Merge pull request #338 from tstellanova/config_debug

RC calibration and mapping debug

src/uas/QGCUASParamManager.cc

@@ -111,12 +111,15 @@ void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant va
     paramDataModel.updatePendingParamWithValue(compId,paramName,value);
 }
 
-void QGCUASParamManager::sendPendingParameters()
+void QGCUASParamManager::sendPendingParameters(bool persistAfterSend)
 {
-    paramCommsMgr->sendPendingParameters();
+    paramCommsMgr->sendPendingParameters(persistAfterSend);
 }
 
-void QGCUASParamManager::setPendingParam(int compId,  QString& paramName,  const QVariant& value)
+
+
+
+void QGCUASParamManager::setPendingParam(int compId,  const QString& paramName,  const QVariant& value)
 {
     paramDataModel.updatePendingParamWithValue(compId,paramName,value);
 }

src/uas/QGCUASParamManager.h

@@ -84,8 +84,11 @@ public slots:
     /** @brief Send one parameter to the MAV: changes value in transient memory of MAV */
     virtual void setParameter(int component, QString parameterName, QVariant value);
 
-    /** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory */
-    virtual void sendPendingParameters();
+    /** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory
+     * @param persistAfterSend  If true, all parameters will be written to persistent storage as well
+    */
+    virtual void sendPendingParameters(bool persistAfterSend = false);
+
 
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList();
@@ -93,7 +96,8 @@ public slots:
     /** @brief Request a list of params onboard the MAV if the onboard param list we have is empty */
     virtual void requestParameterListIfEmpty();
 
-    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+    /** @brief queue a pending parameter for sending to the MAV */
+    virtual void setPendingParam(int componentId,  const QString& key,  const QVariant& value);
 
     /** @brief remove all params from the pending list */
     virtual void clearAllPendingParams();

src/uas/UASParameterCommsMgr.cc

@@ -78,9 +78,6 @@ void UASParameterCommsMgr::requestParameterList()
         return;
     }
 
-    //TODO check: no need to cause datamodel to forget params here?
-//    paramDataModel->forgetAllOnboardParameters();
-
     if (!transmissionListMode) {
         // Clear transmission state
         receivedParamsList.clear();
@@ -216,7 +213,7 @@ void UASParameterCommsMgr::resendReadWriteRequests()
     }
 
     if ((0 == requestedWriteCount) && (0 == requestedReadCount) ) {
-        qDebug() << __FILE__ << __LINE__ << "NO re-read or rewrite requests??";
+        qDebug() << __FILE__ << __LINE__ << "No pending re-read or rewrite requests";
         if (!transmissionListMode) {
             setRetransmissionGuardEnabled(false);
             transmissionActive = false;
@@ -427,6 +424,8 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
 {
     Q_UNUSED(uas); //this object is assigned to one UAS only
 
+    qDebug() << "compId" << compId << "receivedParameterUpdate:" << paramName;
+
     //notify the data model that we have an updated param
     paramDataModel->handleParamUpdate(compId,paramName,value);
 
@@ -474,6 +473,10 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
 
     // Mark this parameter as received in write ACK list
     QMap<QString, QVariant>* compMissWritePackets = missingWriteAckPackets.value(compId);
+    if (!compMissWritePackets) {
+        //we sometimes send a write request on compId 0 and get a response on a nonzero compId eg 50
+        compMissWritePackets = missingWriteAckPackets.value(0);
+    }
     if (compMissWritePackets && compMissWritePackets->contains(paramName)) {
         justWritten = true;
         if (compMissWritePackets->value(paramName) != value) {
@@ -498,6 +501,10 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
             setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3 [%5]").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount).arg(missWriteCount));
             if (0 == missWriteCount) {
                 setParameterStatusMsg(tr("SUCCESS: WROTE ALL PARAMETERS"));
+                if (persistParamsAfterSend) {
+                    writeParamsToPersistentStorage();
+                    persistParamsAfterSend = false;
+                }
             }
         }
         else  {
@@ -563,12 +570,15 @@ void UASParameterCommsMgr::writeParamsToPersistentStorage()
 {
     if (mav) {
         mav->writeParametersToStorage(); //TODO track timeout, retransmit etc?
+        persistParamsAfterSend = false; //done
     }
 }
 
