappedChannel != rcCalFunctionMax);
_rgChannelInfo[mappedChannel].rcTrim = _rcRawValue[mappedChannel];
}
// Once the throttle is lowered we enable the next button
Q_ASSERT(_rgFunctionChannelMapping[rcCalFunctionThrottle] != rcCalFunctionMax);
if (chan == _rgFunctionChannelMapping[rcCalFunctionThrottle]) {
bool enableNext = false;
// If the value is close enough to min consider the throttle to be lowered (taking into account reversing)
if ((_rgChannelInfo[chan].reversed && fabsf(_rgChannelInfo[chan].rcMax - fval) < _rcCalMinDelta) ||
fabsf(_rgChannelInfo[chan].rcMin - fval) < _rcCalMinDelta) {
enableNext = true;
}
_ui->rcCalNext->setEnabled(enableNext);
}
break;
default:
// Nothing special required for state
break;
}
_stopCalibration();
}
void PX4RCCalibration::_updateView()
{
// Update the available channels
for (int chan=0; chan<_chanCount; chan++) {
_rgRadioWidget[chan]->setEnabled(true);
RCValueWidget* valueWidget = _rgRCValueMonitorWidget[chan];
valueWidget->setVisible(true);
_rgRCValueMonitorLabel[chan]->setVisible(true);
//qDebug() << "Visible" << valueWidget->objectName() << chan;
struct ChannelInfo* info = &_rgChannelInfo[chan];
_rgRadioWidget[chan]->setValueAndMinMax(_rcRawValue[chan], info->rcMin, info->rcMax);
_rgRadioWidget[chan]->setTrim(info->rcTrim);
}
// Disable non-available channels
for (int chan=_chanCount; chan<_chanMax; chan++) {
_rgRadioWidget[chan]->setEnabled(false);
valueWidget->setValueAndMinMax(_rcRawValue[chan], info->rcMin, info->rcMax);
valueWidget->setTrim(info->rcTrim);
valueWidget->setReversed(info->reversed);
}
// Update the channel names for all channels
for (int chan=0; chan<_chanMax; chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
// Update attitude controls
for (int i=0; i<_attitudeControls; i++) {
struct AttitudeInfo* attitudeInfo = &_rgAttitudeControl[i];
QString name;
int oneBasedChannel = chan+1;
if (info->function == rcCalFunctionMax) {
name = tr("Channel %1").arg(oneBasedChannel);
} else {
QString label;
if (info->reversed) {
label = tr("%1 [Channel %2,Rev]");
} else {
label = tr("%1 [Channel %2]");
}
name = label.arg(_rgFunctionInfo[info->function].functionName).arg(oneBasedChannel);
}
_rgRadioWidget[chan]->setTitle(name);
}
}
/// @brief Cancels the current calibration process and returns to the Channel Wait state.
void PX4RCCalibration::_rcCalCancel(void)
{
_mav->endRadioControlCalibration();
_rcCalChannelWait(true);
_setInternalCalibrationValuesFromParameters();
}
void PX4RCCalibration::_rcCalSkip(void)
{
// Skip is only allowed for optional function mappings
Q_ASSERT(_rcCalState ==rcCalStateIdentify);
// This will move us to the next function mapping
_rcCalNextIdentifyChannelMapping();
}
/// @brief Resets the state machine such that you can retry an identify or inversion detection on a specific
// function.
void PX4RCCalibration::_rcCalTryAgain(void)
{
// FIXME: NYI for all states
QMessageBox::information(this, "Not Yet Implemented", "Try Again has not yet been implemented.");
}
/// @brief Called when the Next button is called from the RC Calibration tab. This will either start the calibration process
/// or move it on to the next step.
