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Commit 3190f0b9 authored by Don Gagne's avatar Don Gagne
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Correcting joystick implementation

parent 2140c8f9
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Inline Side-by-side
Showing with 252 additions and 197 deletions
src/AutoPilotPlugins/PX4/FlightModesComponent.cc
View file @ 3190f0b9
......@@ -68,12 +68,13 @@ QString FlightModesComponent::iconResource(void) const
bool FlightModesComponent::requiresSetup(void) const
{
return true;
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ? false : true;
}
bool FlightModesComponent::setupComplete(void) const
{
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->value().toInt() != 0;
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ||
_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->value().toInt() != 0;
}
QString FlightModesComponent::setupStateDescription(void) const
......@@ -116,13 +117,18 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
QString FlightModesComponent::prerequisiteSetup(void) const
{
PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
Q_ASSERT(plugin);
if (!plugin->airframeComponent()->setupComplete()) {
return plugin->airframeComponent()->name();
} else if (!plugin->radioComponent()->setupComplete()) {
return plugin->radioComponent()->name();
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1) {
// No RC input
return QString();
} else {
PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
Q_ASSERT(plugin);
if (!plugin->airframeComponent()->setupComplete()) {
return plugin->airframeComponent()->name();
} else if (!plugin->radioComponent()->setupComplete()) {
return plugin->radioComponent()->name();
}
}
return QString();
......
src/AutoPilotPlugins/PX4/FlightModesComponent.qml
View file @ 3190f0b9
......@@ -42,6 +42,9 @@ QGCView {
// User visible strings
readonly property string title: "FLIGHT MODES CONFIG"
property string topHelpText: "Assign Flight Modes to radio control channels and adjust the thresholds for triggering them. " +
"You can assign multiple flight modes to a single channel. " +
"Turn your radio control on to test switch settings. " +
......@@ -117,6 +120,8 @@ QGCView {
readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3
property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
FlightModesComponentController {
......@@ -130,7 +135,13 @@ QGCView {
interval: 200
running: true
onTriggered: recalcModePositions()
onTriggered: {
if (rcInMode.value == 1) {
showDialog(joystickEnabledDialogComponent, title, 50, 0)
} else {
recalcModePositions()
}
}
}
function recalcModePositions() {
......@@ -188,6 +199,14 @@ QGCView {
id: panel
anchors.fill: parent
Component {
id: joystickEnabledDialogComponent
QGCViewMessage {
message: "Flight Mode Config is disabled since you have a Joystick enabled."
}
}
ScrollView {
id: scroll
anchors.fill: parent
......@@ -201,7 +220,7 @@ QGCView {
id: header
width: parent.width
font.pixelSize: ScreenTools.largeFontPixelSize
text: "FLIGHT MODES CONFIG"
text: title
}
Item {
......
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ 3190f0b9
......@@ -107,28 +107,20 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
Q_ASSERT(_vehicle);
if (pluginReady()) {
bool noRCTransmitter = false;
if (parameterExists(FactSystem::defaultComponentId, "COM_RC_IN_MODE")) {
Fact* rcFact = getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
noRCTransmitter = rcFact->value().toInt() == 1;
}
_airframeComponent = new AirframeComponent(_vehicle->uas(), this);
Q_CHECK_PTR(_airframeComponent);
_airframeComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
if (!noRCTransmitter) {
_radioComponent = new RadioComponent(_vehicle->uas(), this);
Q_CHECK_PTR(_radioComponent);
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
_flightModesComponent = new FlightModesComponent(_vehicle->uas(), this);
Q_CHECK_PTR(_flightModesComponent);
_flightModesComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
}
_radioComponent = new RadioComponent(_vehicle->uas(), this);
Q_CHECK_PTR(_radioComponent);
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
_flightModesComponent = new FlightModesComponent(_vehicle->uas(), this);
Q_CHECK_PTR(_flightModesComponent);
_flightModesComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
_sensorsComponent = new SensorsComponent(_vehicle->uas(), this);
Q_CHECK_PTR(_sensorsComponent);
......
src/AutoPilotPlugins/PX4/RadioComponent.cc
View file @ 3190f0b9
......@@ -53,18 +53,20 @@ QString RadioComponent::iconResource(void) const
bool RadioComponent::requiresSetup(void) const
{
return true;
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ? false : true;
}
bool RadioComponent::setupComplete(void) const
{
// The best we can do to detect the need for a radio calibration is look for attitude
// controls to be mapped.
