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@ -43,13 +43,74 @@ const char* JoystickConfigController::_imageRollRight = "joystickRollRight.p
@@ -43,13 +43,74 @@ const char* JoystickConfigController::_imageRollRight = "joystickRollRight.p
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const char* JoystickConfigController::_imagePitchUp = "joystickPitchUp.png"; |
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const char* JoystickConfigController::_imagePitchDown = "joystickPitchDown.png"; |
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static const JoystickConfigController::stateStickPositions stSticksCentered { |
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0.25, 0.5, 0.75, 0.5 |
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}; |
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static const JoystickConfigController::stateStickPositions stLeftStickUp { |
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0.25, 0.3084, 0.75, 0.5 |
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}; |
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static const JoystickConfigController::stateStickPositions stLeftStickDown { |
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0.25, 0.6916, 0.75, 0.5 |
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}; |
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static const JoystickConfigController::stateStickPositions stLeftStickLeft { |
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0.1542, 0.5, 0.75, 0.5 |
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}; |
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static const JoystickConfigController::stateStickPositions stLeftStickRight { |
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0.3458, 0.5, 0.75, 0.5 |
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}; |
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static const JoystickConfigController::stateStickPositions stRightStickUp { |
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0.25, 0.5, 0.75, 0.3084 |
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}; |
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static const JoystickConfigController::stateStickPositions stRightStickDown { |
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0.25, 0.5, 0.75, 0.6916 |
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}; |
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static const JoystickConfigController::stateStickPositions stRightStickLeft { |
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0.25, 0.5, 0.6542, 0.5 |
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}; |
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static const JoystickConfigController::stateStickPositions stRightStickRight { |
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0.25, 0.5, 0.8423, 0.5 |
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}; |
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//-- Gimbal
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static const JoystickConfigController::stateStickPositions stGimbalCentered { |
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0.5, 0.5, 0.5, 0.3 |
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}; |
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static const JoystickConfigController::stateStickPositions stGimbalPitchDown { |
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0.5, 0.6, 0.5, 0.3 |
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}; |
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static const JoystickConfigController::stateStickPositions stGimbalPitchUp { |
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0.5, 0.4, 0.5, 0.3 |
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}; |
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static const JoystickConfigController::stateStickPositions stGimbalYawLeft { |
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0.5, 0.5, 0.4, 0.3 |
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}; |
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static const JoystickConfigController::stateStickPositions stGimbalYawRight { |
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0.5, 0.5, 0.6, 0.3 |
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}; |
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JoystickConfigController::JoystickConfigController(void) |
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: _joystickManager(qgcApp()->toolbox()->joystickManager()) |
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{ |
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connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &JoystickConfigController::_activeJoystickChanged); |
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_activeJoystickChanged(_joystickManager->activeJoystick()); |
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_setStickPositions(); |
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_resetInternalCalibrationValues(); |
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_currentStickPositions << _sticksCentered.leftX << _sticksCentered.leftY << _sticksCentered.rightX << _sticksCentered.rightY; |
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_currentGimbalPositions << stGimbalCentered.leftX << stGimbalCentered.leftY << stGimbalCentered.rightX << stGimbalCentered.rightY; |
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} |
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void JoystickConfigController::start(void) |
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@ -94,26 +155,26 @@ const JoystickConfigController::stateMachineEntry* JoystickConfigController::_ge
@@ -94,26 +155,26 @@ const JoystickConfigController::stateMachineEntry* JoystickConfigController::_ge
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static const stateMachineEntry rgStateMachine[] = { |
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//Function
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{ Joystick::maxFunction, msgBegin, _imageCenter, &JoystickConfigController::_inputCenterWaitBegin, &JoystickConfigController::_saveAllTrims, nullptr, 0 }, |
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{ Joystick::throttleFunction, msgThrottleUp, _imageThrottleUp, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 0 }, |
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{ Joystick::throttleFunction, msgThrottleDown, _imageThrottleDown, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 0 }, |
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{ Joystick::yawFunction, msgYawRight, _imageYawRight, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 1 }, |
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{ Joystick::yawFunction, msgYawLeft, _imageYawLeft, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 1 }, |
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{ Joystick::rollFunction, msgRollRight, _imageRollRight, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 2 }, |
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{ Joystick::rollFunction, msgRollLeft, _imageRollLeft, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 2 }, |
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{ Joystick::pitchFunction, msgPitchUp, _imagePitchUp, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 3 }, |
