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Commit b8e67980 authored by Don Gagne's avatar Don Gagne
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APM Radio Config 

Refactored PX4 radio config to work with both PX4 and APM
parent 8ffe06fe
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Showing with 690 additions and 300 deletions
qgroundcontrol.pro
View file @ b8e67980
......@@ -499,7 +499,7 @@ HEADERS += \
src/qgcunittest/MavlinkLogTest.h \
src/qgcunittest/MessageBoxTest.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/PX4RCCalibrationTest.h \
src/qgcunittest/RadioConfigTest.h \
src/qgcunittest/TCPLinkTest.h \
src/qgcunittest/TCPLoopBackServer.h \
src/qgcunittest/UnitTest.h \
......@@ -522,7 +522,7 @@ SOURCES += \
src/qgcunittest/MavlinkLogTest.cc \
src/qgcunittest/MessageBoxTest.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/PX4RCCalibrationTest.cc \
src/qgcunittest/RadioConfigTest.cc \
src/qgcunittest/TCPLinkTest.cc \
src/qgcunittest/TCPLoopBackServer.cc \
src/qgcunittest/UnitTest.cc \
......@@ -536,6 +536,7 @@ SOURCES += \
#
INCLUDEPATH += \
src/AutoPilotPlugins/Common \
src/AutoPilotPlugins/PX4 \
src/FirmwarePlugin \
src/Vehicle \
......@@ -547,6 +548,8 @@ HEADERS+= \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
src/AutoPilotPlugins/APM/APMAirframeComponent.h \
src/AutoPilotPlugins/APM/APMComponent.h \
src/AutoPilotPlugins/APM/APMRadioComponent.h \
src/AutoPilotPlugins/Common/RadioComponentController.h \
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
src/AutoPilotPlugins/PX4/AirframeComponent.h \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
......@@ -557,8 +560,7 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/PowerComponentController.h \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
src/AutoPilotPlugins/PX4/PX4Component.h \
src/AutoPilotPlugins/PX4/RadioComponent.h \
src/AutoPilotPlugins/PX4/RadioComponentController.h \
src/AutoPilotPlugins/PX4/PX4RadioComponent.h \
src/AutoPilotPlugins/PX4/SafetyComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponentController.h \
......@@ -591,6 +593,8 @@ SOURCES += \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
src/AutoPilotPlugins/APM/APMComponent.cc \
src/AutoPilotPlugins/APM/APMRadioComponent.cc \
src/AutoPilotPlugins/Common/RadioComponentController.cc \
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/AirframeComponent.cc \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
......@@ -601,8 +605,7 @@ SOURCES += \
src/AutoPilotPlugins/PX4/PowerComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/PX4Component.cc \
src/AutoPilotPlugins/PX4/RadioComponent.cc \
src/AutoPilotPlugins/PX4/RadioComponentController.cc \
src/AutoPilotPlugins/PX4/PX4RadioComponent.cc \
src/AutoPilotPlugins/PX4/SafetyComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
......
qgroundcontrol.qrc
View file @ b8e67980
......@@ -97,8 +97,9 @@
<file alias="QGroundControl/ScreenTools/qmldir">src/QmlControls/QGroundControl.ScreenTools.qmldir</file>
<file alias="QGroundControl/ScreenTools/ScreenTools.qml">src/QmlControls/ScreenTools.qml</file>
<file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
<file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
<file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
<file alias="RadioComponent.qml">src/AutoPilotPlugins/Common/RadioComponent.qml</file>
<file alias="PX4RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml</file>
<file alias="APMRadioComponentSummary.qml">src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml</file>
<file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
<file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
<file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>
......
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
View file @ b8e67980
......@@ -52,6 +52,11 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
Q_CHECK_PTR(_airframeComponent);
_airframeComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
_radioComponent = new APMRadioComponent(_vehicle, this);
Q_CHECK_PTR(_radioComponent);
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
} else {
qWarning() << "Call to vehicleCompenents prior to parametersReady";
}
......
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
View file @ b8e67980
......@@ -27,6 +27,7 @@
#include "AutoPilotPlugin.h"
#include "Vehicle.h"
#include "APMAirframeComponent.h"
#include "APMRadioComponent.h"
/// This is the APM specific implementation of the AutoPilot class.
class APMAutoPilotPlugin : public AutoPilotPlugin
......@@ -40,6 +41,9 @@ public:
// Overrides from AutoPilotPlugin
virtual const QVariantList& vehicleComponents(void);
APMAirframeComponent* airframeComponent(void) { return _airframeComponent; }
APMRadioComponent* radioComponent(void) { return _radioComponent; }
public slots:
// FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
void _parametersReadyPreChecks(bool missingParameters);
......@@ -48,6 +52,7 @@ private:
bool _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
QVariantList _components;
APMAirframeComponent* _airframeComponent;
APMRadioComponent* _radioComponent;
};
#endif
src/AutoPilotPlugins/APM/APMRadioComponent.cc 0 → 100644
View file @ b8e67980
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "APMRadioComponent.h"
#include "APMAutoPilotPlugin.h"
APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
APMComponent(vehicle, autopilot, parent),
_name(tr("Radio"))
{
}
QString APMRadioComponent::name(void) const
{
return _name;
}
QString APMRadioComponent::description(void) const
{
return tr("The Radio Component is used to setup which channels on your RC Transmitter you will use for each vehicle control such as Roll, Pitch, Yaw and Throttle. "
"It also allows you to assign switches and dials to the various flight modes. "
"Prior to flight you must also calibrate the extents for all of your channels.");
}
QString APMRadioComponent::iconResource(void) const
{
return "/qmlimages/RadioComponentIcon.png";
}
bool APMRadioComponent::requiresSetup(void) const
{
return true;
}
bool APMRadioComponent::setupComplete(void) const
{
// The best we can do to detect the need for a radio calibration is look for attitude
// controls to be mapped.
