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Commit 20df7ebf authored by Don Gagne's avatar Don Gagne
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Convert RadioCal to Qml

parent 85ad9e09
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Showing with 962 additions and 2114 deletions
QGCApplication.pro
View file @ 20df7ebf
......@@ -184,7 +184,6 @@ FORMS += \
src/ui/mission/QGCMissionNavTakeoff.ui \
src/ui/mission/QGCMissionNavWaypoint.ui \
src/ui/mission/QGCMissionOther.ui \
src/ui/px4_configuration/PX4RCCalibration.ui \
src/ui/QGCCommConfiguration.ui \
src/ui/QGCDataPlot2D.ui \
src/ui/QGCHilConfiguration.ui \
......@@ -305,8 +304,6 @@ HEADERS += \
src/ui/mission/QGCMissionNavTakeoff.h \
src/ui/mission/QGCMissionNavWaypoint.h \
src/ui/mission/QGCMissionOther.h \
src/ui/px4_configuration/PX4RCCalibration.h \
src/ui/px4_configuration/RCValueWidget.h \
src/ui/QGCCommConfiguration.h \
src/ui/QGCDataPlot2D.h \
src/ui/QGCHilConfiguration.h \
......@@ -431,8 +428,6 @@ SOURCES += \
src/ui/mission/QGCMissionNavTakeoff.cc \
src/ui/mission/QGCMissionNavWaypoint.cc \
src/ui/mission/QGCMissionOther.cc \
src/ui/px4_configuration/PX4RCCalibration.cc \
src/ui/px4_configuration/RCValueWidget.cc \
src/ui/QGCCommConfiguration.cc \
src/ui/QGCDataPlot2D.cc \
src/ui/QGCHilConfiguration.cc \
......@@ -517,11 +512,12 @@ HEADERS += \
src/qgcunittest/MainWindowTest.h \
src/qgcunittest/MavlinkLogTest.h \
src/qgcunittest/MessageBoxTest.h \
src/qgcunittest/PX4RCCalibrationTest.h \
src/qgcunittest/UnitTest.h \
src/VehicleSetup/SetupViewTest.h \
src/qgcunittest/FileManagerTest.h \
#src/qgcunittest/PX4RCCalibrationTest.h \
SOURCES += \
src/qgcunittest/FlightGearTest.cc \
src/qgcunittest/MultiSignalSpy.cc \
......@@ -535,11 +531,12 @@ SOURCES += \
src/qgcunittest/MainWindowTest.cc \
src/qgcunittest/MavlinkLogTest.cc \
src/qgcunittest/MessageBoxTest.cc \
src/qgcunittest/PX4RCCalibrationTest.cc \
src/qgcunittest/UnitTest.cc \
src/VehicleSetup/SetupViewTest.cc \
src/qgcunittest/FileManagerTest.cc \
#src/qgcunittest/PX4RCCalibrationTest.cc \
} # DebugBuild|WindowsDebugAndRelease
} # AndroidBuild
......@@ -570,6 +567,7 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/PX4Component.h \
src/AutoPilotPlugins/PX4/PX4ParameterLoader.h \
src/AutoPilotPlugins/PX4/RadioComponent.h \
src/AutoPilotPlugins/PX4/RadioComponentController.h \
src/AutoPilotPlugins/PX4/SafetyComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponentController.h \
......@@ -599,6 +597,7 @@ SOURCES += \
src/AutoPilotPlugins/PX4/PX4Component.cc \
src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc \
src/AutoPilotPlugins/PX4/RadioComponent.cc \
src/AutoPilotPlugins/PX4/RadioComponentController.cc \
src/AutoPilotPlugins/PX4/SafetyComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
......
qgroundcontrol.qrc
View file @ 20df7ebf
......@@ -50,6 +50,7 @@
<file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
<file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
<file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
<file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
<file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
<file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>
<file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
......@@ -220,7 +221,7 @@
</qresource>
<qresource prefix="/res/calibration">
<file alias ="accel_back.png">resources/calibration/accel_back.png</file>
<file alias="accel_back.png">resources/calibration/accel_back.png</file>
<file alias="accel_front.png">resources/calibration/accel_front.png</file>
<file alias="accel_right.png">resources/calibration/accel_right.png</file>
<file alias="accel_down.png">resources/calibration/accel_down.png</file>
......@@ -228,7 +229,7 @@
<file alias="accel_left.png">resources/calibration/accel_left.png</file>
</qresource>
<qresource prefix="/res/calibration/mode1">
<qresource prefix="/qml/calibration/mode1">
<file alias="radioCenter.png">resources/calibration/mode1/radioCenter.png</file>
<file alias="radioHome.png">resources/calibration/mode1/radioHome.png</file>
<file alias="radioRollLeft.png">resources/calibration/mode1/radioRollLeft.png</file>
......@@ -242,7 +243,7 @@
<file alias="radioSwitchMinMax.png">resources/calibration/mode1/radioSwitchMinMax.png</file>
</qresource>
<qresource prefix="/res/calibration/mode2">
<qresource prefix="/qml/calibration/mode2">
<file alias="radioCenter.png">resources/calibration/mode2/radioCenter.png</file>
<file alias="radioHome.png">resources/calibration/mode2/radioHome.png</file>
<file alias="radioRollLeft.png">resources/calibration/mode2/radioRollLeft.png</file>
......
src/AutoPilotPlugins/PX4/PowerComponent.cc
View file @ 20df7ebf
......@@ -25,7 +25,6 @@
/// @author Gus Grubba <mavlink@grubba.com>
#include "PowerComponent.h"
#include "PX4RCCalibration.h"
#include "QGCQmlWidgetHolder.h"
#include "PX4AutoPilotPlugin.h"
......
src/AutoPilotPlugins/PX4/RadioComponent.cc
View file @ 20df7ebf
......@@ -25,7 +25,7 @@
/// @author Don Gagne <don@thegagnes.com>
#include "RadioComponent.h"
#include "PX4RCCalibration.h"
#include "QGCQmlWidgetHolder.h"
#include "PX4AutoPilotPlugin.h"
RadioComponent::RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
......@@ -140,7 +140,11 @@ QStringList RadioComponent::paramFilterList(void) const
QWidget* RadioComponent::setupWidget(void) const
{
return new PX4RCCalibration;
QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
Q_CHECK_PTR(holder);
holder->setAutoPilot(_autopilot);
holder->setSource(QUrl::fromUserInput("qrc:/qml/RadioComponent.qml"));
return holder;
}
QUrl RadioComponent::summaryQmlSource(void) const
......
src/AutoPilotPlugins/PX4/RadioComponent.qml 0 → 100644
View file @ 20df7ebf
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 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 Radio Calibration
/// @author Don Gagne <don@thegagnes.com>
import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Dialogs 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
QGCView {
id: rootQGCView
viewComponent: view
Component {
id: view
QGCViewPanel {
id: viewPanel
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
readonly property real labelToMonitorMargin: defaultTextWidth * 3
function updateChannelCount()
{
if (controller.channelCount < controller.minChannelCount) {
showDialog(channelCountDialogComponent, "Radio Config", 50, 0)
} else {
hideDialog()
}
}
RadioComponentController {
id: controller
factPanel: viewPanel
statusText: statusText
cancelButton: cancelButton
nextButton: nextButton
skipButton: skipButton
onChannelCountChanged: updateChannelCount()
}
Connections {
target: rootQGCView
onCompleted: {
controller.start()
updateChannelCount()
}
}
Component {
id: channelCountDialogComponent
QGCViewMessage {
message: controller.channelCount == 0 ? "Please turn on transmitter." : controller.minChannelCount + " channels or more are needed to fly."
