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Warn on reversed throttle (#3655)

QGC4.4
Don Gagne 9 years ago committed by GitHub
parent
ba486be4a9
commit
2418d073bc
3 changed files with 74 additions and 64 deletions
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  1. 3
      src/AutoPilotPlugins/Common/RadioComponent.qml
  2. 128
      src/AutoPilotPlugins/Common/RadioComponentController.cc
  3. 7
      src/AutoPilotPlugins/Common/RadioComponentController.h

3
src/AutoPilotPlugins/Common/RadioComponent.qml
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@ -63,7 +63,8 @@ QGCView { @@ -63,7 +63,8 @@ QGCView {
}
onChannelCountChanged: updateChannelCount()
onFunctionMappingChangedAPMReboot: showMessage(qsTr("Reboot required"), qsTr("Your stick mappings have changed, you must reboot the vehicle for correct operation."), StandardButton.Ok)
onFunctionMappingChangedAPMReboot: showMessage(qsTr("Reboot required"), qsTr("Your stick mappings have changed, you must reboot the vehicle for correct operation."), StandardButton.Ok)
onThrottleReversedCalFailure: showMessage(qsTr("Throttle channel reversed"), qsTr("Calibration failed. The throttle channel on your transmitter is reversed. You must correct this on your transmitter in order to complete calibration."), StandardButton.Ok)
}
onCompleted: {

128
src/AutoPilotPlugins/Common/RadioComponentController.cc
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@ -325,7 +325,7 @@ void RadioComponentController::_saveAllTrims(void) @@ -325,7 +325,7 @@ void RadioComponentController::_saveAllTrims(void)
// trims reset to correct values.
for (int i=0; i<_chanCount; i++) {
qCDebug(RadioComponentControllerLog) << "_saveAllTrims trim" << _rcRawValue[i];
qCDebug(RadioComponentControllerLog) << "_saveAllTrims channel trim" << i<< _rcRawValue[i];
_rgChannelInfo[i].rcTrim = _rcRawValue[i];
}
_advanceState();
@ -751,77 +751,83 @@ void RadioComponentController::_writeCalibration(void) @@ -751,77 +751,83 @@ void RadioComponentController::_writeCalibration(void)
if (_px4Vehicle()) {
_uas->stopCalibration();
}
_validateCalibration();
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Note that the rc parameters are all float, so you must cast to float in order to get the right QVariant
for (int chan = 0; chan<_chanMax(); chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
int oneBasedChannel = chan + 1;
if (_px4Vehicle() && _apmPossibleMissingRCChannelParams.contains(chan+1) && !parameterExists(FactSystem::defaultComponentId, minTpl.arg(chan+1))) {
// RC parameters for this channel are missing from this version of APM
continue;
}
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue((float)info->rcTrim);
}
paramFact = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue((float)info->rcMin);
}
paramFact = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue((float)info->rcMax);
}
if (!_px4Vehicle() && _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionThrottle]].reversed) {
// A reversed throttle could lead to dangerous power up issues if the firmware doesn't handle it absolutely correctly in all places.
// So in this case fail the calibration for anything other than PX4 which is known to be able to handle this correctly.
emit throttleReversedCalFailure();
} else {
_validateCalibration();
// For multi-rotor we can determine reverse setting during radio cal. For anything other than multi-rotor, servo installation
// may affect channel reversing so we can't automatically determine it.
if (_vehicle->multiRotor()) {
// APM multi-rotor has a backwards interpretation of "reversed" on the Pitch control. So be careful.
float reversedParamValue;
if (_px4Vehicle() || info->function != rcCalFunctionPitch) {
reversedParamValue = info->reversed ? -1.0f : 1.0f;
} else {
reversedParamValue = info->reversed ? 1.0f : -1.0f;
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Note that the rc parameters are all float, so you must cast to float in order to get the right QVariant
for (int chan = 0; chan<_chanMax(); chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
int oneBasedChannel = chan + 1;
if (_px4Vehicle() && _apmPossibleMissingRCChannelParams.contains(chan+1) && !parameterExists(FactSystem::defaultComponentId, minTpl.arg(chan+1))) {
// RC parameters for this channel are missing from this version of APM
continue;
}
paramFact = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel));
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue(reversedParamValue);
paramFact->setRawValue((float)info->rcTrim);
}
paramFact = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue((float)info->rcMin);
}
paramFact = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue((float)info->rcMax);
}
}
}
// Write function mapping parameters
for (size_t i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
if (_rgFunctionChannelMapping[i] == _chanMax()) {
// 0 signals no mapping
paramChannel = 0;
} else {
// Note that the channel value is 1-based
paramChannel = _rgFunctionChannelMapping[i] + 1;
}
const char* paramName = _functionInfo()[i].parameterName;
if (paramName) {
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, _functionInfo()[i].parameterName);
if (paramFact && paramFact->rawValue().toInt() != paramChannel) {
paramFact = getParameterFact(FactSystem::defaultComponentId, _functionInfo()[i].parameterName);
// For multi-rotor we can determine reverse setting during radio cal. For anything other than multi-rotor, servo installation
// may affect channel reversing so we can't automatically determine it.
if (_vehicle->multiRotor()) {
// APM multi-rotor has a backwards interpretation of "reversed" on the Pitch control. So be careful.
float reversedParamValue;
if (_px4Vehicle() || info->function != rcCalFunctionPitch) {
reversedParamValue = info->reversed ? -1.0f : 1.0f;
} else {
reversedParamValue = info->reversed ? 1.0f : -1.0f;
}
paramFact = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue(paramChannel);
paramFact->setRawValue(reversedParamValue);
}
}
}
// Write function mapping parameters
for (size_t i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
if (_rgFunctionChannelMapping[i] == _chanMax()) {
// 0 signals no mapping
paramChannel = 0;
} else {
// Note that the channel value is 1-based
paramChannel = _rgFunctionChannelMapping[i] + 1;
}
const char* paramName = _functionInfo()[i].parameterName;
if (paramName) {
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, _functionInfo()[i].parameterName);
if (paramFact && paramFact->rawValue().toInt() != paramChannel) {
paramFact = getParameterFact(FactSystem::defaultComponentId, _functionInfo()[i].parameterName);
if (paramFact) {
paramFact->setRawValue(paramChannel);
}
}
}
}
}
if (_px4Vehicle()) {
// If the RC_CHAN_COUNT parameter is available write the channel count
if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {

7
src/AutoPilotPlugins/Common/RadioComponentController.h
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@ -124,12 +124,15 @@ signals: @@ -124,12 +124,15 @@ signals:
void imageHelpChanged(QString source);
void transmitterModeChanged(int mode);
// @brief Signalled when in unit test mode and a message box should be displayed by the next button
/// Signalled when in unit test mode and a message box should be displayed by the next button
void nextButtonMessageBoxDisplayed(void);
// Signaled to QML to indicator reboot is required
/// Signalled to QML to indicate reboot is required
void functionMappingChangedAPMReboot(void);
/// Signalled to Qml to indicate cal failure due to reversed throttle
void throttleReversedCalFailure(void);
private slots:
void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);

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