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Commit 432ce330 authored by Lorenz Meier's avatar Lorenz Meier
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Added RC calibration stub, ready for testing and fine-tuning

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files/images/rc_calibration.svg 0 → 100644
View file @ 432ce330
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files/images/rc_stick.svg 0 → 100644
View file @ 432ce330
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qgroundcontrol.qrc
View file @ 432ce330
......@@ -88,6 +88,7 @@
<file>files/images/contrib/slugs.png</file>
<file>files/styles/style-outdoor.css</file>
<file>files/images/patterns/lenna.jpg</file>
<file>files/images/rc_stick.svg</file>
</qresource>
<qresource prefix="/general">
<file alias="vera.ttf">files/styles/Vera.ttf</file>
......
src/uas/UASManager.cc
View file @ 432ce330
......@@ -290,25 +290,35 @@ void UASManager::removeUAS(QObject* uas)
if (mav) {
int listindex = systems.indexOf(mav);
if (mav == activeUAS) {
if (systems.count() > 1) {
if (mav == activeUAS)
{
if (systems.count() > 1)
{
// We only set a new UAS if more than one is present
if (listindex != 0) {
if (listindex != 0)
{
// The system to be removed is not at position 1
// set position one as new active system
setActiveUAS(systems.first());
} else {
}
else
{
// The system to be removed is at position 1,
// select the next system
setActiveUAS(systems.at(1));
}
} else {
}
else
{
// TODO send a null pointer if no UAS is present any more
// This has to be proberly tested however, since it might
// This has to be properly tested however, since it might
// crash code parts not handling null pointers correctly.
activeUAS = NULL;
// XXX Not emitting the null pointer yet
}
}
systems.removeAt(listindex);
emit UASDeleted(mav);
}
}
......
src/uas/UASManager.h
View file @ 432ce330
......@@ -258,7 +258,10 @@ protected:
signals:
/** A new system was created */
void UASCreated(UASInterface* UAS);
/** A system was deleted */
void UASDeleted(UASInterface* UAS);
/** @brief The UAS currently under main operator control changed */
void activeUASSet(UASInterface* UAS);
/** @brief The UAS currently under main operator control changed */
......
src/ui/MainWindow.cc
View file @ 432ce330
......@@ -1214,6 +1214,12 @@ void MainWindow::UASSpecsChanged(int uas)
ui.menuUnmanned_System->setTitle(activeUAS->getUASName());
}
}
else
{
// Last system deleted
ui.menuUnmanned_System->setTitle(tr("No System"));
ui.menuUnmanned_System->setEnabled(false);
}
}
void MainWindow::UASCreated(UASInterface* uas)
......@@ -1374,11 +1380,31 @@ void MainWindow::UASCreated(UASInterface* uas)
//}
if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
// Reload view state in case new widgets were added
loadViewState();
}
void MainWindow::UASDeleted(UASInterface* uas)
{
if (UASManager::instance()->getUASList().count() == 0)
{
// Last system deleted
ui.menuUnmanned_System->setTitle(tr("No System"));
ui.menuUnmanned_System->setEnabled(false);
}
QAction* act;
QList<QAction*> actions = ui.menuConnected_Systems->actions();
foreach (act, actions)
{
if (act->text().contains(uas->getUASName()))
ui.menuConnected_Systems->removeAction(act);
}
}
/**
* Stores the current view state
*/
......
src/ui/MainWindow.h
View file @ 432ce330
......@@ -144,6 +144,8 @@ public slots:
/** @brief Add a new UAS */
void UASCreated(UASInterface* uas);
/** Delete an UAS */
void UASDeleted(UASInterface* uas);
/** @brief Update system specs of a UAS */
void UASSpecsChanged(int uas);
void startVideoCapture();
......
src/ui/QGCSettingsWidget.ui
View file @ 432ce330
......@@ -30,7 +30,7 @@
<string>Mute all audio output</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset resource="../../qgroundcontrol.qrc">
<normaloff>:/files/images/status/audio-volume-muted.svg</normaloff>:/files/images/status/audio-volume-muted.svg</iconset>
</property>
</widget>
......@@ -41,7 +41,7 @@
<string>Automatically reconnect last link on application startup</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset resource="../../qgroundcontrol.qrc">
<normaloff>:/files/images/devices/network-wireless.svg</normaloff>:/files/images/devices/network-wireless.svg</iconset>
</property>
</widget>
......@@ -97,7 +97,7 @@
</layout>
</widget>
<resources>
<include location="../../mavground.qrc"/>
<include location="../../qgroundcontrol.qrc"/>
</resources>
<connections>
<connection>
......