QStringList attitudeMappings;
attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
foreach(QString mapParam, attitudeMappings) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->value().toInt() == 0) {
return false;
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() != 1) {
// The best we can do to detect the need for a radio calibration is look for attitude
// controls to be mapped.
QStringList attitudeMappings;
attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
foreach(QString mapParam, attitudeMappings) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->value().toInt() == 0) {
return false;
}
}
}
......@@ -113,11 +115,14 @@ QUrl RadioComponent::summaryQmlSource(void) const
QString RadioComponent::prerequisiteSetup(void) const
{
PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
Q_ASSERT(plugin);
if (!plugin->airframeComponent()->setupComplete()) {
return plugin->airframeComponent()->name();
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() != 1) {
PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
Q_ASSERT(plugin);
if (!plugin->airframeComponent()->setupComplete()) {
return plugin->airframeComponent()->name();
}
}
return QString();
......
src/AutoPilotPlugins/PX4/RadioComponent.qml
View file @ 3190f0b9
......@@ -47,10 +47,12 @@ QGCView {
property bool controllerCompleted: false
property bool controllerAndViewReady: false
property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
function updateChannelCount()
{
if (controllerAndViewReady) {
if (joystickManager.activeJoystick && joystickManager.activeJoystick.enabled) {
if (rcInMode.value == 1) {
showDialog(joystickEnabledDialogComponent, dialogTitle, 50, 0)
}
/*
......
src/Joystick/Joystick.cc
View file @ 3190f0b9
......@@ -44,7 +44,6 @@ const char* Joystick::_settingsGroup = "Joysticks";
const char* Joystick::_calibratedSettingsKey = "Calibrated";
const char* Joystick::_buttonActionSettingsKey = "ButtonAction%1";
const char* Joystick::_throttleModeSettingsKey = "ThrottleMode";
const char* Joystick::_enabledSettingsKey = "Enabled";
const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
"RollAxis",
......@@ -58,13 +57,14 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
: _sdlIndex(sdlIndex)
, _exitThread(false)
, _name(name)
, _enabled(false)
, _calibrated(false)
, _calibrating(false)
, _axisCount(axisCount)
, _buttonCount(buttonCount)
, _lastButtonBits(0)
, _throttleMode(ThrottleModeCenterZero)
, _activeVehicle(NULL)
, _pollingStartedForCalibration(false)
#endif // __mobile__
{
#ifdef __mobile__
......@@ -105,12 +105,11 @@ void Joystick::_loadSettings(void)
qCDebug(JoystickLog) << "_loadSettings " << _name;
_calibrated = settings.value(_calibratedSettingsKey, false).toBool();
_enabled = settings.value(_enabledSettingsKey, false).toBool();
_throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
badSettings |= !convertOk;
qCDebug(JoystickLog) << "_loadSettings calibrated:enabled:throttlemode:badsettings" << _calibrated << _enabled << _throttleMode << badSettings;
qCDebug(JoystickLog) << "_loadSettings calibrated:throttlemode:badsettings" << _calibrated << _throttleMode << badSettings;
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
......@@ -154,8 +153,6 @@ void Joystick::_loadSettings(void)
if (badSettings) {
_calibrated = false;
_enabled = false;
settings.setValue(_calibratedSettingsKey, false);
settings.setValue(_calibratedSettingsKey, false);
}
}
......@@ -168,10 +165,9 @@ void Joystick::_saveSettings(void)
settings.beginGroup(_name);
settings.setValue(_calibratedSettingsKey, _calibrated);
settings.setValue(_enabledSettingsKey, _enabled && _calibrated);
settings.setValue(_throttleModeSettingsKey, _throttleMode);
qCDebug(JoystickLog) << "_saveSettings calibrated:enabled:throttlemode" << _calibrated << _enabled << _throttleMode;
qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode" << _calibrated << _throttleMode;