}
}
Component {
id: spektrumBindDialogComponent
QGCViewDialog {
function accept() {
controller.spektrumBindMode(radioGroup.current.bindMode)
hideDialog()
}
function reject() {
hideDialog()
}
Column {
anchors.fill: parent
spacing: 5
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: "Click Ok to place your Spektrum receiver in the bind mode. Select the specific receiver type below:"
}
ExclusiveGroup { id: radioGroup }
QGCRadioButton {
exclusiveGroup: radioGroup
text: "DSM2 Mode"
property int bindMode: RadioComponentController.DSM2
}
QGCRadioButton {
exclusiveGroup: radioGroup
text: "DSMX (7 channels or less)"
property int bindMode: RadioComponentController.DSMX7
}
QGCRadioButton {
exclusiveGroup: radioGroup
checked: true
text: "DSMX (8 channels or more)"
property int bindMode: RadioComponentController.DSMX8
}
}
}
} // Component - spektrumBindDialogComponent
// Live channel monitor control component
Component {
id: channelMonitorDisplayComponent
Item {
property int rcValue: 1500
property int __lastRcValue: 1500
readonly property int __rcValueMaxJitter: 2
property color __barColor: qgcPal.windowShade
// Bar
Rectangle {
id: bar
anchors.verticalCenter: parent.verticalCenter
width: parent.width
height: parent.height / 2
color: __barColor
}
// Center point
Rectangle {
anchors.horizontalCenter: parent.horizontalCenter
width: defaultTextWidth / 2
height: parent.height
color: qgcPal.window
}
// Indicator
Rectangle {
anchors.verticalCenter: parent.verticalCenter
width: parent.height * 0.75
height: width
x: ((Math.abs((rcValue - 1000) - (reversed ? 1000 : 0)) / 1000) * parent.width) - (width / 2)
radius: width / 2
color: qgcPal.text
visible: mapped
}
QGCLabel {
anchors.fill: parent
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: "Not Mapped"
visible: !mapped
}
ColorAnimation {
id: barAnimation
target: bar
property: "color"
from: "yellow"
to: __barColor
duration: 1500
}
onRcValueChanged: {
if (Math.abs(rcValue - __lastRcValue) > __rcValueMaxJitter) {
__lastRcValue = rcValue
barAnimation.restart()
}
}
/*
// rcValue debugger
QGCLabel {
anchors.fill: parent
text: rcValue
}
*/
}
} // Component - channelMonitorDisplayComponent
// Main view Qml starts here
QGCLabel {
id: header
font.pointSize: ScreenTools.largeFontPointSize
text: "RADIO CONFIG"
}
Item {
id: spacer
anchors.top: header.bottom
width: parent.width
height: 10
}
// Left side column
Column {
id: leftColumn
anchors.top: spacer.bottom
anchors.left: parent.left
anchors.right: columnSpacer.left
spacing: 10
Row {
spacing: 10
QGCLabel {
anchors.baseline: bindButton.baseline
text: "Place Spektrum satellite receiver in bind mode:"
}
QGCButton {
id: bindButton
text: "Spektrum Bind"
onClicked: showDialog(spektrumBindDialogComponent, "Radio Config", 50, StandardButton.Ok | StandardButton.Cancel)
}
}
// Attitude Controls
Column {
width: parent.width
spacing: 5
QGCLabel { text: "Attitude Controls" }
Item {
width: parent.width
height: defaultTextHeight * 2
QGCLabel {
id: rollLabel
width: defaultTextWidth * 10
text: "Roll"
}
Loader {
id: rollLoader
anchors.left: rollLabel.right
anchors.right: parent.right
height: rootQGCView.defaultTextHeight
width: 100
sourceComponent: channelMonitorDisplayComponent
property real defaultTextWidth: rootQGCView.defaultTextWidth
property bool mapped: controller.rollChannelMapped
property bool reversed: controller.rollChannelReversed
}
Connections {
target: controller
onRollChannelRCValueChanged: rollLoader.item.rcValue = rcValue
}
}
Item {
width: parent.width
height: defaultTextHeight * 2
QGCLabel {
id: pitchLabel
width: defaultTextWidth * 10
text: "Pitch"
}
Loader {
id: pitchLoader
anchors.left: pitchLabel.right
anchors.right: parent.right
height: rootQGCView.defaultTextHeight
width: 100
sourceComponent: channelMonitorDisplayComponent
property real defaultTextWidth: rootQGCView.defaultTextWidth
property bool mapped: controller.pitchChannelMapped
property bool reversed: controller.pitchChannelReversed
}
Connections {
target: controller
onPitchChannelRCValueChanged: pitchLoader.item.rcValue = rcValue
}
}
Item {
width: parent.width
height: defaultTextHeight * 2
QGCLabel {
id: yawLabel
width: defaultTextWidth * 10
text: "Yaw"
}
Loader {
id: yawLoader
anchors.left: yawLabel.right
anchors.right: parent.right
height: rootQGCView.defaultTextHeight
width: 100
sourceComponent: channelMonitorDisplayComponent
property real defaultTextWidth: rootQGCView.defaultTextWidth
property bool mapped: controller.yawChannelMapped
property bool reversed: controller.yawChannelReversed
}
Connections {
target: controller
onYawChannelRCValueChanged: yawLoader.item.rcValue = rcValue
}
}
Item {
width: parent.width
height: defaultTextHeight * 2
QGCLabel {
id: throttleLabel
width: defaultTextWidth * 10
text: "Throttle"
}
Loader {
id: throttleLoader
anchors.left: throttleLabel.right
anchors.right: parent.right
height: rootQGCView.defaultTextHeight
width: 100
sourceComponent: channelMonitorDisplayComponent
property real defaultTextWidth: rootQGCView.defaultTextWidth
property bool mapped: controller.throttleChannelMapped
property bool reversed: controller.throttleChannelReversed
}
Connections {
target: controller
onThrottleChannelRCValueChanged: throttleLoader.item.rcValue = rcValue
}
}
} // Column - Attitude Control labels
// Command Buttons
Row {
spacing: 10
QGCButton {
id: skipButton
text: "Skip"
onClicked: controller.skipButtonClicked()
}
QGCButton {
id: cancelButton
text: "Cancel"
onClicked: controller.cancelButtonClicked()
}
QGCButton {
id: nextButton
primary: true
text: "Calibrate"
onClicked: controller.nextButtonClicked()
}
} // Row - Buttons
// Status Text
QGCLabel {
id: statusText
width: parent.width
wrapMode: Text.WordWrap
}
} // Column - Left Column
Item {
id: columnSpacer
anchors.right: rightColumn.left
width: 20
}
// Right side column
Column {
id: rightColumn
anchors.top: spacer.bottom
anchors.right: parent.right
width: defaultTextWidth * 35
spacing: 10
Row {
spacing: 10
ExclusiveGroup { id: modeGroup }
QGCRadioButton {
exclusiveGroup: modeGroup
text: "Mode 1"
checked: controller.transmitterMode == 1
onClicked: controller.transmitterMode = 1
}
QGCRadioButton {
exclusiveGroup: modeGroup
text: "Mode 2"
checked: controller.transmitterMode == 2
onClicked: controller.transmitterMode = 2
}
}
Image {
width: parent.width
height: defaultTextHeight * 15
fillMode: Image.PreserveAspectFit
smooth: true
source: controller.imageHelp
}
// Channel monitor
Column {
width: parent.width
spacing: 5
QGCLabel { text: "Channel Monitor" }
Connections {
target: controller
onChannelRCValueChanged: {
if (channelMonitorRepeater.itemAt(channel)) {
channelMonitorRepeater.itemAt(channel).loader.item.rcValue = rcValue
}
}
}
Repeater {
id: channelMonitorRepeater
model: controller.channelCount
width: parent.width
Row {
spacing: 5
// Need this to get to loader from Connections above
property Item loader: theLoader
QGCLabel {
id: channelLabel
text: modelData + 1
}
Loader {
id: theLoader
anchors.verticalCenter: channelLabel.verticalCenter
