diff --git a/qgcresources.qrc b/qgcresources.qrc
index 866038e..3b76854 100644
--- a/qgcresources.qrc
+++ b/qgcresources.qrc
@@ -56,7 +56,6 @@
<file alias="px4.png">resources/firmware/px4.png</file>
</qresource>
<qresource prefix="/res/calibration">
- <file alias="joystick.svg">resources/calibration/joystick/joystick.svg</file>
<file alias="accel_back.png">resources/calibration/accel_back.png</file>
<file alias="accel_down.png">resources/calibration/accel_down.png</file>
<file alias="accel_front.png">resources/calibration/accel_front.png</file>
@@ -99,48 +98,4 @@
<qresource prefix="/opengl">
<file>resources/opengl/buglist.json</file>
</qresource>
- <qresource prefix="/qml/calibration/joystick/mode1">
- <file alias="joystickCenter.png">resources/calibration/joystick/mode1/joystickCenter.png</file>
- <file alias="joystickPitchDown.png">resources/calibration/joystick/mode1/joystickPitchDown.png</file>
- <file alias="joystickPitchUp.png">resources/calibration/joystick/mode1/joystickPitchUp.png</file>
- <file alias="joystickRollLeft.png">resources/calibration/joystick/mode1/joystickRollLeft.png</file>
- <file alias="joystickRollRight.png">resources/calibration/joystick/mode1/joystickRollRight.png</file>
- <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode1/joystickThrottleDown.png</file>
- <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode1/joystickThrottleUp.png</file>
- <file alias="joystickYawLeft.png">resources/calibration/joystick/mode1/joystickYawLeft.png</file>
- <file alias="joystickYawRight.png">resources/calibration/joystick/mode1/joystickYawRight.png</file>
- </qresource>
- <qresource prefix="/qml/calibration/joystick/mode2">
- <file alias="joystickCenter.png">resources/calibration/joystick/mode2/joystickCenter.png</file>
- <file alias="joystickPitchDown.png">resources/calibration/joystick/mode2/joystickPitchDown.png</file>
- <file alias="joystickPitchUp.png">resources/calibration/joystick/mode2/joystickPitchUp.png</file>
- <file alias="joystickRollLeft.png">resources/calibration/joystick/mode2/joystickRollLeft.png</file>
- <file alias="joystickRollRight.png">resources/calibration/joystick/mode2/joystickRollRight.png</file>
- <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode2/joystickThrottleDown.png</file>
- <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode2/joystickThrottleUp.png</file>
- <file alias="joystickYawLeft.png">resources/calibration/joystick/mode2/joystickYawLeft.png</file>
- <file alias="joystickYawRight.png">resources/calibration/joystick/mode2/joystickYawRight.png</file>
- </qresource>
- <qresource prefix="/qml/calibration/joystick/mode3">
- <file alias="joystickCenter.png">resources/calibration/joystick/mode3/joystickCenter.png</file>
- <file alias="joystickPitchDown.png">resources/calibration/joystick/mode3/joystickPitchDown.png</file>
- <file alias="joystickPitchUp.png">resources/calibration/joystick/mode3/joystickPitchUp.png</file>
- <file alias="joystickRollLeft.png">resources/calibration/joystick/mode3/joystickRollLeft.png</file>
- <file alias="joystickRollRight.png">resources/calibration/joystick/mode3/joystickRollRight.png</file>
- <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode3/joystickThrottleDown.png</file>
- <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode3/joystickThrottleUp.png</file>
- <file alias="joystickYawLeft.png">resources/calibration/joystick/mode3/joystickYawLeft.png</file>
- <file alias="joystickYawRight.png">resources/calibration/joystick/mode3/joystickYawRight.png</file>
- </qresource>
- <qresource prefix="/qml/calibration/joystick/mode4">
- <file alias="joystickCenter.png">resources/calibration/joystick/mode4/joystickCenter.png</file>
- <file alias="joystickPitchDown.png">resources/calibration/joystick/mode4/joystickPitchDown.png</file>
- <file alias="joystickPitchUp.png">resources/calibration/joystick/mode4/joystickPitchUp.png</file>
- <file alias="joystickRollLeft.png">resources/calibration/joystick/mode4/joystickRollLeft.png</file>
- <file alias="joystickRollRight.png">resources/calibration/joystick/mode4/joystickRollRight.png</file>
- <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode4/joystickThrottleDown.png</file>
- <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode4/joystickThrottleUp.png</file>
- <file alias="joystickYawLeft.png">resources/calibration/joystick/mode4/joystickYawLeft.png</file>
- <file alias="joystickYawRight.png">resources/calibration/joystick/mode4/joystickYawRight.png</file>
- </qresource>
</RCC>
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index f765d57..076561b 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -38,6 +38,10 @@
<file alias="HealthPageWidget.qml">src/FlightMap/Widgets/HealthPageWidget.qml</file>
<file alias="HelpSettings.qml">src/ui/preferences/HelpSettings.qml</file>
<file alias="JoystickConfig.qml">src/VehicleSetup/JoystickConfig.qml</file>
+ <file alias="JoystickConfigButtons.qml">src/VehicleSetup/JoystickConfigButtons.qml</file>
+ <file alias="JoystickConfigAdvanced.qml">src/VehicleSetup/JoystickConfigAdvanced.qml</file>
+ <file alias="JoystickConfigGeneral.qml">src/VehicleSetup/JoystickConfigGeneral.qml</file>
+ <file alias="JoystickConfigCalibration.qml">src/VehicleSetup/JoystickConfigCalibration.qml</file>
<file alias="LinkSettings.qml">src/ui/preferences/LinkSettings.qml</file>
<file alias="LogDownloadPage.qml">src/AnalyzeView/LogDownloadPage.qml</file>
<file alias="LogReplaySettings.qml">src/ui/preferences/LogReplaySettings.qml</file>
@@ -60,6 +64,7 @@
<file alias="QGCViewDialogContainer.qml">src/QmlControls/QGCViewDialogContainer.qml</file>
<file alias="QGroundControl/Controls/AnalyzePage.qml">src/AnalyzeView/AnalyzePage.qml</file>
<file alias="QGroundControl/Controls/AppMessages.qml">src/QmlControls/AppMessages.qml</file>
+ <file alias="QGroundControl/Controls/AxisMonitor.qml">src/QmlControls/AxisMonitor.qml</file>
<file alias="QGroundControl/Controls/CameraCalc.qml">src/PlanView/CameraCalc.qml</file>
<file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index 294f856..171f20b 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -684,11 +684,9 @@ QString Joystick::getButtonAction(int button)
QVariantList Joystick::buttonActions(void)
{
QVariantList list;
-
for (int button=0; button<_totalButtonCount; button++) {
list += QVariant::fromValue(_rgButtonActions[button]);
}
-
return list;
}
@@ -703,13 +701,10 @@ void Joystick::setThrottleMode(int mode)
qCWarning(JoystickLog) << "Invalid throttle mode" << mode;
return;
}
-
- _throttleMode = (ThrottleMode_t)mode;
-
+ _throttleMode = static_cast<ThrottleMode_t>(mode);
if (_throttleMode == ThrottleModeDownZero) {
setAccumulator(false);
}
-
_saveSettings();
emit throttleModeChanged(_throttleMode);
}
@@ -725,7 +720,6 @@ void Joystick::setNegativeThrust(bool allowNegative)
return;
}
_negativeThrust = allowNegative;
-
_saveSettings();
emit negativeThrustChanged(_negativeThrust);
}
@@ -738,7 +732,6 @@ float Joystick::exponential(void)
void Joystick::setExponential(float expo)
{
_exponential = expo;
-
_saveSettings();
emit exponentialChanged(_exponential);
}
@@ -751,7 +744,6 @@ bool Joystick::accumulator(void)
void Joystick::setAccumulator(bool accu)
{
_accumulator = accu;
-
_saveSettings();
emit accumulatorChanged(_accumulator);
}
@@ -764,7 +756,6 @@ bool Joystick::deadband(void)
void Joystick::setDeadband(bool deadband)
{
_deadband = deadband;
-
_saveSettings();
}
@@ -776,7 +767,6 @@ bool Joystick::circleCorrection(void)
void Joystick::setCircleCorrection(bool circleCorrection)
{
_circleCorrection = circleCorrection;
-
_saveSettings();
emit circleCorrectionChanged(_circleCorrection);
}
@@ -799,7 +789,6 @@ void Joystick::setFrequency(float val)
void Joystick::setCalibrationMode(bool calibrating)
{
_calibrationMode = calibrating;
-
if (calibrating && !isRunning()) {
_pollingStartedForCalibration = true;
startPolling(_multiVehicleManager->activeVehicle());
@@ -815,7 +804,6 @@ void Joystick::_buttonAction(const QString& action)
if (!_activeVehicle || !_activeVehicle->joystickEnabled()) {
return;
}
-
if (action == _buttonActionArm) {
_activeVehicle->setArmed(true);
} else if (action == _buttonActionDisarm) {
diff --git a/src/QmlControls/AxisMonitor.qml b/src/QmlControls/AxisMonitor.qml
new file mode 100644
index 0000000..ec4cb7b
--- /dev/null
+++ b/src/QmlControls/AxisMonitor.qml
@@ -0,0 +1,90 @@
+import QtQuick 2.11
+import QtQuick.Controls 2.4
+
+import QGroundControl 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+
+Item {
+ property int axisValue: 0
+ property int deadbandValue: 0
+ property bool narrowIndicator: false
+ property color deadbandColor: "#8c161a"
+ property bool mapped: false
+ property bool reversed: false
+
+ property color __barColor: qgcPal.windowShade
+
+ // Bar
+ Rectangle {
+ id: bar
+ anchors.verticalCenter: parent.verticalCenter
+ width: parent.width
+ height: parent.height / 2
+ color: __barColor
+ }
+
+ // Deadband