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
......@@ -251,7 +247,6 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
void Joystick::run(void)
{
SDL_Joystick* sdlJoystick = SDL_JoystickOpen(_sdlIndex);
Vehicle * activeVehicle = MultiVehicleManager::instance()->activeVehicle();
if (!sdlJoystick) {
qCWarning(JoystickLog) << "SDL_JoystickOpen failed:" << SDL_GetError();
......@@ -278,7 +273,7 @@ void Joystick::run(void)
}
}
if (_calibrated && _enabled && !_calibrating) {
if (_calibrated && !_calibrating) {
int axis = _rgFunctionAxis[rollFunction];
float roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
......@@ -306,7 +301,7 @@ void Joystick::run(void)
// Set up button pressed information
// We only send the buttons the firmwware has reserved
int reservedButtonCount = activeVehicle->manualControlReservedButtonCount();
int reservedButtonCount = _activeVehicle->manualControlReservedButtonCount();
if (reservedButtonCount == -1) {
reservedButtonCount = _buttonCount;
}
......@@ -347,7 +342,7 @@ void Joystick::run(void)
qCDebug(JoystickValuesLog) << "roll:pitch:yaw:throttle" << roll << -pitch << yaw << throttle;
emit manualControl(roll, -pitch, yaw, throttle, buttonPressedBits, activeVehicle->joystickMode());
emit manualControl(roll, -pitch, yaw, throttle, buttonPressedBits, _activeVehicle->joystickMode());
}
// Sleep, update rate of joystick is approx. 25 Hz (1000 ms / 25 = 40 ms)
......@@ -357,27 +352,37 @@ void Joystick::run(void)
SDL_JoystickClose(sdlJoystick);
}
void Joystick::startPolling(void)
void Joystick::startPolling(Vehicle* vehicle)
{
if (enabled()) {
UAS* uas = MultiVehicleManager::instance()->activeVehicle()->uas();
if (isRunning()) {
if (_calibrating && vehicle != _activeVehicle) {
// Joystick was previously disabled, but now enabled from config screen
_activeVehicle = vehicle;
_pollingStartedForCalibration = false;
}
} else {
_activeVehicle = vehicle;
UAS* uas = _activeVehicle->uas();
connect(this, &Joystick::manualControl, uas, &UAS::setExternalControlSetpoint);
connect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
_exitThread = false;
start();
}
_exitThread = false;
start();
}
void Joystick::stopPolling(void)
{
UAS* uas = MultiVehicleManager::instance()->activeVehicle()->uas();
disconnect(this, &Joystick::manualControl, uas, &UAS::setExternalControlSetpoint);
disconnect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
_exitThread = true;
if (isRunning()) {
UAS* uas = _activeVehicle->uas();
disconnect(this, &Joystick::manualControl, uas, &UAS::setExternalControlSetpoint);
disconnect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
_exitThread = true;
}
}
void Joystick::setCalibration(int axis, Calibration_t& calibration)
......@@ -484,39 +489,24 @@ void Joystick::setThrottleMode(int mode)
emit throttleModeChanged(_throttleMode);
}
bool Joystick::enabled(void)
void Joystick::startCalibration(void)
{
Fact* fact = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin()->getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
if (!fact) {
qCWarning(JoystickLog) << "Missing COM_RC_IN_MODE parameter";
return false;
}
_calibrating = true;
return _enabled && _calibrated && (fact->value().toInt() == 2);
if (!isRunning()) {
_pollingStartedForCalibration = true;
startPolling(MultiVehicleManager::instance()->activeVehicle());
}
}
void Joystick::setEnabled(bool enabled)
void Joystick::stopCalibration(void)
{
if (!_calibrated) {
return;
}
Fact* fact = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin()->getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
if (!fact) {
qCWarning(JoystickLog) << "Missing COM_RC_IN_MODE parameter";
return;
}
_enabled = enabled;
fact->setValue(enabled ? 2 : 0);
_saveSettings();
emit enabledChanged(_enabled);
if (_enabled) {
startPolling();
} else {
stopPolling();
if (_calibrating) {
_calibrating = false;
if (_pollingStartedForCalibration) {
stopPolling();
}
}
}
......