 
-void UASParameterCommsMgr::sendPendingParameters()
+void UASParameterCommsMgr::sendPendingParameters(bool copyToPersistent)
 {
+    persistParamsAfterSend |= copyToPersistent;
+
     // Iterate through all components, through all pending parameters and send them to UAS
     int parametersSent = 0;
     QMap<int, QMap<QString, QVariant>*>* changedValues = paramDataModel->getAllPendingParams();
@@ -590,7 +600,11 @@ void UASParameterCommsMgr::sendPendingParameters()
     // Change transmission status if necessary
     if (parametersSent == 0) {
         setParameterStatusMsg(tr("No transmission: No changed values."),ParamCommsStatusLevel_Warning);
-    } else {
+        if (persistParamsAfterSend) {
+            writeParamsToPersistentStorage();
+        }
+    }
+    else {
         setParameterStatusMsg(tr("Transmitting %1 parameters.").arg(parametersSent));
         // Set timeouts
         if (transmissionActive) {

src/uas/UASParameterCommsMgr.h

@@ -64,7 +64,7 @@ signals:
 
 public slots:
     /** @brief  Iterate through all components, through all pending parameters and send them to UAS */
-    virtual void sendPendingParameters();
+    virtual void sendPendingParameters(bool copyToPersistent = false);
 
     /** @brief  Write the current onboard parameters from transient RAM into persistent storage, e.g. EEPROM or harddisk */
     virtual void writeParamsToPersistentStorage();
@@ -99,6 +99,7 @@ protected:
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
     bool transmissionActive;         ///< Missing packets, working on list?
+    bool persistParamsAfterSend; ///< Copy all parameters to persistent storage after sending
     quint64 transmissionTimeout;     ///< Timeout
     QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
     quint64 lastTimerReset;     ///< Last time the guard timer was reset, to prevent premature firing

src/uas/UASParameterDataModel.cc

@@ -45,7 +45,7 @@ int UASParameterDataModel::countOnboardParams()
 }
 
 
-bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key, const QVariant& value)
+bool UASParameterDataModel::updatePendingParamWithValue(int compId, const QString& key, const QVariant& value)
 {
     bool pending = true;
     //ensure we have this component in our onboard and pending lists already
@@ -76,7 +76,7 @@ bool UASParameterDataModel::isParamChangePending(int compId, const QString& key)
     return ((NULL != pendingParms) && pendingParms->contains(key));
 }
 
-void UASParameterDataModel::setPendingParam(int compId, QString& key,  const QVariant &value)
+void UASParameterDataModel::setPendingParam(int compId, const QString& key,  const QVariant &value)
 {
     //ensure we have a placeholder map for this component
     addComponent(compId);
@@ -101,7 +101,7 @@ void UASParameterDataModel::removePendingParam(int compId, const QString& key)
     }
 }
 
-void UASParameterDataModel::setOnboardParam(int compId, QString& key,  const QVariant& value)
+void UASParameterDataModel::setOnboardParam(int compId, const QString &key,  const QVariant& value)
 {
     //ensure we have a placeholder map for this component
     addComponent(compId);
@@ -109,7 +109,7 @@ void UASParameterDataModel::setOnboardParam(int compId, QString& key,  const QVa
     params->insert(key,value);
 }
 
-void UASParameterDataModel::setOnboardParamWithType(int compId, QString& key, QVariant& value)
+void UASParameterDataModel::setOnboardParamWithType(int compId, const QString& key, const QVariant &value)
 {
 
     switch ((int)value.type())
@@ -155,7 +155,7 @@ void UASParameterDataModel::addComponent(int compId)
 }
 
 
-void UASParameterDataModel::handleParamUpdate(int compId, QString& paramName, QVariant& value)
+void UASParameterDataModel::handleParamUpdate(int compId, const QString &paramName, const QVariant &value)
 {
     //verify that the value requested by the user matches the set value
     //if it doesn't match, leave the pending parameter in the pending list!

src/uas/UASParameterDataModel.h

@@ -42,7 +42,7 @@ public:
     virtual QList<int> getComponentForOnboardParam(const QString& parameter) const;
 
     /** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
-    virtual void setOnboardParamWithType(int componentId, QString& key, QVariant& value);
+    virtual void setOnboardParamWithType(int componentId, const QString &key, const QVariant& value);
 
     /** @brief clears every parameter for every loaded component */
     virtual void forgetAllOnboardParams();
@@ -52,8 +52,8 @@ public:
     /** @brief add this parameter to pending list iff it has changed from onboard value
      * @return true if the parameter is now pending
     */
-    virtual bool updatePendingParamWithValue(int componentId, QString& key,  const QVariant &value);
-    virtual void handleParamUpdate(int componentId, QString& key, QVariant& value);
+    virtual bool updatePendingParamWithValue(int componentId, const QString &key,  const QVariant &value);
+    virtual void handleParamUpdate(int componentId, const QString& key, const QVariant& value);
     virtual bool getOnboardParamValue(int componentId, const QString& key, QVariant& value) const;
 
     virtual bool isParamChangePending(int componentId,const QString& key);
@@ -89,10 +89,10 @@ public:
 
 protected:
     /** @brief set the confirmed value of a parameter in the onboard params list */
-    virtual void setOnboardParam(int componentId, QString& key, const QVariant& value);
+    virtual void setOnboardParam(int componentId, const QString& key, const QVariant& value);
 