+ Rectangle {
+ id: deadbandBar
+ anchors.verticalCenter: parent.verticalCenter
+ x: _deadbandPosition
+ width: _deadbandWidth
+ height: parent.height / 2
+ color: deadbandColor
+ visible: controller.deadbandToggle
+
+ property real _percentDeadband: ((2 * deadbandValue) / (32768.0 * 2))
+ property real _deadbandWidth: parent.width * _percentDeadband
+ property real _deadbandPosition: (parent.width - _deadbandWidth) / 2
+ }
+
+ // Center point
+ Rectangle {
+ anchors.horizontalCenter: parent.horizontalCenter
+ width: ScreenTools.defaultFontPixelWidth / 2
+ height: parent.height
+ color: qgcPal.window
+ }
+
+ // Indicator
+ Rectangle {
+ anchors.verticalCenter: parent.verticalCenter
+ width: parent.narrowIndicator ? height/6 : height
+ height: parent.height * 0.75
+ x: (reversed ? (parent.width - _indicatorPosition) : _indicatorPosition) - (width / 2)
+ radius: width / 2
+ color: qgcPal.text
+ visible: mapped
+
+ property real _percentAxisValue: ((axisValue + 32768.0) / (32768.0 * 2))
+ property real _indicatorPosition: parent.width * _percentAxisValue
+ }
+
+ QGCLabel {
+ anchors.fill: parent
+ horizontalAlignment: Text.AlignHCenter
+ verticalAlignment: Text.AlignVCenter
+ text: qsTr("Not Mapped")
+ visible: !mapped
+ }
+
+ ColorAnimation {
+ id: barAnimation
+ target: bar
+ property: "color"
+ from: "yellow"
+ to: __barColor
+ duration: 1500
+ }
+
+ // Axis value debugger
+ /*
+ QGCLabel {
+ anchors.fill: parent
+ text: axisValue
+ }
+ */
+
+}
diff --git a/src/QmlControls/QGroundControl/Controls/qmldir b/src/QmlControls/QGroundControl/Controls/qmldir
index 6fe4e3c..2d079c6 100644
--- a/src/QmlControls/QGroundControl/Controls/qmldir
+++ b/src/QmlControls/QGroundControl/Controls/qmldir
@@ -2,6 +2,7 @@ Module QGroundControl.Controls
AnalyzePage 1.0 AnalyzePage.qml
AppMessages 1.0 AppMessages.qml
+AxisMonitor 1.0 AxisMonitor.qml
CameraCalc 1.0 CameraCalc.qml
APMSubMotorDisplay 1.0 APMSubMotorDisplay.qml
CameraSection 1.0 CameraSection.qml
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 008fbbd..eb6505b 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2741,11 +2741,18 @@ void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
}
}
-void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
+void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust, double gimbalPitch, double gimbalYaw)
{
// The following if statement prevents the virtualTabletJoystick from sending values if the standard joystick is enabled
if ( !_joystickEnabled && !_highLatencyLink) {
- _uas->setExternalControlSetpoint(roll, pitch, yaw, thrust, 0, JoystickModeRC);
+ _uas->setExternalControlSetpoint(
+ static_cast<float>(roll),
+ static_cast<float>(pitch),
+ static_cast<float>(yaw),
+ static_cast<float>(thrust),
+ static_cast<float>(gimbalPitch),
+ static_cast<float>(gimbalYaw),
+ 0, JoystickModeRC);
}
}
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 0b6aea3..acf3902 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -697,7 +697,7 @@ public:
// Called when the message drop-down is invoked to clear current count
Q_INVOKABLE void resetMessages();
- Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
+ Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust, double gimbalPitch = 0, double gimbalYaw = 0);
Q_INVOKABLE void disconnectInactiveVehicle(void);
/// Command vehicle to return to launch
diff --git a/src/VehicleSetup/JoystickConfig.qml b/src/VehicleSetup/JoystickConfig.qml
index ab247af..c141ab4 100644
--- a/src/VehicleSetup/JoystickConfig.qml
+++ b/src/VehicleSetup/JoystickConfig.qml
@@ -8,9 +8,10 @@
****************************************************************************/
-import QtQuick 2.3
-import QtQuick.Controls 1.2
-import QtQuick.Dialogs 1.2
+import QtQuick 2.11
+import QtQuick.Controls 2.4
+import QtQuick.Dialogs 1.3
+import QtQuick.Layouts 1.11
import QGroundControl 1.0
import QGroundControl.Palette 1.0
@@ -25,7 +26,7 @@ SetupPage {
id: joystickPage
pageComponent: pageComponent
pageName: qsTr("Joystick")
- pageDescription: qsTr("Joystick Setup is used to configure a calibrate joysticks.")
+ pageDescription: "" // qsTr("Joystick Setup is used to configure and calibrate joysticks.")
readonly property real _maxButtons: 64
readonly property real _attitudeLabelWidth: ScreenTools.defaultFontPixelWidth * 12
@@ -43,8 +44,8 @@ SetupPage {
Component {
id: pageComponent
Item {
- width: availableWidth
- height: mainColumn.height
+ width: availableWidth
+ height: bar.height + joyLoader.height
readonly property real labelToMonitorMargin: ScreenTools.defaultFontPixelWidth * 3
property var _activeJoystick: joystickManager.activeJoystick
@@ -55,996 +56,36 @@ SetupPage {
JoystickConfigController {
id: controller
- cancelButton: cancelButton
- nextButton: nextButton
- skipButton: skipButton
}
- // Main view
- Column {
- id: mainColumn
- spacing: ScreenTools.defaultFontPixelHeight
- anchors.right: parent.right
- anchors.left: parent.left
- anchors.margins: ScreenTools.defaultFontPixelWidth
- Row {
- spacing: ScreenTools.defaultFontPixelWidth * 2
- QGCCheckBox {
- id: enabledCheckBox
- enabled: _activeJoystick ? _activeJoystick.calibrated : false
- text: _activeJoystick ? _activeJoystick.calibrated ? qsTr("Enable joystick input") : qsTr("Enable not allowed (Calibrate First)") : ""
- anchors.verticalCenter: parent.verticalCenter
- onClicked: activeVehicle.joystickEnabled = checked
- Component.onCompleted: {
- checked = activeVehicle.joystickEnabled
- }
- Connections {
- target: activeVehicle
- onJoystickEnabledChanged: {
- enabledCheckBox.checked = activeVehicle.joystickEnabled
- }
- }
- Connections {
- target: joystickManager
- onActiveJoystickChanged: {
- if(_activeJoystick) {
- enabledCheckBox.checked = Qt.binding(function() { return _activeJoystick.calibrated && activeVehicle.joystickEnabled })
- }
- }
- }
- }
- QGCLabel {
- text: qsTr("Active joystick:")
- anchors.verticalCenter: parent.verticalCenter
- }
- QGCComboBox {
- id: joystickCombo
- width: ScreenTools.defaultFontPixelWidth * 40
- anchors.verticalCenter: parent.verticalCenter
- model: joystickManager.joystickNames
- onActivated: joystickManager.activeJoystickName = textAt(index)
- Component.onCompleted: {
- var index = joystickCombo.find(joystickManager.activeJoystickName)
- if (index === -1) {
- console.warn(qsTr("Active joystick name not in combo"), joystickManager.activeJoystickName)
- } else {
- joystickCombo.currentIndex = index
- }
- }
- Connections {
- target: joystickManager
- onAvailableJoysticksChanged: {
- var index = joystickCombo.find(joystickManager.activeJoystickName)
- if (index >= 0) {
- joystickCombo.currentIndex = index
- }
- }
- }
- }
+ TabBar {
+ id: bar
+ width: parent.width
+ anchors.top: parent.top
+ TabButton {
+ text: qsTr("General")
}
- //-- Separator
- Rectangle {
- width: parent.width
- height: 1
- border.color: qgcPal.text
- border.width: 1
+ TabButton {
+ text: qsTr("Button Assigment")
}
- //-- Main Row
- Row {
- spacing: ScreenTools.defaultFontPixelWidth
- anchors.horizontalCenter: parent.horizontalCenter
- // Left side column
- Column {
- id: leftColumn
- spacing: ScreenTools.defaultFontPixelHeight
-
- // Attitude Controls
- Column {
- width: parent.width
- spacing: 5
-
- QGCLabel { text: qsTr("Attitude Controls") }
-
- Item {
- width: parent.width
- height: defaultTextHeight * 2
-
- QGCLabel {
- id: rollLabel
- width: _attitudeLabelWidth
- text: activeVehicle.sub ? qsTr("Lateral") : qsTr("Roll")
- }
-
- Loader {
- id: rollLoader
- anchors.left: rollLabel.right
- anchors.right: parent.right
- height: ScreenTools.defaultFontPixelHeight
- width: 100
- sourceComponent: axisMonitorDisplayComponent
- property bool mapped: controller.rollAxisMapped
- property bool reversed: controller.rollAxisReversed
- }
-
- Connections {
- target: _activeJoystick
- onManualControl: rollLoader.item.axisValue = roll*32768.0
- }
- }
-
- Item {
- width: parent.width
- height: defaultTextHeight * 2
-
- QGCLabel {
- id: pitchLabel
- width: _attitudeLabelWidth
- text: activeVehicle.sub ? qsTr("Forward") : qsTr("Pitch")
- }
-
- Loader {
- id: pitchLoader
- anchors.left: pitchLabel.right
- anchors.right: parent.right
- height: ScreenTools.defaultFontPixelHeight
- width: 100
- sourceComponent: axisMonitorDisplayComponent
- property bool mapped: controller.pitchAxisMapped
- property bool reversed: controller.pitchAxisReversed
- }
-
- Connections {
- target: _activeJoystick
- onManualControl: pitchLoader.item.axisValue = pitch*32768.0
- }
- }
-
- Item {
- width: parent.width
- height: defaultTextHeight * 2
-
- QGCLabel {
- id: yawLabel
- width: _attitudeLabelWidth
- text: qsTr("Yaw")
- }
-
- Loader {
- id: yawLoader
- anchors.left: yawLabel.right
- anchors.right: parent.right
- height: ScreenTools.defaultFontPixelHeight
- width: 100
- sourceComponent: axisMonitorDisplayComponent
- property bool mapped: controller.yawAxisMapped
- property bool reversed: controller.yawAxisReversed
- }
-
- Connections {
- target: _activeJoystick
