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Commit d4b826c3 authored by Lorenz Meier's avatar Lorenz Meier
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Merge pull request #840 from DonLakeFlyer/RCCalFixes 

Updated RC Cal validation rules
parents 1898be3f e39b779a
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Showing with 469 additions and 180 deletions
src/qgcunittest/PX4RCCalibrationTest.cc
View file @ d4b826c3
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src/qgcunittest/PX4RCCalibrationTest.h
View file @ d4b826c3
......@@ -30,10 +30,11 @@
#include "px4_configuration/PX4RCCalibration.h"
/// @file
/// @brief QGCPX4RCCAlibration Widget unit test
/// @brief PX4RCCalibration Widget unit test
///
/// @author Don Gagne <don@thegagnes.com>
/// @brief PX4RCCalibration Widget unit test
class PX4RCCalibrationTest : public QObject
{
Q_OBJECT
......@@ -42,6 +43,7 @@ public:
PX4RCCalibrationTest(void);
private slots:
void initTestCase(void);
void init(void);
void cleanup(void);
......@@ -50,7 +52,6 @@ private slots:
//void _liveRC_test(void);
void _beginState_test(void);
void _identifyState_test(void);
void _identifyStateSkipOptional_test(void);
void _minMaxState_test(void);
void _centerThrottleState_test(void);
void _detectInversionState_test(void);
......@@ -58,13 +59,20 @@ private slots:
void _fullCalibration_test(void);
private:
void _centerAllChannels(void);
void _beginState_worker(bool standaloneTest);
void _identifyState_worker(bool standaloneTest, bool skipOptional);
void _minMaxState_worker(bool standaloneTest);
void _centerThrottleState_worker(bool standaloneTest);
void _detectInversionState_worker(bool standaloneTest);
void _trimsState_worker(bool standaloneTest);
/// @brief Modes to run worker functions
enum TestMode {
testModeStandalone, ///< Perform standalone test of calibration state
testModePrerequisite, ///< Setup prequisites for subsequent calibration state
testModeFullSequence, ///< Run as full calibration sequence
};
void _centerChannels(void);
void _beginState_worker(enum TestMode mode);
void _identifyState_worker(enum TestMode mode);
void _minMaxState_worker(enum TestMode mode);
void _centerThrottleState_worker(enum TestMode mode);
void _detectInversionState_worker(enum TestMode mode);
void _trimsState_worker(enum TestMode mode);
enum {
validateMinMaxMask = 1 << 0,
......@@ -73,7 +81,19 @@ private:
validateMappingMask = 1 << 3,
validateAllMask = 0xFFFF
};
void _validateParameters(int validateMask, bool skipOptional = false);
struct ChannelSettings {
int rcMin;
int rcMax;
int rcTrim;
int reversed;
bool isMinMaxShown;
bool isMinValid;
bool isMaxValid;
};
void _validateParameters(int validateMask);
void _validateWidgets(int validateMask, const struct ChannelSettings* rgChannelSettings);
MockUASManager* _mockUASManager;
MockUAS* _mockUAS;
......@@ -94,6 +114,21 @@ private:
QLabel* _statusLabel;
RCChannelWidget* _rgRadioWidget[PX4RCCalibration::_chanMax];
// When settings values into min/max/trim we set them slightly different than the defaults so that
// we can distinguish between the two values.
static const int _testMinValue;
static const int _testMaxValue;
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 struct ChannelSettings _rgChannelSettingsPreValidate[_availableChannels];
static const struct ChannelSettings _rgChannelSettingsPostValidate[PX4RCCalibration::_chanMax];
};
DECLARE_TEST(PX4RCCalibrationTest)
......
