From 8eab2fa1d017aecde6f7b299cf074b6ad2a587c2 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Sat, 28 Feb 2015 22:14:09 -0800 Subject: [PATCH] Radio Cal no longer selects flight mode switches --- src/AutoPilotPlugins/PX4/RadioComponent.cc | 20 ++++++---- src/qgcunittest/PX4RCCalibrationTest.cc | 41 ++++++++++--------- src/ui/px4_configuration/PX4RCCalibration.cc | 42 +++++++++++++++----- 3 files changed, 67 insertions(+), 36 deletions(-) diff --git a/src/AutoPilotPlugins/PX4/RadioComponent.cc b/src/AutoPilotPlugins/PX4/RadioComponent.cc index 125419de4..338518c72 100644 --- a/src/AutoPilotPlugins/PX4/RadioComponent.cc +++ b/src/AutoPilotPlugins/PX4/RadioComponent.cc @@ -29,7 +29,7 @@ #include "PX4AutoPilotPlugin.h" /// @brief Parameters which signal a change in setupComplete state -static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL }; +static const char* triggerParams[] = { "RC_MAP_ROLL", "RC_MAP_PITCH", "RC_MAP_YAW", "RC_MAP_THROTTLE", NULL }; RadioComponent::RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) : PX4Component(uas, autopilot, parent), @@ -61,13 +61,19 @@ bool RadioComponent::requiresSetup(void) const bool RadioComponent::setupComplete(void) const { - QVariant value; - if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParams[0], value)) { - return value.toInt() != 0; - } else { - Q_ASSERT(false); - return false; + for (size_t i=0; triggerParams[i] != NULL; i++) { + QVariant value; + if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParams[0], value)) { + if (value.toInt() == 0) { + return false; + } + } else { + Q_ASSERT(false); + return false; + } } + + return true; } QString RadioComponent::setupStateDescription(void) const diff --git a/src/qgcunittest/PX4RCCalibrationTest.cc b/src/qgcunittest/PX4RCCalibrationTest.cc index e59869373..19c50bcd8 100644 --- a/src/qgcunittest/PX4RCCalibrationTest.cc +++ b/src/qgcunittest/PX4RCCalibrationTest.cc @@ -68,7 +68,7 @@ const int PX4RCCalibrationTest::_testCenterValue = PX4RCCalibrationTest::_testMi /// @brief Maps from function index to channel index. -1 signals no mapping. Channel indices are offset 1 from function index /// to catch bugs where function index is incorrectly used as channel index. -const int PX4RCCalibrationTest::_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax]= { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 }; +const int PX4RCCalibrationTest::_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax]= { 1, 2, 3, 4, -1, -1, -1, -1, 9, 10, 11 }; const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettings[PX4RCCalibrationTest::_availableChannels] = { // Function Min Max # Reversed @@ -76,15 +76,20 @@ const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChan // Channel 0 : Not mapped to function, Simulate invalid Min/Max { PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false }, - // Channels 1-11 are mapped to all available modes + // Channels 1-4: Mapped to attitude control function { PX4RCCalibration::rcCalFunctionRoll, _testMinValue, _testMaxValue, 0, true }, { PX4RCCalibration::rcCalFunctionPitch, _testMinValue, _testMaxValue, 0, false }, { PX4RCCalibration::rcCalFunctionYaw, _testMinValue, _testMaxValue, 0, true }, { PX4RCCalibration::rcCalFunctionThrottle, _testMinValue, _testMaxValue, 0, false }, - { PX4RCCalibration::rcCalFunctionModeSwitch, _testMinValue, _testMaxValue, 0, false }, - { PX4RCCalibration::rcCalFunctionPosCtlSwitch, _testMinValue, _testMaxValue, 0, false }, - { PX4RCCalibration::rcCalFunctionLoiterSwitch, _testMinValue, _testMaxValue, 0, false }, - { PX4RCCalibration::rcCalFunctionReturnSwitch, _testMinValue, _testMaxValue, 0, false }, + + // Channels 5-8: Not mapped to function, Simulate invalid Min/Max, since available channel Min/Max is still shown. + // These are here to skip over the flight mode functions + { PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false }, + { PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false }, + { PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false }, + { PX4RCCalibration::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false }, + + // Channels 9-11: Remainder of non-flight mode switches { PX4RCCalibration::rcCalFunctionFlaps, _testMinValue, _testMaxValue, 0, false }, { PX4RCCalibration::rcCalFunctionAux1, _testMinValue, _testMaxValue, 0, false }, { PX4RCCalibration::rcCalFunctionAux2, _testMinValue, _testMaxValue, 0, false }, @@ -105,18 +110,22 @@ const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChan const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettingsValidate[PX4RCCalibration::_chanMax] = { // Function Min Value Max Value Trim Value Reversed - // Channel 0 is not mapped and should be defaulted + // Channels 0: not mapped and should be set to defaults { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, - // Channels 1-11 are mapped to all available modes + // Channels 1-4: Mapped to attitude control function { PX4RCCalibration::rcCalFunctionRoll, _testMinValue, _testMaxValue, _testCenterValue, true }, { PX4RCCalibration::rcCalFunctionPitch, _testMinValue, _testMaxValue, _testCenterValue, false }, { PX4RCCalibration::rcCalFunctionYaw, _testMinValue, _testMaxValue, _testCenterValue, true }, { PX4RCCalibration::rcCalFunctionThrottle, _testMinValue, _testMaxValue, _testMinValue, false }, - { PX4RCCalibration::rcCalFunctionModeSwitch, _testMinValue, _testMaxValue, _testCenterValue, false }, - { PX4RCCalibration::rcCalFunctionPosCtlSwitch, _testMinValue, _testMaxValue, _testCenterValue, false }, - { PX4RCCalibration::rcCalFunctionLoiterSwitch, _testMinValue, _testMaxValue, _testCenterValue, false }, - { PX4RCCalibration::rcCalFunctionReturnSwitch, _testMinValue, _testMaxValue, _testCenterValue, false }, + + // Channels 5-8: not mapped and should be set to defaults + { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, + { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, + { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, + { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, + + // Channels 9-11: Remainder of non-flight mode switches { PX4RCCalibration::rcCalFunctionFlaps, _testMinValue, _testMaxValue, _testCenterValue, false }, { PX4RCCalibration::rcCalFunctionAux1, _testMinValue, _testMaxValue, _testCenterValue, false }, { PX4RCCalibration::rcCalFunctionAux2, _testMinValue, _testMaxValue, _testCenterValue, false }, @@ -126,8 +135,8 @@ const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChan { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, - { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, - { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, + { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, + { PX4RCCalibration::rcCalFunctionMax, PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false }, }; PX4RCCalibrationTest::PX4RCCalibrationTest(void) : @@ -415,10 +424,6 @@ void PX4RCCalibrationTest::_fullCalibration_test(void) _switchMinMaxStep(); _flapsDetectStep(); _stickMoveAutoStep("Flaps", PX4RCCalibration::rcCalFunctionFlaps, moveToMin, false /* not identify step */); - _switchSelectAutoStep("Mode", PX4RCCalibration::rcCalFunctionModeSwitch); - _switchSelectAutoStep("PostCtl", PX4RCCalibration::rcCalFunctionPosCtlSwitch); - _switchSelectAutoStep("Loiter", PX4RCCalibration::rcCalFunctionLoiterSwitch); - _switchSelectAutoStep("Return", PX4RCCalibration::rcCalFunctionReturnSwitch); _switchSelectAutoStep("Aux1", PX4RCCalibration::rcCalFunctionAux1); _switchSelectAutoStep("Aux2", PX4RCCalibration::rcCalFunctionAux2); diff --git a/src/ui/px4_configuration/PX4RCCalibration.cc b/src/ui/px4_configuration/PX4RCCalibration.cc index 85ea62e13..58d776ad8 100644 --- a/src/ui/px4_configuration/PX4RCCalibration.cc +++ b/src/ui/px4_configuration/PX4RCCalibration.cc @@ -189,13 +189,6 @@ const PX4RCCalibration::stateMachineEntry* PX4RCCalibration::_getStateMachineEnt