src/ui/QGCVehicleConfig.cc
View file @ 432ce330
#include <limits.h>
#include <QTimer>
#include "QGCVehicleConfig.h"
#include "QGC.h"
#include "ui_QGCVehicleConfig.h"
QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
QWidget(parent),
mav(NULL),
changed(true),
ui(new Ui::QGCVehicleConfig)
{
setObjectName("QGC_VEHICLECONFIG");
ui->setupUi(this);
requestCalibrationRC();
if (mav) mav->requestParameter(0, "RC_TYPE");
connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
connect(ui->storeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
}
QGCVehicleConfig::~QGCVehicleConfig()
{
delete ui;
}
void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
{
if (enabled)
{
startCalibrationRC();
}
else
{
stopCalibrationRC();
}
}
void QGCVehicleConfig::startCalibrationRC()
{
ui->rcTypeComboBox->setEnabled(false);
resetCalibrationRC();
}
void QGCVehicleConfig::stopCalibrationRC()
{
ui->rcTypeComboBox->setEnabled(true);
}
void QGCVehicleConfig::setActiveUAS(UASInterface* active)
{
// Do nothing if system is the same or NULL
if ((active == NULL) || mav == active) return;
if (mav)
{
// Disconnect old system
disconnect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
SLOT(remoteControlChannelRawChanged(int,float)));
disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
SLOT(parameterChanged(int,int,QString,QVariant)));
resetCalibrationRC();
}
// Connect new system
mav = active;
connect(active, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*, QString,QString)));
}
void QGCVehicleConfig::resetCalibrationRC()
{
for (unsigned int i = 0; i < chanMax; ++i)
{
rcMin[i] = INT_MAX;
rcMax[i] = INT_MIN;
}
}
/**
* Sends the RC calibration to the vehicle and stores it in EEPROM
*/
void QGCVehicleConfig::writeCalibrationRC()
{
if (!mav) return;
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Do not write the RC type, as these values depend on this
// active onboard parameter
for (unsigned int i = 0; i < chanMax; ++i)
{
mav->setParameter(0, minTpl.arg(i), rcMin[i]);
mav->setParameter(0, trimTpl.arg(i), rcTrim[i]);
mav->setParameter(0, maxTpl.arg(i), rcMax[i]);
mav->setParameter(0, revTpl.arg(i), (rcRev[i]) ? -1 : 1);
}
// Write mappings
mav->setParameter(0, "RC_MAP_ROLL", rcMapping[0]);
mav->setParameter(0, "RC_MAP_PITCH", rcMapping[1]);
mav->setParameter(0, "RC_MAP_THROTTLE", rcMapping[2]);
mav->setParameter(0, "RC_MAP_YAW", rcMapping[3]);
mav->setParameter(0, "RC_MAP_MODE_SW", rcMapping[4]);
mav->setParameter(0, "RC_MAP_AUX1", rcMapping[5]);
mav->setParameter(0, "RC_MAP_AUX2", rcMapping[6]);
mav->setParameter(0, "RC_MAP_AUX3", rcMapping[7]);
}
void QGCVehicleConfig::requestCalibrationRC()
{
if (!mav) return;
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Do not request the RC type, as these values depend on this
// active onboard parameter
for (unsigned int i = 0; i < chanMax; ++i)
{
mav->requestParameter(0, minTpl.arg(i));
usleep(5000);
mav->requestParameter(0, trimTpl.arg(i));
usleep(5000);
mav->requestParameter(0, maxTpl.arg(i));
usleep(5000);
mav->requestParameter(0, revTpl.arg(i));
usleep(5000);
}
}
void QGCVehicleConfig::writeParameters()
{
updateStatus(tr("Writing all onboard parameters."));
writeCalibrationRC();
}
void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
{
if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax)
return;
if (chan == rcMapping[0])
{
// ROLL
if (rcRoll > rcTrim[chan])
{
rcRoll = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcRoll = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcRoll = qBound(-1.0f, rcRoll, 1.0f);
}
else if (chan == rcMapping[1])
{
// PITCH
if (rcPitch > rcTrim[chan])
{
rcPitch = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcPitch = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcPitch = qBound(-1.0f, rcPitch, 1.0f);
}
else if (chan == rcMapping[2])
{
// YAW
if (rcYaw > rcTrim[chan])
{
rcYaw = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcYaw = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcYaw = qBound(-1.0f, rcYaw, 1.0f);
}
else if (chan == rcMapping[3])
{
// THROTTLE
if (rcThrottle > rcTrim[chan])
{
rcThrottle = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcThrottle = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcThrottle = qBound(-1.0f, rcThrottle, 1.0f);
}
else if (chan == rcMapping[4])
{
// MODE SWITCH
if (rcMode > rcTrim[chan])
{
rcMode = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcMode = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcMode = qBound(-1.0f, rcMode, 1.0f);