src/ui/designer/RCChannelWidget.cc
View file @ d4b826c3
......@@ -37,6 +37,8 @@ RCChannelWidget::RCChannelWidget(QWidget *parent) :
_min(_centerValue),
_max(_centerValue),
_trim(_centerValue),
_minValid(false),
_maxValid(false),
_showMinMax(false),
_showTrim(false)
{
......@@ -90,19 +92,36 @@ void RCChannelWidget::paintEvent(QPaintEvent *event)
painter.setBrush(hGradientBrush);
if (_showMinMax) {
QString text;
// Draw the Min numeric value display to the left
painter.drawText(0, rowHeigth, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, "Min");
painter.drawText(0, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, QString::number(_min));
if (_minValid) {
text = QString::number(_min);
} else {
text = "----";
}
painter.drawText(0, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, text);
// Draw the Max numeric value display to the right
painter.drawText(width() - minMaxDisplayWidth, rowHeigth, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, "Max");
painter.drawText(width() - minMaxDisplayWidth, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, QString::number(_max));
if (_maxValid) {
text = QString::number(_max);
} else {
text = QString::number(_max);
}
painter.drawText(width() - minMaxDisplayWidth, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, text);
// Draw the Min/Max tick marks on the axis
int xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_min-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_max-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
int xTick;
if (_minValid) {
int xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_min-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
}
if (_maxValid) {
xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_max-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
}
}
if (_showTrim) {
......@@ -221,3 +240,17 @@ void RCChannelWidget::_drawValuePointer(QPainter* painter, int xTip, int yTip, i
painter->drawPolygon (trianglePoints, 3);
}
/// @brief Set whether the Min range value is valid or not.
void RCChannelWidget::setMinValid(bool valid)
{
_minValid = valid;
update();
}
/// @brief Set whether the Max range value is valid or not.
void RCChannelWidget::setMaxValid(bool valid)
{
_maxValid = valid;
update();
}
src/ui/designer/RCChannelWidget.h
View file @ d4b826c3
......@@ -46,6 +46,12 @@ public:
void setMinMax(int min, int max);
/// @brief Set whether the Min range value is valid or not.
void setMinValid(bool valid);
/// @brief Set whether the Max range value is valid or not.
void setMaxValid(bool valid);
/// @brief Sets the Trim value for the channel
void setTrim(int value);
......@@ -56,6 +62,8 @@ public:
void showMinMax(bool show);
bool isMinMaxShown() { return _showMinMax; }
bool isMinValid(void) { return _minValid; }
bool isMaxValid(void) { return _maxValid; }
void showTrim(bool show);
bool isTrimShown() { return _showTrim; }
......@@ -71,6 +79,9 @@ private:
int _max; ///< Max RC value
int _trim; ///< RC Value for Trim position
bool _minValid; ///< true: minimum value is valid
bool _maxValid; ///< true: maximum value is valid
bool _showMinMax; ///< true: show min max values on display
bool _showTrim; ///< true: show trim value on display
......
src/ui/px4_configuration/PX4RCCalibration.cc
View file @ d4b826c3
......@@ -31,13 +31,16 @@
#include "PX4RCCalibration.h"
#include "UASManager.h"
const int PX4RCCalibration::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets
const int PX4RCCalibration::_rcCalPWMValidMinValue = 1000;
const int PX4RCCalibration::_rcCalPWMValidMaxValue = 2000;
const int PX4RCCalibration::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets
const int PX4RCCalibration::_rcCalPWMCenterPoint = ((PX4RCCalibration::_rcCalPWMValidMaxValue - PX4RCCalibration::_rcCalPWMValidMinValue) / 2.0f) + PX4RCCalibration::_rcCalPWMValidMinValue;
const int PX4RCCalibration::_rcCalRoughCenterDelta = 200; ///< Delta around center point which is considered to be roughly centered
const float PX4RCCalibration::_rcCalMoveDelta = 300.0f; ///< Amount of delta which is considered stick movement
const float PX4RCCalibration::_rcCalMinDelta = 100.0f; ///< Amount of delta allowed around min value to consider channel at min
const int PX4RCCalibration::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
const int PX4RCCalibration::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max range value
const int PX4RCCalibration::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
const int PX4RCCalibration::_rcCalPWMDefaultMaxValue = 2000; ///< Default value for Max if not set
const int PX4RCCalibration::_rcCalPWMDefaultTrimValue = PX4RCCalibration::_rcCalPWMCenterPoint; ///< Default value for Trim if not set
const int PX4RCCalibration::_rcCalRoughCenterDelta = 200; ///< Delta around center point which is considered to be roughly centered
const float PX4RCCalibration::_rcCalMoveDelta = 300.0f; ///< Amount of delta which is considered stick movement
const float PX4RCCalibration::_rcCalMinDelta = 100.0f; ///< Amount of delta allowed around min value to consider channel at min
const struct PX4RCCalibration::FunctionInfo PX4RCCalibration::_rgFunctionInfo[PX4RCCalibration::rcCalFunctionMax] = {
// Name Inversion Message Parameter required
......@@ -274,6 +277,31 @@ void PX4RCCalibration::_setActiveUAS(UASInterface* active)
setEnabled(_mav ? true : false);
}
/// @brief Validates the current settings against the calibration rules resetting values as necessary.