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{ Joystick::pitchFunction, msgPitchDown, _imagePitchDown, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 3 }, |
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{ Joystick::pitchFunction, msgPitchCenter, _imageCenter, &JoystickConfigController::_inputCenterWait, nullptr, nullptr, 3 }, |
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{ Joystick::gimbalPitchFunction, msgGimbalPitchUp, _imageThrottleUp, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 4 }, |
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{ Joystick::gimbalPitchFunction, msgGimbalPitchDown, _imageThrottleDown, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 4 }, |
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{ Joystick::gimbalYawFunction, msgGimbalYawRight, _imageYawRight, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 5 }, |
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{ Joystick::gimbalYawFunction, msgGimbalYawLeft, _imageYawLeft, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 5 }, |
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{ Joystick::maxFunction, msgComplete, _imageCenter, nullptr, &JoystickConfigController::_writeCalibration, nullptr, -1 }, |
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{ Joystick::maxFunction, msgBegin, _sticksCentered, stGimbalCentered, &JoystickConfigController::_inputCenterWaitBegin, &JoystickConfigController::_saveAllTrims, nullptr, 0 }, |
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{ Joystick::throttleFunction, msgThrottleUp, _sticksThrottleUp, stGimbalCentered, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 0 }, |
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{ Joystick::throttleFunction, msgThrottleDown, _sticksThrottleDown, stGimbalCentered, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 0 }, |
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{ Joystick::yawFunction, msgYawRight, _sticksYawRight, stGimbalCentered, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 1 }, |
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{ Joystick::yawFunction, msgYawLeft, _sticksYawLeft, stGimbalCentered, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 1 }, |
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{ Joystick::rollFunction, msgRollRight, _sticksRollRight, stGimbalCentered, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 2 }, |
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{ Joystick::rollFunction, msgRollLeft, _sticksRollLeft, stGimbalCentered, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 2 }, |
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{ Joystick::pitchFunction, msgPitchUp, _sticksPitchUp, stGimbalCentered, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 3 }, |
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{ Joystick::pitchFunction, msgPitchDown, _sticksPitchDown, stGimbalCentered, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 3 }, |
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{ Joystick::pitchFunction, msgPitchCenter, _sticksCentered, stGimbalCentered, &JoystickConfigController::_inputCenterWait, nullptr, nullptr, 3 }, |
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{ Joystick::gimbalPitchFunction, msgGimbalPitchUp, _sticksCentered, stGimbalPitchUp, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 4 }, |
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{ Joystick::gimbalPitchFunction, msgGimbalPitchDown, _sticksCentered, stGimbalPitchDown, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 4 }, |
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{ Joystick::gimbalYawFunction, msgGimbalYawRight, _sticksCentered, stGimbalYawRight, &JoystickConfigController::_inputStickDetect, nullptr, nullptr, 5 }, |
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{ Joystick::gimbalYawFunction, msgGimbalYawLeft, _sticksCentered, stGimbalYawLeft, &JoystickConfigController::_inputStickMin, nullptr, nullptr, 5 }, |
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{ Joystick::maxFunction, msgComplete, _sticksCentered, stGimbalCentered, nullptr, &JoystickConfigController::_writeCalibration, nullptr, -1 }, |
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}; |
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Q_ASSERT(step >=0 && step < static_cast<int>((sizeof(rgStateMachine) / sizeof(rgStateMachine[0])))); |
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Q_ASSERT(step >= 0 && step < static_cast<int>((sizeof(rgStateMachine) / sizeof(rgStateMachine[0])))); |
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return &rgStateMachine[step]; |
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} |
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@ -132,13 +193,18 @@ void JoystickConfigController::_advanceState()
@@ -132,13 +193,18 @@ void JoystickConfigController::_advanceState()
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void JoystickConfigController::_setupCurrentState() |
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{ |
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const stateMachineEntry* state = _getStateMachineEntry(_currentStep); |
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_statusText->setProperty("text", state->instructions); |
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_setHelpImage(state->image); |
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_setStatusText(state->instructions); |
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_stickDetectAxis = _axisNoAxis; |
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_stickDetectSettleStarted = false; |
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_calSaveCurrentValues(); |
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_nextButton->setEnabled(state->nextFn != nullptr); |
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_skipButton->setEnabled(state->skipFn != nullptr); |
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_currentStickPositions.clear(); |
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_currentStickPositions << state->stickPositions.leftX << state->stickPositions.leftY << state->stickPositions.rightX << state->stickPositions.rightY; |
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_currentGimbalPositions.clear(); |
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_currentGimbalPositions << state->gimbalPositions.leftX << state->gimbalPositions.leftY << state->gimbalPositions.rightX << state->gimbalPositions.rightY; |
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emit stickPositionsChanged(); |
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emit gimbalPositionsChanged(); |
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} |
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void JoystickConfigController::_axisValueChanged(int axis, int value) |
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@ -151,6 +217,7 @@ void JoystickConfigController::_axisValueChanged(int axis, int value)
@@ -151,6 +217,7 @@ void JoystickConfigController::_axisValueChanged(int axis, int value)
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// Track the axis count by keeping track of how many axes we see
