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@ -18,6 +18,7 @@
@@ -18,6 +18,7 @@
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#include <QSettings> |
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QGC_LOGGING_CATEGORY(RadioComponentControllerLog, "RadioComponentControllerLog") |
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QGC_LOGGING_CATEGORY(RadioComponentControllerVerboseLog, "RadioComponentControllerVerboseLog") |
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#ifdef UNITTEST_BUILD |
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// Nasty hack to expose controller to unit test code
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@ -26,66 +27,78 @@ RadioComponentController* RadioComponentController::_unitTestController = NULL;
@@ -26,66 +27,78 @@ RadioComponentController* RadioComponentController::_unitTestController = NULL;
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const int RadioComponentController::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets
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const int RadioComponentController::_rcCalPWMCenterPoint = ((RadioComponentController::_rcCalPWMValidMaxValue - RadioComponentController::_rcCalPWMValidMinValue) / 2.0f) + RadioComponentController::_rcCalPWMValidMinValue; |
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// FIXME: Double check these mins againt 150% throws
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const int RadioComponentController::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
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const int RadioComponentController::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max range value
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const int RadioComponentController::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
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const int RadioComponentController::_rcCalPWMDefaultMaxValue = 2000; ///< Default value for Max if not set
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const int RadioComponentController::_rcCalRoughCenterDelta = 50; ///< Delta around center point which is considered to be roughly centered
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const int RadioComponentController::_rcCalMoveDelta = 300; ///< Amount of delta past center which is considered stick movement
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const int RadioComponentController::_rcCalSettleDelta = 20; ///< Amount of delta which is considered no stick movement
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const int RadioComponentController::_rcCalMinDelta = 100; ///< Amount of delta allowed around min value to consider channel at min
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const int RadioComponentController::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
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const int RadioComponentController::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max range value
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const int RadioComponentController::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
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const int RadioComponentController::_rcCalPWMDefaultMaxValue = 2000; ///< Default value for Max if not set
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const int RadioComponentController::_rcCalRoughCenterDelta = 50; ///< Delta around center point which is considered to be roughly centered
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const int RadioComponentController::_rcCalMoveDelta = 300; ///< Amount of delta past center which is considered stick movement
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const int RadioComponentController::_rcCalSettleDelta = 20; ///< Amount of delta which is considered no stick movement
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const int RadioComponentController::_rcCalMinDelta = 100; ///< Amount of delta allowed around min value to consider channel at min
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const int RadioComponentController::_stickDetectSettleMSecs = 500; |
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const char* RadioComponentController::_imageFilePrefix = "calibration/"; |
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const char* RadioComponentController::_imageFilePrefix = "calibration/"; |
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const char* RadioComponentController::_imageFileMode1Dir = "mode1/"; |
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const char* RadioComponentController::_imageFileMode2Dir = "mode2/"; |
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const char* RadioComponentController::_imageCenter = "radioCenter.png"; |
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const char* RadioComponentController::_imageHome = "radioHome.png"; |
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const char* RadioComponentController::_imageThrottleUp = "radioThrottleUp.png"; |
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const char* RadioComponentController::_imageCenter = "radioCenter.png"; |
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const char* RadioComponentController::_imageHome = "radioHome.png"; |
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const char* RadioComponentController::_imageThrottleUp = "radioThrottleUp.png"; |
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const char* RadioComponentController::_imageThrottleDown = "radioThrottleDown.png"; |
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const char* RadioComponentController::_imageYawLeft = "radioYawLeft.png"; |
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const char* RadioComponentController::_imageYawRight = "radioYawRight.png"; |
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const char* RadioComponentController::_imageRollLeft = "radioRollLeft.png"; |
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const char* RadioComponentController::_imageRollRight = "radioRollRight.png"; |
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const char* RadioComponentController::_imagePitchUp = "radioPitchUp.png"; |
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const char* RadioComponentController::_imagePitchDown = "radioPitchDown.png"; |
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const char* RadioComponentController::_imageYawLeft = "radioYawLeft.png"; |
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const char* RadioComponentController::_imageYawRight = "radioYawRight.png"; |
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const char* RadioComponentController::_imageRollLeft = "radioRollLeft.png"; |
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const char* RadioComponentController::_imageRollRight = "radioRollRight.png"; |
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const char* RadioComponentController::_imagePitchUp = "radioPitchUp.png"; |
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const char* RadioComponentController::_imagePitchDown = "radioPitchDown.png"; |
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const char* RadioComponentController::_imageSwitchMinMax = "radioSwitchMinMax.png"; |
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const char* RadioComponentController::_settingsGroup = "RadioCalibration"; |
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const char* RadioComponentController::_settingsGroup = "RadioCalibration"; |
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const char* RadioComponentController::_settingsKeyTransmitterMode = "TransmitterMode"; |
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const char* RadioComponentController::_px4RevParamFormat = "RC%1_REV"; |
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const char* RadioComponentController::_apmNewRevParamFormat = "RC%1_REVERSED"; |
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const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoPX4[RadioComponentController::rcCalFunctionMax] = { |
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{ "RC_MAP_ROLL" }, |
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{ "RC_MAP_PITCH" }, |
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{ "RC_MAP_YAW" }, |
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{ "RC_MAP_THROTTLE" } |
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{ "RC_MAP_ROLL" }, |
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{ "RC_MAP_PITCH" }, |
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{ "RC_MAP_YAW" }, |
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{ "RC_MAP_THROTTLE" } |
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}; |
