Filled in functions for airfoils and switch

qgroundcontrol.pro

@@ -164,7 +164,8 @@ HEADERS += src/MG.h \
     src/ui/RadioCalibration/RadioCalibrationWindow.h \
     src/ui/RadioCalibration/AirfoilServoCalibrator.h \
     src/ui/RadioCalibration/SwitchCalibrator.h \
-    src/ui/RadioCalibration/CurveCalibrator.h
+    src/ui/RadioCalibration/CurveCalibrator.h \
+    src/ui/RadioCalibration/AbstractCalibrator.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -234,7 +235,8 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/RadioCalibrationWindow.cc \
     src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
     src/ui/RadioCalibration/SwitchCalibrator.cc \
-    src/ui/RadioCalibration/CurveCalibrator.cc
+    src/ui/RadioCalibration/CurveCalibrator.cc \
+    src/ui/RadioCalibration/AbstractCalibrator.cc
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library

src/ui/RadioCalibration/AbstractCalibrator.cc

+#include "AbstractCalibrator.h"
+
+AbstractCalibrator::AbstractCalibrator(QWidget *parent) :
+    QWidget(parent),
+    pulseWidth(new QLabel()),
+    log(new QVector<float>())
+{
+}
+
+AbstractCalibrator::~AbstractCalibrator()
+{
+    delete log;
+}
+
+float AbstractCalibrator::logAverage()
+{
+    float total = 0;
+    for (int i=0; i<log->size(); ++i)
+        total += log->value(i);
+    return (total/log->size());
+}
+
+float AbstractCalibrator::logExtrema()
+{
+    float extrema = logAverage();
+    if (logAverage() < 1500)
+    {
+        for (int i=0; i<log->size(); ++i)
+        {
+            if (log->value(i) < extrema)
+                extrema = log->value(i);
+        }
+    }
+    else
+    {
+        for (int i=0; i<log->size(); ++i)
+        {
+            if (log->value(i) > extrema)
+                extrema = log->value(i);
+        }
+    }
+
+    return extrema;
+}
+
+void AbstractCalibrator::channelChanged(float raw)
+{
+    pulseWidth->setText(QString::number(static_cast<double>(raw)));
+    if (log->size() == 5)
+        log->pop_front();
+    log->push_back(raw);
+}

src/ui/RadioCalibration/AbstractCalibrator.h

+#ifndef ABSTRACTCALIBRATOR_H
+#define ABSTRACTCALIBRATOR_H
+
+#include <QWidget>
+#include <QString>
+#include <QLabel>
+
+class AbstractCalibrator : public QWidget
+{
+Q_OBJECT
+public:
+    explicit AbstractCalibrator(QWidget *parent = 0);
+    ~AbstractCalibrator();
+
+public slots:
+    void channelChanged(float raw);
+
+protected:
+    QLabel *pulseWidth;
+
+    QVector<float> *log;
+    float logExtrema();
+    float logAverage();
+};
+
+#endif // ABSTRACTCALIBRATOR_H

src/ui/RadioCalibration/AirfoilServoCalibrator.cc

 #include "AirfoilServoCalibrator.h"
 
 AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent) :
-    QWidget(parent)
+    AbstractCalibrator(parent),    
+    highPulseWidth(new QLabel()),
+    centerPulseWidth(new QLabel()),
+    lowPulseWidth(new QLabel())
 {
     QGridLayout *grid = new QGridLayout(this);
 
@@ -26,16 +29,79 @@ AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent
 
     /* Add current Pulse Width Display */
     QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
-    pulseWidth = new QLabel();
     QHBoxLayout *pulseLayout = new QHBoxLayout();
     pulseLayout->addWidget(pulseWidthTitle);
     pulseLayout->addWidget(pulseWidth);
     grid->addLayout(pulseLayout, 1, 0, 1, 3);
 