- onManualControl: yawLoader.item.axisValue = yaw*32768.0
- }
- }
-
- Item {
- width: parent.width
- height: defaultTextHeight * 2
-
- QGCLabel {
- id: throttleLabel
- width: _attitudeLabelWidth
- text: qsTr("Throttle")
- }
-
- Loader {
- id: throttleLoader
- anchors.left: throttleLabel.right
- anchors.right: parent.right
- height: ScreenTools.defaultFontPixelHeight
- width: 100
- sourceComponent: axisMonitorDisplayComponent
- property bool mapped: controller.throttleAxisMapped
- property bool reversed: controller.throttleAxisReversed
- }
-
- Connections {
- target: _activeJoystick
- onManualControl: throttleLoader.item.axisValue = _activeJoystick.negativeThrust ? -throttle*32768.0 : (-2*throttle+1)*32768.0
- }
- }
-
- Item {
- width: parent.width
- height: controller.hasGimbal ? defaultTextHeight * 2 : 0
- visible: controller.hasGimbal
-
- QGCLabel {
- id: gimbalPitchLabel
- width: _attitudeLabelWidth
- text: qsTr("Gimbal Pitch")
- }
-
- Loader {
- id: gimbalPitchLoader
- anchors.left: gimbalPitchLabel.right
- anchors.right: parent.right
- height: ScreenTools.defaultFontPixelHeight
- width: 100
- sourceComponent: axisMonitorDisplayComponent
- property bool mapped: controller.gimbalPitchAxisMapped
- property bool reversed: controller.gimbalPitchAxisReversed
- }
-
- Connections {
- target: _activeJoystick
- onManualControl: gimbalPitchLoader.item.axisValue = gimbalPitch * 32768.0
- }
- }
-
- Item {
- width: parent.width
- height: controller.hasGimbal ? defaultTextHeight * 2 : 0
- visible: controller.hasGimbal
-
- QGCLabel {
- id: gimbalYawLabel
- width: _attitudeLabelWidth
- text: qsTr("Gimbal Yaw")
- }
-
- Loader {
- id: gimbalYawLoader
- anchors.left: gimbalYawLabel.right
- anchors.right: parent.right
- height: ScreenTools.defaultFontPixelHeight
- width: 100
- sourceComponent: axisMonitorDisplayComponent
- property bool mapped: controller.gimbalYawAxisMapped
- property bool reversed: controller.gimbalYawAxisReversed
- }
-
- Connections {
- target: _activeJoystick
- onManualControl: gimbalYawLoader.item.axisValue = gimbalYaw * 32768.0
- }
- }
-
- } // Column - Attitude Control labels
-
- // Command Buttons
- Row {
- spacing: 10
- visible: _activeJoystick.requiresCalibration
- anchors.horizontalCenter: parent.horizontalCenter
- QGCButton {
- id: skipButton
- text: qsTr("Skip")
- width: ScreenTools.defaultFontPixelWidth * 10
- onClicked: controller.skipButtonClicked()
- }
- QGCButton {
- id: cancelButton
- text: qsTr("Cancel")
- width: ScreenTools.defaultFontPixelWidth * 10
- onClicked: controller.cancelButtonClicked()
- }
- QGCButton {
- id: nextButton
- primary: true
- text: qsTr("Calibrate")
- width: ScreenTools.defaultFontPixelWidth * 10
- onClicked: controller.nextButtonClicked()
- }
- }
-
- // Status Text
- QGCLabel {
- text: controller.statusText
- width: parent.width
- wrapMode: Text.WordWrap
- visible: text !== ""
- }
-
- //-- Separator
- Rectangle {
- width: parent.width
- height: 1
- border.color: qgcPal.text
- border.width: 1
- }
-
- // Settings
- Row {
- width: parent.width
- spacing: ScreenTools.defaultFontPixelWidth
-
- // Left column settings
- Column {
- width: parent.width * 0.5
- spacing: ScreenTools.defaultFontPixelHeight
-
- QGCLabel { text: qsTr("Additional Joystick settings:") }
-
- Column {
- width: parent.width
- spacing: ScreenTools.defaultFontPixelHeight
-
- Column {
- spacing: ScreenTools.defaultFontPixelHeight / 3
- visible: activeVehicle.supportsThrottleModeCenterZero
-
- QGCRadioButton {
- text: qsTr("Center stick is zero throttle")
- checked: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
-
- onClicked: _activeJoystick.throttleMode = 0
- }
-
- Row {
- x: 20
- width: parent.width
- spacing: ScreenTools.defaultFontPixelWidth
- visible: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
-
- QGCCheckBox {
- id: accumulator
- checked: _activeJoystick ? _activeJoystick.accumulator : false
- text: qsTr("Spring loaded throttle smoothing")
-
- onClicked: _activeJoystick.accumulator = checked
- }
- }
-
- QGCRadioButton {
- text: qsTr("Full down stick is zero throttle")
- checked: _activeJoystick ? _activeJoystick.throttleMode === 1 : false
-
- onClicked: _activeJoystick.throttleMode = 1
- }
-
- QGCCheckBox {
- visible: activeVehicle.supportsNegativeThrust
- id: negativeThrust
- text: qsTr("Allow negative Thrust")
- enabled: _activeJoystick.negativeThrust = activeVehicle.supportsNegativeThrust
- checked: _activeJoystick ? _activeJoystick.negativeThrust : false
- onClicked: _activeJoystick.negativeThrust = checked
- }
- }
-
- Column {
- spacing: ScreenTools.defaultFontPixelHeight
-
- QGCLabel {
- id: expoSliderLabel
- text: qsTr("Exponential:")
- }
-
- Row {
- spacing: ScreenTools.defaultFontPixelWidth
- QGCSlider {
- id: expoSlider
- width: ScreenTools.defaultFontPixelWidth * 14
- minimumValue: 0
- maximumValue: 0.75
- Component.onCompleted: value = -_activeJoystick.exponential
- onValueChanged: _activeJoystick.exponential = -value
- }
- QGCLabel {
- id: expoSliderIndicator
- text: expoSlider.value.toFixed(2)
- }
- }
- }
-
- QGCCheckBox {
- id: advancedSettings
- checked: activeVehicle.joystickMode !== 0
- text: qsTr("Advanced settings (careful!)")
-
- onClicked: {
- if (!checked) {
- activeVehicle.joystickMode = 0
- }
- }
- }
-
- Row {
- width: parent.width
- spacing: ScreenTools.defaultFontPixelWidth
- visible: advancedSettings.checked
-
- QGCLabel {
- id: joystickModeLabel
- anchors.baseline: joystickModeCombo.baseline
- text: qsTr("Joystick mode:")
- }
-
- QGCComboBox {
- id: joystickModeCombo
- currentIndex: activeVehicle.joystickMode
- width: ScreenTools.defaultFontPixelWidth * 20
- model: activeVehicle.joystickModes
-
- onActivated: activeVehicle.joystickMode = index
- }
- }
-
- Row {
- width: parent.width
- spacing: ScreenTools.defaultFontPixelWidth
- visible: advancedSettings.checked
- QGCLabel {
- text: qsTr("Message frequency (Hz):")
- anchors.verticalCenter: parent.verticalCenter
- }
- QGCTextField {
- text: _activeJoystick.frequency
- validator: DoubleValidator { bottom: 0.25; top: 100.0; }
- inputMethodHints: Qt.ImhFormattedNumbersOnly
- onEditingFinished: {
- _activeJoystick.frequency = parseFloat(text)
- }
- }
- }
-
- Row {
- width: parent.width
- spacing: ScreenTools.defaultFontPixelWidth
- visible: advancedSettings.checked
- QGCCheckBox {
- id: joystickCircleCorrection
- checked: activeVehicle.joystickMode !== 0
- text: qsTr("Enable circle correction")
-
- Component.onCompleted: checked = _activeJoystick.circleCorrection
- onClicked: {
- _activeJoystick.circleCorrection = checked
- }
- }
- }
-
- Row {
- width: parent.width
- spacing: ScreenTools.defaultFontPixelWidth
- visible: advancedSettings.checked
-
- QGCCheckBox {
- id: deadband
- checked: controller.deadbandToggle
- text: qsTr("Deadbands")
-
- onClicked: controller.deadbandToggle = checked
- }
- }
- Row{
- width: parent.width
- spacing: ScreenTools.defaultFontPixelWidth
- visible: advancedSettings.checked
- QGCLabel{
- width: parent.width * 0.85
- font.pointSize: ScreenTools.smallFontPointSize
- wrapMode: Text.WordWrap
- text: qsTr("Deadband can be set during the first ") +
- qsTr("step of calibration by gently wiggling each axis. ") +
- qsTr("Deadband can also be adjusted by clicking and ") +
- qsTr("dragging vertically on the corresponding axis monitor.")
- visible: controller.deadbandToggle
- }
- }
- }
- } // Column - left column
-
- // Right column settings
- Column {
- width: parent.width / 2
- spacing: ScreenTools.defaultFontPixelHeight
-
- Connections {
- target: _activeJoystick
-
- onRawButtonPressedChanged: {
- if (buttonActionRepeater.itemAt(index)) {
- buttonActionRepeater.itemAt(index).pressed = pressed
- }
- if (jsButtonActionRepeater.itemAt(index)) {
- jsButtonActionRepeater.itemAt(index).pressed = pressed
- }
- }
- }
- //-- AP_JSButton Buttons (ArduSub)
- QGCLabel { text: qsTr("Button actions:"); visible: activeVehicle.supportsJSButton; }
- Column {
- width: parent.width
- visible: activeVehicle.supportsJSButton
- spacing: ScreenTools.defaultFontPixelHeight / 3
- Row {
- spacing: ScreenTools.defaultFontPixelWidth
- QGCLabel {
- horizontalAlignment: Text.AlignHCenter
- width: ScreenTools.defaultFontPixelHeight * 1.5
- text: qsTr("#")
- }
- QGCLabel {
- width: ScreenTools.defaultFontPixelWidth * 15
- text: qsTr("Function: ")
- }
- QGCLabel {
- width: ScreenTools.defaultFontPixelWidth * 15
- text: qsTr("Shift Function: ")
- }
- } // Row
- Repeater {
- id: jsButtonActionRepeater
- model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : 0
-
- Row {
- spacing: ScreenTools.defaultFontPixelWidth
- visible: activeVehicle.supportsJSButton
-
- property bool pressed
-
- Rectangle {
- anchors.verticalCenter: parent.verticalCenter
- width: ScreenTools.defaultFontPixelHeight * 1.5
- height: width
- border.width: 1
- border.color: qgcPal.text
- color: pressed ? qgcPal.buttonHighlight : qgcPal.button
-
-
- QGCLabel {
- anchors.fill: parent