height: rootQGCView.defaultTextHeight
width: 200
sourceComponent: channelMonitorDisplayComponent
property real defaultTextWidth: rootQGCView.defaultTextWidth
property bool mapped: true
readonly property bool reversed: false
}
}
}
} // Column - Channel Monitor
} // Column - Right Column
} // QGCViewPanel
} // Component - view
}
src/ui/px4_configuration/PX4RCCalibration.cc → src/AutoPilotPlugins/PX4/RadioComponentController.cc
View file @ 20df7ebf
......@@ -2,7 +2,7 @@
QGroundControl Open Source Ground Control Station
(c) 2009, 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
......@@ -22,51 +22,51 @@
======================================================================*/
/// @file
/// @brief PX4 RC Calibration Widget
/// @brief Radio Config Qml Controller
/// @author Don Gagne <don@thegagnes.com
#include <QSettings>
#include "PX4RCCalibration.h"
#include "RadioComponentController.h"
#include "UASManager.h"
#include "QGCMessageBox.h"
#include "AutoPilotPluginManager.h"
QGC_LOGGING_CATEGORY(PX4RCCalibrationLog, "PX4RCCalibrationLog")
#include <QSettings>
QGC_LOGGING_CATEGORY(RadioComponentControllerLog, "RadioComponentControllerLog")
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;
const int RadioComponentController::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets
const int RadioComponentController::_rcCalPWMCenterPoint = ((RadioComponentController::_rcCalPWMValidMaxValue - RadioComponentController::_rcCalPWMValidMinValue) / 2.0f) + RadioComponentController::_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::_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 = ":/res/calibration/";
const char* PX4RCCalibration::_imageFileMode1Dir = "mode1/";
const char* PX4RCCalibration::_imageFileMode2Dir = "mode2/";
const char* PX4RCCalibration::_imageCenter = "radioCenter.png";
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 char* PX4RCCalibration::_settingsGroup = "RadioCalibration";
const char* PX4RCCalibration::_settingsKeyTransmitterMode = "TransmitterMode";
const struct PX4RCCalibration::FunctionInfo PX4RCCalibration::_rgFunctionInfo[PX4RCCalibration::rcCalFunctionMax] = {
const int RadioComponentController::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
const int RadioComponentController::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max range value
const int RadioComponentController::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
const int RadioComponentController::_rcCalPWMDefaultMaxValue = 2000; ///< Default value for Max if not set
const int RadioComponentController::_rcCalRoughCenterDelta = 50; ///< Delta around center point which is considered to be roughly centered
const int RadioComponentController::_rcCalMoveDelta = 300; ///< Amount of delta past center which is considered stick movement
const int RadioComponentController::_rcCalSettleDelta = 20; ///< Amount of delta which is considered no stick movement
const int RadioComponentController::_rcCalMinDelta = 100; ///< Amount of delta allowed around min value to consider channel at min
const int RadioComponentController::_stickDetectSettleMSecs = 500;
const char* RadioComponentController::_imageFilePrefix = "calibration/";
const char* RadioComponentController::_imageFileMode1Dir = "mode1/";
const char* RadioComponentController::_imageFileMode2Dir = "mode2/";
const char* RadioComponentController::_imageCenter = "radioCenter.png";
const char* RadioComponentController::_imageHome = "radioHome.png";
const char* RadioComponentController::_imageThrottleUp = "radioThrottleUp.png";
const char* RadioComponentController::_imageThrottleDown = "radioThrottleDown.png";
const char* RadioComponentController::_imageYawLeft = "radioYawLeft.png";
const char* RadioComponentController::_imageYawRight = "radioYawRight.png";
const char* RadioComponentController::_imageRollLeft = "radioRollLeft.png";
const char* RadioComponentController::_imageRollRight = "radioRollRight.png";
const char* RadioComponentController::_imagePitchUp = "radioPitchUp.png";
const char* RadioComponentController::_imagePitchDown = "radioPitchDown.png";
const char* RadioComponentController::_imageSwitchMinMax = "radioSwitchMinMax.png";
const char* RadioComponentController::_settingsGroup = "RadioCalibration";
const char* RadioComponentController::_settingsKeyTransmitterMode = "TransmitterMode";
const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfo[RadioComponentController::rcCalFunctionMax] = {
//Parameter required
{ "RC_MAP_ROLL" },
{ "RC_MAP_PITCH" },
......@@ -82,103 +82,36 @@ const struct PX4RCCalibration::FunctionInfo PX4RCCalibration::_rgFunctionInfo[PX
{ "RC_MAP_AUX2" },
};
PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
QWidget(parent),
RadioComponentController::RadioComponentController(void) :
_currentStep(-1),
_transmitterMode(2),
_chanCount(0),
_rcCalState(rcCalStateChannelWait),
_uas(NULL),
_ui(new Ui::PX4RCCalibration),
_unitTestMode(false)
_unitTestMode(false),
_statusText(NULL),
_cancelButton(NULL),
_nextButton(NULL),
_skipButton(NULL)
{
_ui->setupUi(this);
// 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;
radioWidgetName = "channel%1Value";
RCValueWidget* monitorWidget = findChild<RCValueWidget*>(radioWidgetName.arg(chan+1));
Q_ASSERT(monitorWidget);
_rgRCValueMonitorWidget[chan] = monitorWidget;
monitorWidget->setSmallMode(); // Monitor display uses small display
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;
// This code assume we already have an active UAS with ready parameters
_uas = UASManager::instance()->getActiveUAS();
Q_ASSERT(_uas);
// Connect new signals
bool fSucceeded;
Q_UNUSED(fSucceeded);
fSucceeded = connect(_uas, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
Q_ASSERT(fSucceeded);
_autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas);
Q_ASSERT(_autopilot);
Q_ASSERT(_autopilot->pluginReady());
connect(_ui->spektrumBind, &QPushButton::clicked, this, &PX4RCCalibration::_spektrumBind);
_updateTimer.setInterval(150);
_updateTimer.start();
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);
connect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &RadioComponentController::_remoteControlChannelRawChanged);
_loadSettings();
if (_transmitterMode == 1) {
_ui->mode1->setChecked(true);
_mode1Toggled(true);
} else if (_transmitterMode == 2) {
_ui->mode2->setChecked(true);
_mode2Toggled(true);
} else {
Q_ASSERT(false);
}
connect(_ui->mode1, &QAbstractButton::toggled, this, &PX4RCCalibration::_mode1Toggled);
connect(_ui->mode2, &QAbstractButton::toggled, this, &PX4RCCalibration::_mode2Toggled);
_resetInternalCalibrationValues();
}
void RadioComponentController::start(void)
{
_stopCalibration();
connect(&_updateTimer, &QTimer::timeout, this, &PX4RCCalibration::_updateView);
_setInternalCalibrationValuesFromParameters();
}
PX4RCCalibration::~PX4RCCalibration()
RadioComponentController::~RadioComponentController()
{
_storeSettings();
}
/// @brief Returns the state machine entry for the specified state.