}
else if (chan == rcMapping[5])
{
// AUX1
rcAux1 = val;
}
else if (chan == rcMapping[6])
{
// AUX2
rcAux2 = val;
}
else if (chan == rcMapping[7])
{
// AUX3
rcAux3 = val;
}
changed = true;
qDebug() << "RC CHAN:" << chan << "PPM:" << val;
}
void QGCVehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
Q_UNUSED(uas);
Q_UNUSED(component);
if (rcTypeUpdateRequested > 0 && parameterName == QString("RC_TYPE"))
{
rcTypeUpdateRequested = 0;
updateStatus(tr("Received RC type update, setting parameters based on model."));
rcType = value.toInt();
// Request all other parameters as well
requestCalibrationRC();
}
}
void QGCVehicleConfig::updateStatus(const QString& str)
{
ui->statusLabel->setText(str);
ui->statusLabel->setStyleSheet("");
}
void QGCVehicleConfig::updateError(const QString& str)
{
ui->statusLabel->setText(str);
ui->statusLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name()));
}
void QGCVehicleConfig::setRCType(int type)
{
if (!mav) return;
// XXX TODO Add handling of RC_TYPE vs non-RC_TYPE here
mav->setParameter(0, "RC_TYPE", type);
rcTypeUpdateRequested = QGC::groundTimeMilliseconds();
QTimer::singleShot(rcTypeTimeout+100, this, SLOT(checktimeOuts()));
}
void QGCVehicleConfig::checktimeOuts()
{
if (rcTypeUpdateRequested > 0)
{
if (QGC::groundTimeMilliseconds() - rcTypeUpdateRequested > rcTypeTimeout)
{
updateError(tr("Setting remote control timed out - is the system connected?"));
}
}
}
void QGCVehicleConfig::updateView()
{
if (changed)
{
ui->rollSlider->setValue(rcRoll);
ui->pitchSlider->setValue(rcPitch);
ui->yawSlider->setValue(rcYaw);
ui->throttleSlider->setValue(rcThrottle);
changed = false;
}
}
src/ui/QGCVehicleConfig.h
View file @ 432ce330
......@@ -3,6 +3,8 @@
#include <QWidget>
#include "UASInterface.h"
namespace Ui {
class QGCVehicleConfig;
}
......@@ -14,9 +16,66 @@ class QGCVehicleConfig : public QWidget
public:
explicit QGCVehicleConfig(QWidget *parent = 0);
~QGCVehicleConfig();
public slots:
/** Set the MAV currently being calibrated */
void setActiveUAS(UASInterface* active);
/** Start the RC calibration routine */
void startCalibrationRC();
/** Stop the RC calibration routine */
void stopCalibrationRC();
/** Start/stop the RC calibration routine */
void toggleCalibrationRC(bool enabled);
/** Render the data updated */
void updateView();
protected slots:
/** Reset the RC calibration */
void resetCalibrationRC();
/** Write the RC calibration */
void writeCalibrationRC();
/** Request the RC calibration */
void requestCalibrationRC();
/** Store all parameters in onboard EEPROM */
void writeParameters();
/** Receive remote control updates from MAV */
void remoteControlChannelRawChanged(int chan, float val);
/** Parameter changed onboard */
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
void updateStatus(const QString& str);
void updateError(const QString& str);
void setRCType(int type);
/** Check timeouts */
void checktimeOuts();
protected:
UASInterface* mav; ///< The current MAV
static const unsigned int chanMax = 8; ///< Maximum number of channels
int rcType; ///< Type of the remote control
quint64 rcTypeUpdateRequested; ///< Zero if not requested, non-zero if requested
static const unsigned int rcTypeTimeout = 5000; ///< 5 seconds timeout, in milliseconds
int rcMin[chanMax]; ///< Minimum values
int rcMax[chanMax]; ///< Maximum values
int rcTrim[chanMax]; ///< Zero-position (center for roll/pitch/yaw, 0 throttle for throttle)
int rcMapping[chanMax]; ///< PWM to function mappings
bool rcRev[chanMax]; ///< Channel reverse
float rcRoll; ///< PPM input channel used as roll control input
float rcPitch; ///< PPM input channel used as pitch control input
float rcYaw; ///< PPM input channel used as yaw control input
float rcThrottle; ///< PPM input channel used as throttle control input
float rcMode; ///< PPM input channel used as mode switch control input
float rcAux1; ///< PPM input channel used as aux 1 input
float rcAux2; ///< PPM input channel used as aux 1 input
float rcAux3; ///< PPM input channel used as aux 1 input
bool rcCalChanged; ///< Set if the calibration changes (and needs to be written)
bool changed; ///< Set if any of the input data changed
private:
Ui::QGCVehicleConfig *ui;
signals:
void visibilityChanged(bool visible);
};
#endif // QGCVEHICLECONFIG_H
src/ui/QGCVehicleConfig.ui
View file @ 432ce330
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