void PX4RCCalibration::_validateCalibration(void)
{
for (int chan = 0; chan<_chanMax; chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
if (chan < _chanCount) {
// Validate Min/Max values. Although the channel appears as available we still may
// not have good min/max/trim values for it. Set to defaults if needed.
if (info->rcMin > _rcCalPWMValidMinValue || info->rcMax < _rcCalPWMValidMaxValue) {
info->rcMin = _rcCalPWMDefaultMinValue;
info->rcMax = _rcCalPWMDefaultMaxValue;
info->rcTrim = _rcCalPWMDefaultTrimValue;
}
} else {
// Unavailable channels are set to defaults
info->rcMin = _rcCalPWMDefaultMinValue;
info->rcMax = _rcCalPWMDefaultMaxValue;
info->rcTrim = _rcCalPWMDefaultTrimValue;
info->reversed = false;
}
}
}
/// @brief Saves the rc calibration values to the board parameters.
/// @param trimsOnly true: write only trim values, false: write all calibration values
void PX4RCCalibration::_writeCalibration(bool trimsOnly)
......@@ -282,6 +310,8 @@ void PX4RCCalibration::_writeCalibration(bool trimsOnly)
_mav->endRadioControlCalibration();
_validateCalibration();
QGCUASParamManagerInterface* paramMgr = _mav->getParamManager();
Q_ASSERT(paramMgr);
......@@ -290,17 +320,14 @@ void PX4RCCalibration::_writeCalibration(bool trimsOnly)
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Do not write the RC type, as these values depend on this
// active onboard parameter
for (int i = 0; i < _chanCount; ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
paramMgr->setPendingParam(0, trimTpl.arg(i+1), info->rcTrim);
for (int chan = 0; chan<_chanMax; chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
int oneBasedChannel = chan + 1;
paramMgr->setPendingParam(0, trimTpl.arg(oneBasedChannel), info->rcTrim);
if (!trimsOnly) {
paramMgr->setPendingParam(0, minTpl.arg(i+1), info->rcMin);
paramMgr->setPendingParam(0, maxTpl.arg(i+1), info->rcMax);
paramMgr->setPendingParam(0, revTpl.arg(i+1), info->reversed ? -1.0f : 1.0f);
paramMgr->setPendingParam(0, minTpl.arg(oneBasedChannel), info->rcMin);
paramMgr->setPendingParam(0, maxTpl.arg(oneBasedChannel), info->rcMax);
paramMgr->setPendingParam(0, revTpl.arg(oneBasedChannel), info->reversed ? -1.0f : 1.0f);
}
}
......@@ -355,13 +382,7 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
case rcCalStateIdentify:
if (!_rcCalStateChannelComplete) {
// If this channel is already used in a mapping we can't used it again
bool channelAlreadyMapped = false;
for (int chanFunction=0; chanFunction<rcCalFunctionMax; chanFunction++) {
if (_rgFunctionChannelMapping[chanFunction] == chan) {
channelAlreadyMapped = true;
break;
}
}
bool channelAlreadyMapped = !(_rgChannelInfo[chan].function == rcCalFunctionMax);
// If the channel moved considerably, pick it
if (!channelAlreadyMapped && fabsf(_rcValueSave[chan] - fval) > _rcCalMoveDelta) {
......@@ -383,10 +404,12 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
break;
case rcCalStateMinMax:
if (fval < _rgChannelInfo[chan].rcMin) {
if (fval < _rgChannelInfo[chan].rcMin && fval <= _rcCalPWMValidMinValue) {
_rgRadioWidget[chan]->setMinValid(true);
_rgChannelInfo[chan].rcMin = fval;
}
if (fval > _rgChannelInfo[chan].rcMax) {
if (fval > _rgChannelInfo[chan].rcMax && fval >= _rcCalPWMValidMaxValue) {
_rgRadioWidget[chan]->setMaxValid(true);
_rgChannelInfo[chan].rcMax = fval;
}
break;
......@@ -572,7 +595,11 @@ void PX4RCCalibration::_rcCalChannelWait(bool firstTime)
{
_rcCalState = rcCalStateChannelWait;
_resetInternalCalibrationValues();
if (firstTime) {
_resetInternalCalibrationValues();
} else {
_setInternalCalibrationValuesFromParameters();
}
if (_chanCount == 0) {
_ui->rcCalFound->setText(tr("Please turn on Radio"));
......@@ -741,18 +768,9 @@ void PX4RCCalibration::_rcCalTrims(void)
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
_initializeTrims();
_showTrimOnRadioWidgets(true);
}
/// @brief Initializes the trim values based on current min/max.