const PX4RCCalibration::stateMachineEntry* PX4RCCalibration::_getStateMachineEntry(int step)
const RadioComponentController::stateMachineEntry* RadioComponentController::_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"
......@@ -206,22 +139,22 @@ const PX4RCCalibration::stateMachineEntry* PX4RCCalibration::_getStateMachineEnt
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 },
{ rcCalFunctionAux1, msgAux1Switch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep },
{ rcCalFunctionAux2, msgAux2Switch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep },
{ rcCalFunctionMax, msgComplete, _imageThrottleDown, NULL, &PX4RCCalibration::_writeCalibration, NULL },
{ rcCalFunctionMax, msgBegin, _imageHome, &RadioComponentController::_inputCenterWaitBegin, &RadioComponentController::_saveAllTrims, NULL },
{ rcCalFunctionThrottle, msgThrottleUp, _imageThrottleUp, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionThrottle, msgThrottleDown, _imageThrottleDown, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionYaw, msgYawRight, _imageYawRight, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionYaw, msgYawLeft, _imageYawLeft, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionRoll, msgRollRight, _imageRollRight, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionRoll, msgRollLeft, _imageRollLeft, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionPitch, msgPitchUp, _imagePitchUp, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionPitch, msgPitchDown, _imagePitchDown, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionPitch, msgPitchCenter, _imageHome, &RadioComponentController::_inputCenterWait, NULL, NULL },
{ rcCalFunctionMax, msgSwitchMinMax, _imageSwitchMinMax, &RadioComponentController::_inputSwitchMinMax, &RadioComponentController::_advanceState, NULL },
{ rcCalFunctionFlaps, msgFlapsDetect, _imageThrottleDown, &RadioComponentController::_inputFlapsDetect, &RadioComponentController::_saveFlapsDown, &RadioComponentController::_skipFlaps },
{ rcCalFunctionFlaps, msgFlapsUp, _imageThrottleDown, &RadioComponentController::_inputFlapsUp, NULL, NULL },
{ rcCalFunctionAux1, msgAux1Switch, _imageThrottleDown, &RadioComponentController::_inputSwitchDetect, NULL, &RadioComponentController::_advanceState },
{ rcCalFunctionAux2, msgAux2Switch, _imageThrottleDown, &RadioComponentController::_inputSwitchDetect, NULL, &RadioComponentController::_advanceState },
{ rcCalFunctionMax, msgComplete, _imageThrottleDown, NULL, &RadioComponentController::_writeCalibration, NULL },
};
Q_ASSERT(step >=0 && step < (int)(sizeof(rgStateMachine) / sizeof(rgStateMachine[0])));
......@@ -229,7 +162,7 @@ const PX4RCCalibration::stateMachineEntry* PX4RCCalibration::_getStateMachineEnt
return &rgStateMachine[step];
}
void PX4RCCalibration::_nextStep(void)
void RadioComponentController::_advanceState(void)
{
_currentStep++;
_setupCurrentState();
......@@ -237,11 +170,11 @@ void PX4RCCalibration::_nextStep(void)
/// @brief Sets up the state machine according to the current step from _currentStep.
void PX4RCCalibration::_setupCurrentState(void)
void RadioComponentController::_setupCurrentState(void)
{
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
_ui->rcCalStatus->setText(state->instructions);
_statusText->setProperty("text", state->instructions);
_setHelpImage(state->image);
......@@ -250,46 +183,63 @@ void PX4RCCalibration::_setupCurrentState(void)
_rcCalSaveCurrentValues();
_ui->rcCalNext->setEnabled(state->nextFn != NULL);
_ui->rcCalSkip->setEnabled(state->skipFn != NULL);
_nextButton->setEnabled(state->nextFn != NULL);
_skipButton->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)
void RadioComponentController::_remoteControlChannelRawChanged(int chan, float fval)
{
Q_ASSERT(chan >= 0 && chan <= _chanMax);
// We always update raw values
_rcRawValue[chan] = fval;
qCDebug(PX4RCCalibrationLog) << "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 (chan >= 0 && chan <= _chanMax) {
// We always update raw values
_rcRawValue[chan] = fval;
emit channelRCValueChanged(chan, _rcRawValue[chan]);
// Signal attitude rc values to Qml if mapped
if (_rgChannelInfo[chan].function != rcCalFunctionMax) {
switch (_rgChannelInfo[chan].function) {
case rcCalFunctionRoll:
emit rollChannelRCValueChanged(_rcRawValue[chan]);
break;
case rcCalFunctionPitch:
emit pitchChannelRCValueChanged(_rcRawValue[chan]);
break;
case rcCalFunctionYaw:
emit yawChannelRCValueChanged(_rcRawValue[chan]);
break;
case rcCalFunctionThrottle:
emit throttleChannelRCValueChanged(_rcRawValue[chan]);
break;
default:
break;
}
}
}
if (_currentStep != -1) {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
if (state->rcInputFn) {
(this->*state->rcInputFn)(state->function, chan, fval);
qCDebug(RadioComponentControllerLog) << "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;
emit channelCountChanged(_chanCount);
}
}
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)
void RadioComponentController::nextButtonClicked(void)
{
if (_currentStep == -1) {
// Need to have enough channels
......@@ -310,7 +260,7 @@ void PX4RCCalibration::_nextButton(void)
}
}
void PX4RCCalibration::_skipButton(void)
void RadioComponentController::skipButtonClicked(void)
{
Q_ASSERT(_currentStep != -1);
......@@ -320,12 +270,12 @@ void PX4RCCalibration::_skipButton(void)
(this->*state->skipFn)();
}
void PX4RCCalibration::_trimNYI(void)
void RadioComponentController::cancelButtonClicked(void)
{
QGCMessageBox::warning(tr("Set Trim"), tr("Setting individual trims is not yet implemented. You will need to go through full calibration to set trims."));
_stopCalibration();
}
void PX4RCCalibration::_saveAllTrims(void)
void RadioComponentController::_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
......@@ -333,14 +283,14 @@ void PX4RCCalibration::_saveAllTrims(void)
// trims reset to correct values.
for (int i=0; i<_chanCount; i++) {
qCDebug(PX4RCCalibrationLog) << "_saveAllTrims trim" << _rcRawValue[i];
qCDebug(RadioComponentControllerLog) << "_saveAllTrims trim" << _rcRawValue[i];
_rgChannelInfo[i].rcTrim = _rcRawValue[i];
}
_nextStep();
_advanceState();
}
/// @brief Waits for the sticks to be centered, enabling Next when done.
void PX4RCCalibration::_inputCenterWaitBegin(enum rcCalFunctions function, int chan, int value)
void RadioComponentController::_inputCenterWaitBegin(enum rcCalFunctions function, int chan, int value)
{
Q_UNUSED(function);
Q_UNUSED(chan);
......@@ -348,17 +298,17 @@ void PX4RCCalibration::_inputCenterWaitBegin(enum rcCalFunctions function, int c
// FIXME: Doesn't wait for center
_ui->rcCalNext->setEnabled(true);
_nextButton->setEnabled(true);
}
bool PX4RCCalibration::_stickSettleComplete(int value)
bool RadioComponentController::_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
qCDebug(PX4RCCalibrationLog) << "_stickSettleComplete still moving, _stickDetectValue:value" << _stickDetectValue << value;
qCDebug(RadioComponentControllerLog) << "_stickSettleComplete still moving, _stickDetectValue:value" << _stickDetectValue << value;
_stickDetectValue = value;
_stickDetectSettleStarted = false;
......@@ -375,7 +325,7 @@ bool PX4RCCalibration::_stickSettleComplete(int value)
} else {
// Start waiting for the stick to stay settled for _stickDetectSettleWaitMSecs msecs
qCDebug(PX4RCCalibrationLog) << "_stickSettleComplete starting settle timer, _stickDetectValue:value" << _stickDetectValue << value;
qCDebug(RadioComponentControllerLog) << "_stickSettleComplete starting settle timer, _stickDetectValue:value" << _stickDetectValue << value;
_stickDetectSettleStarted = true;
_stickDetectSettleElapsed.start();
......@@ -385,9 +335,9 @@ bool PX4RCCalibration::_stickSettleComplete(int value)
return false;
}
void PX4RCCalibration::_inputStickDetect(enum rcCalFunctions function, int channel, int value)
void RadioComponentController::_inputStickDetect(enum rcCalFunctions function, int channel, int value)
{
qCDebug(PX4RCCalibrationLog) << "_inputStickDetect function:channel:value" << _rgFunctionInfo[function].parameterName << channel << value;
qCDebug(RadioComponentControllerLog) << "_inputStickDetect function:channel:value" << _rgFunctionInfo[function].parameterName << channel << value;
// If this channel is already used in a mapping we can't use it again
if (_rgChannelInfo[channel].function != rcCalFunctionMax) {
......@@ -400,7 +350,7 @@ void PX4RCCalibration::_inputStickDetect(enum rcCalFunctions function, int chann
if (abs(_rcValueSave[channel] - value) > _rcCalMoveDelta) {
// Stick has moved far enough to consider it as being selected for the function
qCDebug(PX4RCCalibrationLog) << "_inputStickDetect starting settle wait, function:channel:value" << function << channel << value;
qCDebug(RadioComponentControllerLog) << "_inputStickDetect starting settle wait, function:channel:value" << function << channel << value;
// Setup up to detect stick being pegged to min or max value
_stickDetectChannel = channel;
......@@ -411,7 +361,7 @@ void PX4RCCalibration::_inputStickDetect(enum rcCalFunctions function, int chann