src/Joystick/Joystick.h
View file @ 3190f0b9
......@@ -66,7 +66,6 @@ public:
Q_PROPERTY(QString name READ name CONSTANT)
Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
Q_PROPERTY(bool enabled READ enabled WRITE setEnabled NOTIFY enabledChanged)
Q_PROPERTY(int buttonCount MEMBER _buttonCount CONSTANT)
Q_PROPERTY(int axisCount MEMBER _axisCount CONSTANT)
......@@ -80,7 +79,7 @@ public:
Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
/// Start the polling thread which will in turn emit joystick signals
void startPolling(void);
void startPolling(Vehicle* vehicle);
void stopPolling(void);
void setCalibration(int axis, Calibration_t& calibration);
......@@ -97,11 +96,11 @@ public:
int throttleMode(void);
void setThrottleMode(int mode);
bool enabled(void);
void setEnabled(bool enabled);
/// Calibration is about to start
void startCalibration(void);
bool calibrating(void) { return _calibrating; }
void setCalibrating(bool calibrating) { _calibrating = calibrating; }
/// Calibration has ended
void stopCalibration(void);
signals:
void calibratedChanged(bool calibrated);
......@@ -140,7 +139,6 @@ private:
bool _exitThread; ///< true: signal thread to exit
QString _name;
bool _enabled;
bool _calibrated;
bool _calibrating;
int _axisCount;
......@@ -157,6 +155,9 @@ private:
quint16 _lastButtonBits;
ThrottleMode_t _throttleMode;
Vehicle* _activeVehicle;
bool _pollingStartedForCalibration;
#endif // __mobile__
private:
......@@ -166,7 +167,6 @@ private:
static const char* _calibratedSettingsKey;
static const char* _buttonActionSettingsKey;
static const char* _throttleModeSettingsKey;
static const char* _enabledSettingsKey;
};
#endif
src/Vehicle/MultiVehicleManager.cc
View file @ 3190f0b9
......@@ -26,7 +26,6 @@
#include "MultiVehicleManager.h"
#include "AutoPilotPlugin.h"
#include "JoystickManager.h"
#include "MAVLinkProtocol.h"
#include "UAS.h"
......@@ -87,14 +86,8 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
/// This slot is connected to the Vehicle::allLinksDestroyed signal such that the Vehicle is deleted
/// and all other right things happen when the Vehicle goes away.
void MultiVehicleManager::_deleteVehiclePhase1(void)
void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
{
Vehicle* vehicle = dynamic_cast<Vehicle*>(sender());
if (!vehicle) {
qWarning() << "Dynamic cast failed!";
return;
}
_vehicleBeingDeleted = vehicle;
// Remove from map
......@@ -110,17 +103,9 @@ void MultiVehicleManager::_deleteVehiclePhase1(void)
qWarning() << "Vehicle not found in map!";
}
// Disconnect the vehicle from the uas
vehicle->setActive(false);
vehicle->uas()->clearVehicle();
#ifndef __mobile__
// Disconnect joystick
Joystick* joystick = JoystickManager::instance()->activeJoystick();
if (joystick) {
joystick->stopPolling();
}
#endif
// First we must signal that a vehicle is no longer available.
_activeVehicleAvailable = false;
_parameterReadyVehicleAvailable = false;
......@@ -151,6 +136,7 @@ void MultiVehicleManager::_deleteVehiclePhase2 (void)
emit activeVehicleChanged(newActiveVehicle);
if (_activeVehicle) {
_activeVehicle->setActive(true);
emit activeVehicleAvailableChanged(true);
if (_activeVehicle->autopilotPlugin()->pluginReady()) {
emit parameterReadyVehicleAvailableChanged(true);
......@@ -164,14 +150,8 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
{
if (vehicle != _activeVehicle) {
if (_activeVehicle) {
#ifndef __mobile__
// Disconnect joystick
Joystick* joystick = JoystickManager::instance()->activeJoystick();
if (joystick) {
joystick->stopPolling();
}
#endif
_activeVehicle->setActive(false);
// The sequence of signals is very important in order to not leave Qml elements connected
// to a non-existent vehicle.