- color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
- horizontalAlignment: Text.AlignHCenter
- verticalAlignment: Text.AlignVCenter
- text: modelData
- }
- }
-
- FactComboBox {
- id: mainJSButtonActionCombo
- width: ScreenTools.defaultFontPixelWidth * 15
- fact: controller.parameterExists(-1, "BTN"+index+"_FUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_FUNCTION") : null;
- indexModel: false
- }
-
- FactComboBox {
- id: shiftJSButtonActionCombo
- width: ScreenTools.defaultFontPixelWidth * 15
- fact: controller.parameterExists(-1, "BTN"+index+"_SFUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_SFUNCTION") : null;
- indexModel: false
- }
- } // Row
- } // Repeater
- } // Column
- } // Column - right setting column
- } // Row - Settings
-
- } // Column - Left Main Column
- // Right side column
- Column {
- width: Math.min(ScreenTools.defaultFontPixelWidth * 35, availableWidth * 0.4)
- spacing: ScreenTools.defaultFontPixelHeight
-
- Row {
- spacing: ScreenTools.defaultFontPixelWidth
- anchors.horizontalCenter: parent.horizontalCenter
-
- QGCLabel {
- text: "TX Mode:"
- anchors.verticalCenter: parent.verticalCenter
- }
-
- QGCRadioButton {
- text: "1"
- checked: controller.transmitterMode == 1
- enabled: !controller.calibrating
- onClicked: controller.transmitterMode = 1
- anchors.verticalCenter: parent.verticalCenter
- }
-
- QGCRadioButton {
- text: "2"
- checked: controller.transmitterMode == 2
- enabled: !controller.calibrating
- onClicked: controller.transmitterMode = 2
- anchors.verticalCenter: parent.verticalCenter
- }
-
- QGCRadioButton {
- text: "3"
- checked: controller.transmitterMode == 3
- enabled: !controller.calibrating
- onClicked: controller.transmitterMode = 3
- anchors.verticalCenter: parent.verticalCenter
- }
-
- QGCRadioButton {
- text: "4"
- checked: controller.transmitterMode == 4
- enabled: !controller.calibrating
- onClicked: controller.transmitterMode = 4
- anchors.verticalCenter: parent.verticalCenter
- }
- }
-
- //-------------------------------------------------------------
- //-- Joystick Icon
- Rectangle {
- width: Math.round(parent.width * 0.9)
- height: Math.round(width * 0.5)
- radius: ScreenTools.defaultFontPixelWidth * 2
- color: qgcPal.window
- border.color: qgcPal.text
- border.width: ScreenTools.defaultFontPixelWidth * 0.25
- anchors.horizontalCenter: parent.horizontalCenter
- property bool hasStickPositions: controller.stickPositions.length === 4
- Connections {
- target: controller
- onStickPositionsChanged: {
- console.log(controller.stickPositions[0] + ' ' + controller.stickPositions[1] + ' ' + controller.stickPositions[2] + ' ' + controller.stickPositions[3])
- }
- }
-
- //---------------------------------------------------------
- //-- Left Stick
- Rectangle {
- width: parent.width * 0.25
- height: width
- radius: width * 0.5
- color: qgcPal.window
- border.color: qgcPal.text
- border.width: ScreenTools.defaultFontPixelWidth * 0.125
- x: (parent.width * 0.25) - (width * 0.5)
- y: (parent.height * 0.5) - (height * 0.5)
- }
- Rectangle {
- color: qgcPal.colorGreen
- width: parent.width * 0.035
- height: width
- radius: width * 0.5
- visible: parent.hasStickPositions
- x: (parent.width * controller.stickPositions[0]) - (width * 0.5)
- y: (parent.height * controller.stickPositions[1]) - (height * 0.5)
- }
- //---------------------------------------------------------
- //-- Right Stick
- Rectangle {
- width: parent.width * 0.25
- height: width
- radius: width * 0.5
- color: qgcPal.window
- border.color: qgcPal.text
- border.width: ScreenTools.defaultFontPixelWidth * 0.125
- x: (parent.width * 0.75) - (width * 0.5)
- y: (parent.height * 0.5) - (height * 0.5)
- }
- Rectangle {
- color: qgcPal.colorGreen
- width: parent.width * 0.035
- height: width
- radius: width * 0.5
- visible: parent.hasStickPositions
- x: (parent.width * controller.stickPositions[2]) - (width * 0.5)
- y: (parent.height * controller.stickPositions[3]) - (height * 0.5)
- }
- //---------------------------------------------------------
- //-- Gimbal Pitch
- Rectangle {
- width: ScreenTools.defaultFontPixelWidth * 0.125
- height: parent.height * 0.2
- color: qgcPal.text
- visible: controller.hasGimbal
- x: (parent.width * 0.5) - (width * 0.5)
- y: (parent.height * 0.5) - (height * 0.5)
- }
- Rectangle {
- color: qgcPal.colorGreen
- width: parent.width * 0.035
- height: width
- radius: width * 0.5
- visible: controller.hasGimbal
- x: (parent.width * controller.gimbalPositions[0]) - (width * 0.5)
- y: (parent.height * controller.gimbalPositions[1]) - (height * 0.5)
- }
- //---------------------------------------------------------
- //-- Gimbal Yaw
- Rectangle {
- width: parent.width * 0.2
- height: ScreenTools.defaultFontPixelWidth * 0.125
- color: qgcPal.text
- visible: controller.hasGimbal
- x: (parent.width * 0.5) - (width * 0.5)
- y: (parent.height * 0.3) - (height * 0.5)
- }
- Rectangle {
- color: qgcPal.colorGreen
- width: parent.width * 0.035
- height: width
- radius: width * 0.5
- visible: controller.hasGimbal
- x: (parent.width * controller.gimbalPositions[2]) - (width * 0.5)
- y: (parent.height * controller.gimbalPositions[3]) - (height * 0.5)
- }
- }
-
- // Axis monitor
- Column {
- width: parent.width
- spacing: 5
-
- QGCLabel {
- text: qsTr("Axis Monitor")
- anchors.horizontalCenter: parent.horizontalCenter
- }
-
- Connections {
- target: controller
-
- onAxisValueChanged: {
- if (axisMonitorRepeater.itemAt(axis)) {
- axisMonitorRepeater.itemAt(axis).loader.item.axisValue = value
- }
- }
-
- onAxisDeadbandChanged: {
- if (axisMonitorRepeater.itemAt(axis)) {
- axisMonitorRepeater.itemAt(axis).loader.item.deadbandValue = value
- }
- }
- }
-
- Repeater {
- id: axisMonitorRepeater
- model: _activeJoystick ? _activeJoystick.axisCount : 0
- width: parent.width
-
- Row {
- spacing: 5
- anchors.horizontalCenter: parent.horizontalCenter
-
- // Need this to get to loader from Connections above
- property Item loader: theLoader
-
- QGCLabel {
- id: axisLabel
- text: modelData
- }
-
- Loader {
- id: theLoader
- anchors.verticalCenter: axisLabel.verticalCenter
- height: ScreenTools.defaultFontPixelHeight
- width: 200
- sourceComponent: axisMonitorDisplayComponent
- Component.onCompleted: item.narrowIndicator = true
-
- property bool mapped: true
- readonly property bool reversed: false
-
- MouseArea {
- id: deadbandMouseArea
- anchors.fill: parent.item
- enabled: controller.deadbandToggle
- preventStealing: true
-
- property real startX
- property real direction
-
- onPressed: {
- startX = mouseX
- direction = startX > width/2 ? 1 : -1
- parent.item.deadbandColor = "#3C6315"
- }
- onPositionChanged: {
- var mouseToDeadband = 32768/(width/2) // Factor to have deadband follow the mouse movement
- var newValue = parent.item.deadbandValue + direction*(mouseX - startX)*mouseToDeadband
- if ((newValue > 0) && (newValue <32768)){parent.item.deadbandValue=newValue;}
- startX = mouseX
- }
- onReleased: {
- controller.setDeadbandValue(modelData,parent.item.deadbandValue)
- parent.item.deadbandColor = "#8c161a"
- }
- }
- }
-
- }
- }
- } // Column - Axis Monitor
-
- // Button monitor
- Column {
- width: parent.width
- spacing: ScreenTools.defaultFontPixelHeight
-
- QGCLabel {
- text: qsTr("Button Monitor")
- anchors.horizontalCenter: parent.horizontalCenter
- }
-
- Connections {
- target: _activeJoystick
-
- onRawButtonPressedChanged: {
- if (buttonMonitorRepeater.itemAt(index)) {
- buttonMonitorRepeater.itemAt(index).pressed = pressed
- }
- }
- }
-
- Flow {
- width: parent.width * 0.9
- spacing: -1
- anchors.horizontalCenter: parent.horizontalCenter
-
- Repeater {
- id: buttonMonitorRepeater
- model: _activeJoystick ? _activeJoystick.totalButtonCount : 0
-
- Rectangle {
- width: ScreenTools.defaultFontPixelHeight * 1.5
- height: width
- border.width: 1
- border.color: qgcPal.text
- color: pressed ? qgcPal.buttonHighlight : qgcPal.windowShade
-
- property bool pressed
-
- QGCLabel {
- anchors.fill: parent
- color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
- horizontalAlignment: Text.AlignHCenter
- verticalAlignment: Text.AlignVCenter
- text: modelData
- }
- }
- } // Repeater
- } // Row
- } // Column - Axis Monitor
- } // Column - Right Column
- } // Main Row
- //-- Separator
- Rectangle {
- width: parent.width
- height: 1
- border.color: qgcPal.text
- border.width: 1
+ TabButton {
+ text: qsTr("Calibration")
}
- //-- Button Actions
- QGCLabel { text: qsTr("Button actions:"); visible: !activeVehicle.supportsJSButton; }
- Flow {
- width: parent.width
- spacing: ScreenTools.defaultFontPixelWidth
- visible: !activeVehicle.supportsJSButton
- Repeater {
- id: buttonActionRepeater
- model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : []
- Row {
- spacing: ScreenTools.defaultFontPixelWidth
- visible: !activeVehicle.supportsJSButton
- property bool pressed
- QGCCheckBox {
- anchors.verticalCenter: parent.verticalCenter
- checked: _activeJoystick ? _activeJoystick.buttonActions[modelData] !== "" : false