     /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
-    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+    virtual void setPendingParam(int componentId,  const QString &key,  const QVariant& value);
     /** @brief remove a parameter from the pending list */
     virtual void removePendingParam(int compId, const QString &key);
 

src/ui/QGCPX4VehicleConfig.h

@@ -66,7 +66,7 @@ public slots:
     void setRCModeIndex(int newRcMode);
     /** Render the data updated */
     void updateView();
-    void updateRcWidgetValues();
+
     void handleRcParameterChange(QString parameterName, QVariant value);
 
 
@@ -205,6 +205,14 @@ protected slots:
     void checktimeOuts();
     /** Update checkbox status */
     void updateInvertedCheckboxes(int index);
+    /** Update the displayed values */
+    void updateRcWidgetValues();
+    /** update the channel labels */
+    void updateRcChanLabels();
+
+    QString labelForRcValue(float val) {
+        return  QString("%1").arg(val, 5, 'f', 2, QChar(' '));
+    }
 
 protected:
     bool doneLoadingConfig;
@@ -254,6 +262,7 @@ protected:
     QGCPX4AirframeConfig* px4AirframeConfig;
     DialogBare* firmwareDialog;
     QMessageBox msgBox;
+    QPushButton* skipActionButton;
 
 private:
     Ui::QGCPX4VehicleConfig *ui;

src/ui/QGCPX4VehicleConfig.ui

@@ -154,7 +154,7 @@ Config</string>
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>0</number>
+        <number>5</number>
        </property>
        <widget class="QWidget" name="firmwareTab">
         <layout class="QVBoxLayout" name="firmwareLayout">
@@ -746,6 +746,13 @@ Config</string>
               </item>
              </layout>
             </item>
+            <item>
+             <widget class="QPushButton" name="persistRcValuesButt">
+              <property name="text">
+               <string>Persist RC Mapping and Calibration</string>
+              </property>
+             </widget>
+            </item>
            </layout>
           </widget>
          </item>
@@ -874,8 +881,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>16</width>
+                   <height>16</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_4">
@@ -911,8 +918,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>16</width>
+                   <height>16</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_5">
@@ -1003,8 +1010,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>597</width>
+                   <height>569</height>
                   </rect>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_7">

src/ui/QGCVehicleConfig.cc

@@ -1020,12 +1020,10 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
     // Normalized value
     float normalized;
 
-    if (val >= rcTrim[chan])
-    {
+    if (val >= rcTrim[chan]) {
         normalized = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
     }
-    else
-    {
+    else {
         normalized = -(rcTrim[chan] - val)/(rcTrim[chan] - rcMin[chan]);
     }
 
@@ -1034,22 +1032,18 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
     // Invert
     normalized = (rcRev[chan]) ? -1.0f*normalized : normalized;
 
-    if (chan == rcMapping[0])
-    {
+    if (chan == rcMapping[0]) {
         // ROLL
         rcRoll = normalized;
     }
-    if (chan == rcMapping[1])
-    {
+    if (chan == rcMapping[1]) {
         // PITCH
         rcPitch = normalized;
     }
-    if (chan == rcMapping[2])
-    {
+    if (chan == rcMapping[2]) {
         rcYaw = normalized;
     }
-    if (chan == rcMapping[3])
-    {
+    if (chan == rcMapping[3]) {
         // THROTTLE
         if (rcRev[chan]) {
             rcThrottle = 1.0f + normalized;
@@ -1059,23 +1053,19 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
 
         rcThrottle = qBound(0.0f, rcThrottle, 1.0f);
     }
-    if (chan == rcMapping[4])
-    {
+    if (chan == rcMapping[4]) {
         // MODE SWITCH
         rcMode = normalized;
     }
-    if (chan == rcMapping[5])
-    {
+    if (chan == rcMapping[5]) {
         // AUX1
         rcAux1 = normalized;
     }
-    if (chan == rcMapping[6])
-    {
+    if (chan == rcMapping[6]) {
         // AUX2
         rcAux2 = normalized;
     }
-    if (chan == rcMapping[7])
-    {
+    if (chan == rcMapping[7]) {
         // AUX3
         rcAux3 = normalized;
     }

src/ui/px4_configuration/QGCPX4AirframeConfig.cc

@@ -161,11 +161,8 @@ void QGCPX4AirframeConfig::applyAndReboot()
     //mav->getParamManager()->setParameter(components.first(), "SYS_AUTOSTART", (qint32)selectedId);
 
     // Send pending params
-    mav->getParamManager()->sendPendingParameters();
-    QGC::SLEEP::msleep(300);
-    // Store parameters
-    mav->getParamManager()->copyVolatileParamsToPersistent();
-    QGC::SLEEP::msleep(500);
+    mav->getParamManager()->sendPendingParameters(true);
+
     // Reboot
     mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
 }