void PX4RCCalibration::_rcCalNext(void)
{
switch (_rcCalState) {
case rcCalStateChannelWait:
_rcCalBegin();
break;
case rcCalStateBegin:
_rcCalStateCurrentChannel = -1; // _rcCalNextIdentifyChannelMapping will bump up to 0 to start sequence
_rcCalNextIdentifyChannelMapping();
break;
case rcCalStateIdentify:
_rcCalNextIdentifyChannelMapping();
break;
case rcCalStateMinMax:
_updateView();
_rcCalCenterThrottle();
break;
case rcCalStateCenterThrottle:
// Setup for inversion detection channel
_rcCalStateCurrentChannel = rcCalFunctionFirstAttitudeFunction - 1; // _rcCalNextDetectChannelInversion will ++ to start sequence
_rcCalNextDetectChannelInversion();
break;
case rcCalStateDetectInversion:
_rcCalNextDetectChannelInversion();
break;
case rcCalStateTrims:
_rcCalSave();
break;
if (_rgFunctionChannelMapping[attitudeInfo->function] != _chanMax) {
int channel = _rgFunctionChannelMapping[attitudeInfo->function];
struct ChannelInfo* info = &_rgChannelInfo[channel];
RCValueWidget* valueWidget = attitudeInfo->valueWidget;
case rcCalStateSave:
_writeCalibration(false /* !trimsOnly */);
_rcCalChannelWait(false);
break;
default:
Q_ASSERT(false);
break;
}
}
/// @brief Setup for the Channel Wait state of calibration.
/// @param firstTime true: this is the first time a calibration is being performed since this widget was created
void PX4RCCalibration::_rcCalChannelWait(bool firstTime)
{
_rcCalState = rcCalStateChannelWait;
if (firstTime) {
_resetInternalCalibrationValues();
} else {
_setInternalCalibrationValuesFromParameters();
}
if (_chanCount == 0) {
_ui->rcCalFound->setText(tr("Please turn on Radio"));
_ui->rcCalNext->setEnabled(false);
} else {
if (_chanCount >= _chanMinimum) {
_ui->rcCalNext->setEnabled(true);
_ui->rcCalStatus->setText(tr("Detected %1 radio channels.").arg(_chanCount));
} else if (_chanCount < _chanMinimum) {
_ui->rcCalNext->setEnabled(false);
_ui->rcCalStatus->setText(tr("Detected %1 radio channels. To operate PX4, you need at least %2 channels.").arg(_chanCount).arg(_chanMinimum));
attitudeInfo->valueWidget->setValueAndMinMax(_rcRawValue[channel], info->rcMin, info->rcMax);
valueWidget->setTrim(info->rcTrim);
valueWidget->setReversed(info->reversed);
}
}
if (firstTime) {
_ui->rcCalFound->clear();
} else {
_ui->rcCalFound->setText(tr("Calibration complete"));
// Hide non-available channels
for (int chan=_chanCount; chan<_chanMax; chan++) {
_rgRCValueMonitorWidget[chan]->setVisible(false);
_rgRCValueMonitorLabel[chan]->setVisible(false);
//qDebug() << "Off" << _rgRCValueMonitorWidget[chan]->objectName() << chan;
}
_ui->rcCalNext->setText(tr("Start"));
_ui->rcCalCancel->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalTryAgain->setEnabled(false);
}
/// @brief Set up for the Begin state of calibration.
void PX4RCCalibration::_rcCalBegin(void)
/// @brief Starts the calibration process
void PX4RCCalibration::_startCalibration(void)
{
Q_ASSERT(_chanCount >= _chanMinimum);
_rcCalState = rcCalStateBegin;
_resetInternalCalibrationValues();
// Let the mav known we are starting calibration. This should turn off motors and so forth.
// FIXME: XXX magic number: Set to 1 for radio input disable
_mav->startRadioControlCalibration(1);
_mav->startRadioControlCalibration();
_ui->rcCalNext->setText(tr("Next"));
_ui->rcCalCancel->setEnabled(true);
_ui->rcCalStatus->setText(tr("Starting RC calibration.\n\n"
"Ensure RC transmitter and receiver are powered and connected. It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\n"
"Reset all transmitter trims to center, then click Next to continue"));
_ui->rcCalFound->clear();
}
/// @brief Saves the current channel values, so that we can detect when the use moves an input.
void PX4RCCalibration::_rcCalSaveCurrentValues(void)
{
//qDebug() << "_rcCalSaveCurrentValues";
for (unsigned i = 0; i < _chanMax; i++) {
_rcValueSave[i] = _rcRawValue[i];
}
}
/// @brief Set up for the Identify state of calibration which assigns channels to control functions.
void PX4RCCalibration::_rcCalNextIdentifyChannelMapping(void)
{
// Move to next channel
_rcCalStateCurrentChannel++;
Q_ASSERT(_rcCalStateCurrentChannel >= 0 && _rcCalStateCurrentChannel <= rcCalFunctionMax);
// Be careful not to switch the state until we have a valid value in _rcCalStateCurrentChannel. Otherwise an rc signal could come through
// and cause _remoteControlChannelRawChanged to get confused.