......@@ -197,6 +177,7 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
// And finally vehicle availability
if (_activeVehicle) {
_activeVehicle->setActive(true);
_activeVehicleAvailable = true;
emit activeVehicleAvailableChanged(true);
......@@ -217,14 +198,6 @@ void MultiVehicleManager::_autopilotPluginReadyChanged(bool pluginReady)
}
if (autopilot->vehicle() == _activeVehicle) {
#ifndef __mobile__
// Connect joystick
Joystick* joystick = JoystickManager::instance()->activeJoystick();
if (joystick && joystick->enabled()) {
joystick->startPolling();
}
#endif
_parameterReadyVehicleAvailable = pluginReady;
emit parameterReadyVehicleAvailableChanged(pluginReady);
}
......
src/Vehicle/MultiVehicleManager.h
View file @ 3190f0b9
......@@ -82,7 +82,7 @@ signals:
void _deleteVehiclePhase2Signal(void);
private slots:
void _deleteVehiclePhase1(void);
void _deleteVehiclePhase1(Vehicle* vehicle);
void _deleteVehiclePhase2(void);
void _setActiveVehiclePhase2(void);
void _autopilotPluginReadyChanged(bool pluginReady);
......
src/Vehicle/Vehicle.cc
View file @ 3190f0b9
......@@ -29,6 +29,7 @@
#include "AutoPilotPluginManager.h"
#include "UASMessageHandler.h"
#include "UAS.h"
#include "JoystickManager.h"
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
......@@ -36,15 +37,18 @@ QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
#define DEFAULT_LAT 38.965767f
#define DEFAULT_LON -120.083923f
const char* Vehicle::_settingsGroup = "Vehicle%1"; // %1 replace with mavlink system id
const char* Vehicle::_joystickModeSettingsKey = "JoystickMode";
const char* Vehicle::_settingsGroup = "Vehicle%1"; // %1 replaced with mavlink system id
const char* Vehicle::_joystickModeSettingsKey = "JoystickMode";
const char* Vehicle::_joystickEnabledSettingsKey = "JoystickEnabled";
Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
: _id(vehicleId)
, _active(false)
, _firmwareType(firmwareType)
, _firmwarePlugin(NULL)
, _autopilotPlugin(NULL)
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(NULL)
, _mav(NULL)
, _currentMessageCount(0)
......@@ -81,8 +85,6 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
, _wpm(NULL)
, _updateCount(0)
{
_loadSettings();
_addLink(link);
connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
......@@ -96,9 +98,9 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
_firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);
_firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);
_autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
// Refresh timer
connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate()));
_refreshTimer->setInterval(UPDATE_TIMER);
......@@ -145,6 +147,8 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
}
_setSystemType(_mav, _mav->getSystemType());
_updateArmingState(_mav->isArmed());
_loadSettings();
}
Vehicle::~Vehicle()
......@@ -225,7 +229,7 @@ void Vehicle::_linkDisconnected(LinkInterface* link)
}
if (_links.count() == 0) {
emit allLinksDisconnected();
emit allLinksDisconnected(this);
}
}
......@@ -836,6 +840,8 @@ void Vehicle::_loadSettings(void)
if (!convertOk) {
_joystickMode = JoystickModeRC;
}
_joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
}
void Vehicle::_saveSettings(void)
......@@ -845,6 +851,7 @@ void Vehicle::_saveSettings(void)
settings.beginGroup(QString(_settingsGroup).arg(_id));
settings.setValue(_joystickModeSettingsKey, _joystickMode);
settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
}
int Vehicle::joystickMode(void)
......@@ -868,7 +875,54 @@ QStringList Vehicle::joystickModes(void)
{
QStringList list;
list << "Simulate RC" << "Attitude" << "Position" << "Force" << "Velocity";
list << "Normal" << "Attitude" << "Position" << "Force" << "Velocity";
return list;
}
bool Vehicle::joystickEnabled(void)
{
return _joystickEnabled;
}
void Vehicle::setJoystickEnabled(bool enabled)
{
Fact* fact = _autopilotPlugin->getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
