Cleanup & Sync

src/Joystick/Joystick.cc

@@ -24,6 +24,7 @@ const char* Joystick::_buttonActionSettingsKey =    "ButtonActionName%1";
 const char* Joystick::_throttleModeSettingsKey =    "ThrottleMode";
 const char* Joystick::_exponentialSettingsKey =     "Exponential";
 const char* Joystick::_accumulatorSettingsKey =     "Accumulator";
+const char* Joystick::_deadbandSettingsKey =        "Deadband";
 
 const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "RollAxis",
@@ -48,6 +49,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     , _throttleMode(ThrottleModeCenterZero)
     , _exponential(false)
     , _accumulator(false)
+    , _deadband(false)
     , _activeVehicle(NULL)
     , _pollingStartedForCalibration(false)
     , _multiVehicleManager(multiVehicleManager)
@@ -89,6 +91,7 @@ void Joystick::_loadSettings(void)
     _calibrated = settings.value(_calibratedSettingsKey, false).toBool();
     _exponential = settings.value(_exponentialSettingsKey, false).toBool();
     _accumulator = settings.value(_accumulatorSettingsKey, false).toBool();
+    _deadband = settings.value(_deadbandSettingsKey, false).toBool();
 
     _throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
     badSettings |= !convertOk;
@@ -154,6 +157,7 @@ void Joystick::_saveSettings(void)
     settings.setValue(_calibratedSettingsKey, _calibrated);
     settings.setValue(_exponentialSettingsKey, _exponential);
     settings.setValue(_accumulatorSettingsKey, _accumulator);
+    settings.setValue(_deadbandSettingsKey, _deadband);
     settings.setValue(_throttleModeSettingsKey, _throttleMode);
 
     qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode" << _calibrated << _throttleMode;
@@ -213,10 +217,9 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
         axisLength =  calibration.center - calibration.min;
     }
 
-    if (_accumulator) {//deadband will be applied only in accumulator mode
-        int deadband = calibration.deadband*1.5;    //we are increasing deadband to accommodate slight variations
-        if (valueNormalized>deadband) valueNormalized-=deadband;
-        else if (valueNormalized<-deadband) valueNormalized+=deadband;
+    if (_deadband) {
+        if (valueNormalized>calibration.deadband) valueNormalized-=calibration.deadband;
+        else if (valueNormalized<-calibration.deadband) valueNormalized+=calibration.deadband;
         else valueNormalized = 0.f;
     }
 
@@ -572,6 +575,19 @@ void Joystick::setAccumulator(bool accu)
     emit accumulatorChanged(_accumulator);
 }
 
+bool Joystick::deadband(void)
+{
+    return _deadband;
+}
+
+void Joystick::setDeadband(bool deadband)
+{
+    _deadband = deadband;
+
+    _saveSettings();
+    emit deadbandChanged(_deadband);
+}
+
 void Joystick::startCalibrationMode(CalibrationMode_t mode)
 {
     if (mode == CalibrationModeOff) {

src/Joystick/Joystick.h

@@ -68,6 +68,7 @@ public:
     Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
     Q_PROPERTY(int exponential READ exponential WRITE setExponential NOTIFY exponentialChanged)
     Q_PROPERTY(int accumulator READ accumulator WRITE setAccumulator NOTIFY accumulatorChanged)
+    Q_PROPERTY(int deadband READ deadband WRITE setDeadband NOTIFY deadbandChanged)
 
     // Property accessors
 
@@ -98,6 +99,9 @@ public:
     bool accumulator(void);
     void setAccumulator(bool accu);
 
+    bool deadband(void);
+    void setDeadband(bool accu);
+
     typedef enum {
         CalibrationModeOff,         // Not calibrating
         CalibrationModeMonitor,     // Monitors are active, continue to send to vehicle if already polling
@@ -125,6 +129,8 @@ signals:
 
     void accumulatorChanged(bool accumulator);
 
+    void deadbandChanged(bool deadband);
+
     void enabledChanged(bool enabled);
 
     /// Signal containing new joystick information
@@ -183,6 +189,7 @@ protected:
 
     bool                _exponential;
     bool                _accumulator;
+    bool                _deadband;
 
     Vehicle*            _activeVehicle;
     bool                _pollingStartedForCalibration;
@@ -198,6 +205,7 @@ private:
     static const char* _throttleModeSettingsKey;
     static const char* _exponentialSettingsKey;
     static const char* _accumulatorSettingsKey;
+    static const char* _deadbandSettingsKey;
 };
 
 #endif

src/VehicleSetup/JoystickConfig.qml

@@ -72,7 +72,7 @@ SetupPage {
 
                 Item {
                     property int axisValue: 0
-
+                    property int deadbandValue: 0
 
                     property int            __lastAxisValue:        0
                     readonly property int   __axisValueMaxJitter:   100
@@ -87,6 +87,20 @@ SetupPage {
                         color:                  __barColor
                     }
 