QStringList attitudeMappings;
attitudeMappings << "RCMAP_ROLL" << "RCMAP_PITCH" << "RCMAP_YAW" << "RCMAP_THROTTLE";
foreach(QString mapParam, attitudeMappings) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
return false;
}
}
return true;
}
QString APMRadioComponent::setupStateDescription(void) const
{
const char* stateDescription;
if (requiresSetup()) {
stateDescription = "Requires calibration";
} else {
stateDescription = "Calibrated";
}
return QString(stateDescription);
}
QStringList APMRadioComponent::setupCompleteChangedTriggerList(void) const
{
QStringList triggers;
triggers << "RCMAP_ROLL" << "RCMAP_PITCH" << "RCMAP_YAW" << "RCMAP_THROTTLE";
return triggers;
}
QStringList APMRadioComponent::paramFilterList(void) const
{
QStringList list;
list << "RC*";
return list;
}
QUrl APMRadioComponent::setupSource(void) const
{
return QUrl::fromUserInput("qrc:/qml/RadioComponent.qml");
}
QUrl APMRadioComponent::summaryQmlSource(void) const
{
return QUrl::fromUserInput("qrc:/qml/APMRadioComponentSummary.qml");
}
QString APMRadioComponent::prerequisiteSetup(void) const
{
APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
if (!plugin->airframeComponent()->setupComplete()) {
return plugin->airframeComponent()->name();
}
return QString();
}
src/AutoPilotPlugins/APM/APMRadioComponent.h 0 → 100644
View file @ b8e67980
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef APMRadioComponent_H
#define APMRadioComponent_H
#include "APMComponent.h"
class APMRadioComponent : public APMComponent
{
Q_OBJECT
public:
APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
// Virtuals from PX4Component
virtual QStringList setupCompleteChangedTriggerList(void) const;
// Virtuals from VehicleComponent
virtual QString name(void) const;
virtual QString description(void) const;
virtual QString iconResource(void) const;
virtual bool requiresSetup(void) const;
virtual bool setupComplete(void) const;
virtual QString setupStateDescription(void) const;
virtual QUrl setupSource(void) const;
virtual QStringList paramFilterList(void) const;
virtual QUrl summaryQmlSource(void) const;
virtual QString prerequisiteSetup(void) const;
private:
const QString _name;
QVariantList _summaryItems;
};
#endif
src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml 0 → 100644
View file @ b8e67980
import QtQuick 2.2
import QtQuick.Controls 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
FactPanel {
id: panel
anchors.fill: parent
color: qgcPal.windowShadeDark
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
FactPanelController { id: controller; factPanel: panel }
property Fact mapRollFact: controller.getParameterFact(-1, "RCMAP_ROLL")
property Fact mapPitchFact: controller.getParameterFact(-1, "RCMAP_PITCH")
property Fact mapYawFact: controller.getParameterFact(-1, "RCMAP_YAW")
property Fact mapThrottleFact: controller.getParameterFact(-1, "RCMAP_THROTTLE")
Column {
anchors.fill: parent
anchors.margins: 8
VehicleSummaryRow {
labelText: "Roll:"
valueText: mapRollFact.value == 0 ? "Setup required" : mapRollFact.valueString
}
VehicleSummaryRow {
labelText: "Pitch:"
valueText: mapPitchFact.value == 0 ? "Setup required" : mapPitchFact.valueString
}
VehicleSummaryRow {
labelText: "Yaw:"
valueText: mapYawFact.value == 0 ? "Setup required" : mapYawFact.valueString
}
VehicleSummaryRow {
labelText: "Throttle:"
valueText: mapThrottleFact.value == 0 ? "Setup required" : mapThrottleFact.valueString
}
}
}
src/AutoPilotPlugins/PX4/RadioComponent.qml → src/AutoPilotPlugins/Common/RadioComponent.qml
View file @ b8e67980
......@@ -21,20 +21,17 @@
======================================================================*/
/// @file
/// @brief Radio Calibration
/// @author Don Gagne <don@thegagnes.com>
import QtQuick 2.2
import QtQuick 2.5
import QtQuick.Controls 1.2
import QtQuick.Dialogs 1.2
import QtQuick.Dialogs 1.2
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
QGCView {
id: rootQGCView
......@@ -42,19 +39,14 @@ QGCView {
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
readonly property string dialogTitle: "Radio"
readonly property real labelToMonitorMargin: defaultTextWidth * 3
property bool controllerCompleted: false
property bool controllerAndViewReady: false
readonly property string dialogTitle: "Radio"
readonly property real labelToMonitorMargin: defaultTextWidth * 3
property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
property bool controllerCompleted: false
property bool controllerAndViewReady: false
function updateChannelCount()
{
if (controllerAndViewReady) {
if (rcInMode.value == 1) {
showDialog(joystickEnabledDialogComponent, dialogTitle, 50, 0)
}
/*
FIXME: Turned off for now, since it prevents binding. Need to restructure to
allow binding and still check channel count
......@@ -64,7 +56,6 @@ QGCView {
hideDialog()
}
*/
}
}
RadioComponentController {
......@@ -75,8 +66,6 @@ QGCView {
nextButton: nextButton
skipButton: skipButton
onChannelCountChanged: updateChannelCount()
Component.onCompleted: {
controllerCompleted = true
if (rootQGCView.completedSignalled) {
......@@ -85,6 +74,9 @@ QGCView {
updateChannelCount()
}
}
onChannelCountChanged: updateChannelCount()
onFunctionMappingChangedAPMReboot: showMessage("Reboot required", "Your stick mappings have changed, you must reboot the vehicle for correct operation.", StandardButton.Ok)
}
onCompleted: {
......@@ -133,14 +125,6 @@ QGCView {
}
}
Component {
id: joystickEnabledDialogComponent
QGCViewMessage {
message: "Radio Config is disabled since you have a Joystick enabled."
}
}
Component {
id: spektrumBindDialogComponent
......@@ -482,6 +466,7 @@ QGCView {
QGCButton {
showBorder: true
text: "Copy Trims"
visible: QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
onClicked: showDialog(copyTrimsDialogComponent, dialogTitle, 50, StandardButton.Ok | StandardButton.Cancel)
}
......
src/AutoPilotPlugins/PX4/RadioComponentController.cc → src/AutoPilotPlugins/Common/RadioComponentController.cc
View file @ b8e67980
......@@ -70,7 +70,7 @@ const char* RadioComponentController::_imageSwitchMinMax = "radioSwitchMinMax.p
const char* RadioComponentController::_settingsGroup = "RadioCalibration";
const char* RadioComponentController::_settingsKeyTransmitterMode = "TransmitterMode";
const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfo[RadioComponentController::rcCalFunctionMax] = {
const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoPX4[RadioComponentController::rcCalFunctionMax] = {
//Parameter required
{ "RC_MAP_ROLL" },
{ "RC_MAP_PITCH" },
......@@ -86,6 +86,22 @@ const struct RadioComponentController::FunctionInfo RadioComponentController::_r
{ "RC_MAP_AUX2" },
};
const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoAPM[RadioComponentController::rcCalFunctionMax] = {
//Parameter required
{ "RCMAP_ROLL" },
{ "RCMAP_PITCH" },
{ "RCMAP_YAW" },
{ "RCMAP_THROTTLE" },
{ NULL },
{ NULL },
{ NULL },
{ NULL },
{ NULL },
{ NULL },
{ NULL },
{ NULL },
};
RadioComponentController::RadioComponentController(void) :
_currentStep(-1),
_transmitterMode(2),
......@@ -102,7 +118,7 @@ RadioComponentController::RadioComponentController(void) :
_unitTestController = this;
#endif
connect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &RadioComponentController::_remoteControlChannelRawChanged);
connect(_vehicle, &Vehicle::rcChannelsChanged, this, &RadioComponentController::_rcChannelsChanged);
_loadSettings();
_resetInternalCalibrationValues();
......@@ -120,35 +136,38 @@ RadioComponentController::~RadioComponentController()
}
/// @brief Returns the state machine entry for the specified state.
