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Commit 85468e6b authored by Gus Grubba's avatar Gus Grubba
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Calibration of gimbal axis done.

parent c5b75b70
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Showing with 1078 additions and 875 deletions
src/Joystick/Joystick.cc
View file @ 85468e6b
......@@ -175,10 +175,8 @@ void Joystick::_activeVehicleChanged(Vehicle* activeVehicle)
void Joystick::_loadSettings()
{
QSettings settings;
QSettings settings;
settings.beginGroup(_settingsGroup);
Vehicle* activeVehicle = _multiVehicleManager->activeVehicle();
if(_txModeSettingsKey && activeVehicle)
......@@ -191,25 +189,25 @@ void Joystick::_loadSettings()
qCDebug(JoystickLog) << "_loadSettings " << _name;
_calibrated = settings.value(_calibratedSettingsKey, false).toBool();
_exponential = settings.value(_exponentialSettingsKey, 0).toFloat();
_accumulator = settings.value(_accumulatorSettingsKey, false).toBool();
_deadband = settings.value(_deadbandSettingsKey, false).toBool();
_calibrated = settings.value(_calibratedSettingsKey, false).toBool();
_exponential = settings.value(_exponentialSettingsKey, 0).toFloat();
_accumulator = settings.value(_accumulatorSettingsKey, false).toBool();
_deadband = settings.value(_deadbandSettingsKey, false).toBool();
_frequency = settings.value(_frequencySettingsKey, 25.0f).toFloat();
_circleCorrection = settings.value(_circleCorrectionSettingsKey, false).toBool();
_frequency = settings.value(_frequencySettingsKey, 25.0f).toFloat();
_throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeDownZero).toInt(&convertOk);
_throttleMode = static_cast<ThrottleMode_t>(settings.value(_throttleModeSettingsKey, ThrottleModeDownZero).toInt(&convertOk));
badSettings |= !convertOk;
qCDebug(JoystickLog) << "_loadSettings calibrated:txmode:throttlemode:exponential:deadband:badsettings" << _calibrated << _transmitterMode << _throttleMode << _exponential << _deadband << badSettings;
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
QString trimTpl ("Axis%1Trim");
QString revTpl ("Axis%1Rev");
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
QString trimTpl ("Axis%1Trim");
QString revTpl ("Axis%1Rev");
QString deadbndTpl ("Axis%1Deadbnd");
for (int axis=0; axis<_axisCount; axis++) {
for (int axis = 0; axis < _axisCount; axis++) {
Calibration_t* calibration = &_rgCalibration[axis];
calibration->center = settings.value(trimTpl.arg(axis), 0).toInt(&convertOk);
......@@ -226,7 +224,6 @@ void Joystick::_loadSettings()
calibration->reversed = settings.value(revTpl.arg(axis), false).toBool();
qCDebug(JoystickLog) << "_loadSettings axis:min:max:trim:reversed:deadband:badsettings" << axis << calibration->min << calibration->max << calibration->center << calibration->reversed << calibration->deadband << badSettings;
}
......@@ -268,31 +265,29 @@ void Joystick::_saveSettings()
settings.beginGroup(_name);
settings.setValue(_calibratedSettingsKey, _calibrated);
settings.setValue(_exponentialSettingsKey, _exponential);
settings.setValue(_accumulatorSettingsKey, _accumulator);
settings.setValue(_deadbandSettingsKey, _deadband);
settings.setValue(_circleCorrectionSettingsKey, _circleCorrection);
settings.setValue(_frequencySettingsKey, _frequency);
settings.setValue(_calibratedSettingsKey, _calibrated);
settings.setValue(_exponentialSettingsKey, _exponential);
settings.setValue(_accumulatorSettingsKey, _accumulator);
settings.setValue(_deadbandSettingsKey, _deadband);
settings.setValue(_frequencySettingsKey, _frequency);
settings.setValue(_throttleModeSettingsKey, _throttleMode);
settings.setValue(_circleCorrectionSettingsKey, _circleCorrection);
qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode:deadband:txmode" << _calibrated << _throttleMode << _deadband << _circleCorrection << _transmitterMode;
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
QString trimTpl ("Axis%1Trim");
QString revTpl ("Axis%1Rev");
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
QString trimTpl ("Axis%1Trim");
QString revTpl ("Axis%1Rev");