if (_stickSettleComplete(value)) {
ChannelInfo* info = &_rgChannelInfo[channel];
qCDebug(PX4RCCalibrationLog) << "_inputStickDetect settle complete, function:channel:value" << function << channel << value;
qCDebug(RadioComponentControllerLog) << "_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
......@@ -422,21 +372,19 @@ void PX4RCCalibration::_inputStickDetect(enum rcCalFunctions function, int chann
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();
_signalAllAttiudeValueChanges();
_advanceState();
}
}
}
void PX4RCCalibration::_inputStickMin(enum rcCalFunctions function, int channel, int value)
void RadioComponentController::_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) {
......@@ -466,21 +414,17 @@ void PX4RCCalibration::_inputStickMin(enum rcCalFunctions function, int 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();
_advanceState();
}
}
}
void PX4RCCalibration::_inputCenterWait(enum rcCalFunctions function, int channel, int value)
void RadioComponentController::_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) {
......@@ -498,13 +442,13 @@ void PX4RCCalibration::_inputCenterWait(enum rcCalFunctions function, int channe
}
} else {
if (_stickSettleComplete(value)) {
_nextStep();
_advanceState();
}
}
}
/// @brief Saves min/max for non-mapped channels
void PX4RCCalibration::_inputSwitchMinMax(enum rcCalFunctions function, int channel, int value)
void RadioComponentController::_inputSwitchMinMax(enum rcCalFunctions function, int channel, int value)
{
Q_UNUSED(function);
......@@ -518,39 +462,35 @@ void PX4RCCalibration::_inputSwitchMinMax(enum rcCalFunctions function, int chan
if (value < _rcCalPWMCenterPoint) {
int minValue = qMin(_rgChannelInfo[channel].rcMin, value);
qCDebug(PX4RCCalibrationLog) << "_inputSwitchMinMax setting min channel:min" << channel << minValue;
qCDebug(RadioComponentControllerLog) << "_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);
qCDebug(PX4RCCalibrationLog) << "_inputSwitchMinMax setting max channel:max" << channel << maxValue;
qCDebug(RadioComponentControllerLog) << "_inputSwitchMinMax setting max channel:max" << channel << maxValue;
_rgChannelInfo[channel].rcMax = maxValue;
_rgRCValueMonitorWidget[channel]->setMax(maxValue);
_rgRCValueMonitorWidget[channel]->setMaxValid(true);
}
}
}
void PX4RCCalibration::_skipFlaps(void)
void RadioComponentController::_skipFlaps(void)
{
// Flaps channel may have been identified. Clear it out.
for (int i=0; i<_chanCount; i++) {
if (_rgChannelInfo[i].function == PX4RCCalibration::rcCalFunctionFlaps) {
if (_rgChannelInfo[i].function == RadioComponentController::rcCalFunctionFlaps) {
_rgChannelInfo[i].function = rcCalFunctionMax;
}
}
_rgFunctionChannelMapping[PX4RCCalibration::rcCalFunctionFlaps] = _chanMax;
_rgFunctionChannelMapping[RadioComponentController::rcCalFunctionFlaps] = _chanMax;
// Skip over flap steps
_currentStep += 2;
_setupCurrentState();
}
void PX4RCCalibration::_saveFlapsDown(void)
void RadioComponentController::_saveFlapsDown(void)
{
int channel = _rgFunctionChannelMapping[rcCalFunctionFlaps];
......@@ -575,19 +515,15 @@ void PX4RCCalibration::_saveFlapsDown(void)
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();
_advanceState();
}
void PX4RCCalibration::_inputFlapsUp(enum rcCalFunctions function, int channel, int value)
void RadioComponentController::_inputFlapsUp(enum rcCalFunctions function, int channel, int value)
{
Q_UNUSED(function);
......@@ -623,21 +559,17 @@ void PX4RCCalibration::_inputFlapsUp(enum rcCalFunctions function, int 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();
_advanceState();
}
}
}
void PX4RCCalibration::_switchDetect(enum rcCalFunctions function, int channel, int value, bool moveToNextStep)
void RadioComponentController::_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) {
......@@ -654,35 +586,35 @@ void PX4RCCalibration::_switchDetect(enum rcCalFunctions function, int channel,
_rgFunctionChannelMapping[function] = channel;
info->function = function;
qCDebug(PX4RCCalibrationLog) << "Function:" << function << "mapped to:" << channel;
qCDebug(RadioComponentControllerLog) << "Function:" << function << "mapped to:" << channel;
if (moveToNextStep) {
_nextStep();
_advanceState();
}
}
}
void PX4RCCalibration::_inputSwitchDetect(enum rcCalFunctions function, int channel, int value)
void RadioComponentController::_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)
void RadioComponentController::_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.
void PX4RCCalibration::_resetInternalCalibrationValues(void)
void RadioComponentController::_resetInternalCalibrationValues(void)
{
// Set all raw channels to not reversed and center point values
for (size_t i=0; i<_chanMax; i++) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->function = rcCalFunctionMax;
info->reversed = false;
info->rcMin = PX4RCCalibration::_rcCalPWMCenterPoint;
info->rcMax = PX4RCCalibration::_rcCalPWMCenterPoint;
info->rcTrim = PX4RCCalibration::_rcCalPWMCenterPoint;
info->rcMin = RadioComponentController::_rcCalPWMCenterPoint;
info->rcMax = RadioComponentController::_rcCalPWMCenterPoint;
info->rcTrim = RadioComponentController::_rcCalPWMCenterPoint;
}
// Initialize attitude function mapping to function channel not set
......@@ -690,9 +622,6 @@ void PX4RCCalibration::_resetInternalCalibrationValues(void)
_rgFunctionChannelMapping[i] = _chanMax;
}
_showMinMaxOnRadioWidgets(false);
_showTrimOnRadioWidgets(false);
// Reserve the existing Flight Mode switch settings channels so we don't re-use them
static const rcCalFunctions rgFlightModeFunctions[] = {
......@@ -707,22 +636,24 @@ void PX4RCCalibration::_resetInternalCalibrationValues(void)
enum rcCalFunctions curFunction = rgFlightModeFunctions[i];
bool ok;
int switchChannel = _autopilot->getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[curFunction].parameterName)->value().toInt(&ok);
int switchChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[curFunction].parameterName)->value().toInt(&ok);
Q_ASSERT(ok);
// Parameter: 1-based channel, 0=not mapped
// _rgFunctionChannelMapping: 0-based channel, _chanMax=not mapped
if (switchChannel != 0) {
qCDebug(PX4RCCalibrationLog) << "Reserving 0-based switch channel" << switchChannel - 1;
qCDebug(RadioComponentControllerLog) << "Reserving 0-based switch channel" << switchChannel - 1;
_rgFunctionChannelMapping[curFunction] = switchChannel - 1;
_rgChannelInfo[switchChannel - 1].function = curFunction;
}
}
_signalAllAttiudeValueChanges();
}
/// @brief Sets internal calibration values from the stored parameters
void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
{
// Initialize all function mappings to not set
......@@ -735,8 +666,6 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
_rgFunctionChannelMapping[i] = _chanMax;
}
// FIXME: Hardwired component id
// Pull parameters and update
QString minTpl("RC%1_MIN");
......@@ -749,16 +678,16 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
for (int i = 0; i < _chanMax; ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->rcTrim = _autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1))->value().toInt(&convertOk);
info->rcTrim = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1))->value().toInt(&convertOk);
Q_ASSERT(convertOk);
info->rcMin = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1))->value().toInt(&convertOk);
info->rcMin = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1))->value().toInt(&convertOk);
Q_ASSERT(convertOk);
info->rcMax = _autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->value().toInt(&convertOk);
info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->value().toInt(&convertOk);
Q_ASSERT(convertOk);
float floatReversed = _autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1))->value().toFloat(&convertOk);
float floatReversed = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1))->value().toFloat(&convertOk);
Q_ASSERT(convertOk);
Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
info->reversed = floatReversed == -1.0f;
......@@ -767,7 +696,7 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
for (int i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
paramChannel = _autopilot->getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->value().toInt(&convertOk);
paramChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->value().toInt(&convertOk);
Q_ASSERT(convertOk);
if (paramChannel != 0) {
......@@ -776,44 +705,16 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
}
}
_showMinMaxOnRadioWidgets(true);
_showTrimOnRadioWidgets(true);
_signalAllAttiudeValueChanges();
}
/// @brief Sets a connected Spektrum receiver into bind mode
void PX4RCCalibration::_spektrumBind(void)
void RadioComponentController::spektrumBindMode(int mode)
{
Q_ASSERT(_uas);
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);
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);
}
_uas->pairRX(0, bindType);
}
_uas->pairRX(0, mode);
}
/// @brief Validates the current settings against the calibration rules resetting values as necessary.