const RadioComponentController::stateMachineEntry* RadioComponentController::_getStateMachineEntry(int step)
const RadioComponentController::stateMachineEntry* RadioComponentController::_getStateMachineEntry(int step) const
{
static const char* msgBegin = "Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
"It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\n"
"Click Next to continue";
static const char* msgThrottleUp = "Move the Throttle stick all the way up and hold it there...";
static const char* msgThrottleDown = "Move the Throttle stick all the way down and leave it there...";
static const char* msgYawLeft = "Move the Yaw stick all the way to the left and hold it there...";
static const char* msgYawRight = "Move the Yaw stick all the way to the right and hold it there...";
static const char* msgRollLeft = "Move the Roll stick all the way to the left and hold it there...";
static const char* msgRollRight = "Move the Roll stick all the way to the right and hold it there...";
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* msgAux1Switch = "Move the switch or dial you want to use for Aux1.\n\n"
static const char* msgBeginPX4 = "Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
"It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\n"
"Click Next to continue";
static const char* msgBeginAPM = "Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
"Please ensure all motor power is disconnected AND all props are removed from the vehicle.\n\n"
"Click Next to continue";
static const char* msgThrottleUp = "Move the Throttle stick all the way up and hold it there...";
static const char* msgThrottleDown = "Move the Throttle stick all the way down and leave it there...";
static const char* msgYawLeft = "Move the Yaw stick all the way to the left and hold it there...";
static const char* msgYawRight = "Move the Yaw stick all the way to the right and hold it there...";
static const char* msgRollLeft = "Move the Roll stick all the way to the left and hold it there...";
static const char* msgRollRight = "Move the Roll stick all the way to the right and hold it there...";
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* 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"
static const char* msgAux2Switch = "Move the switch or dial you want to use for Aux2.\n\n"
"You can click Skip if you don't want to assign.";
static const char* msgSwitchMinMax = "Move all the transmitter switches and/or dials back and forth to their extreme positions.";
static const char* msgFlapsDetect = "Move the switch or dial you want to use for Flaps back and forth a few times. "
static const char* msgSwitchMinMax = "Move all the transmitter switches and/or dials back and forth to their extreme positions.";
static const char* msgFlapsDetect = "Move the switch or dial you want to use for Flaps back and forth a few times. "
"Then leave the switch/dial at the position you want to use for Flaps fully extended.\n\n"
"Click Next to continue.\n"
"If you won't be using Flaps, click Skip.";
static const char* msgFlapsUp = "Move the switch or dial you want to use for Flaps to the position you want to use for Flaps fully retracted.";
static const char* msgComplete = "All settings have been captured. Click Next to write the new parameters to your board.";
static const char* msgFlapsUp = "Move the switch or dial you want to use for Flaps to the position you want to use for Flaps fully retracted.";
static const char* msgComplete = "All settings have been captured. Click Next to write the new parameters to your board.";
static const stateMachineEntry rgStateMachine[] = {
static const stateMachineEntry rgStateMachinePX4[] = {
//Function
{ rcCalFunctionMax, msgBegin, _imageHome, &RadioComponentController::_inputCenterWaitBegin, &RadioComponentController::_saveAllTrims, NULL },
{ rcCalFunctionMax, msgBeginPX4, _imageHome, &RadioComponentController::_inputCenterWaitBegin, &RadioComponentController::_saveAllTrims, NULL },
{ rcCalFunctionThrottle, msgThrottleUp, _imageThrottleUp, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionThrottle, msgThrottleDown, _imageThrottleDown, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionYaw, msgYawRight, _imageYawRight, &RadioComponentController::_inputStickDetect, NULL, NULL },
......@@ -166,9 +185,43 @@ const RadioComponentController::stateMachineEntry* RadioComponentController::_ge
{ rcCalFunctionMax, msgComplete, _imageThrottleDown, NULL, &RadioComponentController::_writeCalibration, NULL },
};
Q_ASSERT(step >=0 && step < (int)(sizeof(rgStateMachine) / sizeof(rgStateMachine[0])));
static const stateMachineEntry rgStateMachineAPM[] = {
//Function
{ rcCalFunctionMax, msgBeginAPM, _imageHome, &RadioComponentController::_inputCenterWaitBegin, &RadioComponentController::_saveAllTrims, NULL },
{ rcCalFunctionThrottle, msgThrottleUp, _imageThrottleUp, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionThrottle, msgThrottleDown, _imageThrottleDown, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionYaw, msgYawRight, _imageYawRight, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionYaw, msgYawLeft, _imageYawLeft, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionRoll, msgRollRight, _imageRollRight, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionRoll, msgRollLeft, _imageRollLeft, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionPitch, msgPitchUp, _imagePitchUp, &RadioComponentController::_inputStickDetect, NULL, NULL },
{ rcCalFunctionPitch, msgPitchDown, _imagePitchDown, &RadioComponentController::_inputStickMin, NULL, NULL },
{ rcCalFunctionPitch, msgPitchCenter, _imageHome, &RadioComponentController::_inputCenterWait, NULL, NULL },
{ rcCalFunctionMax, msgSwitchMinMax, _imageSwitchMinMax, &RadioComponentController::_inputSwitchMinMax, &RadioComponentController::_advanceState, NULL },
{ rcCalFunctionMax, msgComplete, _imageThrottleDown, NULL, &RadioComponentController::_writeCalibration, NULL },
};
bool badStep = false;
if (step < 0) {
badStep = true;
}
if (_px4Vehicle()) {
if (step >= (int)(sizeof(rgStateMachinePX4) / sizeof(rgStateMachinePX4[0]))) {
badStep = true;
}
} else {
if (step >= (int)(sizeof(rgStateMachineAPM) / sizeof(rgStateMachineAPM[0]))) {
badStep = true;
}
}
if (badStep) {
qWarning() << "Bad step value" << step;
step = 0;
}
const stateMachineEntry* stateMachine = _px4Vehicle() ? rgStateMachinePX4 : rgStateMachineAPM;
return &rgStateMachine[step];
return &stateMachine[step];
}
void RadioComponentController::_advanceState(void)
......@@ -187,7 +240,7 @@ void RadioComponentController::_setupCurrentState(void)
_setHelpImage(state->image);
_stickDetectChannel = _chanMax;
_stickDetectChannel = _chanMax();
_stickDetectSettleStarted = false;
_rcCalSaveCurrentValues();
......@@ -196,53 +249,52 @@ void RadioComponentController::_setupCurrentState(void)
_skipButton->setEnabled(state->skipFn != NULL);
}
/// @brief This routine is called whenever a raw value for an RC channel changes. It will call the input
/// function as specified by the state machine.
/// @param chan RC channel on which signal is coming from (0-based)
/// @param fval Current value for channel
void RadioComponentController::_remoteControlChannelRawChanged(int chan, float fval)
/// Connected to Vehicle::rcChannelsChanged signal
void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
{
if (chan >= 0 && chan <= _chanMax) {
// We always update raw values
_rcRawValue[chan] = fval;
emit channelRCValueChanged(chan, _rcRawValue[chan]);
// Signal attitude rc values to Qml if mapped
if (_rgChannelInfo[chan].function != rcCalFunctionMax) {
switch (_rgChannelInfo[chan].function) {
int maxChannel = std::min(channelCount, _chanMax());
for (int channel=0; channel<maxChannel; channel++) {
int channelValue = pwmValues[channel];
if (channelValue != -1) {
qCDebug(RadioComponentControllerLog) << "Raw value" << channel << channelValue;
_rcRawValue[channel] = channelValue;
