Making deadbands stupid-proof; general cleanup

src/Joystick/Joystick.cc

@@ -96,7 +96,7 @@ void Joystick::_loadSettings(void)
     _throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
     badSettings |= !convertOk;
 
-    qCDebug(JoystickLog) << "_loadSettings calibrated:throttlemode:exponential:badsettings" << _calibrated << _throttleMode << _exponential << badSettings;
+    qCDebug(JoystickLog) << "_loadSettings calibrated:throttlemode:exponential:deadband:badsettings" << _calibrated << _throttleMode << _exponential << _deadband << badSettings;
 
     QString minTpl  ("Axis%1Min");
     QString maxTpl  ("Axis%1Max");
@@ -122,7 +122,7 @@ void Joystick::_loadSettings(void)
         calibration->reversed = settings.value(revTpl.arg(axis), false).toBool();
 
 
-        qCDebug(JoystickLog) << "_loadSettings axis:min:max:trim:reversed:badsettings" << axis << calibration->min << calibration->max << calibration->center << calibration->reversed << calibration->deadband << badSettings;
+        qCDebug(JoystickLog) << "_loadSettings axis:min:max:trim:reversed:deadband:badsettings" << axis << calibration->min << calibration->max << calibration->center << calibration->reversed << calibration->deadband << badSettings;
     }
 
     for (int function=0; function<maxFunction; function++) {
@@ -160,7 +160,7 @@ void Joystick::_saveSettings(void)
     settings.setValue(_deadbandSettingsKey, _deadband);
     settings.setValue(_throttleModeSettingsKey, _throttleMode);
 
-    qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode" << _calibrated << _throttleMode;
+    qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode:deadband" << _calibrated << _throttleMode << _deadband;
 
     QString minTpl  ("Axis%1Min");
     QString maxTpl  ("Axis%1Max");
@@ -177,7 +177,7 @@ void Joystick::_saveSettings(void)
         settings.setValue(revTpl.arg(axis), calibration->reversed);
         settings.setValue(deadbndTpl.arg(axis), calibration->deadband);
 
-        qCDebug(JoystickLog) << "_saveSettings name:axis:min:max:trim:reversed"
+        qCDebug(JoystickLog) << "_saveSettings name:axis:min:max:trim:reversed:deadband"
                                 << _name
                                 << axis
                                 << calibration->min
@@ -232,12 +232,13 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
     }
 
 #if 0
-    qCDebug(JoystickLog) << "_adjustRange corrected:value:min:max:center:reversed:basis:normalized:length"
+    qCDebug(JoystickLog) << "_adjustRange corrected:value:min:max:center:reversed:deadband:basis:normalized:length"
                             << correctedValue
                             << value
                             << calibration.min
                             << calibration.max
                             << calibration.center
+                            << calibration.reversed
                             << calibration.deadband
                             << axisBasis
                             << valueNormalized
@@ -585,7 +586,6 @@ void Joystick::setDeadband(bool deadband)
     _deadband = deadband;
 
     _saveSettings();
-    emit deadbandChanged(_deadband);
 }
 
 void Joystick::startCalibrationMode(CalibrationMode_t mode)

src/Joystick/Joystick.h

@@ -66,9 +66,8 @@ public:
     Q_INVOKABLE QString getButtonAction(int button);
 
     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)
+    Q_PROPERTY(bool exponential READ exponential WRITE setExponential NOTIFY exponentialChanged)
+    Q_PROPERTY(bool accumulator READ accumulator WRITE setAccumulator NOTIFY accumulatorChanged)
 
     // Property accessors
 
@@ -129,8 +128,6 @@ signals:
 
     void accumulatorChanged(bool accumulator);
 
-    void deadbandChanged(bool deadband);
-
     void enabledChanged(bool enabled);
 
     /// Signal containing new joystick information

src/VehicleSetup/JoystickConfig.qml

@@ -430,10 +430,10 @@ SetupPage {
 
                                     QGCCheckBox {
                                         id:         deadband
-                                        checked:    _activeJoystick.deadband
-                                        text:       qsTr("Deadband (requires re-calibration)")
+                                        checked:    controller.deadbandToggle
+                                        text:       qsTr("Deadbands")
 