+                    // Deadband
+                    Rectangle {
+                        id:                     deadbandBar
+                        anchors.verticalCenter: parent.verticalCenter
+                        x:                      _deadbandPosition
+                        width:                  _deadbandWidth
+                        height:                 parent.height / 2
+                        color:                  "#8c161a"
+
+                        property real _percentDeadband:    ((2 * deadbandValue) / (32768.0 * 2))
+                        property real _deadbandWidth:   parent.width * _percentDeadband
+                        property real _deadbandPosition:   (parent.width - _deadbandWidth) / 2
+                    }
+
                     // Center point
                     Rectangle {
                         anchors.horizontalCenter:   parent.horizontalCenter
@@ -126,13 +140,15 @@ SetupPage {
                         duration:   1500
                     }
 
-                    /*
+
                     // Axis value debugger
+                    /*
                     QGCLabel {
                         anchors.fill: parent
                         text: axisValue
                     }
                     */
+
                 }
             } // Component - axisMonitorDisplayComponent
 
@@ -180,6 +196,8 @@ SetupPage {
                             target: controller
 
                             onRollAxisValueChanged: rollLoader.item.axisValue = value
+
+                            onRollAxisDeadbandChanged: rollLoader.item.deadbandValue = value
                         }
                     }
 
@@ -210,6 +228,9 @@ SetupPage {
                             target: controller
 
                             onPitchAxisValueChanged: pitchLoader.item.axisValue = value
+
+                            onPitchAxisDeadbandChanged: pitchLoader.item.deadbandValue = value
+
                         }
                     }
 
@@ -240,6 +261,8 @@ SetupPage {
                             target: controller
 
                             onYawAxisValueChanged: yawLoader.item.axisValue = value
+
+                            onYawAxisDeadbandChanged: yawLoader.item.deadbandValue = value
                         }
                     }
 
@@ -270,6 +293,8 @@ SetupPage {
                             target: controller
 
                             onThrottleAxisValueChanged: throttleLoader.item.axisValue = value
+
+                            onThrottleAxisDeadbandChanged: throttleLoader.item.deadbandValue = value
                         }
                     }
                 } // Column - Attitude Control labels
@@ -383,6 +408,7 @@ SetupPage {
                                 }
 
                                 Row {
+                                    x:          20
                                     width:      parent.width
                                     spacing:    ScreenTools.defaultFontPixelWidth
                                     visible:    _activeJoystick.throttleMode == 0
@@ -390,12 +416,27 @@ SetupPage {
                                     QGCCheckBox {
                                         id:         accumulator
                                         checked:    _activeJoystick.accumulator
-                                        text:       qsTr("Use accumulator on throttle")
+                                        text:       qsTr("Spring on throttle support")
 
                                         onClicked:  _activeJoystick.accumulator = checked
                                     }
                                 }
 
+                                Row {
+                                    x:          20
+                                    width:      parent.width
+                                    spacing:    ScreenTools.defaultFontPixelWidth
+                                    visible:    _activeJoystick.throttleMode == 0
+
+                                    QGCCheckBox {
+                                        id:         deadband
+                                        checked:    _activeJoystick.deadband
+                                        text:       qsTr("Deadband (requires re-calibration)")
+
+                                        onClicked:  _activeJoystick.deadband = checked
+                                    }
+                                }
+
                                 QGCRadioButton {
                                     exclusiveGroup: throttleModeExclusiveGroup
                                     text:           qsTr("Full down stick is zero throttle")
@@ -711,3 +752,5 @@ SetupPage {
         } // Item
     } // Component - pageComponent
 } // SetupPage
+
+

src/VehicleSetup/JoystickConfigController.cc

@@ -224,17 +224,49 @@ void JoystickConfigController::_saveAllTrims(void)
     _advanceState();
 }
 
+void JoystickConfigController::_axisDeadbandChanged(int axis, int value)
+{
+    value = abs(value)<_calValidMaxValue?abs(value):_calValidMaxValue;
+
+    if (value>_rgAxisInfo[axis].deadband) {
+        _rgAxisInfo[axis].deadband = value;
+
+        switch (_rgAxisInfo[axis].function) {
+            case Joystick::rollFunction:
+                emit rollAxisDeadbandChanged(_rgAxisInfo[axis].deadband);
+                break;
+            case Joystick::pitchFunction:
+                emit pitchAxisDeadbandChanged(_rgAxisInfo[axis].deadband);
+                break;
+            case Joystick::yawFunction:
+                emit yawAxisDeadbandChanged(_rgAxisInfo[axis].deadband);
+                break;
+            case Joystick::throttleFunction:
+                emit throttleAxisDeadbandChanged(_rgAxisInfo[axis].deadband);
+                break;
+            default:
+                break;
+        }
+        qCDebug(JoystickConfigControllerLog) << "Axis:" << axis << "Deadband:" << _rgAxisInfo[axis].deadband;
+    }
+}
+
 /// @brief Waits for the sticks to be centered, enabling Next when done.
 void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t function, int axis, int value)
 {
     Q_UNUSED(function);
-    _rgAxisInfo[axis].deadband = std::max(abs(value),_rgAxisInfo[axis].deadband);
+
+    //sensing deadband
+    if (_activeJoystick->deadband()) {
+        if (abs(value)*1.5>_rgAxisInfo[axis].deadband) {
+            _axisDeadbandChanged(axis,abs(value)*1.5);
+        }
+    }
+
     _nextButton->setEnabled(true);
 