void PX4RCCalibration::_validateCalibration(void)
void RadioComponentController::_validateCalibration(void)
{
for (int chan = 0; chan<_chanMax; chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
......@@ -822,7 +723,7 @@ 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) {
qCDebug(PX4RCCalibrationLog) << "_validateCalibration resetting channel" << chan;
qCDebug(RadioComponentControllerLog) << "_validateCalibration resetting channel" << chan;
info->rcMin = _rcCalPWMDefaultMinValue;
info->rcMax = _rcCalPWMDefaultMaxValue;
info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
......@@ -848,7 +749,7 @@ void PX4RCCalibration::_validateCalibration(void)
}
} else {
// Unavailable channels are set to defaults
qCDebug(PX4RCCalibrationLog) << "_validateCalibration resetting unavailable channel" << chan;
qCDebug(RadioComponentControllerLog) << "_validateCalibration resetting unavailable channel" << chan;
info->rcMin = _rcCalPWMDefaultMinValue;
info->rcMax = _rcCalPWMDefaultMaxValue;
info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
......@@ -859,7 +760,7 @@ void PX4RCCalibration::_validateCalibration(void)
/// @brief Saves the rc calibration values to the board parameters.
void PX4RCCalibration::_writeCalibration(void)
void RadioComponentController::_writeCalibration(void)
{
if (!_uas) return;
......@@ -877,10 +778,10 @@ void PX4RCCalibration::_writeCalibration(void)
struct ChannelInfo* info = &_rgChannelInfo[chan];
int oneBasedChannel = chan + 1;
_autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->setValue((float)info->rcTrim);
_autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->setValue((float)info->rcMin);
_autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->setValue((float)info->rcMax);
_autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->setValue(info->reversed ? -1.0f : 1.0f);
getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->setValue((float)info->rcTrim);
getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->setValue((float)info->rcMin);
getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->setValue((float)info->rcMax);
getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->setValue(info->reversed ? -1.0f : 1.0f);
}
// Write function mapping parameters
......@@ -893,59 +794,20 @@ void PX4RCCalibration::_writeCalibration(void)
// Note that the channel value is 1-based
paramChannel = _rgFunctionChannelMapping[i] + 1;
}
_autopilot->getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->setValue(paramChannel);
getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->setValue(paramChannel);
}
// If the RC_CHAN_COUNT parameter is available write the channel count
if (_autopilot->parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setValue(_chanCount);
if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setValue(_chanCount);
}
_stopCalibration();
_setInternalCalibrationValuesFromParameters();
}
void PX4RCCalibration::_updateView()
{
// Update the available channels
for (int chan=0; chan<_chanCount; chan++) {
RCValueWidget* valueWidget = _rgRCValueMonitorWidget[chan];
valueWidget->setVisible(true);
_rgRCValueMonitorLabel[chan]->setVisible(true);
//qCDebug(PX4RCCalibrationLog) << "Visible" << valueWidget->objectName() << chan;
struct ChannelInfo* info = &_rgChannelInfo[chan];
valueWidget->setValueAndMinMax(_rcRawValue[chan], info->rcMin, info->rcMax);
valueWidget->setTrim(info->rcTrim);
valueWidget->setReversed(info->reversed);
}
// Update attitude controls
for (int i=0; i<_attitudeControls; i++) {
struct AttitudeInfo* attitudeInfo = &_rgAttitudeControl[i];
if (_rgFunctionChannelMapping[attitudeInfo->function] != _chanMax) {
int channel = _rgFunctionChannelMapping[attitudeInfo->function];
struct ChannelInfo* info = &_rgChannelInfo[channel];
RCValueWidget* valueWidget = attitudeInfo->valueWidget;
attitudeInfo->valueWidget->setValueAndMinMax(_rcRawValue[channel], info->rcMin, info->rcMax);
valueWidget->setTrim(info->rcTrim);
valueWidget->setReversed(info->reversed);
}
}
// Hide non-available channels
for (int chan=_chanCount; chan<_chanMax; chan++) {
_rgRCValueMonitorWidget[chan]->setVisible(false);
_rgRCValueMonitorLabel[chan]->setVisible(false);
qCDebug(PX4RCCalibrationLog) << "Hiding channel" << _rgRCValueMonitorWidget[chan]->objectName() << chan;
}
}
/// @brief Starts the calibration process
void PX4RCCalibration::_startCalibration(void)
void RadioComponentController::_startCalibration(void)
{
Q_ASSERT(_chanCount >= _chanMinimum);
......@@ -954,15 +816,15 @@ void PX4RCCalibration::_startCalibration(void)
// Let the mav known we are starting calibration. This should turn off motors and so forth.
_uas->startCalibration(UASInterface::StartCalibrationRadio);
_ui->rcCalNext->setText(tr("Next"));
_ui->rcCalCancel->setEnabled(true);
_nextButton->setProperty("text", "Next");
_cancelButton->setEnabled(true);
_currentStep = 0;
_setupCurrentState();
}
/// @brief Cancels the calibration process, setting things back to initial state.
void PX4RCCalibration::_stopCalibration(void)
void RadioComponentController::_stopCalibration(void)
{
_currentStep = -1;
......@@ -973,83 +835,44 @@ void PX4RCCalibration::_stopCalibration(void)
_resetInternalCalibrationValues();
}
_ui->rcCalStatus->clear();
_statusText->setProperty("text", "");
_ui->rcCalNext->setText(tr("Calibrate"));
_ui->rcCalNext->setEnabled(true);
_ui->rcCalCancel->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_nextButton->setProperty("text", "Calibrate");
_nextButton->setEnabled(true);
_cancelButton->setEnabled(false);
_skipButton->setEnabled(false);
_setHelpImage(_imageCenter);
}
/// @brief Saves the current channel values, so that we can detect when the use moves an input.
void PX4RCCalibration::_rcCalSaveCurrentValues(void)
void RadioComponentController::_rcCalSaveCurrentValues(void)
{
qCDebug(PX4RCCalibrationLog) << "_rcCalSaveCurrentValues";
qCDebug(RadioComponentControllerLog) << "_rcCalSaveCurrentValues";
for (unsigned i = 0; i < _chanMax; i++) {
_rcValueSave[i] = _rcRawValue[i];
}
}
/// @brief Set up the Save state of calibration.
void PX4RCCalibration::_rcCalSave(void)
void RadioComponentController::_rcCalSave(void)
{
_rcCalState = rcCalStateSave;
_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."));
_statusText->setProperty("text",
"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->rcCalNext->setEnabled(true);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
_nextButton->setEnabled(true);
_skipButton->setEnabled(false);
_cancelButton->setEnabled(true);
// This updates the internal values according to the validation rules. Then _updateView will tick and update ui
// such that the settings that will be written our are displayed.