-                                        onClicked:  _activeJoystick.deadband = checked
+                                        onClicked:  controller.deadbandToggle = checked
                                     }
                                 }
 

src/VehicleSetup/JoystickConfigController.cc

@@ -210,6 +210,18 @@ void JoystickConfigController::cancelButtonClicked(void)
     _stopCalibration();
 }
 
+bool JoystickConfigController::getDeadbandToggle() {
+    return _activeJoystick->deadband();
+}
+
+void JoystickConfigController::setDeadbandToggle(bool deadband) {
+    _activeJoystick->setDeadband(deadband);
+
+    _signalAllAttiudeValueChanges();
+
+    emit deadbandToggled(deadband);
+}
+
 void JoystickConfigController::_saveAllTrims(void)
 {
     // We save all trims as the first step. At this point no axes are mapped but it should still
@@ -228,27 +240,9 @@ 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.
@@ -257,16 +251,13 @@ void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t fu
     Q_UNUSED(function);
 
     //sensing deadband
-    if (_activeJoystick->deadband()) {
-        if (abs(value)*1.5>_rgAxisInfo[axis].deadband) {
-            _axisDeadbandChanged(axis,abs(value)*1.5);
-        }
+    if (abs(value)*1.1f>_rgAxisInfo[axis].deadband) {   //add 10% on top of existing deadband
+        _axisDeadbandChanged(axis,abs(value)*1.1f);
     }
 
     _nextButton->setEnabled(true);
 
     // FIXME: Doesn't wait for center
-    // FIXME: Ideally the deadband should be probed only around the center
 }
 
 bool JoystickConfigController::_stickSettleComplete(int axis, int value)
@@ -703,7 +694,7 @@ int JoystickConfigController::throttleAxisValue(void)
 
 int JoystickConfigController::rollAxisDeadband(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis) {
+    if ((_rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis) && (_activeJoystick->deadband())) {
         return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::rollFunction]].deadband;
     } else {
         return 0;
@@ -712,7 +703,7 @@ int JoystickConfigController::rollAxisDeadband(void)
 
 int JoystickConfigController::pitchAxisDeadband(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::pitchFunction] != _axisNoAxis) {
+    if ((_rgFunctionAxisMapping[Joystick::pitchFunction] != _axisNoAxis) && (_activeJoystick->deadband())) {
         return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::pitchFunction]].deadband;
     } else {
         return 0;
@@ -721,7 +712,7 @@ int JoystickConfigController::pitchAxisDeadband(void)
 
 int JoystickConfigController::yawAxisDeadband(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::yawFunction] != _axisNoAxis) {
+    if ((_rgFunctionAxisMapping[Joystick::yawFunction] != _axisNoAxis) && (_activeJoystick->deadband())) {
         return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::yawFunction]].deadband;
     } else {
         return 0;
@@ -730,7 +721,7 @@ int JoystickConfigController::yawAxisDeadband(void)
 
 int JoystickConfigController::throttleAxisDeadband(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::throttleFunction] != _axisNoAxis) {
+    if ((_rgFunctionAxisMapping[Joystick::throttleFunction] != _axisNoAxis) && (_activeJoystick->deadband())) {
         return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::throttleFunction]].deadband;
     } else {
         return 0;

src/VehicleSetup/JoystickConfigController.h

@@ -67,6 +67,8 @@ public:
     Q_PROPERTY(int yawAxisReversed      READ yawAxisReversed        NOTIFY yawAxisReversedChanged)
     Q_PROPERTY(int throttleAxisReversed READ throttleAxisReversed   NOTIFY throttleAxisReversedChanged)
     
+    Q_PROPERTY(bool deadbandToggle            READ getDeadbandToggle        WRITE setDeadbandToggle    NOTIFY deadbandToggled)
+
     Q_PROPERTY(QString imageHelp MEMBER _imageHelp NOTIFY imageHelpChanged)
     
     Q_INVOKABLE void cancelButtonClicked(void);
@@ -94,6 +96,9 @@ public:
     bool yawAxisReversed(void);
     bool throttleAxisReversed(void);
     
+    bool getDeadbandToggle(void);
+    void setDeadbandToggle(bool);
+
     int axisCount(void);
     
 signals:
@@ -119,6 +124,8 @@ signals:
     void yawAxisReversedChanged(bool reversed);
     void throttleAxisReversedChanged(bool reversed);
 
+    void deadbandToggled(bool value);
+    
     void imageHelpChanged(QString source);
     
     // @brief Signalled when in unit test mode and a message box should be displayed by the next button