     // FIXME: Doesn't wait for center
     // FIXME: Ideally the deadband should be probed only around the center
-
-    qCDebug(JoystickConfigControllerLog) << "Axis:" << axis << "Deadband:" << _rgAxisInfo[axis].deadband;
 }
 
 bool JoystickConfigController::_stickSettleComplete(int axis, int value)
@@ -669,6 +701,42 @@ int JoystickConfigController::throttleAxisValue(void)
     }
 }
 
+int JoystickConfigController::rollAxisDeadband(void)
+{
+    if (_rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis) {
+        return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::rollFunction]].deadband;
+    } else {
+        return 0;
+    }
+}
+
+int JoystickConfigController::pitchAxisDeadband(void)
+{
+    if (_rgFunctionAxisMapping[Joystick::pitchFunction] != _axisNoAxis) {
+        return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::pitchFunction]].deadband;
+    } else {
+        return 0;
+    }
+}
+
+int JoystickConfigController::yawAxisDeadband(void)
+{
+    if (_rgFunctionAxisMapping[Joystick::yawFunction] != _axisNoAxis) {
+        return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::yawFunction]].deadband;
+    } else {
+        return 0;
+    }
+}
+
+int JoystickConfigController::throttleAxisDeadband(void)
+{
+    if (_rgFunctionAxisMapping[Joystick::throttleFunction] != _axisNoAxis) {
+        return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::throttleFunction]].deadband;
+    } else {
+        return 0;
+    }
+}
+
 bool JoystickConfigController::rollAxisMapped(void)
 {
     return _rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis;
@@ -736,6 +804,11 @@ void JoystickConfigController::_signalAllAttiudeValueChanges(void)
     emit pitchAxisReversedChanged(pitchAxisReversed());
     emit yawAxisReversedChanged(yawAxisReversed());
     emit throttleAxisReversedChanged(throttleAxisReversed());
+
+    emit rollAxisDeadbandChanged(rollAxisDeadband());
+    emit pitchAxisDeadbandChanged(pitchAxisDeadband());
+    emit yawAxisDeadbandChanged(yawAxisDeadband());
+    emit throttleAxisDeadbandChanged(throttleAxisDeadband());
 }
 
 void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)

src/VehicleSetup/JoystickConfigController.h

@@ -57,6 +57,11 @@ public:
     Q_PROPERTY(int yawAxisValue         READ yawAxisValue       NOTIFY yawAxisValueChanged)
     Q_PROPERTY(int throttleAxisValue    READ throttleAxisValue  NOTIFY throttleAxisValueChanged)
 
+    Q_PROPERTY(int rollAxisDeadband     READ rollAxisDeadband   NOTIFY rollAxisDeadbandChanged)
+    Q_PROPERTY(int pitchAxisDeadband    READ pitchAxisDeadband  NOTIFY pitchAxisDeadbandChanged)
+    Q_PROPERTY(int yawAxisDeadband      READ yawAxisDeadband    NOTIFY yawAxisDeadbandChanged)
+    Q_PROPERTY(int throttleAxisDeadband READ throttleAxisDeadband NOTIFY throttleAxisDeadbandChanged)
+
     Q_PROPERTY(int rollAxisReversed     READ rollAxisReversed       NOTIFY rollAxisReversedChanged)
     Q_PROPERTY(int pitchAxisReversed    READ pitchAxisReversed      NOTIFY pitchAxisReversedChanged)
     Q_PROPERTY(int yawAxisReversed      READ yawAxisReversed        NOTIFY yawAxisReversedChanged)
@@ -74,6 +79,11 @@ public:
     int yawAxisValue(void);
     int throttleAxisValue(void);
     
+    int rollAxisDeadband(void);
+    int pitchAxisDeadband(void);
+    int yawAxisDeadband(void);
+    int throttleAxisDeadband(void);
+
     bool rollAxisMapped(void);
     bool pitchAxisMapped(void);
     bool yawAxisMapped(void);
@@ -99,6 +109,11 @@ signals:
     void yawAxisValueChanged(int value);
     void throttleAxisValueChanged(int value);
 
+    void rollAxisDeadbandChanged(int value);
+    void pitchAxisDeadbandChanged(int value);
+    void yawAxisDeadbandChanged(int value);
+    void throttleAxisDeadbandChanged(int value);
+
     void rollAxisReversedChanged(bool reversed);
     void pitchAxisReversedChanged(bool reversed);
     void yawAxisReversedChanged(bool reversed);
@@ -112,6 +127,7 @@ signals:
 private slots:
     void _activeJoystickChanged(Joystick* joystick);
     void _axisValueChanged(int axis, int value);
+    void _axisDeadbandChanged(int axis, int value);
    
 private:
     /// @brief The states of the calibration state machine.