diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index c96f121..c3d3779 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -164,7 +164,8 @@ HEADERS += src/MG.h \
src/ui/RadioCalibration/RadioCalibrationWindow.h \
src/ui/RadioCalibration/AirfoilServoCalibrator.h \
src/ui/RadioCalibration/SwitchCalibrator.h \
- src/ui/RadioCalibration/CurveCalibrator.h
+ src/ui/RadioCalibration/CurveCalibrator.h \
+ src/ui/RadioCalibration/AbstractCalibrator.h
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
@@ -234,7 +235,8 @@ SOURCES += src/main.cc \
src/ui/RadioCalibration/RadioCalibrationWindow.cc \
src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
src/ui/RadioCalibration/SwitchCalibrator.cc \
- src/ui/RadioCalibration/CurveCalibrator.cc
+ src/ui/RadioCalibration/CurveCalibrator.cc \
+ src/ui/RadioCalibration/AbstractCalibrator.cc
RESOURCES = mavground.qrc
# Include RT-LAB Library
diff --git a/src/ui/RadioCalibration/AbstractCalibrator.cc b/src/ui/RadioCalibration/AbstractCalibrator.cc
new file mode 100644
index 0000000..2efda5e
--- /dev/null
+++ b/src/ui/RadioCalibration/AbstractCalibrator.cc
@@ -0,0 +1,52 @@
+#include "AbstractCalibrator.h"
+
+AbstractCalibrator::AbstractCalibrator(QWidget *parent) :
+ QWidget(parent),
+ pulseWidth(new QLabel()),
+ log(new QVector<float>())
+{
+}
+
+AbstractCalibrator::~AbstractCalibrator()
+{
+ delete log;
+}
+
+float AbstractCalibrator::logAverage()
+{
+ float total = 0;
+ for (int i=0; i<log->size(); ++i)
+ total += log->value(i);
+ return (total/log->size());
+}
+
+float AbstractCalibrator::logExtrema()
+{
+ float extrema = logAverage();
+ if (logAverage() < 1500)
+ {
+ for (int i=0; i<log->size(); ++i)
+ {
+ if (log->value(i) < extrema)
+ extrema = log->value(i);
+ }
+ }
+ else
+ {
+ for (int i=0; i<log->size(); ++i)
+ {
+ if (log->value(i) > extrema)
+ extrema = log->value(i);
+ }
+ }
+
+ return extrema;
+}
+
+void AbstractCalibrator::channelChanged(float raw)
+{
+ pulseWidth->setText(QString::number(static_cast<double>(raw)));
+ if (log->size() == 5)
+ log->pop_front();
+ log->push_back(raw);
+}
diff --git a/src/ui/RadioCalibration/AbstractCalibrator.h b/src/ui/RadioCalibration/AbstractCalibrator.h
new file mode 100644
index 0000000..3b650a8
--- /dev/null
+++ b/src/ui/RadioCalibration/AbstractCalibrator.h
@@ -0,0 +1,26 @@
+#ifndef ABSTRACTCALIBRATOR_H
+#define ABSTRACTCALIBRATOR_H
+
+#include <QWidget>
+#include <QString>
+#include <QLabel>
+
+class AbstractCalibrator : public QWidget
+{
+Q_OBJECT
+public:
+ explicit AbstractCalibrator(QWidget *parent = 0);
+ ~AbstractCalibrator();
+
+public slots:
+ void channelChanged(float raw);
+
+protected:
+ QLabel *pulseWidth;
+
+ QVector<float> *log;
+ float logExtrema();
+ float logAverage();
+};
+
+#endif // ABSTRACTCALIBRATOR_H
diff --git a/src/ui/RadioCalibration/AirfoilServoCalibrator.cc b/src/ui/RadioCalibration/AirfoilServoCalibrator.cc
index 3f19d64..472aa41 100644
--- a/src/ui/RadioCalibration/AirfoilServoCalibrator.cc
+++ b/src/ui/RadioCalibration/AirfoilServoCalibrator.cc
@@ -1,7 +1,10 @@
#include "AirfoilServoCalibrator.h"
AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent) :
- QWidget(parent)
+ AbstractCalibrator(parent),
+ highPulseWidth(new QLabel()),
+ centerPulseWidth(new QLabel()),
+ lowPulseWidth(new QLabel())
{
QGridLayout *grid = new QGridLayout(this);