_rcCalState = rcCalStateIdentify;
_rcCalStateChannelComplete = false;
if (_rcCalStateCurrentChannel == rcCalFunctionMax) {
// If we have processed all channels move to next calibration step
_rcCalReadChannelsMinMax();
return;
}
// Save the current mapping, so we can reset if user decides to skip
_rcCalStateIdentifyOldMapping = _rgFunctionChannelMapping[_rcCalStateCurrentChannel];
// Save the current channel values so we can detect movement
_rcCalSaveCurrentValues();
_ui->rcCalStatus->setText(tr("Detecting %1 ...").arg(_rgFunctionInfo[_rcCalStateCurrentChannel].functionName));
_ui->rcCalFound->setText(tr("Please move stick, switch or potentiometer for this channel all the way up/down or left/right."));
_ui->rcCalNext->setEnabled(false);
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalSkip->setEnabled(!_rgFunctionInfo[_rcCalStateCurrentChannel].required);
_ui->rcCalCancel->setEnabled(true);
_currentStep = 0;
_setupCurrentState();
}
/// @brief Sets up for the Min/Max state of calibration.
void PX4RCCalibration::_rcCalReadChannelsMinMax(void)
/// @brief Cancels the calibration process, setting things back to initial state.
void PX4RCCalibration::_stopCalibration(void)
{
_rcCalState = rcCalStateMinMax;
_ui->rcCalStatus->setText(tr("Please move the sticks to their extreme positions, including all switches. Click Next when complete."));
_ui->rcCalFound->clear();
_currentStep = -1;
_ui->rcCalNext->setEnabled(true);
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
_showMinMaxOnRadioWidgets(true);
}
/// @brief Sets up for the Center Throttle state of Calibration which is required prior to detecting channel inversions.
void PX4RCCalibration::_rcCalCenterThrottle(void)
{
_rcCalState = rcCalStateCenterThrottle;
_ui->rcCalStatus->setText(tr("Next we will be determining which channels need to be reversed.\n\n"
"Please center the throttle stick prior to that. The stick should be roughly centered - the exact position is not relevant.\n"
"Once centered, leave it there until asked to move it.\n\n"
"Click the Next button when done. Next button will only enable when throttle is centered."));
_ui->rcCalFound->clear();
_ui->rcCalNext->setEnabled(false);
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
}
/// @brief Set up the Detect Channel Inversion state of calibration.
void PX4RCCalibration::_rcCalNextDetectChannelInversion(void)
{
// Move to next channel. We only detect inversion on Attitude control functions.
_rcCalStateCurrentChannel++;
Q_ASSERT(_rcCalStateCurrentChannel >= rcCalFunctionFirstAttitudeFunction && _rcCalStateCurrentChannel <= rcCalFunctionLastAttitudeFunction + 1);
if (_rcCalStateCurrentChannel > rcCalFunctionLastAttitudeFunction) {
// If we have processed all functions move to next calibration step
_rcCalTrims();
return;
if (_mav) {
_mav->endRadioControlCalibration();
_setInternalCalibrationValuesFromParameters();
} else {
_resetInternalCalibrationValues();
}
// Be careful not to switch the state until we have a valid value in _rcCalStateCurrentChannel. Otherwise an rc signal could come through
// and cause _remoteControlChannelRawChanged to get confused.
_rcCalState = rcCalStateDetectInversion;
_rcCalStateChannelComplete = false;
_ui->rcCalStatus->clear();
// Save the current channel values so we can detect movement
_rcCalSaveCurrentValues();
const struct FunctionInfo* info = &_rgFunctionInfo[_rcCalStateCurrentChannel];
_ui->rcCalStatus->setText(tr("Detecting reversed channels: %1 ...").arg(info->functionName));
_ui->rcCalFound->setText(info->inversionMsg);
_ui->rcCalNext->setEnabled(false);
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalNext->setText(tr("Calibrate"));
_ui->rcCalCancel->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
}
/// @brief Set up the Trims state of calibration.
void PX4RCCalibration::_rcCalTrims(void)
/// @brief Saves the current channel values, so that we can detect when the use moves an input.