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const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoAPM[RadioComponentController::rcCalFunctionMax] = { |
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{ "RCMAP_ROLL" }, |
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{ "RCMAP_PITCH" }, |
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{ "RCMAP_YAW" }, |
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{ "RCMAP_THROTTLE" } |
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{ "RCMAP_ROLL" }, |
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{ "RCMAP_PITCH" }, |
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{ "RCMAP_YAW" }, |
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{ "RCMAP_THROTTLE" } |
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}; |
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RadioComponentController::RadioComponentController(void) : |
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_currentStep(-1), |
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_transmitterMode(2), |
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_chanCount(0), |
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_rcCalState(rcCalStateChannelWait), |
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_unitTestMode(false), |
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_statusText(NULL), |
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_cancelButton(NULL), |
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_nextButton(NULL), |
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_skipButton(NULL) |
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RadioComponentController::RadioComponentController(void) |
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: _currentStep(-1) |
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, _transmitterMode(2) |
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, _chanCount(0) |
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, _rcCalState(rcCalStateChannelWait) |
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, _unitTestMode(false) |
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, _statusText(NULL) |
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, _cancelButton(NULL) |
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, _nextButton(NULL) |
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, _skipButton(NULL) |
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{ |
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#ifdef UNITTEST_BUILD |
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// Nasty hack to expose controller to unit test code
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_unitTestController = this; |
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#endif |
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if (parameterExists(FactSystem::defaultComponentId, QStringLiteral("RC1_REVERSED"))) { |
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// Newer ardupilot firmwares have a different reverse param naming scheme and value scheme
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_revParamFormat = _apmNewRevParamFormat; |
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_revParamIsBool = true; // param value is boolean 0/1 for reversed or not
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} else { |
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// Older ardupilot firmwares share the same naming convention as PX4
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_revParamFormat = _px4RevParamFormat; |
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_revParamIsBool = false; // paeram value if -1 indicates reversed
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} |
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connect(_vehicle, &Vehicle::rcChannelsChanged, this, &RadioComponentController::_rcChannelsChanged); |
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_loadSettings(); |
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@ -226,7 +239,7 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue
@@ -226,7 +239,7 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue
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int channelValue = pwmValues[channel]; |
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if (channelValue != -1) { |
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qCDebug(RadioComponentControllerLog) << "Raw value" << channel << channelValue; |
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qCDebug(RadioComponentControllerVerboseLog) << "Raw value" << channel << channelValue; |
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_rcRawValue[channel] = channelValue; |
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emit channelRCValueChanged(channel, channelValue); |
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@ -259,9 +272,12 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue
@@ -259,9 +272,12 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue
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} |
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} else { |
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const stateMachineEntry* state = _getStateMachineEntry(_currentStep); |
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Q_ASSERT(state); |
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if (state->rcInputFn) { |
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(this->*state->rcInputFn)(state->function, channel, channelValue); |
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if (state) { |
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if (state->rcInputFn) { |
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(this->*state->rcInputFn)(state->function, channel, channelValue); |
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} |
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} else { |
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qWarning() << "Internal error: NULL _getStateMachineEntry return"; |
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} |
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} |
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} |
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@ -283,20 +299,27 @@ void RadioComponentController::nextButtonClicked(void)
@@ -283,20 +299,27 @@ void RadioComponentController::nextButtonClicked(void)
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_startCalibration(); |
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} else { |
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const stateMachineEntry* state = _getStateMachineEntry(_currentStep); |
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Q_ASSERT(state); |
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Q_ASSERT(state->nextFn); |
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(this->*state->nextFn)(); |
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if (state && state->nextFn) { |
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(this->*state->nextFn)(); |
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} else { |
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qWarning() << "Internal error: NULL _getStateMachineEntry return"; |
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} |
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} |
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} |
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void RadioComponentController::skipButtonClicked(void) |
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{ |
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Q_ASSERT(_currentStep != -1); |
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if (_currentStep == -1) { |
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qWarning() << "Internal error: _currentStep == -1"; |
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return; |
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} |
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const stateMachineEntry* state = _getStateMachineEntry(_currentStep); |
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Q_ASSERT(state); |
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Q_ASSERT(state->skipFn); |
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(this->*state->skipFn)(); |
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if (state && state->skipFn) { |
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(this->*state->skipFn)(); |
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} else { |
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qWarning() << "Internal error: NULL _getStateMachineEntry return"; |
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} |
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} |
