Merge pull request #887 from DonLakeFlyer/RadioCal

Radio calibration fixes

src/qgcunittest/PX4RCCalibrationTest.h

@@ -83,6 +83,7 @@ private:
     };
 
     struct ChannelSettings {
+		int function;
         int rcMin;
         int rcMax;
         int rcTrim;
@@ -122,13 +123,12 @@ private:
     static const int _testTrimValue;
     static const int _testThrottleTrimValue;
     
-    static const int _availableChannels = 8;    ///< 8 channel RC Trasmitter
-    static const int _requiredChannels = 5;     ///< Required channels are 0-4
-    static const int _minMaxChannels = _requiredChannels + 1;    ///< Send min/max to channels 0-5
-    static const int _attitudeChannels = 4;     ///< Attitude channels are 0-3
-    
+	static const int _availableChannels = 18;	///< Simulate 18 channel RC Transmitter
+	
     static const struct ChannelSettings _rgChannelSettingsPreValidate[_availableChannels];
     static const struct ChannelSettings _rgChannelSettingsPostValidate[PX4RCCalibration::_chanMax];
+	
+	static const int _rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax];
 };
 
 DECLARE_TEST(PX4RCCalibrationTest)

src/ui/px4_configuration/PX4RCCalibration.cc

@@ -360,6 +360,7 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
 
     // We always update raw values
     _rcRawValue[chan] = fval;
+	//qDebug() << "Raw value" << chan << fval;
     
     // Update state machine
     switch (_rcCalState) {
@@ -392,7 +393,7 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
                     _updateView();
                     
                     // Confirm found channel
-                    QString msg = tr("Found %1 [Channel %2]").arg(_rgFunctionInfo[_rcCalStateCurrentChannel].functionName).arg(chan);
+                    QString msg = tr("Found %1 [Channel %2]").arg(_rgFunctionInfo[_rcCalStateCurrentChannel].functionName).arg(chan + 1);
                     _ui->rcCalFound->setText(msg);
                     //qDebug() << msg;
                     _ui->rcCalTryAgain->setEnabled(true);
@@ -429,11 +430,12 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
                 Q_ASSERT(_rcCalStateCurrentChannel >= 0 && _rcCalStateCurrentChannel < rcCalFunctionMax);
                 if (chan == _rgFunctionChannelMapping[_rcCalStateCurrentChannel]) {
                     // If the channel moved considerably use it to determine inversion
+					//qDebug() << "Detect inversion" << chan << _rcValueSave[chan] << fval << _rcCalMoveDelta;
                     if (fabsf(_rcValueSave[chan] - fval) > _rcCalMoveDelta) {
                         // Request was made to move channel to a lower value. If value goes up the channel is reversed.
                         bool reversed = fval > _rcValueSave[chan];
                         
-                        _rgChannelInfo[_rcCalStateCurrentChannel].reversed = reversed;
+                        _rgChannelInfo[chan].reversed = reversed;
                         _updateView();
                         
                         // Confirm inversion detection
@@ -510,7 +512,13 @@ void PX4RCCalibration::_updateView()
         if (info->function == rcCalFunctionMax) {
             name = tr("Channel %1").arg(oneBasedChannel);
         } else {
-            name = tr("%1 [Channel %2]").arg(_rgFunctionInfo[info->function].functionName).arg(oneBasedChannel);
+			QString label;
+			if (info->reversed) {
+				label = tr("%1 [Channel %2,Rev]");
+			} else {
+				label = tr("%1 [Channel %2]");
+			}
+			name = label.arg(_rgFunctionInfo[info->function].functionName).arg(oneBasedChannel);
         }
         _rgRadioWidget[chan]->setTitle(name);
     }
@@ -650,6 +658,7 @@ void PX4RCCalibration::_rcCalBegin(void)
 /// @brief Saves the current channel values, so that we can detect when the use moves an input.
 void PX4RCCalibration::_rcCalSaveCurrentValues(void)
 {
+	//qDebug() << "_rcCalSaveCurrentValues";
     for (unsigned i = 0; i < _chanMax; i++) {
         _rcValueSave[i] = _rcRawValue[i];
     }