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if (axis + 1 > static_cast<int>(_axisCount)) { |
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_axisCount = axis + 1; |
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emit hasGimbalChanged(); |
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} |
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} |
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if (_currentStep != -1) { |
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@ -404,7 +471,6 @@ void JoystickConfigController::_resetInternalCalibrationValues()
@@ -404,7 +471,6 @@ void JoystickConfigController::_resetInternalCalibrationValues()
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info->axisMax = JoystickConfigController::_calCenterPoint; |
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info->axisTrim = JoystickConfigController::_calCenterPoint; |
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} |
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// Initialize attitude function mapping to function axis not set
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for (size_t i = 0; i < Joystick::maxFunction; i++) { |
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_rgFunctionAxisMapping[i] = _axisNoAxis; |
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@ -456,7 +522,6 @@ void JoystickConfigController::_validateCalibration()
@@ -456,7 +522,6 @@ void JoystickConfigController::_validateCalibration()
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{ |
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for (int chan = 0; chan < _axisCount; chan++) { |
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struct AxisInfo* info = &_rgAxisInfo[chan]; |
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if (chan < _axisCount) { |
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// Validate Min/Max values. Although the axis appears as available we still may
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// not have good min/max/trim values for it. Set to defaults if needed.
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if (info->axisMin < _calValidMinValue || info->axisMax > _calValidMaxValue) { |
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@ -470,6 +535,8 @@ void JoystickConfigController::_validateCalibration()
@@ -470,6 +535,8 @@ void JoystickConfigController::_validateCalibration()
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case Joystick::yawFunction: |
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case Joystick::rollFunction: |
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case Joystick::pitchFunction: |
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case Joystick::gimbalPitchFunction: |
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case Joystick::gimbalYawFunction: |
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// Make sure trim is within min/max
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if (info->axisTrim < info->axisMin) { |
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info->axisTrim = info->axisMin; |
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@ -482,15 +549,6 @@ void JoystickConfigController::_validateCalibration()
@@ -482,15 +549,6 @@ void JoystickConfigController::_validateCalibration()
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info->axisTrim = info->axisMin + ((info->axisMax - info->axisMin) / 2); |
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break; |
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} |
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} else { |
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// Unavailable axiss are set to defaults
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qCDebug(JoystickConfigControllerLog) << "_validateCalibration resetting unavailable axis" << chan; |
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info->axisMin = _calDefaultMinValue; |
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info->axisMax = _calDefaultMaxValue; |
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info->axisTrim = info->axisMin + ((info->axisMax - info->axisMin) / 2); |
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info->deadband = 0; |
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info->reversed = false; |
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} |
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} |
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} |
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@ -543,12 +601,11 @@ void JoystickConfigController::_stopCalibration()
@@ -543,12 +601,11 @@ void JoystickConfigController::_stopCalibration()
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_currentStep = -1; |
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_activeJoystick->setCalibrationMode(false); |
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_setInternalCalibrationValuesFromSettings(); |
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_statusText->setProperty("text", ""); |
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_setStatusText(""); |
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_nextButton->setProperty("text", tr("Calibrate")); |
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_nextButton->setEnabled(true); |
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_cancelButton->setEnabled(false); |
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_skipButton->setEnabled(false); |
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_setHelpImage(_imageCenter); |
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emit calibratingChanged(); |
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} |
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@ -565,47 +622,65 @@ void JoystickConfigController::_calSaveCurrentValues()
@@ -565,47 +622,65 @@ void JoystickConfigController::_calSaveCurrentValues()
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void JoystickConfigController::_calSave() |
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{ |
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_calState = calStateSave; |
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_statusText->setProperty("text", |
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tr("The current calibration settings are now displayed for each axis on screen.\n\n" |
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_setStatusText(tr( |
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"The current calibration settings are now displayed for each axis 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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_nextButton->setEnabled(true); |
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_skipButton->setEnabled(false); |
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_cancelButton->setEnabled(true); |
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// This updates the internal values according to the validation rules. Then _updateView will tick and update ui
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// such that the settings that will be written our are displayed.
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// such that the settings that will be written out are displayed.