+    QLabel *highPulseString;
+    QLabel *centerPulseString;
+    QLabel *lowPulseString;
+    if (type == AILERON)
+    {
+        highPulseString = new QLabel(tr("Bank Left"));
+        centerPulseString = new QLabel(tr("Center"));
+        lowPulseString = new QLabel(tr("Bank Right"));
+    }
+    else if (type == ELEVATOR)
+    {
+        highPulseString = new QLabel(tr("Nose Down"));
+        centerPulseString = new QLabel(tr("Center"));
+        lowPulseString = new QLabel(tr("Nose Up"));
+    }
+    else if (type == RUDDER)
+    {
+        highPulseString = new QLabel(tr("Nose Left"));
+        centerPulseString = new QLabel(tr("Center"));
+        lowPulseString = new QLabel(tr("Nose Right"));
+    }
+    else
+    {
+        highPulseString = new QLabel(tr("High"));
+        centerPulseString = new QLabel(tr("Center"));
+        lowPulseString = new QLabel(tr("Low"));
+    }
+
+
+    QPushButton *highButton = new QPushButton(tr("Set"));
+    QPushButton *centerButton = new QPushButton(tr("Set"));
+    QPushButton *lowButton = new QPushButton(tr("Set"));
+
+    grid->addWidget(highPulseString, 2, 0);
+    grid->addWidget(highPulseWidth, 2, 1);
+    grid->addWidget(highButton, 2, 2);
+
+    grid->addWidget(centerPulseString, 3, 0);
+    grid->addWidget(centerPulseWidth, 3, 1);
+    grid->addWidget(centerButton, 3, 2);
+
+    grid->addWidget(lowPulseString, 4, 0);
+    grid->addWidget(lowPulseWidth, 4, 1);
+    grid->addWidget(lowButton, 4, 2);
+
     this->setLayout(grid);
+
+    connect(highButton, SIGNAL(clicked()), this, SLOT(setHigh()));
+    connect(centerButton, SIGNAL(clicked()), this, SLOT(setCenter()));
+    connect(lowButton, SIGNAL(clicked()), this, SLOT(setLow()));
+}
+
+
+
+void AirfoilServoCalibrator::setHigh()
+{
+    highPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    emit highSetpointChanged(logExtrema());
+}
+
+void AirfoilServoCalibrator::setCenter()
+{
+    centerPulseWidth->setText(QString::number(static_cast<double>(logAverage())));
+    emit centerSetpointChanged(logAverage());
 }
 
-void AirfoilServoCalibrator::channelChanged(float raw)
+void AirfoilServoCalibrator::setLow()
 {
-    pulseWidth->setText(QString::number(static_cast<double>(raw)));
+    lowPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    emit lowSetpointChanged(logExtrema());
 }

src/ui/RadioCalibration/AirfoilServoCalibrator.h

@@ -8,7 +8,9 @@
 #include <QGridLayout>
 #include <QHBoxLayout>
 
-class AirfoilServoCalibrator : public QWidget
+#include "AbstractCalibrator.h"
+
+class AirfoilServoCalibrator : public AbstractCalibrator
 {
 Q_OBJECT
 public:
@@ -21,26 +23,24 @@ public:
 
     explicit AirfoilServoCalibrator(AirfoilType type = AILERON, QWidget *parent = 0);
 
-
-
 signals:
     void highSetpointChanged(float);
     void centerSetpointChanged(float);
     void lowSetpointChanged(float);
 
-public slots:
-    void channelChanged(float raw);
-protected:
-    QLabel *pulseWidth;
-    QPushButton *highButton;
-    QPushButton *centerButton;
-    QPushButton *lowButton;
+protected slots:
+    void setHigh();
+    void setCenter();
+    void setLow();
+
+protected:    
+    QLabel *highPulseWidth;
+    QLabel *centerPulseWidth;
+    QLabel *lowPulseWidth;
 
     float high;
     float center;
     float low;
-
-    QVector<float> log;
 };
 
 #endif // AIRFOILSERVOCALIBRATOR_H

src/ui/RadioCalibration/CurveCalibrator.cc

 #include "CurveCalibrator.h"
 
 CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
-    QWidget(parent),
+    AbstractCalibrator(parent),
     setpoints(QVector<double>(5)),
     positions(QVector<double>())
 