if (!fact) {
qCWarning(JoystickLog) << "Missing COM_RC_IN_MODE parameter";
}
fact->setValue(enabled ? 1 : 0);
_joystickEnabled = enabled;
_startJoystick(_joystickEnabled);
_saveSettings();
}
void Vehicle::_startJoystick(bool start)
{
Joystick* joystick = JoystickManager::instance()->activeJoystick();
if (joystick) {
#ifndef __mobile__
if (start) {
if (_joystickEnabled) {
joystick->startPolling(this);
}
} else {
joystick->stopPolling();
}
#endif
}
}
bool Vehicle::active(void)
{
return _active;
}
void Vehicle::setActive(bool active)
{
_active = active;
_startJoystick(_active);
}
src/Vehicle/Vehicle.h
View file @ 3190f0b9
......@@ -102,7 +102,7 @@ public:
Q_PROPERTY(int manualControlReservedButtonCount READ manualControlReservedButtonCount CONSTANT)
typedef enum {
JoystickModeRC, ///< Joystick emulates am RC Transmitter
JoystickModeRC, ///< Joystick emulates an RC Transmitter
JoystickModeAttitude,
JoystickModePosition,
JoystickModeForce,
......@@ -119,6 +119,16 @@ public:
Q_PROPERTY(QStringList joystickModes READ joystickModes CONSTANT)
QStringList joystickModes(void);
// Enable/Disable joystick for this vehicle
Q_PROPERTY(bool joystickEnabled READ joystickEnabled WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
bool joystickEnabled(void);
void setJoystickEnabled(bool enabled);
// Is vehicle active with respect to current active vehicle in QGC
Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
bool active(void);
void setActive(bool active);
// Property accesors
int id(void) { return _id; }
MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
......@@ -199,9 +209,11 @@ public slots:
void setLongitude(double longitude);
signals:
void allLinksDisconnected(void);
void allLinksDisconnected(Vehicle* vehicle);
void coordinateChanged(QGeoCoordinate coordinate);
void joystickModeChanged(int mode);
void joystickEnabledChanged(bool enabled);
void activeChanged(bool active);
/// Used internally to move sendMessage call to main thread
void _sendMessageOnThread(mavlink_message_t message);
......@@ -274,15 +286,17 @@ private:
void _addLink(LinkInterface* link);
void _loadSettings(void);
void _saveSettings(void);
void _startJoystick(bool start);
bool _isAirplane ();
void _addChange (int id);
float _oneDecimal (float value);
private:
int _id; ///< Mavlink system id
MAV_AUTOPILOT _firmwareType;
int _id; ///< Mavlink system id
bool _active;
MAV_AUTOPILOT _firmwareType;
FirmwarePlugin* _firmwarePlugin;
AutoPilotPlugin* _autopilotPlugin;
......@@ -292,6 +306,7 @@ private:
QList<SharedLinkInterface> _links;
JoystickMode_t _joystickMode;
bool _joystickEnabled;
UAS* _uas;
......@@ -341,5 +356,6 @@ private:
static const char* _settingsGroup;
static const char* _joystickModeSettingsKey;
static const char* _joystickEnabledSettingsKey;
};
#endif
src/VehicleSetup/JoystickConfig.qml
View file @ 3190f0b9
......@@ -29,6 +29,7 @@ import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.FactSystem 1.0
/// Joystick Config
QGCView {
......@@ -45,17 +46,6 @@ QGCView {
property var _activeVehicle: multiVehicleManager.activeVehicle
property var _activeJoystick: joystickManager.activeJoystick
function updateAxisCount()
{
if (controllerAndViewReady) {
if (controller.axisCount < controller.minAxisCount) {
showDialog(axisCountDialogComponent, dialogTitle, 50, 0)
} else {
hideDialog()
}
}
}
JoystickConfigController {
id: controller
factPanel: panel
......@@ -64,14 +54,11 @@ QGCView {
nextButton: nextButton
skipButton: skipButton
onAxisCountChanged: updateAxisCount()
Component.onCompleted: {
controllerCompleted = true
if (rootQGCView.completedSignalled) {
controllerAndViewReady = true
controller.start()
updateAxisCount()
}
}
}
......@@ -88,14 +75,6 @@ QGCView {
id: panel
anchors.fill: parent
Component {
id: axisCountDialogComponent
QGCViewMessage {
message: controller.axisCount == 0 ? "No joystick axes deteced." : controller.minAxisCount + " joystick axes or more are needed to fly."