_validateCalibration();
_showMinMaxOnRadioWidgets(true);
}
/// @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)
{
// Turn on min/max display for all radio widgets
for (int i=0; i<_chanMax; i++) {
RCValueWidget* radioWidget = _rgRCValueMonitorWidget[i];
Q_ASSERT(radioWidget);
radioWidget->showMinMax(show);
if (show) {
if (radioWidget->min() <= _rcCalPWMValidMinValue) {
radioWidget->setMinValid(true);
}
if (radioWidget->max() >= _rcCalPWMValidMaxValue) {
radioWidget->setMaxValid(true);
}
} else {
radioWidget->setMinValid(false);
radioWidget->setMaxValid(false);
}
}
}
/// @brief Shows or hides the trim values of the channel widgets.
/// @param show true: show the trim values, false: hide the trim values
void PX4RCCalibration::_showTrimOnRadioWidgets(bool show)
{
// Turn on trim display for all radio widgets
for (int i=0; i<_chanMax; i++) {
RCValueWidget* radioWidget = _rgRCValueMonitorWidget[i];
Q_ASSERT(radioWidget);
radioWidget->showTrim(show);
}
}
void PX4RCCalibration::_loadSettings(void)
void RadioComponentController::_loadSettings(void)
{
QSettings settings;
......@@ -1062,7 +885,7 @@ void PX4RCCalibration::_loadSettings(void)
}
}
void PX4RCCalibration::_storeSettings(void)
void RadioComponentController::_storeSettings(void)
{
QSettings settings;
......@@ -1071,29 +894,7 @@ void PX4RCCalibration::_storeSettings(void)
settings.endGroup();
}
void PX4RCCalibration::_mode1Toggled(bool checked)
{
if (checked) {
_transmitterMode = 1;
if (_currentStep != -1) {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
_setHelpImage(state->image);
}
}
}
void PX4RCCalibration::_mode2Toggled(bool checked)
{
if (checked) {
_transmitterMode = 2;
if (_currentStep != -1) {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
_setHelpImage(state->image);
}
}
}
void PX4RCCalibration::_setHelpImage(const char* imageFile)
void RadioComponentController::_setHelpImage(const char* imageFile)
{
QString file = _imageFilePrefix;
......@@ -1106,7 +907,129 @@ void PX4RCCalibration::_setHelpImage(const char* imageFile)
}
file += imageFile;
qCDebug(PX4RCCalibrationLog) << "_setHelpImage" << file;
qCDebug(RadioComponentControllerLog) << "_setHelpImage" << file;
_ui->radioIcon->setPixmap(QPixmap(file));
_imageHelp = file;
emit imageHelpChanged(file);
}
int RadioComponentController::channelCount(void)
{
return _chanCount;
}
int RadioComponentController::rollChannelRCValue(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax) {
return _rcRawValue[rcCalFunctionRoll];
} else {
return 1500;
}
}
int RadioComponentController::pitchChannelRCValue(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax) {
return _rcRawValue[rcCalFunctionPitch];
} else {
return 1500;
}
}
int RadioComponentController::yawChannelRCValue(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax) {
return _rcRawValue[rcCalFunctionYaw];
} else {
return 1500;
}
}
int RadioComponentController::throttleChannelRCValue(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax) {
return _rcRawValue[rcCalFunctionThrottle];
} else {
return 1500;
}
}
bool RadioComponentController::rollChannelMapped(void)
{
return _rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax;
}
bool RadioComponentController::pitchChannelMapped(void)
{
return _rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax;
}
bool RadioComponentController::yawChannelMapped(void)
{
return _rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax;
}
bool RadioComponentController::throttleChannelMapped(void)
{
return _rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax;
}
bool RadioComponentController::rollChannelReversed(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax) {
return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionRoll]].reversed;
} else {
return false;
}
}
bool RadioComponentController::pitchChannelReversed(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax) {
return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionPitch]].reversed;
} else {
return false;
}
}
bool RadioComponentController::yawChannelReversed(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax) {
return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionYaw]].reversed;
} else {
return false;
}
}
bool RadioComponentController::throttleChannelReversed(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax) {
return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionThrottle]].reversed;
} else {
return false;
}
}
void RadioComponentController::setTransmitterMode(int mode)
{
if (mode == 1 || mode == 2) {
_transmitterMode = mode;
if (_currentStep != -1) {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
_setHelpImage(state->image);
}
}
}
void RadioComponentController::_signalAllAttiudeValueChanges(void)
{
emit rollChannelMappedChanged(rollChannelMapped());
emit pitchChannelMappedChanged(pitchChannelMapped());
emit yawChannelMappedChanged(yawChannelMapped());
emit throttleChannelMappedChanged(throttleChannelMapped());
emit rollChannelReversedChanged(rollChannelReversed());
emit pitchChannelReversedChanged(pitchChannelReversed());
emit yawChannelReversedChanged(yawChannelReversed());
emit throttleChannelReversedChanged(throttleChannelReversed());
}
src/ui/px4_configuration/PX4RCCalibration.h → src/AutoPilotPlugins/PX4/RadioComponentController.h
View file @ 20df7ebf
......@@ -2,7 +2,7 @@
QGroundControl Open Source Ground Control Station
(c) 2009, 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
......@@ -23,57 +23,123 @@
/// @file
/// @brief PX4 RC Calibration Widget
/// @brief Radio Config Qml Controller
/// @author Don Gagne <don@thegagnes.com
#ifndef PX4RCCalibration_H
#define PX4RCCalibration_H
#ifndef RadioComponentController_H
#define RadioComponentController_H
#include <QWidget>
#include <QTimer>
#include "FactPanelController.h"
#include "UASInterface.h"
#include "RCValueWidget.h"
#include "QGCLoggingCategory.h"
#include "AutoPilotPlugin.h"
#include "ui_PX4RCCalibration.h"
Q_DECLARE_LOGGING_CATEGORY(RadioComponentControllerLog)
Q_DECLARE_LOGGING_CATEGORY(PX4RCCalibrationLog)
class PX4RCCalibrationTest;
//class RadioComponentControllerTest;
namespace Ui {
class PX4RCCalibration;
class RadioComponentController;
}
class PX4RCCalibration : public QWidget
class RadioComponentController : public FactPanelController
{
Q_OBJECT
friend class PX4RCCalibrationTest; ///< This allows our unit test to access internal information needed.
//friend class RadioComponentControllerTest; ///< This allows our unit test to access internal information needed.