emit channelRCValueChanged(channel, channelValue);
// Signal attitude rc values to Qml if mapped
if (_rgChannelInfo[channel].function != rcCalFunctionMax) {
switch (_rgChannelInfo[channel].function) {
case rcCalFunctionRoll:
emit rollChannelRCValueChanged(_rcRawValue[chan]);
emit rollChannelRCValueChanged(channelValue);
break;
case rcCalFunctionPitch:
emit pitchChannelRCValueChanged(_rcRawValue[chan]);
emit pitchChannelRCValueChanged(channelValue);
break;
case rcCalFunctionYaw:
emit yawChannelRCValueChanged(_rcRawValue[chan]);
emit yawChannelRCValueChanged(channelValue);
break;
case rcCalFunctionThrottle:
emit throttleChannelRCValueChanged(_rcRawValue[chan]);
emit throttleChannelRCValueChanged(channelValue);
break;
default:
break;
}
}
}
qCDebug(RadioComponentControllerLog) << "Raw value" << chan << fval;
if (_currentStep == -1) {
// Track the receiver channel count by keeping track of how many channels we see
if (chan + 1 > (int)_chanCount) {
_chanCount = chan + 1;
emit channelCountChanged(_chanCount);
}
}
if (_currentStep != -1) {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
if (state->rcInputFn) {
(this->*state->rcInputFn)(state->function, chan, fval);
if (_currentStep == -1) {
if (_chanCount != channelCount) {
_chanCount = channelCount;
emit channelCountChanged(_chanCount);
}
} else {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
if (state->rcInputFn) {
(this->*state->rcInputFn)(state->function, channel, channelValue);
}
}
}
}
......@@ -346,14 +398,14 @@ bool RadioComponentController::_stickSettleComplete(int value)
void RadioComponentController::_inputStickDetect(enum rcCalFunctions function, int channel, int value)
{
qCDebug(RadioComponentControllerLog) << "_inputStickDetect function:channel:value" << _rgFunctionInfo[function].parameterName << channel << value;
qCDebug(RadioComponentControllerLog) << "_inputStickDetect function:channel:value" << _functionInfo()[function].parameterName << channel << value;
// If this channel is already used in a mapping we can't use it again
if (_rgChannelInfo[channel].function != rcCalFunctionMax) {
return;
}
if (_stickDetectChannel == _chanMax) {
if (_stickDetectChannel == _chanMax()) {
// We have not detected enough movement on a channel yet
if (abs(_rcValueSave[channel] - value) > _rcCalMoveDelta) {
......@@ -400,7 +452,7 @@ void RadioComponentController::_inputStickMin(enum rcCalFunctions function, int
return;
}
if (_stickDetectChannel == _chanMax) {
if (_stickDetectChannel == _chanMax()) {
// Setup up to detect stick being pegged to extreme position
if (_rgChannelInfo[channel].reversed) {
if (value > _rcCalPWMCenterPoint + _rcCalMoveDelta) {
......@@ -447,7 +499,7 @@ void RadioComponentController::_inputCenterWait(enum rcCalFunctions function, in
return;
}
if (_stickDetectChannel == _chanMax) {
if (_stickDetectChannel == _chanMax()) {
// Sticks have not yet moved close enough to center
if (abs(_rcCalPWMCenterPoint - value) < _rcCalRoughCenterDelta) {
......@@ -499,7 +551,7 @@ void RadioComponentController::_skipFlaps(void)
_rgChannelInfo[i].function = rcCalFunctionMax;
}
}
_rgFunctionChannelMapping[RadioComponentController::rcCalFunctionFlaps] = _chanMax;
_rgFunctionChannelMapping[RadioComponentController::rcCalFunctionFlaps] = _chanMax();
// Skip over flap steps
_currentStep += 2;
......@@ -510,7 +562,7 @@ void RadioComponentController::_saveFlapsDown(void)
{
int channel = _rgFunctionChannelMapping[rcCalFunctionFlaps];
if (channel == _chanMax) {
if (channel == _chanMax()) {
// Channel not yet mapped, still waiting for switch to move
if (_unitTestMode) {
emit nextButtonMessageBoxDisplayed();
......@@ -552,7 +604,7 @@ void RadioComponentController::_inputFlapsUp(enum rcCalFunctions function, int c
return;
}
if (_stickDetectChannel == _chanMax) {
if (_stickDetectChannel == _chanMax()) {
// Setup up to detect stick being pegged to extreme position
if (_rgChannelInfo[channel].reversed) {
if (value > _rcCalPWMCenterPoint + _rcCalMoveDelta) {
......@@ -624,7 +676,7 @@ void RadioComponentController::_inputFlapsDetect(enum rcCalFunctions function, i
void RadioComponentController::_resetInternalCalibrationValues(void)
{
// Set all raw channels to not reversed and center point values
for (int i=0; i<_chanMax; i++) {
for (int i=0; i<_chanMax(); i++) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->function = rcCalFunctionMax;
info->reversed = false;
......@@ -635,33 +687,35 @@ void RadioComponentController::_resetInternalCalibrationValues(void)
// Initialize attitude function mapping to function channel not set
for (size_t i=0; i<rcCalFunctionMax; i++) {
_rgFunctionChannelMapping[i] = _chanMax;
_rgFunctionChannelMapping[i] = _chanMax();
}
// 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]);
if (_px4Vehicle()) {
// Reserve the existing Flight Mode switch settings channels so we don't re-use them
for (size_t i=0; i < crgFlightModeFunctions; i++) {
QVariant value;
enum rcCalFunctions curFunction = rgFlightModeFunctions[i];
bool ok;
int switchChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[curFunction].parameterName)->rawValue().toInt(&ok);
Q_ASSERT(ok);
// Parameter: 1-based channel, 0=not mapped
// _rgFunctionChannelMapping: 0-based channel, _chanMax=not mapped
if (switchChannel != 0) {
qCDebug(RadioComponentControllerLog) << "Reserving 0-based switch channel" << switchChannel - 1;
_rgFunctionChannelMapping[curFunction] = switchChannel - 1;
_rgChannelInfo[switchChannel - 1].function = curFunction;
static const rcCalFunctions rgFlightModeFunctions[] = {
rcCalFunctionModeSwitch,
rcCalFunctionPosCtlSwitch,
rcCalFunctionLoiterSwitch,
rcCalFunctionReturnSwitch };
static const size_t crgFlightModeFunctions = sizeof(rgFlightModeFunctions) / sizeof(rgFlightModeFunctions[0]);
for (size_t i=0; i < crgFlightModeFunctions; i++) {
QVariant value;
enum rcCalFunctions curFunction = rgFlightModeFunctions[i];
bool ok;
int switchChannel = getParameterFact(FactSystem::defaultComponentId, _functionInfo()[curFunction].parameterName)->rawValue().toInt(&ok);
Q_ASSERT(ok);
// Parameter: 1-based channel, 0=not mapped
// _rgFunctionChannelMapping: 0-based channel, _chanMax=not mapped
if (switchChannel != 0) {
qCDebug(RadioComponentControllerLog) << "Reserving 0-based switch channel" << switchChannel - 1;
_rgFunctionChannelMapping[curFunction] = switchChannel - 1;
_rgChannelInfo[switchChannel - 1].function = curFunction;
}
}
}
......@@ -673,13 +727,13 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
{
// Initialize all function mappings to not set
for (int i=0; i<_chanMax; i++) {
for (int i=0; i<_chanMax(); i++) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->function = rcCalFunctionMax;
}
for (size_t i=0; i<rcCalFunctionMax; i++) {
_rgFunctionChannelMapping[i] = _chanMax;
_rgFunctionChannelMapping[i] = _chanMax();
}
// Pull parameters and update
......@@ -691,7 +745,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
bool convertOk;
for (int i = 0; i < _chanMax; ++i) {
for (int i = 0; i < _chanMax(); ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->rcTrim = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1))->rawValue().toInt(&convertOk);
......@@ -712,12 +766,15 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
for (int i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
paramChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
if (paramChannel != 0) {
_rgFunctionChannelMapping[i] = paramChannel - 1;
_rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
const char* paramName = _functionInfo()[i].parameterName;
if (paramName) {
paramChannel = getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
if (paramChannel != 0) {
_rgFunctionChannelMapping[i] = paramChannel - 1;
_rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
}
}
}
......@@ -732,7 +789,7 @@ void RadioComponentController::spektrumBindMode(int mode)
/// @brief Validates the current settings against the calibration rules resetting values as necessary.