@@ -39,8 +39,3 @@ CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
 
     this->setLayout(grid);
 }
-
-void CurveCalibrator::channelChanged(float raw)
-{
-    pulseWidth->setText(QString::number(static_cast<double>(raw)));
-}

src/ui/RadioCalibration/CurveCalibrator.h

@@ -10,7 +10,9 @@
 #include <QLabel>
 #include <QPushButton>
 
-class CurveCalibrator : public QWidget
+#include "AbstractCalibrator.h"
+
+class CurveCalibrator : public AbstractCalibrator
 {
 Q_OBJECT
 public:
@@ -18,15 +20,12 @@ public:
 
 signals:
     void setpointChanged(float[5]);
-public slots:
-    void channelChanged(float raw);
 
 protected:
     QVector<double> setpoints;
     QVector<double> positions;
     QwtPlot *plot;
     QwtPlotCurve *curve;
-    QLabel *pulseWidth;
 };
 
 #endif // CURVECALIBRATOR_H

src/ui/RadioCalibration/SwitchCalibrator.cc

 #include "SwitchCalibrator.h"
 
 SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
-    QWidget(parent)
+    AbstractCalibrator(parent),    
+    defaultPulseWidth(new QLabel()),
+    toggledPulseWidth(new QLabel())
 {
     /* Add title label*/
     QLabel *title = new QLabel(titleString);
@@ -9,17 +11,39 @@ SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
     grid->addWidget(title, 0, 0, 1, 3);
 
     /* Add current Pulse Width Display */
-    QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
-    pulseWidth = new QLabel();
+    QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));    
     QHBoxLayout *pulseLayout = new QHBoxLayout();
     pulseLayout->addWidget(pulseWidthTitle);
     pulseLayout->addWidget(pulseWidth);
     grid->addLayout(pulseLayout, 1, 0, 1, 3);
 
+    QLabel *defaultPulseString = new QLabel(tr("Default Position"));
+    QPushButton *defaultButton = new QPushButton(tr("Set"));
+    grid->addWidget(defaultPulseString, 2, 0);
+    grid->addWidget(defaultPulseWidth, 2, 1);
+    grid->addWidget(defaultButton, 2, 2);
+
+    QLabel *toggledPulseString = new QLabel(tr("Toggled Position"));
+    QPushButton *toggledButton = new QPushButton(tr("Set"));
+    grid->addWidget(toggledPulseString, 3, 0);
+    grid->addWidget(toggledPulseWidth, 3, 1);
+    grid->addWidget(toggledButton, 3, 2);
+
     this->setLayout(grid);
+
+    connect(defaultButton, SIGNAL(clicked()), this, SLOT(setDefault()));
+    connect(toggledButton, SIGNAL(clicked()), this, SLOT(setToggled()));
+}
+
+
+void SwitchCalibrator::setDefault()
+{
+    defaultPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    emit defaultSetpointChanged(logExtrema());
 }
 
-void SwitchCalibrator::channelChanged(float raw)
+void SwitchCalibrator::setToggled()
 {
-    pulseWidth->setText(QString::number(static_cast<double>(raw)));
+    toggledPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    emit toggledSetpointChanged(logExtrema());
 }

src/ui/RadioCalibration/SwitchCalibrator.h

@@ -8,7 +8,9 @@
 #include <QGridLayout>
 #include <QHBoxLayout>
 
-class SwitchCalibrator : public QWidget
+#include "AbstractCalibrator.h"
+
+class SwitchCalibrator : public AbstractCalibrator
 {
 Q_OBJECT
 public:
@@ -18,17 +20,13 @@ signals:
     void defaultSetpointChanged(float);
     void toggledSetpointChanged(float);
 
-public slots:
-    void channelChanged(float raw);
-protected:
-    QLabel *pulseWidth;
-    QPushButton *defaultButton;
-    QPushButton *toggledButton;
-
-    float defaultPos;
-    float toggled;
+protected slots:
+    void setDefault();
+    void setToggled();
 
-    QVector<float> log;
+protected:   
+    QLabel *defaultPulseWidth;
+    QLabel *toggledPulseWidth;    
 
 };