public:
explicit PX4RCCalibration(QWidget *parent = 0);
~ PX4RCCalibration();
RadioComponentController(void);
~RadioComponentController();
Q_PROPERTY(int minChannelCount MEMBER _chanMinimum CONSTANT)
Q_PROPERTY(int channelCount READ channelCount NOTIFY channelCountChanged)
Q_PROPERTY(QQuickItem* statusText MEMBER _statusText)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* skipButton MEMBER _skipButton)
Q_PROPERTY(bool rollChannelMapped READ rollChannelMapped NOTIFY rollChannelMappedChanged)
Q_PROPERTY(bool pitchChannelMapped READ pitchChannelMapped NOTIFY pitchChannelMappedChanged)
Q_PROPERTY(bool yawChannelMapped READ yawChannelMapped NOTIFY yawChannelMappedChanged)
Q_PROPERTY(bool throttleChannelMapped READ throttleChannelMapped NOTIFY throttleChannelMappedChanged)
Q_PROPERTY(int rollChannelRCValue READ rollChannelRCValue NOTIFY rollChannelRCValueChanged)
Q_PROPERTY(int pitchChannelRCValue READ pitchChannelRCValue NOTIFY pitchChannelRCValueChanged)
Q_PROPERTY(int yawChannelRCValue READ yawChannelRCValue NOTIFY yawChannelRCValueChanged)
Q_PROPERTY(int throttleChannelRCValue READ throttleChannelRCValue NOTIFY throttleChannelRCValueChanged)
Q_PROPERTY(int rollChannelReversed READ rollChannelReversed NOTIFY rollChannelReversedChanged)
Q_PROPERTY(int pitchChannelReversed READ pitchChannelReversed NOTIFY pitchChannelReversedChanged)
Q_PROPERTY(int yawChannelReversed READ yawChannelReversed NOTIFY yawChannelReversedChanged)
Q_PROPERTY(int throttleChannelReversed READ throttleChannelReversed NOTIFY throttleChannelReversedChanged)
Q_PROPERTY(int transmitterMode READ transmitterMode WRITE setTransmitterMode NOTIFY transmitterModeChanged)
Q_PROPERTY(QString imageHelp MEMBER _imageHelp NOTIFY imageHelpChanged)
Q_ENUMS(BindModes)
enum BindModes {
DSM2,
DSMX7,
DSMX8
};
Q_INVOKABLE void spektrumBindMode(int mode);
Q_INVOKABLE void cancelButtonClicked(void);
Q_INVOKABLE void skipButtonClicked(void);
Q_INVOKABLE void nextButtonClicked(void);
Q_INVOKABLE void start(void);
int rollChannelRCValue(void);
int pitchChannelRCValue(void);
int yawChannelRCValue(void);
int throttleChannelRCValue(void);
bool rollChannelMapped(void);
bool pitchChannelMapped(void);
bool yawChannelMapped(void);
bool throttleChannelMapped(void);
bool rollChannelReversed(void);
bool pitchChannelReversed(void);
bool yawChannelReversed(void);
bool throttleChannelReversed(void);
int channelCount(void);
int transmitterMode(void) { return _transmitterMode; }
void setTransmitterMode(int mode);
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 _nextButton(void);
void _skipButton(void);
void _spektrumBind(void);
void channelCountChanged(int channelCount);
void channelRCValueChanged(int channel, int rcValue);
void _mode1Toggled(bool checked);
void _mode2Toggled(bool checked);
void rollChannelMappedChanged(bool mapped);
void pitchChannelMappedChanged(bool mapped);
void yawChannelMappedChanged(bool mapped);
void throttleChannelMappedChanged(bool mapped);
void _trimNYI(void);
void rollChannelRCValueChanged(int rcValue);
void pitchChannelRCValueChanged(int rcValue);
void yawChannelRCValueChanged(int rcValue);
void throttleChannelRCValueChanged(int rcValue);
void _updateView(void);
void rollChannelReversedChanged(bool reversed);
void pitchChannelReversedChanged(bool reversed);
void yawChannelReversedChanged(bool reversed);
void throttleChannelReversedChanged(bool reversed);
void imageHelpChanged(QString source);
void transmitterModeChanged(int mode);
// @brief Signalled when in unit test mode and a message box should be displayed by the next button
void nextButtonMessageBoxDisplayed(void);
private slots:
void _remoteControlChannelRawChanged(int chan, float val);
private:
......@@ -115,8 +181,8 @@ private:
rcCalStateSave
};
typedef void (PX4RCCalibration::*inputFn)(enum rcCalFunctions function, int chan, int value);
typedef void (PX4RCCalibration::*buttonFn)(void);
typedef void (RadioComponentController::*inputFn)(enum rcCalFunctions function, int chan, int value);
typedef void (RadioComponentController::*buttonFn)(void);
struct stateMachineEntry {
enum rcCalFunctions function;
const char* instructions;
......@@ -140,19 +206,11 @@ private:
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 _advanceState(void);
void _setupCurrentState(void);
void _inputCenterWaitBegin(enum rcCalFunctions function, int channel, int value);
......@@ -186,14 +244,13 @@ private:
void _rcCalSaveCurrentValues(void);
void _showMinMaxOnRadioWidgets(bool show);
void _showTrimOnRadioWidgets(bool show);
void _setHelpImage(const char* imageFile);
void _loadSettings(void);
void _storeSettings(void);
void _signalAllAttiudeValueChanges(void);
// @brief Called by unit test code to set the mode to unit testing
void _setUnitTestMode(void){ _unitTestMode = true; }
......@@ -225,7 +282,6 @@ private:
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
......@@ -253,16 +309,6 @@ private:
int _rcRawValue[_chanMax]; ///< Current set of raw channel values
RCValueWidget* _rgRCValueMonitorWidget[_chanMax]; ///< Array of radio channel value widgets
QLabel* _rgRCValueMonitorLabel[_chanMax]; ///< Array of radio channel value labels
UASInterface* _uas;
QSharedPointer<AutoPilotPlugin> _autopilot;
Ui::PX4RCCalibration* _ui;
QTimer _updateTimer; ///< Timer used to update widgete ui
int _stickDetectChannel;
int _stickDetectInitialValue;
int _stickDetectValue;
......@@ -271,6 +317,13 @@ private:
static const int _stickDetectSettleMSecs;
bool _unitTestMode;
QQuickItem* _statusText;
QQuickItem* _cancelButton;
QQuickItem* _nextButton;
QQuickItem* _skipButton;
QString _imageHelp;
};
#endif // PX4RCCalibration_H
#endif // RadioComponentController_H
src/AutoPilotPlugins/PX4/SafetyComponent.cc
View file @ 20df7ebf
......@@ -25,7 +25,6 @@
/// @author Don Gagne <don@thegagnes.com>
#include "SafetyComponent.h"
#include "PX4RCCalibration.h"
#include "QGCQmlWidgetHolder.h"
#include "PX4AutoPilotPlugin.h"
......
src/QGCApplication.cc
View file @ 20df7ebf
......@@ -66,6 +66,7 @@
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
#include "PowerComponentController.h"
#include "RadioComponentController.h"
#include "ScreenTools.h"
#include "MavManager.h"
......@@ -324,6 +325,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<AirframeComponentController>("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
qmlRegisterType<SensorsComponentController>("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
qmlRegisterType<PowerComponentController>("QGroundControl.Controllers", 1, 0, "PowerComponentController");
qmlRegisterType<RadioComponentController>("QGroundControl.Controllers", 1, 0, "RadioComponentController");
//-- Create QML Singleton Interfaces
qmlRegisterSingletonType<ScreenTools>("QGroundControl.ScreenTools", 1, 0, "ScreenTools", screenToolsSingletonFactory);
......
src/QmlControls/QGCView.qml
View file @ 20df7ebf
......@@ -153,8 +153,8 @@ FactPanel {
QGCPalette { id: __qgcPal; colorGroupEnabled: true }
QGCLabel { id: __textMeasure; text: "X"; visible: false }
property real __textHeight: __textMeasure.contentHeight
property real __textWidth: __textMeasure.contentWidth
property real defaultTextHeight: __textMeasure.contentHeight
property real defaultTextWidth: __textMeasure.contentWidth
/// The width of the dialog panel in characters
property int __dialogCharWidth: 75
......@@ -271,7 +271,7 @@ FactPanel {
// This is the main dialog panel which is anchored to the right edge
Rectangle {
id: __dialogPanel
width: __dialogCharWidth == -1 ? parent.width : __textWidth * __dialogCharWidth
width: __dialogCharWidth == -1 ? parent.width : defaultTextWidth * __dialogCharWidth
height: parent.height
anchors.left: __transparentSection.right
color: __qgcPal.windowShadeDark
......@@ -287,7 +287,7 @@ FactPanel {
}
QGCLabel {
x: __textWidth
x: defaultTextWidth
height: parent.height
verticalAlignment: Text.AlignVCenter
text: __dialogTitle
......
src/ui/px4_configuration/PX4RCCalibration.ui deleted 100644 → 0
View file @ 85ad9e09
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>PX4RCCalibration</class>
<widget class="QWidget" name="PX4RCCalibration">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>501</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>720</width>
<height>501</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<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>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="spacing">
<number>-1</number>
</property>
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Calibration Help</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="mode1">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Mode 1</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="mode2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Mode 2</string>
</property>
</widget>
</item>
</layout>
</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>:/res/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="monitorLabel">
<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>8</string>
</property>
</widget>
</item>
<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>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="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 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>4</string>
</property>
</widget>
</item>
<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>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>
</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>RCValueWidget</class>
<extends>QWidget</extends>
<header>RCValueWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
src/ui/px4_configuration/RCValueWidget.cc deleted 100644 → 0
View file @ 85ad9e09
/*=====================================================================
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 deleted 100644 → 0
View file @ 85ad9e09
/*=====================================================================
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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