QString deadbndTpl ("Axis%1Deadbnd");
for (int axis=0; axis<_axisCount; axis++) {
for (int axis = 0; axis < _axisCount; axis++) {
Calibration_t* calibration = &_rgCalibration[axis];
settings.setValue(trimTpl.arg(axis), calibration->center);
settings.setValue(minTpl.arg(axis), calibration->min);
settings.setValue(maxTpl.arg(axis), calibration->max);
settings.setValue(revTpl.arg(axis), calibration->reversed);
settings.setValue(deadbndTpl.arg(axis), calibration->deadband);
qCDebug(JoystickLog) << "_saveSettings name:axis:min:max:trim:reversed:deadband"
<< _name
<< axis
......@@ -308,12 +303,12 @@ void Joystick::_saveSettings()
int temp[maxFunction];
_remapAxes(_transmitterMode, 2, temp);
for (int function=0; function<maxFunction; function++) {
for (int function = 0; function < maxFunction; function++) {
settings.setValue(_rgFunctionSettingsKey[function], temp[function]);
qCDebug(JoystickLog) << "_saveSettings name:function:axis" << _name << function << _rgFunctionSettingsKey[function];
}
for (int button=0; button<_totalButtonCount; button++) {
for (int button = 0; button < _totalButtonCount; button++) {
settings.setValue(QString(_buttonActionSettingsKey).arg(button), _rgButtonActions[button]);
qCDebug(JoystickLog) << "_saveSettings button:action" << button << _rgButtonActions[button];
}
......@@ -321,13 +316,11 @@ void Joystick::_saveSettings()
// Relative mappings of axis functions between different TX modes
int Joystick::_mapFunctionMode(int mode, int function) {
static const int mapping[][4] = {
{ 2, 1, 0, 3 },
{ 2, 3, 0, 1 },
{ 0, 1, 2, 3 },
{ 0, 3, 2, 1 }};
static const int mapping[][6] = {
{ yawFunction, pitchFunction, rollFunction, throttleFunction, gimbalPitchFunction, gimbalYawFunction },
{ yawFunction, throttleFunction, rollFunction, pitchFunction, gimbalPitchFunction, gimbalYawFunction },
{ rollFunction, pitchFunction, yawFunction, throttleFunction, gimbalPitchFunction, gimbalYawFunction },
{ rollFunction, throttleFunction, yawFunction, pitchFunction, gimbalPitchFunction, gimbalYawFunction }};
return mapping[mode-1][function];
}
......
src/VehicleSetup/JoystickConfig.qml
View file @ 85468e6b
This diff is collapsed.
src/VehicleSetup/JoystickConfigController.h
View file @ 85468e6b
......@@ -7,10 +7,8 @@
*
****************************************************************************/
/// @file
/// @brief Radio Config Qml Controller
/// @brief Joystick Config Qml Controller
/// @author Don Gagne <don@thegagnes.com
#ifndef JoystickConfigController_H
......@@ -31,7 +29,6 @@ namespace Ui {
class JoystickConfigController;
}
class JoystickConfigController : public FactPanelController
{
Q_OBJECT
......@@ -42,7 +39,8 @@ public:
JoystickConfigController(void);
~JoystickConfigController();
Q_PROPERTY(QQuickItem* statusText MEMBER _statusText)
Q_PROPERTY(QString statusText READ statusText NOTIFY statusTextChanged)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* skipButton MEMBER _skipButton)
......@@ -52,6 +50,7 @@ public:
Q_PROPERTY(bool yawAxisMapped READ yawAxisMapped NOTIFY yawAxisMappedChanged)
Q_PROPERTY(bool throttleAxisMapped READ throttleAxisMapped NOTIFY throttleAxisMappedChanged)
Q_PROPERTY(bool hasGimbal READ hasGimbal NOTIFY hasGimbalChanged)
Q_PROPERTY(bool gimbalPitchAxisMapped READ gimbalPitchAxisMapped NOTIFY gimbalPitchAxisMappedChanged)
Q_PROPERTY(bool gimbalYawAxisMapped READ gimbalYawAxisMapped NOTIFY gimbalYawAxisMappedChanged)
......@@ -65,16 +64,20 @@ public:
Q_PROPERTY(bool deadbandToggle READ getDeadbandToggle WRITE setDeadbandToggle NOTIFY deadbandToggled)
Q_PROPERTY(int transmitterMode READ transmitterMode WRITE setTransmitterMode NOTIFY transmitterModeChanged)
Q_PROPERTY(QString imageHelp MEMBER _imageHelp NOTIFY imageHelpChanged)
Q_PROPERTY(bool calibrating READ calibrating NOTIFY calibratingChanged)
Q_PROPERTY(int transmitterMode READ transmitterMode WRITE setTransmitterMode NOTIFY transmitterModeChanged)
Q_PROPERTY(bool calibrating READ calibrating NOTIFY calibratingChanged)
Q_PROPERTY(QList<qreal> stickPositions READ stickPositions NOTIFY stickPositionsChanged)