void PX4RCCalibration::_rcCalSaveCurrentValues(void)
{
_rcCalState = rcCalStateTrims;
_ui->rcCalStatus->setText(tr("Next we will be determining Trim values for the two attitude control sticks:\n"
"Please set the Throttle stick to the lowest throttle position and leave it there.\n"
"Click the Next button to save Trims. Next button will only enable when throttle is lowered."));
_ui->rcCalFound->clear();
_ui->rcCalNext->setEnabled(false);
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
_showTrimOnRadioWidgets(true);
//qDebug() << "_rcCalSaveCurrentValues";
for (unsigned i = 0; i < _chanMax; i++) {
_rcValueSave[i] = _rcRawValue[i];
}
}
/// @brief Set up the Save state of calibration.
......@@ -788,10 +993,8 @@ void PX4RCCalibration::_rcCalSave(void)
_ui->rcCalStatus->setText(tr("The current calibration settings are now displayed for each channel on screen.\n\n"
"Click the Next button to upload calibration to board. Click Cancel if you don't want to save these values."));
_ui->rcCalFound->clear();
_ui->rcCalNext->setEnabled(true);
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
......@@ -802,55 +1005,13 @@ void PX4RCCalibration::_rcCalSave(void)
_showMinMaxOnRadioWidgets(true);
}
/// @brief This is used by unit test code to force the calibration state machine to the specified state.
/// With this you can write individual unit tests for each calibration state. Should only be called by
/// unit test code.
void PX4RCCalibration::_unitTestForceCalState(enum rcCalStates state) {
switch (state) {
case rcCalStateBegin:
_rcCalBegin();
break;
case rcCalStateIdentify:
_rcCalStateCurrentChannel = -1; // _rcCalNextIdentifyChannelMapping will bump up to 0 to start sequence
_rcCalNextIdentifyChannelMapping();
break;
case rcCalStateMinMax:
_rcCalReadChannelsMinMax();
break;
case rcCalStateCenterThrottle:
_rcCalCenterThrottle();
break;
case rcCalStateDetectInversion:
_rcCalStateCurrentChannel = -1; // _rcCalNextDetectChannelInversion will bump up to 0 to start sequence
_rcCalNextDetectChannelInversion();
break;
case rcCalStateTrims:
_rcCalTrims();
break;
default:
// Unsupported force state
Q_ASSERT(false);
break;
}
}
/// @brief Shows or hides the min/max values of the channel widgets.
/// @param show true: show the min/max values, false: hide the min/max values
void PX4RCCalibration::_showMinMaxOnRadioWidgets(bool show)
{
// Force a view update to widget have current values
_updateView();
// Turn on min/max display for all radio widgets
for (int i=0; i<_chanMax; i++) {
RCChannelWidget* radioWidget = _rgRadioWidget[i];
RCValueWidget* radioWidget = _rgRCValueMonitorWidget[i];
Q_ASSERT(radioWidget);
radioWidget->showMinMax(show);
......@@ -874,7 +1035,7 @@ void PX4RCCalibration::_showTrimOnRadioWidgets(bool show)
{
// Turn on trim display for all radio widgets
for (int i=0; i<_chanMax; i++) {
RCChannelWidget* radioWidget = _rgRadioWidget[i];
RCValueWidget* radioWidget = _rgRCValueMonitorWidget[i];
Q_ASSERT(radioWidget);
radioWidget->showTrim(show);
......@@ -885,7 +1046,7 @@ void PX4RCCalibration::_parameterListUpToDate(void)
{
_parameterListUpToDateSignalled = true;
if (_rcCalState == rcCalStateChannelWait) {
if (_currentStep == -1) {
_setInternalCalibrationValuesFromParameters();
}
}
src/ui/px4_configuration/PX4RCCalibration.h
View file @ 14597102
......@@ -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/PX4RCCalibration.ui
View file @ 14597102
......@@ -6,485 +6,1174 @@
<rect>
<x>0</x>
<y>0</y>
<width>1562</width>
<width>831</width>
<height>1286</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QWidget" name="verticalLayoutWidget">
<property name="geometry">
<rect>
<x>760</x>
<y>0</y>
<width>252</width>
<height>715</height>
</rect>
</property>
<layout class="QVBoxLayout" name="channelGroup10to18">
<item>
<widget class="RCChannelWidget" name="radio10Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio11Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio12Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio13Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio14Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio15Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio16Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio17Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio18Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="layoutWidget1">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>486</width>
<height>525</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="0" columnstretch="0">
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QLabel" name="rcCalStatus">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>180</height>
</size>
</property>
<property name="text">
<string>Please turn on Radio</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="rcCalFound">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>400</width>
<height>16</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</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>60</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">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="Line" name="line">
<property name="styleSheet">
<string notr="true">color: rgb(128, 128, 128);</string>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="midLineWidth">
<number>0</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Receiver</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="receiverLayout">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="receiverInfo">
<property name="text">
<string>Turn on transmitter</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="spektrumBind">
<property name="text">
<string>Spektrum Bind</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_2">
<property name="styleSheet">
<string notr="true">color: rgb(128, 128, 128);</string>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Attitude Controls</string>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>61</width>
<height>24</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid rgb(128, 128, 128);
border-radius: 4px;