void RadioComponentController::_validateCalibration(void)
{
for (int chan = 0; chan<_chanMax; chan++) {
for (int chan = 0; chan<_chanMax(); chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
if (chan < _chanCount) {
......@@ -790,7 +847,7 @@ void RadioComponentController::_writeCalibration(void)
QString revTpl("RC%1_REV");
// Note that the rc parameters are all float, so you must cast to float in order to get the right QVariant
for (int chan = 0; chan<_chanMax; chan++) {
for (int chan = 0; chan<_chanMax(); chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
int oneBasedChannel = chan + 1;
......@@ -801,25 +858,40 @@ void RadioComponentController::_writeCalibration(void)
}
// Write function mapping parameters
bool functionMappingChanged = false;
for (size_t i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
if (_rgFunctionChannelMapping[i] == _chanMax) {
if (_rgFunctionChannelMapping[i] == _chanMax()) {
// 0 signals no mapping
paramChannel = 0;
} else {
// Note that the channel value is 1-based
paramChannel = _rgFunctionChannelMapping[i] + 1;
}
getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->setRawValue(paramChannel);
const char* paramName = _functionInfo()[i].parameterName;
if (paramName) {
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, _functionInfo()[i].parameterName);
if (paramFact->rawValue().toInt() != paramChannel) {
functionMappingChanged = true;
getParameterFact(FactSystem::defaultComponentId, _functionInfo()[i].parameterName)->setRawValue(paramChannel);
}
}
}
// If the RC_CHAN_COUNT parameter is available write the channel count
if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setRawValue(_chanCount);
if (_px4Vehicle()) {
// If the RC_CHAN_COUNT parameter is available write the channel count
if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setRawValue(_chanCount);
}
}
_stopCalibration();
_setInternalCalibrationValuesFromParameters();
if (_vehicle->apmFirmware() && functionMappingChanged) {
emit functionMappingChangedAPMReboot();
}
}
/// @brief Starts the calibration process
......@@ -865,7 +937,7 @@ void RadioComponentController::_stopCalibration(void)
void RadioComponentController::_rcCalSaveCurrentValues(void)
{
qCDebug(RadioComponentControllerLog) << "_rcCalSaveCurrentValues";
for (int i = 0; i < _chanMax; i++) {
for (int i = 0; i < _chanMax(); i++) {
_rcValueSave[i] = _rcRawValue[i];
}
}
......@@ -936,7 +1008,7 @@ int RadioComponentController::channelCount(void)
int RadioComponentController::rollChannelRCValue(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax) {
if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax()) {
return _rcRawValue[rcCalFunctionRoll];
} else {
return 1500;
......@@ -945,7 +1017,7 @@ int RadioComponentController::rollChannelRCValue(void)
int RadioComponentController::pitchChannelRCValue(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax) {
if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax()) {
return _rcRawValue[rcCalFunctionPitch];
} else {
return 1500;
......@@ -954,7 +1026,7 @@ int RadioComponentController::pitchChannelRCValue(void)
int RadioComponentController::yawChannelRCValue(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax) {
if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax()) {
return _rcRawValue[rcCalFunctionYaw];
} else {
return 1500;
......@@ -963,7 +1035,7 @@ int RadioComponentController::yawChannelRCValue(void)
int RadioComponentController::throttleChannelRCValue(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax) {
if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax()) {
return _rcRawValue[rcCalFunctionThrottle];
} else {
return 1500;
......@@ -972,27 +1044,27 @@ int RadioComponentController::throttleChannelRCValue(void)
bool RadioComponentController::rollChannelMapped(void)
{
return _rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax;
return _rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax();
}
bool RadioComponentController::pitchChannelMapped(void)
{
return _rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax;
return _rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax();
}
bool RadioComponentController::yawChannelMapped(void)
{
return _rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax;
return _rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax();
}
bool RadioComponentController::throttleChannelMapped(void)
{
return _rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax;
return _rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax();
}
bool RadioComponentController::rollChannelReversed(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax) {
if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax()) {
return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionRoll]].reversed;
} else {
return false;
......@@ -1001,7 +1073,7 @@ bool RadioComponentController::rollChannelReversed(void)
bool RadioComponentController::pitchChannelReversed(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax) {
if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax()) {
return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionPitch]].reversed;
} else {
return false;
......@@ -1010,7 +1082,7 @@ bool RadioComponentController::pitchChannelReversed(void)
bool RadioComponentController::yawChannelReversed(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax) {
if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax()) {
return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionYaw]].reversed;
} else {
return false;
......@@ -1019,7 +1091,7 @@ bool RadioComponentController::yawChannelReversed(void)
bool RadioComponentController::throttleChannelReversed(void)
{
if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax) {
if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax()) {
return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionThrottle]].reversed;
} else {
return false;
......@@ -1054,3 +1126,18 @@ void RadioComponentController::copyTrims(void)
{
_uas->startCalibration(UASInterface::StartCalibrationCopyTrims);
}
bool RadioComponentController::_px4Vehicle(void) const
{
return _vehicle->firmwareType() == MAV_AUTOPILOT_PX4;
}
const struct RadioComponentController::FunctionInfo* RadioComponentController::_functionInfo(void) const
{
return _px4Vehicle() ? _rgFunctionInfoPX4 : _rgFunctionInfoAPM;
}
int RadioComponentController::_chanMax(void) const
{
return _px4Vehicle() ? _chanMaxPX4 : _chanMaxAPM;
}
src/AutoPilotPlugins/PX4/RadioComponentController.h → src/AutoPilotPlugins/Common/RadioComponentController.h
View file @ b8e67980
......@@ -140,9 +140,12 @@ signals:
// @brief Signalled when in unit test mode and a message box should be displayed by the next button
void nextButtonMessageBoxDisplayed(void);
// Signaled to QML to indicator reboot is required
void functionMappingChangedAPMReboot(void);
private slots:
void _remoteControlChannelRawChanged(int chan, float val);
void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
private:
/// @brief These identify the various controls functions. They are also used as indices into the _rgFunctioInfo
/// array.
......@@ -209,7 +212,9 @@ private:
int _currentStep; ///< Current step of state machine
const struct stateMachineEntry* _getStateMachineEntry(int step);
const struct stateMachineEntry* _getStateMachineEntry(int step) const;
const struct FunctionInfo* _functionInfo(void) const;
bool _px4Vehicle(void) const;
void _advanceState(void);
void _setupCurrentState(void);
......@@ -251,6 +256,8 @@ private:
void _storeSettings(void);
void _signalAllAttiudeValueChanges(void);
int _chanMax(void) const;
// @brief Called by unit test code to set the mode to unit testing
void _setUnitTestMode(void){ _unitTestMode = true; }
......@@ -279,16 +286,20 @@ private:
static const int _updateInterval; ///< Interval for ui update timer
static const struct FunctionInfo _rgFunctionInfo[rcCalFunctionMax]; ///< Information associated with each function.
static const struct FunctionInfo _rgFunctionInfoAPM[rcCalFunctionMax]; ///< Information associated with each function, PX4 firmware
static const struct FunctionInfo _rgFunctionInfoPX4[rcCalFunctionMax]; ///< Information associated with each function, APM firmware
int _rgFunctionChannelMapping[rcCalFunctionMax]; ///< Maps from rcCalFunctions to channel index. _chanMax indicates channel not set for this function.
static const int _attitudeControls = 5;
int _chanCount; ///< Number of actual rc channels available
static const int _chanMax = 18; ///< Maximum number of supported rc channels
static const int _chanMinimum = 5; ///< Minimum numner of channels required to run PX4
static const int _chanMaxPX4 = 18; ///< Maximum number of supported rc channels, PX4 Firmware
static const int _chanMaxAPM = 14; ///< Maximum number of supported rc channels, APM firmware
static const int _chanMaxAny = 18; ///< Maximum number of support rc channels by this implementation
static const int _chanMinimum = 5; ///< Minimum numner of channels required to run
struct ChannelInfo _rgChannelInfo[_chanMax]; ///< Information associated with each rc channel
struct ChannelInfo _rgChannelInfo[_chanMaxAny]; ///< Information associated with each rc channel
enum rcCalStates _rcCalState; ///< Current calibration state
int _rcCalStateCurrentChannel; ///< Current channel being worked on in rcCalStateIdentify and rcCalStateDetectInversion
......@@ -306,9 +317,9 @@ private:
static const int _rcCalSettleDelta;
static const int _rcCalMinDelta;
int _rcValueSave[_chanMax]; ///< Saved values prior to detecting channel movement
int _rcValueSave[_chanMaxAny]; ///< Saved values prior to detecting channel movement
int _rcRawValue[_chanMax]; ///< Current set of raw channel values
int _rcRawValue[_chanMaxAny]; ///< Current set of raw channel values
int _stickDetectChannel;
int _stickDetectInitialValue;
......
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ b8e67980
......@@ -99,7 +99,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
_airframeComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
_radioComponent = new RadioComponent(_vehicle, this);
_radioComponent = new PX4RadioComponent(_vehicle, this);
Q_CHECK_PTR(_radioComponent);
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
......