Q_PROPERTY(QList<qreal> gimbalPositions READ gimbalPositions NOTIFY gimbalPositionsChanged)
Q_INVOKABLE void cancelButtonClicked ();
Q_INVOKABLE void skipButtonClicked ();
Q_INVOKABLE void nextButtonClicked ();
Q_INVOKABLE void start ();
Q_INVOKABLE void setDeadbandValue (int axis, int value);
QString statusText () { return _statusText; }
bool rollAxisMapped () { return _rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis; }
bool pitchAxisMapped () { return _rgFunctionAxisMapping[Joystick::pitchFunction] != _axisNoAxis; }
bool yawAxisMapped () { return _rgFunctionAxisMapping[Joystick::yawFunction] != _axisNoAxis; }
......@@ -89,6 +92,8 @@ public:
bool gimbalPitchAxisReversed ();
bool gimbalYawAxisReversed ();
bool hasGimbal () { return _axisCount > 5; }
bool getDeadbandToggle ();
void setDeadbandToggle (bool);
......@@ -98,31 +103,40 @@ public:
void setTransmitterMode (int mode);
bool calibrating () { return _currentStep != -1; }
QList<qreal> stickPositions () { return _currentStickPositions; }
QList<qreal> gimbalPositions () { return _currentGimbalPositions; }
struct stateStickPositions {
qreal leftX;
qreal leftY;
qreal rightX;
qreal rightY;
};
signals:
void axisValueChanged (int axis, int value);
void axisDeadbandChanged (int axis, int value);
void rollAxisMappedChanged (bool mapped);
void pitchAxisMappedChanged (bool mapped);
void yawAxisMappedChanged (bool mapped);
void throttleAxisMappedChanged (bool mapped);
void gimbalPitchAxisMappedChanged (bool mapped);
void gimbalYawAxisMappedChanged (bool mapped);
void rollAxisReversedChanged (bool reversed);
void pitchAxisReversedChanged (bool reversed);
void yawAxisReversedChanged (bool reversed);
void throttleAxisReversedChanged (bool reversed);
void gimbalPitchAxisReversedChanged (bool reversed);
void gimbalYawAxisReversedChanged (bool reversed);
void deadbandToggled (bool value);
void imageHelpChanged (QString source);
void transmitterModeChanged (int mode);
void calibratingChanged ();
void stickPositionsChanged ();
void gimbalPositionsChanged ();
void hasGimbalChanged ();
void statusTextChanged ();
// @brief Signalled when in unit test mode and a message box should be displayed by the next button
void nextButtonMessageBoxDisplayed ();
......@@ -143,13 +157,14 @@ private:
calStateTrims,
calStateSave
};
typedef void (JoystickConfigController::*inputFn)(Joystick::AxisFunction_t function, int axis, int value);
typedef void (JoystickConfigController::*buttonFn)(void);
struct stateMachineEntry {
Joystick::AxisFunction_t function;
const char* instructions;
const char* image;
stateStickPositions stickPositions;
stateStickPositions gimbalPositions;
inputFn rcInputFn;
buttonFn nextFn;
buttonFn skipFn;
......@@ -202,9 +217,11 @@ private:
void _calSaveCurrentValues ();
void _setHelpImage(const char* imageFile);
void _setStickPositions ();
void _signalAllAttitudeValueChanges();
void _setStatusText (const QString& text);
// Member variables
......@@ -222,7 +239,20 @@ private:
static const char* _imageRollRight;
static const char* _imagePitchUp;
static const char* _imagePitchDown;
stateStickPositions _sticksCentered;
stateStickPositions _sticksThrottleUp;
stateStickPositions _sticksThrottleDown;
stateStickPositions _sticksYawLeft;
stateStickPositions _sticksYawRight;
stateStickPositions _sticksRollLeft;
stateStickPositions _sticksRollRight;
stateStickPositions _sticksPitchUp;
stateStickPositions _sticksPitchDown;
QList<qreal> _currentStickPositions;
QList<qreal> _currentGimbalPositions;
int _rgFunctionAxisMapping[Joystick::maxFunction]; ///< Maps from joystick function to axis index. _axisMax indicates axis not set for this function.
static const int _attitudeControls = 5;
......@@ -258,13 +288,12 @@ private:
QTime _stickDetectSettleElapsed;
static const int _stickDetectSettleMSecs;
QQuickItem* _statusText = nullptr;
QString _statusText;
QQuickItem* _cancelButton = nullptr;
QQuickItem* _nextButton = nullptr;
QQuickItem* _skipButton = nullptr;
QString _imageHelp;
JoystickManager* _joystickManager;
};
......
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