background-color: rgb(80, 80, 80);s</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="RCValueWidget" name="rollValue" native="true">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>400</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="RCValueWidget" name="pitchValue" native="true">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="yawTrim">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>45</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Trim</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_7">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>61</width>
<height>24</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid rgb(128, 128, 128);
border-radius: 4px;
background-color: rgb(80, 80, 80);s</string>
</property>
<property name="text">
<string>Throttle</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="rollTrim">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>45</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Trim</string>
</property>
<property name="flat">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QPushButton" name="throttleTrim">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>45</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Trim</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pitchTrim">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>45</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Trim</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="RCValueWidget" name="yawValue" native="true">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="RCValueWidget" name="throttleValue" native="true">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>61</width>
<height>24</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid rgb(128, 128, 128);
border-radius: 4px;
background-color: rgb(80, 80, 80);s</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>61</width>
<height>24</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid rgb(128, 128, 128);
border-radius: 4px;
background-color: rgb(80, 80, 80);s</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>61</width>
<height>24</height>
</size>
</property>
<property name="font">
<font>
<pointsize>16</pointsize>
</font>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid rgb(128, 128, 128);
border-radius: 4px;
background-color: rgb(80, 80, 80);s</string>
</property>
<property name="text">
<string>Flaps</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="RCValueWidget" name="flapsValue" native="true">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="rcCalStatus">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="text">
<string>Please turn on Radio</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<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="styleSheet">
<string notr="true">s</string>
</property>
<property name="text">
<string>Start</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>60</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_4">
<property name="styleSheet">
<string notr="true">color: rgb(128, 128, 128);</string>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="panelRight">
<item>
<widget class="Line" name="line_5">
<property name="styleSheet">
<string notr="true">color: rgb(128, 128, 128);</string>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_9">
<property name="text">
<string>Calibration Help</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="radioIcon">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>195</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="pixmap">
<pixmap resource="../../../qgroundcontrol.qrc">:/files/images/px4/calibration/radioCenter.png</pixmap>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line_3">
<property name="styleSheet">
<string notr="true">color: rgb(128, 128, 128);</string>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Channel Monitor</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="channelMontitor">
<item>
<layout class="QGridLayout" name="channelGroup1">
<item row="8" column="0">
<widget class="QLabel" name="channel9Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>9</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="channel2Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>2</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="channel7Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>7</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="channel8Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>Pair Receiver</string>
<string>8</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="dsm2RadioButton">
<item row="4" column="0">
<widget class="QLabel" name="channel5Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>DSM2 Mode</string>
<string>5</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="channel1Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="checked">
<bool>true</bool>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>1</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="dsmxRadioButton">
<item row="3" column="0">
<widget class="QLabel" name="channel4Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>DSMX Mode (3 to 7 channels)</string>
<string>4</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="dsmx8RadioButton">
<item row="5" column="0">
<widget class="QLabel" name="channel6Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>6</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="channel3Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>DSMX Mode (8 or more channels)</string>
<string>3</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="RCValueWidget" name="channel1Value" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="RCValueWidget" name="channel2Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="RCValueWidget" name="channel3Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="RCValueWidget" name="channel4Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="RCValueWidget" name="channel5Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="RCValueWidget" name="channel6Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="RCValueWidget" name="channel7Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="RCValueWidget" name="channel8Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="RCValueWidget" name="channel9Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="channelGroup2">
<item row="8" column="1">