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void RadioComponentController::cancelButtonClicked(void) |
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@ -581,9 +604,6 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
@@ -581,9 +604,6 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
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QString minTpl("RC%1_MIN"); |
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QString maxTpl("RC%1_MAX"); |
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QString trimTpl("RC%1_TRIM"); |
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QString revTpl("RC%1_REV"); |
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bool convertOk; |
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for (int i = 0; i < _chanMax(); ++i) { |
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struct ChannelInfo* info = &_rgChannelInfo[i]; |
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@ -601,29 +621,20 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
@@ -601,29 +621,20 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
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Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1)); |
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if (paramFact) { |
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info->rcTrim = paramFact->rawValue().toInt(&convertOk); |
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Q_ASSERT(convertOk); |
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info->rcTrim = paramFact->rawValue().toInt(); |
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} |
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paramFact = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1)); |
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if (paramFact) { |
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info->rcMin = paramFact->rawValue().toInt(&convertOk); |
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Q_ASSERT(convertOk); |
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info->rcMin = paramFact->rawValue().toInt(); |
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} |
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paramFact = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1)); |
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if (paramFact) { |
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info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->rawValue().toInt(&convertOk); |
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Q_ASSERT(convertOk); |
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info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->rawValue().toInt(); |
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} |
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paramFact = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1)); |
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if (paramFact) { |
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float floatReversed = paramFact->rawValue().toFloat(&convertOk); |
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Q_ASSERT(convertOk); |
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Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f); |
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info->reversed = floatReversed == -1.0f; |
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} |
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info->reversed = _channelReversedParamValue(i); |
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} |
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for (int i=0; i<rcCalFunctionMax; i++) { |
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@ -633,8 +644,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
@@ -633,8 +644,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
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if (paramName) { |
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Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, paramName); |
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if (paramFact) { |
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paramChannel = paramFact->rawValue().toInt(&convertOk); |
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Q_ASSERT(convertOk); |
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paramChannel = paramFact->rawValue().toInt(); |
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if (paramChannel != 0) { |
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_rgFunctionChannelMapping[i] = paramChannel - 1; |
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@ -668,21 +678,21 @@ void RadioComponentController::_validateCalibration(void)
@@ -668,21 +678,21 @@ void RadioComponentController::_validateCalibration(void)
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info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2); |
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} else { |
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switch (_rgChannelInfo[chan].function) { |
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case rcCalFunctionThrottle: |
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case rcCalFunctionYaw: |
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case rcCalFunctionRoll: |
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case rcCalFunctionPitch: |
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// Make sure trim is within min/max
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if (info->rcTrim < info->rcMin) { |
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info->rcTrim = info->rcMin; |
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} else if (info->rcTrim > info->rcMax) { |
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info->rcTrim = info->rcMax; |
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} |
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break; |
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default: |
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// Non-attitude control channels have calculated trim
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info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2); |
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break; |
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case rcCalFunctionThrottle: |
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case rcCalFunctionYaw: |
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case rcCalFunctionRoll: |
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case rcCalFunctionPitch: |
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// Make sure trim is within min/max
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if (info->rcTrim < info->rcMin) { |
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info->rcTrim = info->rcMin; |
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} else if (info->rcTrim > info->rcMax) { |
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info->rcTrim = info->rcMax; |
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} |
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break; |
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default: |
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// Non-attitude control channels have calculated trim
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info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2); |
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break; |
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} |
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} |
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@ -717,7 +727,6 @@ void RadioComponentController::_writeCalibration(void)
@@ -717,7 +727,6 @@ void RadioComponentController::_writeCalibration(void)
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QString minTpl("RC%1_MIN"); |
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QString maxTpl("RC%1_MAX"); |
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QString trimTpl("RC%1_TRIM"); |
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QString revTpl("RC%1_REV"); |
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// Note that the rc parameters are all float, so you must cast to float in order to get the right QVariant
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for (int chan = 0; chan<_chanMax(); chan++) { |
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@ -746,16 +755,13 @@ void RadioComponentController::_writeCalibration(void)
@@ -746,16 +755,13 @@ void RadioComponentController::_writeCalibration(void)
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// may affect channel reversing so we can't automatically determine it. This is ok for PX4 given how it uses mixers, but not for ArduPilot.