@@ -26,16 +29,79 @@ AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent
/* Add current Pulse Width Display */
QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
- pulseWidth = new QLabel();
QHBoxLayout *pulseLayout = new QHBoxLayout();
pulseLayout->addWidget(pulseWidthTitle);
pulseLayout->addWidget(pulseWidth);
grid->addLayout(pulseLayout, 1, 0, 1, 3);
+ QLabel *highPulseString;
+ QLabel *centerPulseString;
+ QLabel *lowPulseString;
+ if (type == AILERON)
+ {
+ highPulseString = new QLabel(tr("Bank Left"));
+ centerPulseString = new QLabel(tr("Center"));
+ lowPulseString = new QLabel(tr("Bank Right"));
+ }
+ else if (type == ELEVATOR)
+ {
+ highPulseString = new QLabel(tr("Nose Down"));
+ centerPulseString = new QLabel(tr("Center"));
+ lowPulseString = new QLabel(tr("Nose Up"));
+ }
+ else if (type == RUDDER)
+ {
+ highPulseString = new QLabel(tr("Nose Left"));
+ centerPulseString = new QLabel(tr("Center"));
+ lowPulseString = new QLabel(tr("Nose Right"));
+ }
+ else
+ {
+ highPulseString = new QLabel(tr("High"));
+ centerPulseString = new QLabel(tr("Center"));
+ lowPulseString = new QLabel(tr("Low"));
+ }
+
+
+ QPushButton *highButton = new QPushButton(tr("Set"));
+ QPushButton *centerButton = new QPushButton(tr("Set"));
+ QPushButton *lowButton = new QPushButton(tr("Set"));
+
+ grid->addWidget(highPulseString, 2, 0);
+ grid->addWidget(highPulseWidth, 2, 1);
+ grid->addWidget(highButton, 2, 2);
+
+ grid->addWidget(centerPulseString, 3, 0);
+ grid->addWidget(centerPulseWidth, 3, 1);
+ grid->addWidget(centerButton, 3, 2);
+
+ grid->addWidget(lowPulseString, 4, 0);
+ grid->addWidget(lowPulseWidth, 4, 1);
+ grid->addWidget(lowButton, 4, 2);
+
this->setLayout(grid);
+
+ connect(highButton, SIGNAL(clicked()), this, SLOT(setHigh()));
+ connect(centerButton, SIGNAL(clicked()), this, SLOT(setCenter()));
+ connect(lowButton, SIGNAL(clicked()), this, SLOT(setLow()));
+}
+
+
+
+void AirfoilServoCalibrator::setHigh()
+{
+ highPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+ emit highSetpointChanged(logExtrema());
+}
+
+void AirfoilServoCalibrator::setCenter()
+{
+ centerPulseWidth->setText(QString::number(static_cast<double>(logAverage())));
+ emit centerSetpointChanged(logAverage());
}
-void AirfoilServoCalibrator::channelChanged(float raw)
+void AirfoilServoCalibrator::setLow()
{
- pulseWidth->setText(QString::number(static_cast<double>(raw)));
+ lowPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+ emit lowSetpointChanged(logExtrema());
}
diff --git a/src/ui/RadioCalibration/AirfoilServoCalibrator.h b/src/ui/RadioCalibration/AirfoilServoCalibrator.h
index 6c45dcc..234a13d 100644
--- a/src/ui/RadioCalibration/AirfoilServoCalibrator.h
+++ b/src/ui/RadioCalibration/AirfoilServoCalibrator.h
@@ -8,7 +8,9 @@
#include <QGridLayout>
#include <QHBoxLayout>
-class AirfoilServoCalibrator : public QWidget
+#include "AbstractCalibrator.h"
+
+class AirfoilServoCalibrator : public AbstractCalibrator
{
Q_OBJECT
public:
@@ -21,26 +23,24 @@ public:
explicit AirfoilServoCalibrator(AirfoilType type = AILERON, QWidget *parent = 0);
-
-
signals:
void highSetpointChanged(float);
void centerSetpointChanged(float);
void lowSetpointChanged(float);
-public slots:
- void channelChanged(float raw);
-protected:
- QLabel *pulseWidth;
- QPushButton *highButton;
- QPushButton *centerButton;
- QPushButton *lowButton;
+protected slots:
+ void setHigh();