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
View file @ b8e67980
......@@ -27,7 +27,7 @@
#include "AutoPilotPlugin.h"
#include "PX4AirframeLoader.h"
#include "AirframeComponent.h"
#include "RadioComponent.h"
#include "PX4RadioComponent.h"
#include "FlightModesComponent.h"
#include "SensorsComponent.h"
#include "SafetyComponent.h"
......@@ -53,7 +53,7 @@ public:
// These methods should only be used by objects within the plugin
AirframeComponent* airframeComponent(void) { return _airframeComponent; }
RadioComponent* radioComponent(void) { return _radioComponent; }
PX4RadioComponent* radioComponent(void) { return _radioComponent; }
FlightModesComponent* flightModesComponent(void) { return _flightModesComponent; }
SensorsComponent* sensorsComponent(void) { return _sensorsComponent; }
SafetyComponent* safetyComponent(void) { return _safetyComponent; }
......@@ -67,7 +67,7 @@ private:
PX4AirframeLoader* _airframeFacts;
QVariantList _components;
AirframeComponent* _airframeComponent;
RadioComponent* _radioComponent;
PX4RadioComponent* _radioComponent;
FlightModesComponent* _flightModesComponent;
SensorsComponent* _sensorsComponent;
SafetyComponent* _safetyComponent;
......
src/AutoPilotPlugins/PX4/RadioComponent.cc → src/AutoPilotPlugins/PX4/PX4RadioComponent.cc
View file @ b8e67980
......@@ -21,42 +21,38 @@
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "RadioComponent.h"
#include "QGCQmlWidgetHolder.h"
#include "PX4RadioComponent.h"
#include "PX4AutoPilotPlugin.h"
RadioComponent::RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
PX4RadioComponent::PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
PX4Component(vehicle, autopilot, parent),
_name(tr("Radio"))
{
}
QString RadioComponent::name(void) const
QString PX4RadioComponent::name(void) const
{
return _name;
}
QString RadioComponent::description(void) const
QString PX4RadioComponent::description(void) const
{
return tr("The Radio Component is used to setup which channels on your RC Transmitter you will use for each vehicle control such as Roll, Pitch, Yaw and Throttle. "
"It also allows you to assign switches and dials to the various flight modes. "
"Prior to flight you must also calibrate the extents for all of your channels.");
}
QString RadioComponent::iconResource(void) const
QString PX4RadioComponent::iconResource(void) const
{
return "/qmlimages/RadioComponentIcon.png";
}
bool RadioComponent::requiresSetup(void) const
bool PX4RadioComponent::requiresSetup(void) const
{
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
}
bool RadioComponent::setupComplete(void) const
bool PX4RadioComponent::setupComplete(void) const
{
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
// The best we can do to detect the need for a radio calibration is look for attitude
......@@ -73,7 +69,7 @@ bool RadioComponent::setupComplete(void) const
return true;
}
QString RadioComponent::setupStateDescription(void) const
QString PX4RadioComponent::setupStateDescription(void) const
{
const char* stateDescription;
......@@ -85,7 +81,7 @@ QString RadioComponent::setupStateDescription(void) const
return QString(stateDescription);
}
QStringList RadioComponent::setupCompleteChangedTriggerList(void) const
QStringList PX4RadioComponent::setupCompleteChangedTriggerList(void) const
{
QStringList triggers;
......@@ -94,7 +90,7 @@ QStringList RadioComponent::setupCompleteChangedTriggerList(void) const
return triggers;
}
QStringList RadioComponent::paramFilterList(void) const
QStringList PX4RadioComponent::paramFilterList(void) const
{
QStringList list;
......@@ -103,21 +99,20 @@ QStringList RadioComponent::paramFilterList(void) const
return list;
}
QUrl RadioComponent::setupSource(void) const
QUrl PX4RadioComponent::setupSource(void) const
{
return QUrl::fromUserInput("qrc:/qml/RadioComponent.qml");
}
QUrl RadioComponent::summaryQmlSource(void) const
QUrl PX4RadioComponent::summaryQmlSource(void) const
{
return QUrl::fromUserInput("qrc:/qml/RadioComponentSummary.qml");
return QUrl::fromUserInput("qrc:/qml/PX4RadioComponentSummary.qml");
}
QString RadioComponent::prerequisiteSetup(void) const
QString PX4RadioComponent::prerequisiteSetup(void) const
{
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
Q_ASSERT(plugin);
if (!plugin->airframeComponent()->setupComplete()) {
return plugin->airframeComponent()->name();
......
src/AutoPilotPlugins/PX4/RadioComponent.h → src/AutoPilotPlugins/PX4/PX4RadioComponent.h
View file @ b8e67980
......@@ -21,22 +21,17 @@
======================================================================*/
#ifndef RADIOCOMPONENT_H
#define RADIOCOMPONENT_H
#ifndef PX4RadioComponent_H
#define PX4RadioComponent_H
#include "PX4Component.h"
/// @file
/// @brief The Radio VehicleComponent is used to calibrate the trasmitter and assign function mapping
/// to channels.
/// @author Don Gagne <don@thegagnes.com>
class RadioComponent : public PX4Component
class PX4RadioComponent : public PX4Component
{
Q_OBJECT
public:
RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
// Virtuals from PX4Component
virtual QStringList setupCompleteChangedTriggerList(void) const;
......
src/comm/LinkManager.h
View file @ b8e67980
......@@ -171,6 +171,11 @@ public:
// Called to signal app shutdown. Disconnects all links while turning off auto-connect.
void shutdown(void);
#ifdef QT_DEBUG
// Only used by unit test tp restart after a shutdown
void restart(void) { setConnectionsAllowed(); }
#endif
/// @return true: specified link is an autoconnect link
bool isAutoconnectLink(LinkInterface* link);
......
src/qgcunittest/PX4RCCalibrationTest.cc → src/qgcunittest/RadioConfigTest.cc
View file @ b8e67980
......@@ -21,7 +21,7 @@
======================================================================*/
#include "PX4RCCalibrationTest.h"
#include "RadioConfigTest.h"
#include "RadioComponentController.h"
#include "MultiVehicleManager.h"
#include "QGCApplication.h"
......@@ -67,7 +67,7 @@ const int RadioConfigTest::_testMinValue = RadioComponentController::_rcCalPWMDe
const int RadioConfigTest::_testMaxValue = RadioComponentController::_rcCalPWMDefaultMaxValue - 10;
const int RadioConfigTest::_testCenterValue = RadioConfigTest::_testMinValue + ((RadioConfigTest::_testMaxValue - RadioConfigTest::_testMinValue) / 2);
const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettings[RadioConfigTest::_availableChannels] = {
const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsPX4[RadioComponentController::_chanMaxPX4] = {
// Function Min Max # Reversed
// Channel 0 : Not mapped to function, Simulate invalid Min/Max
......@@ -104,9 +104,9 @@ const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSetting
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
};
// Note the: 1500/*RadioComponentController::_rcCalPWMCenterPoint*/ entires. For some reason I couldn't get the compiler to do the
// Note the: 1500/*RadioComponentController::_rcCalPWMCenterPoint*/ entries. For some reason I couldn't get the compiler to do the
// right thing with the constant. So I just hacked inthe real value instead of fighting with it any longer.
const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsValidate[RadioComponentController::_chanMax] = {
const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsValidatePX4[RadioComponentController::_chanMaxPX4] = {
// Function Min Value Max Value Trim Value Reversed
// Channels 0: not mapped and should be set to defaults
......@@ -138,6 +138,62 @@ const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSetting
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
};
const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsAPM[RadioComponentController::_chanMaxAPM] = {
// Function Min Max # Reversed
// Channel 0 : Not mapped to function, Simulate invalid Min/Max
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
// Channels 1-4: Mapped to attitude control function
{ RadioComponentController::rcCalFunctionRoll, _testMinValue, _testMaxValue, 0, true },
{ RadioComponentController::rcCalFunctionPitch, _testMinValue, _testMaxValue, 0, false },
{ RadioComponentController::rcCalFunctionYaw, _testMinValue, _testMaxValue, 0, true },
{ RadioComponentController::rcCalFunctionThrottle, _testMinValue, _testMaxValue, 0, false },
// Channels 5-11: Not mapped to function, Simulate invalid Min/Max, since available channel Min/Max is still shown.