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if (_vehicle->px4Firmware() || _vehicle->multiRotor()) { |
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// APM multi-rotor has a backwards interpretation of "reversed" on the Pitch control. So be careful.
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float reversedParamValue; |
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bool reversed; |
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if (_px4Vehicle() || info->function != rcCalFunctionPitch) { |
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reversedParamValue = info->reversed ? -1.0f : 1.0f; |
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reversed = info->reversed; |
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} else { |
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reversedParamValue = info->reversed ? 1.0f : -1.0f; |
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} |
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paramFact = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel)); |
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if (paramFact) { |
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paramFact->setRawValue(reversedParamValue); |
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reversed = !info->reversed; |
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} |
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_setChannelReversedParamValue(chan, reversed); |
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} |
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} |
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@ -797,7 +803,10 @@ void RadioComponentController::_writeCalibration(void)
@@ -797,7 +803,10 @@ void RadioComponentController::_writeCalibration(void)
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/// @brief Starts the calibration process
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void RadioComponentController::_startCalibration(void) |
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{ |
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Q_ASSERT(_chanCount >= _chanMinimum); |
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if (_chanCount < _chanMinimum) { |
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qWarning() << "Call to RadioComponentController::_startCalibration with _chanCount < _chanMinimum"; |
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return; |
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} |
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_resetInternalCalibrationValues(); |
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@ -853,7 +862,7 @@ void RadioComponentController::_rcCalSave(void)
@@ -853,7 +862,7 @@ void RadioComponentController::_rcCalSave(void)
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_statusText->setProperty("text", |
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"The current calibration settings are now displayed for each channel on screen.\n\n" |
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"Click the Next button to upload calibration to board. Click Cancel if you don't want to save these values."); |
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"Click the Next button to upload calibration to board. Click Cancel if you don't want to save these values."); |
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_nextButton->setEnabled(true); |
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_skipButton->setEnabled(false); |
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@ -895,7 +904,8 @@ void RadioComponentController::_setHelpImage(const char* imageFile)
@@ -895,7 +904,8 @@ void RadioComponentController::_setHelpImage(const char* imageFile)
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} else if (_transmitterMode == 2) { |
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file += _imageFileMode2Dir; |
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} else { |
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Q_ASSERT(false); |
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qWarning() << "Internal error: Bad _transmitterMode value"; |
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return; |
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} |
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file += imageFile; |
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@ -1045,3 +1055,34 @@ int RadioComponentController::_chanMax(void) const
@@ -1045,3 +1055,34 @@ int RadioComponentController::_chanMax(void) const
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{ |
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return _px4Vehicle() ? _chanMaxPX4 : _chanMaxAPM; |
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} |
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bool RadioComponentController::_channelReversedParamValue(int channel) |
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{ |
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Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, _revParamFormat.arg(channel+1)); |
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if (paramFact) { |
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if (_revParamIsBool) { |
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return paramFact->rawValue().toBool(); |
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} else { |
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bool convertOk; |
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float floatReversed = paramFact->rawValue().toFloat(&convertOk); |
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if (!convertOk) { |
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floatReversed = 1.0f; |
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} |
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return floatReversed == -1.0f; |
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} |
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} |
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return false; |
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} |
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void RadioComponentController::_setChannelReversedParamValue(int channel, bool reversed) |
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{ |
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Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, _revParamFormat.arg(channel+1)); |
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if (paramFact) { |
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if (_revParamIsBool) { |
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paramFact->setRawValue(reversed); |
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} else { |
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paramFact->setRawValue(reversed ? -1.0f : 1.0f); |
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} |
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} |
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} |
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Don Gagne
8 years ago