<widget class="RCValueWidget" name="channel18Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="channel18Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>18</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="channel10Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>10</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="channel15Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>15</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="channel13Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>13</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="channel17Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>17</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="channel11Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>11</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="channel14Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>14</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="channel12Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>12</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="channel16Label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid white;
border-radius: 4px;
background-color: rgb(179, 179, 179);</string>
</property>
<property name="text">
<string>16</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="RCValueWidget" name="channel10Value" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="RCValueWidget" name="channel11Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="RCValueWidget" name="channel12Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="RCValueWidget" name="channel13Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="RCValueWidget" name="channel14Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="RCValueWidget" name="channel15Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="RCValueWidget" name="channel16Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="RCValueWidget" name="channel17Value" native="true">
<property name="minimumSize">
<size>
<width>122</width>
<height>0</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="layoutWidget2">
<property name="geometry">
<rect>
<x>490</x>
<y>0</y>
<width>252</width>
<height>715</height>
</rect>
</property>
<layout class="QVBoxLayout" name="channelGroup1to9" stretch="0,0,0,0,0,0,0,0,0">
<item>
<widget class="RCChannelWidget" name="radio1Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio2Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio3Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio4Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio5Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio6Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio7Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio8Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio9Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item>
<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>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>RCChannelWidget</class>
<extends>QGroupBox</extends>
<header>ui/designer/RCChannelWidget.h</header>
<class>RCValueWidget</class>
<extends>QWidget</extends>
<header>RCValueWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<resources>
<include location="../../../qgroundcontrol.qrc"/>
</resources>
<connections/>
</ui>
src/ui/px4_configuration/RCValueWidget.cc 0 → 100644
View file @ 14597102
/*=====================================================================
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();
}
src/ui/px4_configuration/RCValueWidget.h 0 → 100644
View file @ 14597102
/*=====================================================================
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 Widget which shows current RC value on a bar with tick marks.
/// @author Don Gagne <don@thegagnes.com>
#ifndef RCValueWidget_H
#define RCValueWidget_H
#include <QWidget>
#include <QColor>
/// @brief Widget which shows current RC value on a bar with tick marks.
class RCValueWidget : public QWidget
{
Q_OBJECT
public:
explicit RCValueWidget(QWidget *parent = 0);
/// @brief Set the widget to display small value bar.
void setSmallMode(void) { _smallMode = true; }
/// @brief Set the current RC value to display
void setValue(int value);
/// @brief Set the current RC Value, Minimum RC Value and Maximum RC Value
void setValueAndMinMax(int val, int min, int max);
void setMinMax(int min, int max);
void setMin(int min);
void setMax(int max);
/// @brief Set whether the Min range value is valid or not.
void setMinValid(bool valid);
/// @brief Set whether the Max range value is valid or not.
void setMaxValid(bool valid);
/// @brief Sets the Trim value for the channel
void setTrim(int value);
/// @brief Sets the reversed state of channel
/// @param reversed true: channel is reversed
void setReversed(bool reversed) { _reversed = reversed; }
int value(void) { return _value; } ///< Returns the current RC Value set in the control
int min(void) { return _min; } ///< Returns the min value set in the control
int max(void) { return _max; } ///< Returns the max values set in the control
int trim(void) { return _trim; } ///< Returns the trim value set in the control
void showMinMax(bool show);
bool isMinMaxShown() { return _showMinMax; }
bool isMinValid(void) { return _minValid; }
bool isMaxValid(void) { return _maxValid; }
void showTrim(bool show);
bool isTrimShown() { return _showTrim; }
protected:
virtual void paintEvent(QPaintEvent *event);
private:
void _drawValuePointer(QPainter* painter, int xTip, int yTip, int height, bool rightSideUp);
bool _smallMode; ///< true: draw small value bar, false: draw normal value bar
int _value; ///< Current RC value
int _min; ///< Min RC value
int _max; ///< Max RC value
int _trim; ///< RC Value for Trim position
bool _reversed; ///< true: channel is reversed
bool _minValid; ///< true: minimum value is valid
bool _maxValid; ///< true: maximum value is valid
bool _showMinMax; ///< true: show min max values on display
bool _showTrim; ///< true: show trim value on display
static const int _centerValue = 1500; ///< RC Value which is at center
static const int _maxDeltaRange = 650; ///< Delta around center value which is the max range for widget
static const int _minRange = _centerValue - _maxDeltaRange; ///< Smallest value widget can display
static const int _maxRange = _centerValue + _maxDeltaRange; ///< Largest value widget can display
static const int _barHeight = 7;
QColor _fgColor;
};
#endif
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