- onClicked: _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.textAt(buttonActionCombo.currentIndex) : "")
- }
- Rectangle {
- anchors.verticalCenter: parent.verticalCenter
- width: ScreenTools.defaultFontPixelHeight * 1.5
- height: width
- border.width: 1
- border.color: qgcPal.text
- color: pressed ? qgcPal.buttonHighlight : qgcPal.button
- QGCLabel {
- anchors.fill: parent
- color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
- horizontalAlignment: Text.AlignHCenter
- verticalAlignment: Text.AlignVCenter
- text: modelData
- }
- }
- QGCComboBox {
- id: buttonActionCombo
- width: ScreenTools.defaultFontPixelWidth * 20
- model: _activeJoystick ? _activeJoystick.actions : 0
-
- onActivated: _activeJoystick.setButtonAction(modelData, textAt(index))
- Component.onCompleted: currentIndex = find(_activeJoystick.buttonActions[modelData])
- }
- }
- }
+ TabButton {
+ text: qsTr("Advanced")
}
}
- // Live axis monitor control component
- Component {
- id: axisMonitorDisplayComponent
-
- Item {
- property int axisValue: 0
- property int deadbandValue: 0
- property bool narrowIndicator: false
- property color deadbandColor: "#8c161a"
- property color __barColor: qgcPal.windowShade
+ property var pages: ["JoystickConfigGeneral.qml", "JoystickConfigButtons.qml", "JoystickConfigCalibration.qml", "JoystickConfigAdvanced.qml"]
- // Bar
- Rectangle {
- id: bar
- anchors.verticalCenter: parent.verticalCenter
- width: parent.width
- height: parent.height / 2
- color: __barColor
- }
-
- // Deadband
- Rectangle {
- id: deadbandBar
- anchors.verticalCenter: parent.verticalCenter
- x: _deadbandPosition
- width: _deadbandWidth
- height: parent.height / 2
- color: deadbandColor
- visible: controller.deadbandToggle
-
- property real _percentDeadband: ((2 * deadbandValue) / (32768.0 * 2))
- property real _deadbandWidth: parent.width * _percentDeadband
- property real _deadbandPosition: (parent.width - _deadbandWidth) / 2
- }
-
- // Center point
- Rectangle {
- anchors.horizontalCenter: parent.horizontalCenter
- width: ScreenTools.defaultFontPixelWidth / 2
- height: parent.height
- color: qgcPal.window
- }
-
- // Indicator
- Rectangle {
- anchors.verticalCenter: parent.verticalCenter
- width: parent.narrowIndicator ? height/6 : height
- height: parent.height * 0.75
- x: (reversed ? (parent.width - _indicatorPosition) : _indicatorPosition) - (width / 2)
- radius: width / 2
- color: qgcPal.text
- visible: mapped
-
- property real _percentAxisValue: ((axisValue + 32768.0) / (32768.0 * 2))
- property real _indicatorPosition: parent.width * _percentAxisValue
- }
-
- QGCLabel {
- anchors.fill: parent
- horizontalAlignment: Text.AlignHCenter
- verticalAlignment: Text.AlignVCenter
- text: qsTr("Not Mapped")
- visible: !mapped
- }
-
- ColorAnimation {
- id: barAnimation
- target: bar
- property: "color"
- from: "yellow"
- to: __barColor
- duration: 1500
- }
-
-
- // Axis value debugger
- /*
- QGCLabel {
- anchors.fill: parent
- text: axisValue
- }
- */
-
- }
- } // Component - axisMonitorDisplayComponent
- } // Item
- } // Component - pageComponent
-} // SetupPage
+ Loader {
+ id: joyLoader
+ source: pages[bar.currentIndex]
+ width: parent.width
+ anchors.top: bar.bottom
+ }
+ }
+ }
+}
diff --git a/src/VehicleSetup/JoystickConfigAdvanced.qml b/src/VehicleSetup/JoystickConfigAdvanced.qml
new file mode 100644
index 0000000..1e4a4e8
--- /dev/null
+++ b/src/VehicleSetup/JoystickConfigAdvanced.qml
@@ -0,0 +1,186 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.11
+import QtQuick.Controls 2.4
+import QtQuick.Dialogs 1.3
+import QtQuick.Layouts 1.11
+
+import QGroundControl 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+
+Item {
+ width: grid.width + (ScreenTools.defaultFontPixelWidth * 2)
+ height: grid.height + (ScreenTools.defaultFontPixelHeight * 2)
+ //---------------------------------------------------------------------
+ GridLayout {
+ id: grid
+ columns: 2
+ columnSpacing: ScreenTools.defaultFontPixelWidth
+ rowSpacing: ScreenTools.defaultFontPixelHeight
+ anchors.centerIn: parent
+ //-------------------------------------------------------------
+ //-------------------------------------------------------------
+ QGCRadioButton {
+ text: qsTr("Full down stick is zero throttle")
+ checked: _activeJoystick ? _activeJoystick.throttleMode === 1 : false
+ onClicked: _activeJoystick.throttleMode = 1
+ Layout.columnSpan: 2
+ }
+ QGCRadioButton {
+ text: qsTr("Center stick is zero throttle")
+ checked: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
+ onClicked: _activeJoystick.throttleMode = 0
+ Layout.columnSpan: 2
+ }
+ //-------------------------------------------------------------
+ QGCLabel {
+ text: qsTr("Spring loaded throttle smoothing")
+ visible: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
+ Layout.alignment: Qt.AlignVCenter
+ Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 36
+ }
+ QGCCheckBox {
+ checked: _activeJoystick ? _activeJoystick.accumulator : false
+ visible: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
+ onClicked: _activeJoystick.accumulator = checked
+ }
+ //-------------------------------------------------------------
+ QGCLabel {
+ text: qsTr("Allow negative Thrust")
+ visible: activeVehicle.supportsNegativeThrust
+ Layout.alignment: Qt.AlignVCenter
+ }
+ QGCCheckBox {
+ visible: activeVehicle.supportsNegativeThrust
+ enabled: _activeJoystick.negativeThrust = activeVehicle.supportsNegativeThrust
+ checked: _activeJoystick ? _activeJoystick.negativeThrust : false
+ onClicked: _activeJoystick.negativeThrust = checked
+ }
+ //---------------------------------------------------------------------
+ QGCLabel {
+ text: qsTr("Exponential:")
+ }
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth
+ QGCSlider {
+ id: expoSlider
+ width: ScreenTools.defaultFontPixelWidth * 20
+ minimumValue: 0
+ maximumValue: 0.75
+ Component.onCompleted: value = -_activeJoystick.exponential
+ onValueChanged: _activeJoystick.exponential = -value
+ }
+ QGCLabel {
+ id: expoSliderIndicator
+ text: expoSlider.value.toFixed(2)
+ }
+ }
+ //-----------------------------------------------------------------
+ //-- Enable Advanced Mode
+ QGCLabel {
+ text: qsTr("Enable further advanced settings (careful!)")
+ Layout.alignment: Qt.AlignVCenter
+ Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 36
+ }
+ QGCCheckBox {
+ id: advancedSettings
+ checked: activeVehicle.joystickMode !== 0
+ onClicked: {
+ if (!checked) {
+ activeVehicle.joystickMode = 0
+ }
+ }
+ }
+ //-----------------------------------------------------------------
+ //-- Mode
+ QGCLabel {
+ Layout.alignment: Qt.AlignVCenter
+ text: qsTr("Joystick mode:")
+ visible: advancedSettings.checked
+ }
+ QGCComboBox {
+ enabled: advancedSettings.checked
+ currentIndex: activeVehicle.joystickMode
+ width: ScreenTools.defaultFontPixelWidth * 20
+ model: activeVehicle.joystickModes
+ onActivated: activeVehicle.joystickMode = index
+ Layout.alignment: Qt.AlignVCenter
+ visible: advancedSettings.checked
+ }
+ //-----------------------------------------------------------------
+ //-- Message Frequency
+ QGCLabel {
+ text: qsTr("Message frequency (Hz):")
+ Layout.alignment: Qt.AlignVCenter
+ visible: advancedSettings.checked
+ }
+ QGCTextField {
+ text: _activeJoystick.frequency
+ enabled: advancedSettings.checked
+ validator: DoubleValidator { bottom: 0.25; top: 100.0; }
+ inputMethodHints: Qt.ImhFormattedNumbersOnly
+ Layout.alignment: Qt.AlignVCenter
+ onEditingFinished: {
+ _activeJoystick.frequency = parseFloat(text)
+ }
+ visible: advancedSettings.checked
+ }
+ //-----------------------------------------------------------------
+ //-- Enable circle correction
+ QGCLabel {
+ text: qsTr("Enable circle correction")
+ Layout.alignment: Qt.AlignVCenter
+ visible: advancedSettings.checked
+ }
+ QGCCheckBox {
+ checked: activeVehicle.joystickMode !== 0
+ enabled: advancedSettings.checked
+ Component.onCompleted: {
+ checked = _activeJoystick.circleCorrection
+ }
+ onClicked: {
+ _activeJoystick.circleCorrection = checked
+ }
+ visible: advancedSettings.checked
+ }
+ //-----------------------------------------------------------------
+ //-- Deadband
+ QGCLabel {
+ text: qsTr("Deadbands")
+ Layout.alignment: Qt.AlignVCenter
+ visible: advancedSettings.checked
+ }
+ QGCCheckBox {
+ enabled: advancedSettings.checked
+ checked: controller.deadbandToggle
+ onClicked: controller.deadbandToggle = checked
+ Layout.alignment: Qt.AlignVCenter
+ visible: advancedSettings.checked
+ }
+ QGCLabel{
+ Layout.fillWidth: true
+ Layout.columnSpan: 2
+ font.pointSize: ScreenTools.smallFontPointSize
+ wrapMode: Text.WordWrap
+ visible: advancedSettings.checked
+ text: qsTr("Deadband can be set during the first ") +
+ qsTr("step of calibration by gently wiggling each axis. ") +
+ qsTr("Deadband can also be adjusted by clicking and ") +
+ qsTr("dragging vertically on the corresponding axis monitor.")