void PX4RCCalibration::_initializeTrims(void)
{
for (int chan=0; chan<=_chanMax; chan++) {
_rgChannelInfo[chan].rcTrim = ((_rgChannelInfo[chan].rcMax - _rgChannelInfo[chan].rcMin) / 2.0f) + _rgChannelInfo[chan].rcMin;
}
}
/// @brief Set up the Save state of calibration.
void PX4RCCalibration::_rcCalSave(void)
{
......@@ -766,6 +784,12 @@ void PX4RCCalibration::_rcCalSave(void)
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
// This updates the internal values according to the validation rules. Then _updateView will tick and update ui
// such that the settings that will be written our are displayed.
_validateCalibration();
_showMinMaxOnRadioWidgets(true);
}
/// @brief This is used by unit test code to force the calibration state machine to the specified state.
......@@ -811,12 +835,26 @@ void PX4RCCalibration::_unitTestForceCalState(enum rcCalStates state) {
/// @param show true: show the min/max values, false: hide the min/max values
void PX4RCCalibration::_showMinMaxOnRadioWidgets(bool show)
{
// Force a view update to widget have current values
_updateView();
// Turn on min/max display for all radio widgets
for (int i=0; i<_chanMax; i++) {
RCChannelWidget* radioWidget = _rgRadioWidget[i];
Q_ASSERT(radioWidget);
radioWidget->showMinMax(show);
if (show) {
if (radioWidget->min() <= _rcCalPWMValidMinValue) {
radioWidget->setMinValid(true);
}
if (radioWidget->max() >= _rcCalPWMValidMaxValue) {
radioWidget->setMaxValid(true);
}
} else {
radioWidget->setMinValid(false);
radioWidget->setMaxValid(false);
}
}
}
......
src/ui/px4_configuration/PX4RCCalibration.h
View file @ d4b826c3
......@@ -124,10 +124,10 @@ private:
// Methods - see source code for documentation
void _validateCalibration(void);
void _writeCalibration(bool trimsOnly);
void _resetInternalCalibrationValues(void);
void _setInternalCalibrationValuesFromParameters(void);
void _initializeTrims(void);
void _rcCalChannelWait(bool firstTime);
void _rcCalBegin(void);
......@@ -164,12 +164,15 @@ private:
int _rcCalStateIdentifyOldMapping; ///< Previous mapping for channel being currently identified
int _rcCalStateReverseOldMapping; ///< Previous mapping for channel being currently used to detect inversion
static const int _rcCalPWMCenterPoint; ///< PWM center value;
static const int _rcCalPWMValidMinValue; ///< Valid minimum PWM value
static const int _rcCalPWMValidMaxValue; ///< Valid maximum PWM value
static const int _rcCalRoughCenterDelta; ///< Delta around center point which is considered to be roughly centered
static const float _rcCalMoveDelta; ///< Amount of delta which is considered stick movement
static const float _rcCalMinDelta; ///< Amount of delta allowed around min value to consider channel at min
static const int _rcCalPWMCenterPoint;
static const int _rcCalPWMValidMinValue;
static const int _rcCalPWMValidMaxValue;
static const int _rcCalPWMDefaultMinValue;
static const int _rcCalPWMDefaultMaxValue;
static const int _rcCalPWMDefaultTrimValue;
static const int _rcCalRoughCenterDelta;
static const float _rcCalMoveDelta;
static const float _rcCalMinDelta;
float _rcValueSave[_chanMax]; ///< Saved values prior to detecting channel movement
......
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