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_validateCalibration(); |
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} |
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void JoystickConfigController::_setHelpImage(const char* imageFile) |
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void JoystickConfigController::_setStickPositions() |
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{ |
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QString file = _imageFilePrefix; |
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_sticksCentered = stSticksCentered; |
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switch(_transmitterMode) { |
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case 1: |
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file += _imageFileMode1Dir; |
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_sticksThrottleUp = stRightStickUp; |
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_sticksThrottleDown = stRightStickDown; |
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_sticksYawLeft = stLeftStickLeft; |
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_sticksYawRight = stLeftStickRight; |
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_sticksRollLeft = stRightStickLeft; |
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_sticksRollRight = stRightStickRight; |
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_sticksPitchUp = stLeftStickDown; |
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_sticksPitchDown = stLeftStickUp; |
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break; |
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case 2: |
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file += _imageFileMode2Dir; |
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_sticksThrottleUp = stLeftStickUp; |
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_sticksThrottleDown = stLeftStickDown; |
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_sticksYawLeft = stLeftStickLeft; |
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_sticksYawRight = stLeftStickRight; |
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_sticksRollLeft = stRightStickLeft; |
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_sticksRollRight = stRightStickRight; |
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_sticksPitchUp = stRightStickDown; |
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_sticksPitchDown = stRightStickUp; |
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break; |
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case 3: |
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file += _imageFileMode3Dir; |
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_sticksThrottleUp = stRightStickUp; |
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_sticksThrottleDown = stRightStickDown; |
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_sticksYawLeft = stRightStickLeft; |
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_sticksYawRight = stRightStickRight; |
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_sticksRollLeft = stLeftStickLeft; |
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_sticksRollRight = stLeftStickRight; |
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_sticksPitchUp = stLeftStickDown; |
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_sticksPitchDown = stLeftStickUp; |
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break; |
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case 4: |
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file += _imageFileMode4Dir; |
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_sticksThrottleUp = stLeftStickUp; |
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_sticksThrottleDown = stLeftStickDown; |
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_sticksYawLeft = stRightStickLeft; |
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_sticksYawRight = stRightStickRight; |
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_sticksRollLeft = stLeftStickLeft; |
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_sticksRollRight = stLeftStickRight; |
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_sticksPitchUp = stRightStickDown; |
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_sticksPitchDown = stRightStickUp; |
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break; |
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default: |
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Q_ASSERT(false); |
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} |
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file += imageFile; |
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qCDebug(JoystickConfigControllerLog) << "_setHelpImage" << file; |
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_imageHelp = file; |
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emit imageHelpChanged(file); |
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} |
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bool JoystickConfigController::rollAxisReversed() |
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@ -664,16 +739,13 @@ bool JoystickConfigController::gimbalYawAxisReversed()
@@ -664,16 +739,13 @@ bool JoystickConfigController::gimbalYawAxisReversed()
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void JoystickConfigController::setTransmitterMode(int mode) |
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{ |
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if (mode > 0 && mode <= 4) { |
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// Mode selection is disabled during calibration
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if (mode > 0 && mode <= 4 && _currentStep == -1) { |
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_transmitterMode = mode; |
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if (_currentStep != -1) { // This should never be true, mode selection is disabled during calibration
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const stateMachineEntry* state = _getStateMachineEntry(_currentStep); |
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_setHelpImage(state->image); |
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} else { |
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_setStickPositions(); |
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_activeJoystick->setTXMode(mode); |
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_setInternalCalibrationValuesFromSettings(); |
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} |
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} |
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} |
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void JoystickConfigController::_signalAllAttitudeValueChanges() |
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@ -708,6 +780,7 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
@@ -708,6 +780,7 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
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delete[] _axisRawValue; |
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_axisCount = 0; |
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_activeJoystick = nullptr; |
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emit hasGimbalChanged(); |
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} |
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if (joystick) { |
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@ -722,6 +795,7 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
@@ -722,6 +795,7 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
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_axisRawValue = new int[_axisCount]; |
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_setInternalCalibrationValuesFromSettings(); |
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connect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged); |
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emit hasGimbalChanged(); |
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} |
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} |
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@ -729,3 +803,9 @@ bool JoystickConfigController::_validAxis(int axis)
@@ -729,3 +803,9 @@ bool JoystickConfigController::_validAxis(int axis)
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{ |
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return axis >= 0 && axis < _axisCount; |
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} |
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void JoystickConfigController::_setStatusText(const QString& text) |
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{ |
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_statusText = text; |
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emit statusTextChanged(); |
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} |
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Gus Grubba
6 years ago