static const char* msgPitchDown = "Move the Pitch stick all the way down and hold it there..."; static const char* msgPitchUp = "Move the Pitch stick all the way up and hold it there..."; static const char* msgPitchCenter = "Allow the Pitch stick to move back to center..."; - static const char* msgModeSwitch = "Next we will assign the channel for the Mode Switch. Move the switch or dial up and down to select the channel."; - static const char* msgPosCtlSwitch = "Next we will assign the channel for the PosCtl Switch. Move the switch or dial up and down to select the channel.\n\n" - "You can click Skip if you don't want to assign this switch."; - static const char* msgLoiterSwitch = "Next we will assign the channel for the Loiter Switch. Move the switch or dial up and down to select the channel.\n\n" - "You can click Skip if you don't want to assign this switch."; - static const char* msgReturnSwitch = "Next we will assign the channel for the Return Switch. Move the switch or dial up and down to select the channel.\n\n" - "You can click Skip if you don't want to assign this switch."; static const char* msgAux1Switch = "Move the switch or dial you want to use for Aux1.\n\n" "You can click Skip if you don't want to assign."; static const char* msgAux2Switch = "Move the switch or dial you want to use for Aux2.\n\n" @@ -223,10 +216,6 @@ const PX4RCCalibration::stateMachineEntry* PX4RCCalibration::_getStateMachineEnt { rcCalFunctionMax, msgSwitchMinMax, _imageSwitchMinMax, &PX4RCCalibration::_inputSwitchMinMax, &PX4RCCalibration::_nextStep, NULL }, { rcCalFunctionFlaps, msgFlapsDetect, _imageThrottleDown, &PX4RCCalibration::_inputFlapsDetect, &PX4RCCalibration::_saveFlapsDown, &PX4RCCalibration::_skipFlaps }, { rcCalFunctionFlaps, msgFlapsUp, _imageThrottleDown, &PX4RCCalibration::_inputFlapsUp, NULL, NULL }, - { rcCalFunctionModeSwitch, msgModeSwitch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, NULL }, - { rcCalFunctionPosCtlSwitch, msgPosCtlSwitch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep }, - { rcCalFunctionLoiterSwitch, msgLoiterSwitch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep }, - { rcCalFunctionReturnSwitch, msgReturnSwitch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep }, { rcCalFunctionAux1, msgAux1Switch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep }, { rcCalFunctionAux2, msgAux2Switch, _imageThrottleDown, &PX4RCCalibration::_inputSwitchDetect, NULL, &PX4RCCalibration::_nextStep }, { rcCalFunctionMax, msgComplete, _imageThrottleDown, NULL, &PX4RCCalibration::_writeCalibration, NULL }, @@ -700,6 +689,37 @@ void PX4RCCalibration::_resetInternalCalibrationValues(void) _showMinMaxOnRadioWidgets(false); _showTrimOnRadioWidgets(false); + + // Reserve the existing Flight Mode switch settings channels so we don't re-use them + + static const rcCalFunctions rgFlightModeFunctions[] = { + rcCalFunctionModeSwitch, + rcCalFunctionPosCtlSwitch, + rcCalFunctionLoiterSwitch, + rcCalFunctionReturnSwitch }; + static const size_t crgFlightModeFunctions = sizeof(rgFlightModeFunctions) / sizeof(rgFlightModeFunctions[0]); + + int componentId = _paramMgr->getDefaultComponentId(); + for (size_t i=0; i < crgFlightModeFunctions; i++) { + QVariant value; + enum rcCalFunctions curFunction = rgFlightModeFunctions[i]; + + bool paramFound = _paramMgr->getParameterValue(componentId, _rgFunctionInfo[curFunction].parameterName, value); + Q_ASSERT(paramFound); + + bool ok; + int channel = value.toInt(&ok); + Q_ASSERT(ok); + Q_UNUSED(ok); + + // Parameter: 1-based channel, 0=not mapped + // _rgFunctionChannelMapping: 0-based channel, _chanMax=not mapped + + _rgFunctionChannelMapping[curFunction] = (channel == 0) ? _chanMax : channel; + if (channel != 0) { + _rgChannelInfo[channel - 1].function = curFunction; + } + } } /// @brief Sets internal calibration values from the stored parameters -- 2.22.0