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testCenterValue, 0, false },
// Channel 12 : Not mapped to function, Simulate invalid Min, valid Max
{ RadioComponentController::rcCalFunctionMax, _testCenterValue, _testMaxValue, 0, false },
// Channel 13 : Not mapped to function, Simulate valid Min, invalid Max
{ RadioComponentController::rcCalFunctionMax, _testMinValue, _testCenterValue, 0, false },
};
// Note the: 1500/*RadioComponentController::_rcCalPWMCenterPoint*/ entries. For some reason I couldn't get the compiler to do the
// right thing with the constant. So I just hacked inthe real value instead of fighting with it any longer.
const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsValidateAPM[RadioComponentController::_chanMaxAPM] = {
// Function Min Value Max Value Trim Value Reversed
// Channels 0: not mapped and should be set to defaults
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
// Channels 1-4: Mapped to attitude control function
{ RadioComponentController::rcCalFunctionRoll, _testMinValue, _testMaxValue, _testCenterValue, true },
{ RadioComponentController::rcCalFunctionPitch, _testMinValue, _testMaxValue, _testCenterValue, false },
{ RadioComponentController::rcCalFunctionYaw, _testMinValue, _testMaxValue, _testCenterValue, true },
{ RadioComponentController::rcCalFunctionThrottle, _testMinValue, _testMaxValue, _testMinValue, false },
// Channels 5-11: not mapped and should be set to defaults
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
// Channels 12-13 are not mapped and should be set to defaults
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
{ RadioComponentController::rcCalFunctionMax, RadioComponentController::_rcCalPWMDefaultMinValue, RadioComponentController::_rcCalPWMDefaultMaxValue, 1500/*RadioComponentController::_rcCalPWMCenterPoint*/, false },
};
RadioConfigTest::RadioConfigTest(void) :
_calWidget(NULL),
_controller(NULL)
......@@ -145,11 +201,9 @@ RadioConfigTest::RadioConfigTest(void) :
}
void RadioConfigTest::init(void)
void RadioConfigTest::_init(MAV_AUTOPILOT firmwareType)
{
UnitTest::init();
_connectMockLink();
_connectMockLink(firmwareType);
_autopilot = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->autopilotPlugin();
Q_ASSERT(_autopilot);
......@@ -186,43 +240,6 @@ void RadioConfigTest::cleanup(void)
UnitTest::cleanup();
}
/// @brief Test for correct behavior in determining minimum numbers of channels for flight.
void RadioConfigTest::_minRCChannels_test(void)
{
// Next button won't be enabled until we see the minimum number of channels.
for (int chan=0; chan<RadioComponentController::_chanMinimum; chan++) {
_mockLink->emitRemoteControlChannelRawChanged(chan, (float)RadioComponentController::_rcCalPWMCenterPoint);
// We use _chanCount internally so we should validate it
QCOMPARE(_controller->_chanCount, chan+1);
// Validate Next button state
_controller->nextButtonClicked();
bool signalFound = _multiSpyNextButtonMessageBox->waitForSignalByIndex(0, 200);
if (chan == RadioComponentController::_chanMinimum - 1) {
// Last channel should trigger Calibration available
QCOMPARE(signalFound, false);
QCOMPARE(_controller->_currentStep, 0);
} else {
// Still less than the minimum channels. Next button should show message box. Calibration should not start.
QCOMPARE(signalFound, true);
QCOMPARE(_controller->_currentStep, -1);
}
_multiSpyNextButtonMessageBox->clearAllSignals();
// The following test code no longer works since view update doesn't happens until parameters are received.
// Leaving code here because RC Cal could be restructured to handle this case at some point.
#if 0
// Only available channels should have visible widget. A ui update cycle needs to have passed so we wait a little.
QTest::qWait(RadioComponentController::_updateInterval * 2);
for (int chanWidget=0; chanWidget<RadioComponentController::_chanMax; chanWidget++) {
qCDebug(RadioConfigTestLog) << _rgValueWidget[chanWidget]->objectName() << chanWidget << chan;
QCOMPARE(_rgValueWidget[chanWidget]->isVisible(), !!(chanWidget <= chan));
}
#endif
}
}
void RadioConfigTest::_beginCalibration(void)
{
CHK_BUTTONS(nextButtonMask | cancelButtonMask);
......@@ -261,13 +278,13 @@ void RadioConfigTest::_stickMoveAutoStep(const char* functionStr, enum RadioComp
int channel = _rgFunctionChannelMap[function];
int saveStep = _controller->_currentStep;
bool reversed = _rgChannelSettings[channel].reversed;
bool reversed = _channelSettings()[channel].reversed;
if (!identifyStep && direction != moveToCenter) {
// We have already identified the function channel mapping. Move other channels around to make sure there is no impact.
int otherChannel = channel + 1;
if (otherChannel >= RadioComponentController::_chanMax) {
if (otherChannel >= _chanMax()) {
otherChannel = 0;
}
......@@ -306,9 +323,9 @@ void RadioConfigTest::_switchMinMaxStep(void)
_mockLink->emitRemoteControlChannelRawChanged(0, (float)(RadioComponentController::_rcCalPWMValidMaxValue - 1));
// Send min/max values switch channels
for (int chan=0; chan<_availableChannels; chan++) {
_mockLink->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMin);
_mockLink->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMax);
for (int chan=0; chan<_chanMax(); chan++) {
_mockLink->emitRemoteControlChannelRawChanged(chan, _channelSettings()[chan].rcMin);
_mockLink->emitRemoteControlChannelRawChanged(chan, _channelSettings()[chan].rcMax);
}
_channelHomePosition();
......@@ -325,7 +342,7 @@ void RadioConfigTest::_flapsDetectStep(void)
qCDebug(RadioConfigTestLog) << "_flapsDetectStep channel" << channel;
// Test code can't handle reversed flaps channel
Q_ASSERT(!_rgChannelSettings[channel].reversed);
Q_ASSERT(!_channelSettings()[channel].reversed);
CHK_BUTTONS(nextButtonMask | cancelButtonMask | skipButtonMask);
......@@ -367,8 +384,10 @@ void RadioConfigTest::_switchSelectAutoStep(const char* functionStr, RadioCompon
QCOMPARE(_controller->_currentStep, saveStep + 1);
}
void RadioConfigTest::_fullCalibration_test(void)
void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
{
_init(firmwareType);
// IMPORTANT NOTE: We used channels 1-5 for attitude mapping in the test below.
// MockLink.params file cannot have flight mode switches mapped to those channels.
// If it does it will cause errors since the stick will not be detetected where
......@@ -380,16 +399,17 @@ void RadioConfigTest::_fullCalibration_test(void)
bool found = false;
// If we are mapping this function during cal set it into _rgFunctionChannelMap
for (int channel=0; channel<RadioConfigTest::_availableChannels; channel++) {
if (_rgChannelSettings[channel].function == function) {
for (int channel=0; channel<_chanMax(); channel++) {
if (_channelSettings()[channel].function == function) {
// First make sure this function isn't being use for a switch
QStringList switchList;
switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
foreach (QString switchParam, switchList) {
Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
if (_px4Vehicle()) {
// Make sure this function isn't being use for a switch
QStringList switchList;
switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
foreach (QString switchParam, switchList) {
Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
}
}
_rgFunctionChannelMap[function] = channel;
......@@ -401,12 +421,17 @@ void RadioConfigTest::_fullCalibration_test(void)
// If we aren't mapping this function during calibration, set it to the previous setting
if (!found) {
_rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[function].parameterName)->rawValue().toInt();
qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
if (_rgFunctionChannelMap[function] == 0) {
_rgFunctionChannelMap[function] = -1; // -1 signals no mapping
const char* paramName = _functionInfo()[function].parameterName;
if (paramName) {
_rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
if (_rgFunctionChannelMap[function] == 0) {
_rgFunctionChannelMap[function] = -1; // -1 signals no mapping
} else {
_rgFunctionChannelMap[function]--; // parameter is 1-based, _rgFunctionChannelMap is not
}
} else {
_rgFunctionChannelMap[function]--; // parameter is 1-based, _rgFunctionChannelMap is not
_rgFunctionChannelMap[function] = -1; // -1 signals no mapping
}
}
}
......@@ -424,21 +449,34 @@ void RadioConfigTest::_fullCalibration_test(void)
_stickMoveAutoStep("Pitch", RadioComponentController::rcCalFunctionPitch, moveToMin, false /* not identify step */);
_stickMoveAutoStep("Pitch", RadioComponentController::rcCalFunctionPitch, moveToCenter, false /* not identify step */);
_switchMinMaxStep();
_flapsDetectStep();
_stickMoveAutoStep("Flaps", RadioComponentController::rcCalFunctionFlaps, moveToMin, false /* not identify step */);
_switchSelectAutoStep("Aux1", RadioComponentController::rcCalFunctionAux1);
_switchSelectAutoStep("Aux2", RadioComponentController::rcCalFunctionAux2);
if (firmwareType == MAV_AUTOPILOT_PX4) {
_flapsDetectStep();
_stickMoveAutoStep("Flaps", RadioComponentController::rcCalFunctionFlaps, moveToMin, false /* not identify step */);
_switchSelectAutoStep("Aux1", RadioComponentController::rcCalFunctionAux1);
_switchSelectAutoStep("Aux2", RadioComponentController::rcCalFunctionAux2);
}
// One more click and the parameters should get saved
_controller->nextButtonClicked();
_validateParameters();
}
void RadioConfigTest::_fullCalibration_px4_test(void)
{
_fullCalibrationWorker(MAV_AUTOPILOT_PX4);
}
void RadioConfigTest::_fullCalibration_apm_test(void)
{
_fullCalibrationWorker(MAV_AUTOPILOT_ARDUPILOTMEGA);
}
/// @brief Sets rc input to Throttle down home position. Centers all other channels.