+ }
+ }
+}
+
+
diff --git a/src/VehicleSetup/JoystickConfigButtons.qml b/src/VehicleSetup/JoystickConfigButtons.qml
new file mode 100644
index 0000000..6c32587
--- /dev/null
+++ b/src/VehicleSetup/JoystickConfigButtons.qml
@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.11
+import QtQuick.Controls 2.4
+import QtQuick.Dialogs 1.3
+import QtQuick.Layouts 1.11
+
+import QGroundControl 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+
+Item {
+ width: availableWidth
+ height: (activeVehicle.supportsJSButton ? buttonCol.height : buttonFlow.height) + (ScreenTools.defaultFontPixelHeight * 2)
+ Connections {
+ target: _activeJoystick
+ onRawButtonPressedChanged: {
+ if (buttonActionRepeater.itemAt(index)) {
+ buttonActionRepeater.itemAt(index).pressed = pressed
+ }
+ if (jsButtonActionRepeater.itemAt(index)) {
+ jsButtonActionRepeater.itemAt(index).pressed = pressed
+ }
+ }
+ }
+ Flow {
+ id: buttonFlow
+ width: parent.width
+ spacing: ScreenTools.defaultFontPixelWidth
+ visible: !activeVehicle.supportsJSButton
+ anchors.centerIn: parent
+ Repeater {
+ id: buttonActionRepeater
+ model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : []
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth
+ property bool pressed
+ QGCCheckBox {
+ anchors.verticalCenter: parent.verticalCenter
+ checked: _activeJoystick ? _activeJoystick.buttonActions[modelData] !== "" : false
+ onClicked: _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.textAt(buttonActionCombo.currentIndex) : "")
+ }
+ Rectangle {
+ anchors.verticalCenter: parent.verticalCenter
+ width: ScreenTools.defaultFontPixelHeight * 1.5
+ height: width
+ border.width: 1
+ border.color: qgcPal.text
+ color: pressed ? qgcPal.buttonHighlight : qgcPal.button
+ QGCLabel {
+ anchors.fill: parent
+ color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
+ horizontalAlignment: Text.AlignHCenter
+ verticalAlignment: Text.AlignVCenter
+ text: modelData
+ }
+ }
+ QGCComboBox {
+ id: buttonActionCombo
+ width: ScreenTools.defaultFontPixelWidth * 20
+ model: _activeJoystick ? _activeJoystick.actions : 0
+ onActivated: _activeJoystick.setButtonAction(modelData, textAt(index))
+ Component.onCompleted: currentIndex = find(_activeJoystick.buttonActions[modelData])
+ }
+ }
+ }
+ }
+ Column {
+ id: buttonCol
+ width: parent.width
+ visible: activeVehicle.supportsJSButton
+ spacing: ScreenTools.defaultFontPixelHeight / 3
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth
+ QGCLabel {
+ horizontalAlignment: Text.AlignHCenter
+ width: ScreenTools.defaultFontPixelHeight * 1.5
+ text: qsTr("#")
+ }
+ QGCLabel {
+ width: ScreenTools.defaultFontPixelWidth * 15
+ text: qsTr("Function: ")
+ }
+ QGCLabel {
+ width: ScreenTools.defaultFontPixelWidth * 15
+ text: qsTr("Shift Function: ")
+ }
+ }
+ Repeater {
+ id: jsButtonActionRepeater
+ model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : 0
+
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth
+ visible: activeVehicle.supportsJSButton
+
+ property bool pressed
+
+ Rectangle {
+ anchors.verticalCenter: parent.verticalCenter
+ width: ScreenTools.defaultFontPixelHeight * 1.5
+ height: width
+ border.width: 1
+ border.color: qgcPal.text
+ color: pressed ? qgcPal.buttonHighlight : qgcPal.button
+
+
+ QGCLabel {
+ anchors.fill: parent
+ color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
+ horizontalAlignment: Text.AlignHCenter
+ verticalAlignment: Text.AlignVCenter
+ text: modelData
+ }
+ }
+
+ FactComboBox {
+ id: mainJSButtonActionCombo
+ width: ScreenTools.defaultFontPixelWidth * 15
+ fact: controller.parameterExists(-1, "BTN"+index+"_FUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_FUNCTION") : null;
+ indexModel: false
+ }
+
+ FactComboBox {
+ id: shiftJSButtonActionCombo
+ width: ScreenTools.defaultFontPixelWidth * 15
+ fact: controller.parameterExists(-1, "BTN"+index+"_SFUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_SFUNCTION") : null;
+ indexModel: false
+ }
+ }
+ }
+ }
+}
+
+
diff --git a/src/VehicleSetup/JoystickConfigCalibration.qml b/src/VehicleSetup/JoystickConfigCalibration.qml
new file mode 100644
index 0000000..c4f01c0
--- /dev/null
+++ b/src/VehicleSetup/JoystickConfigCalibration.qml
@@ -0,0 +1,241 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.11
+import QtQuick.Controls 2.4
+import QtQuick.Dialogs 1.3
+import QtQuick.Layouts 1.11
+
+import QGroundControl 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+
+Item {
+ height: calCol.height + ScreenTools.defaultFontPixelHeight * 2
+ width: calCol.width + ScreenTools.defaultFontPixelWidth * 2
+ Column {
+ id: calCol
+ spacing: ScreenTools.defaultFontPixelHeight
+ anchors.centerIn: parent
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth * 4
+ anchors.horizontalCenter: parent.horizontalCenter
+ //-----------------------------------------------------------------
+ // Calibration
+ Column {
+ spacing: ScreenTools.defaultFontPixelHeight
+ anchors.verticalCenter: parent.verticalCenter
+ Rectangle {
+ width: Math.round(ScreenTools.defaultFontPixelWidth * 45)
+ height: Math.round(width * 0.5)
+ radius: ScreenTools.defaultFontPixelWidth * 2
+ color: qgcPal.window
+ border.color: qgcPal.text
+ border.width: ScreenTools.defaultFontPixelWidth * 0.25
+ anchors.horizontalCenter: parent.horizontalCenter
+ property bool hasStickPositions: controller.stickPositions.length === 4
+ //---------------------------------------------------------
+ //-- Left Stick
+ Rectangle {
+ width: parent.width * 0.25
+ height: width
+ radius: width * 0.5
+ color: qgcPal.window
+ border.color: qgcPal.text
+ border.width: ScreenTools.defaultFontPixelWidth * 0.125
+ x: (parent.width * 0.25) - (width * 0.5)
+ y: (parent.height * 0.5) - (height * 0.5)
+ }
+ Rectangle {
+ color: qgcPal.colorGreen
+ width: parent.width * 0.035
+ height: width
+ radius: width * 0.5
+ visible: parent.hasStickPositions
+ x: (parent.width * controller.stickPositions[0]) - (width * 0.5)
+ y: (parent.height * controller.stickPositions[1]) - (height * 0.5)
+ }
+ //---------------------------------------------------------
+ //-- Right Stick
+ Rectangle {
+ width: parent.width * 0.25
+ height: width
+ radius: width * 0.5
+ color: qgcPal.window
+ border.color: qgcPal.text
+ border.width: ScreenTools.defaultFontPixelWidth * 0.125
+ x: (parent.width * 0.75) - (width * 0.5)
+ y: (parent.height * 0.5) - (height * 0.5)
+ }
+ Rectangle {
+ color: qgcPal.colorGreen
+ width: parent.width * 0.035
+ height: width
+ radius: width * 0.5
+ visible: parent.hasStickPositions
+ x: (parent.width * controller.stickPositions[2]) - (width * 0.5)
+ y: (parent.height * controller.stickPositions[3]) - (height * 0.5)
+ }
+ //---------------------------------------------------------
+ //-- Gimbal Pitch
+ Rectangle {
+ width: ScreenTools.defaultFontPixelWidth * 0.125
+ height: parent.height * 0.2
+ color: qgcPal.text
+ visible: controller.hasGimbal
+ x: (parent.width * 0.5) - (width * 0.5)
+ y: (parent.height * 0.5) - (height * 0.5)
+ }
+ Rectangle {
+ color: qgcPal.colorGreen
+ width: parent.width * 0.035
+ height: width
+ radius: width * 0.5
+ visible: controller.hasGimbal
+ x: (parent.width * controller.gimbalPositions[0]) - (width * 0.5)
+ y: (parent.height * controller.gimbalPositions[1]) - (height * 0.5)
+ }
+ //---------------------------------------------------------
+ //-- Gimbal Yaw
+ Rectangle {
+ width: parent.width * 0.2
+ height: ScreenTools.defaultFontPixelWidth * 0.125
+ color: qgcPal.text
+ visible: controller.hasGimbal
+ x: (parent.width * 0.5) - (width * 0.5)
+ y: (parent.height * 0.3) - (height * 0.5)
+ }
+ Rectangle {
+ color: qgcPal.colorGreen
+ width: parent.width * 0.035
+ height: width
+ radius: width * 0.5
+ visible: controller.hasGimbal
+ x: (parent.width * controller.gimbalPositions[2]) - (width * 0.5)
+ y: (parent.height * controller.gimbalPositions[3]) - (height * 0.5)
+ }
+ }
+ }
+ //---------------------------------------------------------------------
+ // Monitor
+ Column {
+ spacing: ScreenTools.defaultFontPixelHeight * 0.5
+ anchors.verticalCenter: parent.verticalCenter
+ QGCLabel {
+ text: qsTr("Axis Monitor")
+ anchors.horizontalCenter: parent.horizontalCenter
+ }
+ Connections {
+ target: controller
+ onAxisValueChanged: {
+ if (axisMonitorRepeater.itemAt(axis)) {
+ axisMonitorRepeater.itemAt(axis).axis.axisValue = value
+ }
+ }
+ onAxisDeadbandChanged: {
+ if (axisMonitorRepeater.itemAt(axis)) {
+ axisMonitorRepeater.itemAt(axis).axis.deadbandValue = value
+ }
+ }
+ }
+ Repeater {
+ id: axisMonitorRepeater
+ model: _activeJoystick ? _activeJoystick.axisCount : 0
+ width: parent.width
+ Row {
+ spacing: 5
+ anchors.horizontalCenter: parent.horizontalCenter
+ // Need this to get to loader from Connections above
+ property Item axis: theAxis
+ QGCLabel {
+ id: axisLabel
+ text: modelData
+ }
+ AxisMonitor {
+ id: theAxis
+ anchors.verticalCenter: axisLabel.verticalCenter
+ height: ScreenTools.defaultFontPixelHeight
+ width: 200
+ narrowIndicator: true
+ mapped: true
+ reversed: false
+ MouseArea {
+ id: deadbandMouseArea
+ anchors.fill: parent.item
+ enabled: controller.deadbandToggle
+ preventStealing: true
+ property real startX
+ property real direction
+ onPressed: {
+ startX = mouseX
+ direction = startX > width/2 ? 1 : -1
+ parent.item.deadbandColor = "#3C6315"
+ }
+ onPositionChanged: {
+ var mouseToDeadband = 32768/(width/2) // Factor to have deadband follow the mouse movement
+ var newValue = parent.item.deadbandValue + direction*(mouseX - startX)*mouseToDeadband
+ if ((newValue > 0) && (newValue <32768)){parent.item.deadbandValue=newValue;}
+ startX = mouseX
+ }
+ onReleased: {
+ controller.setDeadbandValue(modelData,parent.item.deadbandValue)
+ parent.item.deadbandColor = "#8c161a"
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+ // Command Buttons
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth * 2
+ visible: _activeJoystick.requiresCalibration
+ anchors.horizontalCenter: parent.horizontalCenter
+ QGCButton {
+ id: skipButton
+ text: qsTr("Skip")
+ enabled: controller.calibrating ? controller.skipEnabled : false
+ width: ScreenTools.defaultFontPixelWidth * 10
+ onClicked: controller.skipButtonClicked()
+ }
+ QGCButton {
+ text: qsTr("Cancel")
+ width: ScreenTools.defaultFontPixelWidth * 10
+ enabled: controller.calibrating
+ onClicked: {
+ if(controller.calibrating)
+ controller.cancelButtonClicked()
+ }
+ }
+ QGCButton {
+ id: nextButton
+ primary: true
+ enabled: controller.calibrating ? controller.nextEnabled : true
+ text: controller.calibrating ? qsTr("Next") : qsTr("Start")
+ width: ScreenTools.defaultFontPixelWidth * 10
+ onClicked: controller.nextButtonClicked()
+ }
+ }
+ // Status Text
+ QGCLabel {
+ text: controller.statusText
+ width: parent.width * 0.8
+ wrapMode: Text.WordWrap
+ horizontalAlignment: Text.AlignHCenter
+ anchors.horizontalCenter: parent.horizontalCenter
+ }
+ }
+}
+
+
diff --git a/src/VehicleSetup/JoystickConfigController.cc b/src/VehicleSetup/JoystickConfigController.cc
index c97a9ca..6025a86 100644
--- a/src/VehicleSetup/JoystickConfigController.cc
+++ b/src/VehicleSetup/JoystickConfigController.cc
@@ -28,21 +28,6 @@ const int JoystickConfigController::_calMinDelta = 1000; ///< Amo
const int JoystickConfigController::_stickDetectSettleMSecs = 500;
-const char* JoystickConfigController::_imageFilePrefix = "calibration/joystick/";
-const char* JoystickConfigController::_imageFileMode1Dir = "mode1/";
-const char* JoystickConfigController::_imageFileMode2Dir = "mode2/";
-const char* JoystickConfigController::_imageFileMode3Dir = "mode3/";
-const char* JoystickConfigController::_imageFileMode4Dir = "mode4/";
-const char* JoystickConfigController::_imageCenter = "joystickCenter.png";
-const char* JoystickConfigController::_imageThrottleUp = "joystickThrottleUp.png";
-const char* JoystickConfigController::_imageThrottleDown = "joystickThrottleDown.png";
-const char* JoystickConfigController::_imageYawLeft = "joystickYawLeft.png";
-const char* JoystickConfigController::_imageYawRight = "joystickYawRight.png";
-const char* JoystickConfigController::_imageRollLeft = "joystickRollLeft.png";
-const char* JoystickConfigController::_imageRollRight = "joystickRollRight.png";
-const char* JoystickConfigController::_imagePitchUp = "joystickPitchUp.png";
-const char* JoystickConfigController::_imagePitchDown = "joystickPitchDown.png";
-
static const JoystickConfigController::stateStickPositions stSticksCentered {
0.25, 0.5, 0.75, 0.5
};
@@ -137,7 +122,7 @@ JoystickConfigController::~JoystickConfigController()
/// @brief Returns the state machine entry for the specified state.
