From bcade365756049187ad6af9fc217989343334985 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Thu, 23 Jun 2016 08:58:45 -0700 Subject: [PATCH] Rover radio cal fixes Throttle trim must be center throttle --- .../Common/RadioComponentController.cc | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/src/AutoPilotPlugins/Common/RadioComponentController.cc b/src/AutoPilotPlugins/Common/RadioComponentController.cc index ee8a3969b..9a222d15a 100644 --- a/src/AutoPilotPlugins/Common/RadioComponentController.cc +++ b/src/AutoPilotPlugins/Common/RadioComponentController.cc @@ -206,11 +206,20 @@ void RadioComponentController::_advanceState(void) /// @brief Sets up the state machine according to the current step from _currentStep. void RadioComponentController::_setupCurrentState(void) { - const stateMachineEntry* state = _getStateMachineEntry(_currentStep); - - _statusText->setProperty("text", state->instructions); - - _setHelpImage(state->image); + static const char* msgBeginAPMRover = "Center the Throttle stick as shown in diagram.\nReset all transmitter trims to center.\n\n" + "Please ensure all motor power is disconnected from the vehicle.\n\n" + "Click Next to continue"; + const stateMachineEntry* state = _getStateMachineEntry(_currentStep); + + const char* instructions = state->instructions; + const char* helpImage = state->image; + if (_vehicle->rover() && _currentStep == 0) { + // Hack in center throttle start for Rover. This is to set the correct centered trim for throttle. + instructions = msgBeginAPMRover; + helpImage = _imageCenter; + } + _statusText->setProperty("text", instructions); + _setHelpImage(helpImage); _stickDetectChannel = _chanMax(); _stickDetectSettleStarted = false; -- 2.22.0