void RadioConfigTest::_channelHomePosition(void)
{
// Initialize available channels to center point.
for (int i=0; i<_availableChannels; i++) {
for (int i=0; i<_chanMax(); i++) {
_mockLink->emitRemoteControlChannelRawChanged(i, (float)RadioComponentController::_rcCalPWMCenterPoint);
}
......@@ -465,20 +503,23 @@ void RadioConfigTest::_validateParameters(void)
expectedParameterValue = chanIndex + 1; // 1-based parameter value
}
qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt();
QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt(), expectedParameterValue);
const char* paramName = _functionInfo()[chanFunction].parameterName;
if (paramName) {
qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
}
}
// Validate the channel settings. Note the channels are 1-based in parameter names.
for (int chan = 0; chan<RadioComponentController::_chanMax; chan++) {
for (int chan = 0; chan<_chanMax(); chan++) {
int oneBasedChannel = chan + 1;
bool convertOk;
// Required channels have min/max set on them. Remaining channels are left to default.
int rcMinExpected = _rgChannelSettingsValidate[chan].rcMin;
int rcMaxExpected = _rgChannelSettingsValidate[chan].rcMax;
int rcTrimExpected = _rgChannelSettingsValidate[chan].rcTrim;
bool rcReversedExpected = _rgChannelSettingsValidate[chan].reversed;
int rcMinExpected = _channelSettingsValidate()[chan].rcMin;
int rcMaxExpected = _channelSettingsValidate()[chan].rcMax;
int rcTrimExpected = _channelSettingsValidate()[chan].rcTrim;
bool rcReversedExpected = _channelSettingsValidate()[chan].reversed;
int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
QCOMPARE(convertOk, true);
......@@ -507,7 +548,35 @@ void RadioConfigTest::_validateParameters(void)
} else {
expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based
}
// qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[RadioComponentController::_rgFunctionInfo[chanFunction].parameterName].toInt();
QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt(), expectedValue);
const char* paramName = _functionInfo()[chanFunction].parameterName;
if (paramName) {
// qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[paramName].toInt();
QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
}
}
}
bool RadioConfigTest::_px4Vehicle(void) const
{
return _vehicle->firmwareType() == MAV_AUTOPILOT_PX4;
}
const struct RadioConfigTest::ChannelSettings* RadioConfigTest::_channelSettings(void) const
{
return _px4Vehicle() ? _rgChannelSettingsPX4 : _rgChannelSettingsAPM;
}
const struct RadioConfigTest::ChannelSettings* RadioConfigTest::_channelSettingsValidate(void) const
{
return _px4Vehicle() ? _rgChannelSettingsValidatePX4 : _rgChannelSettingsValidateAPM;
}
const struct RadioComponentController::FunctionInfo* RadioConfigTest::_functionInfo(void) const
{
return _px4Vehicle() ? RadioComponentController::_rgFunctionInfoPX4 : RadioComponentController::_rgFunctionInfoAPM;
}
int RadioConfigTest::_chanMax(void) const
{
return _px4Vehicle() ? RadioComponentController::_chanMaxPX4 : RadioComponentController::_chanMaxAPM;
}
src/qgcunittest/PX4RCCalibrationTest.h → src/qgcunittest/RadioConfigTest.h
View file @ b8e67980
......@@ -47,12 +47,11 @@ public:
RadioConfigTest(void);
private slots:
void init(void);
void cleanup(void);
void _minRCChannels_test(void);
void _fullCalibration_test(void);
void _fullCalibration_px4_test(void);
void _fullCalibration_apm_test(void);
private:
/// @brief Modes to run worker functions
enum TestMode {
......@@ -67,15 +66,6 @@ private:
moveToCenter,
};
void _channelHomePosition(void);
void _minRCChannels(void);
void _beginCalibration(void);
void _stickMoveWaitForSettle(int channel, int value);
void _stickMoveAutoStep(const char* functionStr, enum RadioComponentController::rcCalFunctions function, enum MoveToDirection direction, bool identifyStep);
void _switchMinMaxStep(void);
void _flapsDetectStep(void);
void _switchSelectAutoStep(const char* functionStr, RadioComponentController::rcCalFunctions function);
enum {
validateMinMaxMask = 1 << 0,
validateTrimsMask = 1 << 1,
......@@ -85,12 +75,28 @@ private:
};
struct ChannelSettings {
int function;
int function;
int rcMin;
int rcMax;
int rcTrim;
int reversed;
};
void _init(MAV_AUTOPILOT firmwareType);
void _channelHomePosition(void);
void _minRCChannels(void);
void _beginCalibration(void);
void _stickMoveWaitForSettle(int channel, int value);
void _stickMoveAutoStep(const char* functionStr, enum RadioComponentController::rcCalFunctions function, enum MoveToDirection direction, bool identifyStep);
void _switchMinMaxStep(void);
void _flapsDetectStep(void);
void _switchSelectAutoStep(const char* functionStr, RadioComponentController::rcCalFunctions function);
bool _px4Vehicle(void) const;
const struct RadioComponentController::FunctionInfo* _functionInfo(void) const;
const struct ChannelSettings* _channelSettings(void) const;
const struct ChannelSettings* _channelSettingsValidate(void) const;
void _fullCalibrationWorker(MAV_AUTOPILOT firmwareType);
int _chanMax(void) const;
void _validateParameters(void);
......@@ -113,12 +119,13 @@ private:
static const int _testMaxValue;
static const int _testCenterValue;
static const int _availableChannels = 18; ///< Simulate 18 channel RC Transmitter
static const int _stickSettleWait;
static const struct ChannelSettings _rgChannelSettings[_availableChannels];
static const struct ChannelSettings _rgChannelSettingsValidate[RadioComponentController::_chanMax];
static const struct ChannelSettings _rgChannelSettingsPX4[RadioComponentController::_chanMaxPX4];
static const struct ChannelSettings _rgChannelSettingsAPM[RadioComponentController::_chanMaxAPM];
static const struct ChannelSettings _rgChannelSettingsValidatePX4[RadioComponentController::_chanMaxPX4];
static const struct ChannelSettings _rgChannelSettingsValidateAPM[RadioComponentController::_chanMaxAPM];
int _rgFunctionChannelMap[RadioComponentController::rcCalFunctionMax];
RadioComponentController* _controller;
......
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