const JoystickConfigController::stateMachineEntry* JoystickConfigController::_getStateMachineEntry(int step)
{
- static const char* msgBegin = "Allow all sticks to center as shown in diagram.\n\nClick Next to continue";
+ static const char* msgBegin = "Allow all sticks to center as shown in diagram.\nClick 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 hold it there...";
static const char* msgYawLeft = "Move the Yaw stick all the way to the left and hold it there...";
@@ -151,7 +136,7 @@ const JoystickConfigController::stateMachineEntry* JoystickConfigController::_ge
static const char* msgGimbalPitchUp = "Move the Gimbal Pitch control all the way up and hold it there...";
static const char* msgGimbalYawLeft = "Move the Gimbal Yaw control all the way to the left and hold it there...";
static const char* msgGimbalYawRight = "Move the Gimbal Yaw control all the way to the right and hold it there...";
- static const char* msgComplete = "All settings have been captured. Click Next to enable the joystick.";
+ static const char* msgComplete = "All settings have been captured.\nClick Next to enable the joystick.";
static const stateMachineEntry rgStateMachine[] = {
//Function
@@ -189,6 +174,24 @@ void JoystickConfigController::_advanceState()
_setupCurrentState();
}
+bool JoystickConfigController::nextEnabled()
+{
+ if(_currentStep >= 0) {
+ const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
+ return state->nextFn != nullptr;
+ }
+ return false;
+}
+
+bool JoystickConfigController::skipEnabled()
+{
+ if(_currentStep >= 0) {
+ const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
+ return state->skipFn != nullptr;
+ }
+ return false;
+}
+
/// @brief Sets up the state machine according to the current step from _currentStep.
void JoystickConfigController::_setupCurrentState()
{
@@ -197,14 +200,14 @@ void JoystickConfigController::_setupCurrentState()
_stickDetectAxis = _axisNoAxis;
_stickDetectSettleStarted = false;
_calSaveCurrentValues();
- _nextButton->setEnabled(state->nextFn != nullptr);
- _skipButton->setEnabled(state->skipFn != nullptr);
_currentStickPositions.clear();
_currentStickPositions << state->stickPositions.leftX << state->stickPositions.leftY << state->stickPositions.rightX << state->stickPositions.rightY;
_currentGimbalPositions.clear();
_currentGimbalPositions << state->gimbalPositions.leftX << state->gimbalPositions.leftY << state->gimbalPositions.rightX << state->gimbalPositions.rightY;
emit stickPositionsChanged();
emit gimbalPositionsChanged();
+ emit nextEnabledChanged();
+ emit skipEnabledChanged();
}
void JoystickConfigController::_axisValueChanged(int axis, int value)
@@ -300,7 +303,6 @@ void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t fu
if ((abs(value) * 1.1f > _rgAxisInfo[axis].deadband) && (_activeJoystick->deadband())) { //add 10% on top of existing deadband
_axisDeadbandChanged(axis, static_cast<int>(abs(value) * 1.1f));
}
- _nextButton->setEnabled(true);
// FIXME: Doesn't wait for center
}
@@ -588,8 +590,6 @@ void JoystickConfigController::_startCalibration()
{
_activeJoystick->setCalibrationMode(true);
_resetInternalCalibrationValues();
- _nextButton->setProperty("text", "Next");
- _cancelButton->setEnabled(true);
_currentStep = 0;
_setupCurrentState();
emit calibratingChanged();
@@ -602,11 +602,13 @@ void JoystickConfigController::_stopCalibration()
_activeJoystick->setCalibrationMode(false);
_setInternalCalibrationValuesFromSettings();
_setStatusText("");
- _nextButton->setProperty("text", tr("Calibrate"));
- _nextButton->setEnabled(true);
- _cancelButton->setEnabled(false);
- _skipButton->setEnabled(false);
emit calibratingChanged();
+ _currentStickPositions.clear();
+ _currentGimbalPositions.clear();
+ _currentStickPositions << _sticksCentered.leftX << _sticksCentered.leftY << _sticksCentered.rightX << _sticksCentered.rightY;
+ _currentGimbalPositions << stGimbalCentered.leftX << stGimbalCentered.leftY << stGimbalCentered.rightX << stGimbalCentered.rightY;
+ emit stickPositionsChanged();
+ emit gimbalPositionsChanged();
}
/// @brief Saves the current axis values, so that we can detect when the use moves an input.
@@ -618,22 +620,6 @@ void JoystickConfigController::_calSaveCurrentValues()
}
}
-/// @brief Set up the Save state of calibration.
-void JoystickConfigController::_calSave()
-{
- _calState = calStateSave;
- _setStatusText(tr(
- "The current calibration settings are now displayed for each axis on screen.\n\n"
- "Click the Next button to upload calibration to board. Click Cancel if you don't want to save these values."));
- _nextButton->setEnabled(true);
- _skipButton->setEnabled(false);
- _cancelButton->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 out are displayed.
- _validateCalibration();
-}
-
void JoystickConfigController::_setStickPositions()
{
_sticksCentered = stSticksCentered;
diff --git a/src/VehicleSetup/JoystickConfigController.h b/src/VehicleSetup/JoystickConfigController.h
index ec2086f..f79e0d5 100644
--- a/src/VehicleSetup/JoystickConfigController.h
+++ b/src/VehicleSetup/JoystickConfigController.h
@@ -41,10 +41,6 @@ public:
Q_PROPERTY(QString statusText READ statusText NOTIFY statusTextChanged)
- Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
- Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
- Q_PROPERTY(QQuickItem* skipButton MEMBER _skipButton)
-
Q_PROPERTY(bool rollAxisMapped READ rollAxisMapped NOTIFY rollAxisMappedChanged)
Q_PROPERTY(bool pitchAxisMapped READ pitchAxisMapped NOTIFY pitchAxisMappedChanged)
Q_PROPERTY(bool yawAxisMapped READ yawAxisMapped NOTIFY yawAxisMappedChanged)
@@ -66,6 +62,8 @@ public:
Q_PROPERTY(int transmitterMode READ transmitterMode WRITE setTransmitterMode NOTIFY transmitterModeChanged)
Q_PROPERTY(bool calibrating READ calibrating NOTIFY calibratingChanged)
+ Q_PROPERTY(bool nextEnabled READ nextEnabled NOTIFY nextEnabledChanged)
+ Q_PROPERTY(bool skipEnabled READ skipEnabled NOTIFY skipEnabledChanged)
Q_PROPERTY(QList<qreal> stickPositions READ stickPositions NOTIFY stickPositionsChanged)
Q_PROPERTY(QList<qreal> gimbalPositions READ gimbalPositions NOTIFY gimbalPositionsChanged)
@@ -103,6 +101,8 @@ public:
void setTransmitterMode (int mode);
bool calibrating () { return _currentStep != -1; }
+ bool nextEnabled ();
+ bool skipEnabled ();
QList<qreal> stickPositions () { return _currentStickPositions; }
QList<qreal> gimbalPositions () { return _currentGimbalPositions; }
@@ -132,6 +132,8 @@ signals:
void deadbandToggled (bool value);
void transmitterModeChanged (int mode);
void calibratingChanged ();
+ void nextEnabledChanged ();
+ void skipEnabledChanged ();
void stickPositionsChanged ();
void gimbalPositionsChanged ();
void hasGimbalChanged ();
@@ -213,7 +215,6 @@ private:
void _startCalibration ();
void _stopCalibration ();
- void _calSave ();
void _calSaveCurrentValues ();
@@ -223,23 +224,6 @@ private:
void _setStatusText (const QString& text);
- // Member variables
-
- static const char* _imageFileMode1Dir;
- static const char* _imageFileMode2Dir;
- static const char* _imageFileMode3Dir;
- static const char* _imageFileMode4Dir;
- static const char* _imageFilePrefix;
- static const char* _imageCenter;
- static const char* _imageThrottleUp;
- static const char* _imageThrottleDown;
- static const char* _imageYawLeft;
- static const char* _imageYawRight;
- static const char* _imageRollLeft;
- static const char* _imageRollRight;
- static const char* _imagePitchUp;
- static const char* _imagePitchDown;
-
stateStickPositions _sticksCentered;
stateStickPositions _sticksThrottleUp;
stateStickPositions _sticksThrottleDown;
@@ -286,14 +270,10 @@ private:
int _stickDetectValue;
bool _stickDetectSettleStarted;
QTime _stickDetectSettleElapsed;
- static const int _stickDetectSettleMSecs;
- QString _statusText;
+ static const int _stickDetectSettleMSecs;
- QQuickItem* _cancelButton = nullptr;
- QQuickItem* _nextButton = nullptr;
- QQuickItem* _skipButton = nullptr;
-
+ QString _statusText;
JoystickManager* _joystickManager;
};
diff --git a/src/VehicleSetup/JoystickConfigGeneral.qml b/src/VehicleSetup/JoystickConfigGeneral.qml
new file mode 100644
index 0000000..dbca886
--- /dev/null
+++ b/src/VehicleSetup/JoystickConfigGeneral.qml
@@ -0,0 +1,298 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.11
+import QtQuick.Controls 2.4
+import QtQuick.Dialogs 1.3
+import QtQuick.Layouts 1.11
+
+import QGroundControl 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+
+Item {
+ width: mainCol.width + (ScreenTools.defaultFontPixelWidth * 2)
+ height: mainCol.height + (ScreenTools.defaultFontPixelHeight * 2)
+ readonly property real axisMonitorWidth: ScreenTools.defaultFontPixelWidth * 32
+ Column {
+ id: mainCol
+ anchors.centerIn: parent
+ spacing: ScreenTools.defaultFontPixelHeight
+ GridLayout {
+ columns: 2
+ columnSpacing: ScreenTools.defaultFontPixelWidth
+ rowSpacing: ScreenTools.defaultFontPixelHeight
+ //---------------------------------------------------------------------
+ //-- Enable Joystick
+ QGCLabel {
+ text: _activeJoystick ? _activeJoystick.calibrated ? qsTr("Enable joystick input") : qsTr("Enable not allowed (Calibrate First)") : ""
+ Layout.alignment: Qt.AlignVCenter
+ Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 36
+ }
+ QGCCheckBox {
+ id: enabledSwitch
+ enabled: _activeJoystick ? _activeJoystick.calibrated : false
+ onClicked: activeVehicle.joystickEnabled = checked