}
}
// Live axis monitor control component
Component {
id: axisMonitorDisplayComponent
......@@ -375,6 +354,18 @@ QGCView {
width: parent.width
spacing: ScreenTools.defaultFontPixelHeight
QGCCheckBox {
enabled: allowEnableDisable
text: _activeJoystick.calibrated ? (rcInMode.value < 2 ? "Enable joystick input, disable RC input" : "Enable/Disable not allowed (COM_RC_IN_MODE=2)") : "Enable/Disable not allowed (Calibrate First)"
checked: _activeVehicle.joystickEnabled
property bool allowEnableDisable: _activeJoystick.calibrated && rcInMode.value < 2
property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
onClicked: _activeVehicle.joystickEnabled = checked
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
......@@ -394,16 +385,6 @@ QGCView {
}
}
QGCCheckBox {
enabled: calibrated
text: calibrated ? "Enable joystick input, disable RC input" : "Enable joystick input (Calibrate First)"
checked: _activeJoystick.enabled
property bool calibrated: _activeJoystick.calibrated
onClicked: _activeJoystick.enabled = checked
}
Column {
spacing: ScreenTools.defaultFontPixelHeight / 3
......
src/VehicleSetup/JoystickConfigController.cc
View file @ 3190f0b9
......@@ -56,21 +56,24 @@ const char* JoystickConfigController::_imagePitchDown = "joystickPitchDown.p
const char* JoystickConfigController::_settingsGroup = "Joysticks";
JoystickConfigController::JoystickConfigController(void) :
_currentStep(-1),
_axisCount(0),
_calState(calStateAxisWait),
_statusText(NULL),
_cancelButton(NULL),
_nextButton(NULL),
_skipButton(NULL)
{
// FIXME: Needs to handle active joystick change
connect(JoystickManager::instance()->activeJoystick(), &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
JoystickManager::instance()->activeJoystick()->startPolling();
_loadSettings();
JoystickConfigController::JoystickConfigController(void)
: _activeJoystick(NULL)
, _currentStep(-1)
, _axisCount(0)
, _calState(calStateAxisWait)
, _statusText(NULL)
, _cancelButton(NULL)
, _nextButton(NULL)
, _skipButton(NULL)
{
JoystickManager* joystickManager = JoystickManager::instance();
connect(joystickManager, &JoystickManager::activeJoystickChanged, this, &JoystickConfigController::_activeJoystickChanged);
_activeJoystickChanged(joystickManager->activeJoystick());
_loadSettings();
_resetInternalCalibrationValues();
_activeJoystick->startCalibration();
}
void JoystickConfigController::start(void)
......@@ -81,6 +84,7 @@ void JoystickConfigController::start(void)
JoystickConfigController::~JoystickConfigController()
{
_activeJoystick->stopCalibration();
_storeSettings();
}
......@@ -551,8 +555,6 @@ void JoystickConfigController::_startCalibration(void)
_currentStep = 0;
_setupCurrentState();
JoystickManager::instance()->activeJoystick()->setCalibrating(true);
}
/// @brief Cancels the calibration process, setting things back to initial state.
......@@ -570,8 +572,6 @@ void JoystickConfigController::_stopCalibration(void)
_skipButton->setEnabled(false);
_setHelpImage(_imageCenter);
JoystickManager::instance()->activeJoystick()->setCalibrating(false);
}
/// @brief Saves the current axis values, so that we can detect when the use moves an input.
......@@ -737,3 +737,16 @@ void JoystickConfigController::_signalAllAttiudeValueChanges(void)
emit yawAxisReversedChanged(yawAxisReversed());
emit throttleAxisReversedChanged(throttleAxisReversed());
}
void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
{
if (_activeJoystick) {
disconnect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
_activeJoystick = NULL;
}
if (joystick) {
_activeJoystick = joystick;
connect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
}
}
src/VehicleSetup/JoystickConfigController.h
View file @ 3190f0b9
......@@ -126,6 +126,7 @@ signals:
void nextButtonMessageBoxDisplayed(void);
private slots:
void _activeJoystickChanged(Joystick* joystick);
void _axisValueChanged(int axis, int value);
private:
......@@ -161,6 +162,8 @@ private:
int axisTrim; ///< Trim position
};
Joystick* _activeJoystick;
int _currentStep; ///< Current step of state machine
const struct stateMachineEntry* _getStateMachineEntry(int step);
......
src/VehicleSetup/SetupView.qml
View file @ 3190f0b9
......@@ -198,6 +198,7 @@ Rectangle {
SubMenuButton {
width: buttonWidth
imageResource: modelData.iconResource
setupIndicator: modelData.requiresSetup
setupComplete: modelData.setupComplete
exclusiveGroup: setupButtonGroup
text: modelData.name.toUpperCase()
......
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