+ Component.onCompleted: {
+ checked = activeVehicle.joystickEnabled
+ }
+ Connections {
+ target: activeVehicle
+ onJoystickEnabledChanged: {
+ enabledSwitch.checked = activeVehicle.joystickEnabled
+ }
+ }
+ Connections {
+ target: joystickManager
+ onActiveJoystickChanged: {
+ if(_activeJoystick) {
+ enabledSwitch.checked = Qt.binding(function() { return _activeJoystick.calibrated && activeVehicle.joystickEnabled })
+ }
+ }
+ }
+ }
+ //---------------------------------------------------------------------
+ //-- Joystick Selector
+ QGCLabel {
+ text: qsTr("Active joystick:")
+ Layout.alignment: Qt.AlignVCenter
+ }
+ QGCComboBox {
+ id: joystickCombo
+ width: ScreenTools.defaultFontPixelWidth * 40
+ Layout.alignment: Qt.AlignVCenter
+ model: joystickManager.joystickNames
+ onActivated: joystickManager.activeJoystickName = textAt(index)
+ Component.onCompleted: {
+ var index = joystickCombo.find(joystickManager.activeJoystickName)
+ if (index === -1) {
+ console.warn(qsTr("Active joystick name not in combo"), joystickManager.activeJoystickName)
+ } else {
+ joystickCombo.currentIndex = index
+ }
+ }
+ Connections {
+ target: joystickManager
+ onAvailableJoysticksChanged: {
+ var index = joystickCombo.find(joystickManager.activeJoystickName)
+ if (index >= 0) {
+ joystickCombo.currentIndex = index
+ }
+ }
+ }
+ }
+ //---------------------------------------------------------------------
+ //-- RC Mode
+ QGCLabel {
+ text: qsTr("RC Mode:")
+ Layout.alignment: Qt.AlignVCenter
+ }
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth
+ QGCRadioButton {
+ text: "1"
+ checked: controller.transmitterMode === 1
+ enabled: !controller.calibrating
+ onClicked: controller.transmitterMode = 1
+ anchors.verticalCenter: parent.verticalCenter
+ }
+ QGCRadioButton {
+ text: "2"
+ checked: controller.transmitterMode === 2
+ enabled: !controller.calibrating
+ onClicked: controller.transmitterMode = 2
+ anchors.verticalCenter: parent.verticalCenter
+ }
+ QGCRadioButton {
+ text: "3"
+ checked: controller.transmitterMode === 3
+ enabled: !controller.calibrating
+ onClicked: controller.transmitterMode = 3
+ anchors.verticalCenter: parent.verticalCenter
+ }
+ QGCRadioButton {
+ text: "4"
+ checked: controller.transmitterMode === 4
+ enabled: !controller.calibrating
+ onClicked: controller.transmitterMode = 4
+ anchors.verticalCenter: parent.verticalCenter
+ }
+ }
+ }
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth
+ //---------------------------------------------------------------------
+ //-- Axis Monitors
+ Rectangle {
+ id: axisRect
+ color: Qt.rgba(0,0,0,0)
+ border.color: qgcPal.text
+ border.width: 1
+ radius: ScreenTools.defaultFontPixelWidth * 0.5
+ width: axisGrid.width + (ScreenTools.defaultFontPixelWidth * 2)
+ height: axisGrid.height + (ScreenTools.defaultFontPixelHeight * 2)
+ GridLayout {
+ id: axisGrid
+ columns: 2
+ columnSpacing: ScreenTools.defaultFontPixelWidth
+ rowSpacing: ScreenTools.defaultFontPixelHeight
+ anchors.centerIn: parent
+ QGCLabel {
+ text: activeVehicle.sub ? qsTr("Lateral") : qsTr("Roll")
+ }
+ AxisMonitor {
+ id: rollAxis
+ height: ScreenTools.defaultFontPixelHeight
+ width: axisMonitorWidth
+ mapped: controller.rollAxisMapped
+ reversed: controller.rollAxisReversed
+ Connections {
+ target: _activeJoystick
+ onManualControl: rollAxis.axisValue = roll * 32768.0
+ }
+ }
+
+ QGCLabel {
+ id: pitchLabel
+ width: _attitudeLabelWidth
+ text: activeVehicle.sub ? qsTr("Forward") : qsTr("Pitch")
+ }
+ AxisMonitor {
+ id: pitchAxis
+ height: ScreenTools.defaultFontPixelHeight
+ width: axisMonitorWidth
+ mapped: controller.pitchAxisMapped
+ reversed: controller.pitchAxisReversed
+ Connections {
+ target: _activeJoystick
+ onManualControl: pitchAxis.axisValue = pitch * 32768.0
+ }
+ }
+
+ QGCLabel {
+ id: yawLabel
+ width: _attitudeLabelWidth
+ text: qsTr("Yaw")
+ }
+ AxisMonitor {
+ id: yawAxis
+ height: ScreenTools.defaultFontPixelHeight
+ width: axisMonitorWidth
+ mapped: controller.yawAxisMapped
+ reversed: controller.yawAxisReversed
+ Connections {
+ target: _activeJoystick
+ onManualControl: yawAxis.axisValue = yaw * 32768.0
+ }
+ }
+
+ QGCLabel {
+ id: throttleLabel
+ width: _attitudeLabelWidth
+ text: qsTr("Throttle")
+ }
+ AxisMonitor {
+ id: throttleAxis
+ height: ScreenTools.defaultFontPixelHeight
+ width: axisMonitorWidth
+ mapped: controller.throttleAxisMapped
+ reversed: controller.throttleAxisReversed
+ Connections {
+ target: _activeJoystick
+ onManualControl: throttleAxis.axisValue = _activeJoystick.negativeThrust ? throttle * -32768.0 : (-2 * throttle + 1) * 32768.0
+ }
+ }
+
+ QGCLabel {
+ id: gimbalPitchLabel
+ width: _attitudeLabelWidth
+ text: qsTr("Gimbal Pitch")
+ visible: controller.hasGimbal
+ }
+ AxisMonitor {
+ id: gimbalPitchAxis
+ height: ScreenTools.defaultFontPixelHeight
+ width: axisMonitorWidth
+ mapped: controller.gimbalPitchAxisMapped
+ reversed: controller.gimbalPitchAxisReversed
+ visible: controller.hasGimbal
+ Connections {
+ target: _activeJoystick
+ onManualControl: gimbalPitchAxis.axisValue = gimbalPitch * 32768.0
+ }
+ }
+
+ QGCLabel {
+ id: gimbalYawLabel
+ width: _attitudeLabelWidth
+ text: qsTr("Gimbal Yaw")
+ visible: controller.hasGimbal
+ }
+ AxisMonitor {
+ id: gimbalYawAxis
+ height: ScreenTools.defaultFontPixelHeight
+ width: axisMonitorWidth
+ mapped: controller.gimbalYawAxisMapped
+ reversed: controller.gimbalYawAxisReversed
+ Connections {
+ target: _activeJoystick
+ onManualControl: gimbalYawAxis.axisValue = gimbalYaw * 32768.0
+ }
+ }
+ }
+ }
+ Rectangle {
+ color: Qt.rgba(0,0,0,0)
+ border.color: qgcPal.text
+ border.width: 1
+ radius: ScreenTools.defaultFontPixelWidth * 0.5
+ width: axisRect.width
+ height: axisRect.height
+ Flow {
+ width: ScreenTools.defaultFontPixelWidth * 30
+ spacing: -1
+ anchors.centerIn: parent
+ Connections {
+ target: _activeJoystick
+ onRawButtonPressedChanged: {
+ if (buttonMonitorRepeater.itemAt(index)) {
+ buttonMonitorRepeater.itemAt(index).pressed = pressed
+ }
+ }
+ }
+ Repeater {
+ id: buttonMonitorRepeater
+ model: _activeJoystick ? _activeJoystick.totalButtonCount : []
+ Rectangle {
+ width: ScreenTools.defaultFontPixelHeight * 1.5
+ height: width
+ border.width: 1
+ border.color: qgcPal.text
+ color: pressed ? qgcPal.buttonHighlight : qgcPal.windowShade
+ property bool pressed
+ QGCLabel {
+ anchors.fill: parent
+ color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
+ horizontalAlignment: Text.AlignHCenter
+ verticalAlignment: Text.AlignVCenter
+ text: modelData
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+}
+
+
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 16e80ab..48131bb 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -839,8 +839,12 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
* Set the manual control commands.
* This can only be done if the system has manual inputs enabled and is armed.
*/
-void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode)
+void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMode)
{
+ //-- TODO
+ Q_UNUSED(gimbalPitch);
+ Q_UNUSED(gimbalYaw);
+
if (!_vehicle) {
return;
}
@@ -997,11 +1001,11 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
} else if (joystickMode == Vehicle::JoystickModeRC) {
// Save the new manual control inputs
- manualRollAngle = roll;
- manualPitchAngle = pitch;
- manualYawAngle = yaw;
- manualThrust = thrust;
- manualButtons = buttons;
+ manualRollAngle = roll;
+ manualPitchAngle = pitch;
+ manualYawAngle = yaw;
+ manualThrust = thrust;
+ manualButtons = buttons;
// Store scaling values for all 3 axes
const float axesScaling = 1.0 * 1000.0;
@@ -1009,19 +1013,22 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
// Calculate the new commands for roll, pitch, yaw, and thrust
const float newRollCommand = roll * axesScaling;
// negate pitch value because pitch is negative for pitching forward but mavlink message argument is positive for forward
- const float newPitchCommand = -pitch * axesScaling;
- const float newYawCommand = yaw * axesScaling;
+ const float newPitchCommand = -pitch * axesScaling;
+ const float newYawCommand = yaw * axesScaling;
const float newThrustCommand = thrust * axesScaling;
- //qDebug() << newRollCommand << newPitchCommand << newYawCommand << newThrustCommand;
-
// Send the MANUAL_COMMAND message
- mavlink_msg_manual_control_pack_chan(mavlink->getSystemId(),
- mavlink->getComponentId(),
- _vehicle->priorityLink()->mavlinkChannel(),
- &message,
- this->uasId,
- newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
+ mavlink_msg_manual_control_pack_chan(
+ static_cast<uint8_t>(mavlink->getSystemId()),
+ static_cast<uint8_t>(mavlink->getComponentId()),
+ _vehicle->priorityLink()->mavlinkChannel(),
+ &message,
+ static_cast<uint8_t>(this->uasId),
+ static_cast<int16_t>(newPitchCommand),
+ static_cast<int16_t>(newRollCommand),
+ static_cast<int16_t>(newThrustCommand),
+ static_cast<int16_t>(newYawCommand),
+ buttons);
}
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 39d842e..145345e 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -263,7 +263,7 @@ public slots:
#endif
/** @brief Set the values for the manual control of the vehicle */
- void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
+ void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMode);
/** @brief Set the values for the 6dof manual control of the vehicle */
#ifndef __mobile__