+ void setCenter();
+ void setLow();
+
+protected:
+ QLabel *highPulseWidth;
+ QLabel *centerPulseWidth;
+ QLabel *lowPulseWidth;
float high;
float center;
float low;
-
- QVector<float> log;
};
#endif // AIRFOILSERVOCALIBRATOR_H
diff --git a/src/ui/RadioCalibration/CurveCalibrator.cc b/src/ui/RadioCalibration/CurveCalibrator.cc
index 41c337c..5ec46e0 100644
--- a/src/ui/RadioCalibration/CurveCalibrator.cc
+++ b/src/ui/RadioCalibration/CurveCalibrator.cc
@@ -1,7 +1,7 @@
#include "CurveCalibrator.h"
CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
- QWidget(parent),
+ AbstractCalibrator(parent),
setpoints(QVector<double>(5)),
positions(QVector<double>())
@@ -39,8 +39,3 @@ CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
this->setLayout(grid);
}
-
-void CurveCalibrator::channelChanged(float raw)
-{
- pulseWidth->setText(QString::number(static_cast<double>(raw)));
-}
diff --git a/src/ui/RadioCalibration/CurveCalibrator.h b/src/ui/RadioCalibration/CurveCalibrator.h
index 7115d3e..84befdf 100644
--- a/src/ui/RadioCalibration/CurveCalibrator.h
+++ b/src/ui/RadioCalibration/CurveCalibrator.h
@@ -10,7 +10,9 @@
#include <QLabel>
#include <QPushButton>
-class CurveCalibrator : public QWidget
+#include "AbstractCalibrator.h"
+
+class CurveCalibrator : public AbstractCalibrator
{
Q_OBJECT
public:
@@ -18,15 +20,12 @@ public:
signals:
void setpointChanged(float[5]);
-public slots:
- void channelChanged(float raw);
protected:
QVector<double> setpoints;
QVector<double> positions;
QwtPlot *plot;
QwtPlotCurve *curve;
- QLabel *pulseWidth;
};
#endif // CURVECALIBRATOR_H
diff --git a/src/ui/RadioCalibration/SwitchCalibrator.cc b/src/ui/RadioCalibration/SwitchCalibrator.cc
index 857d048..2062d98 100644
--- a/src/ui/RadioCalibration/SwitchCalibrator.cc
+++ b/src/ui/RadioCalibration/SwitchCalibrator.cc
@@ -1,7 +1,9 @@
#include "SwitchCalibrator.h"
SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
- QWidget(parent)
+ AbstractCalibrator(parent),
+ defaultPulseWidth(new QLabel()),
+ toggledPulseWidth(new QLabel())
{
/* Add title label*/
QLabel *title = new QLabel(titleString);
@@ -9,17 +11,39 @@ SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
grid->addWidget(title, 0, 0, 1, 3);
/* Add current Pulse Width Display */
- QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
- pulseWidth = new QLabel();
+ QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
QHBoxLayout *pulseLayout = new QHBoxLayout();
pulseLayout->addWidget(pulseWidthTitle);
pulseLayout->addWidget(pulseWidth);
grid->addLayout(pulseLayout, 1, 0, 1, 3);
+ QLabel *defaultPulseString = new QLabel(tr("Default Position"));
+ QPushButton *defaultButton = new QPushButton(tr("Set"));
+ grid->addWidget(defaultPulseString, 2, 0);
+ grid->addWidget(defaultPulseWidth, 2, 1);
+ grid->addWidget(defaultButton, 2, 2);
+
+ QLabel *toggledPulseString = new QLabel(tr("Toggled Position"));
+ QPushButton *toggledButton = new QPushButton(tr("Set"));
+ grid->addWidget(toggledPulseString, 3, 0);
+ grid->addWidget(toggledPulseWidth, 3, 1);
+ grid->addWidget(toggledButton, 3, 2);
+
this->setLayout(grid);
+
+ connect(defaultButton, SIGNAL(clicked()), this, SLOT(setDefault()));
+ connect(toggledButton, SIGNAL(clicked()), this, SLOT(setToggled()));
+}
+
+
+void SwitchCalibrator::setDefault()
+{
+ defaultPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+ emit defaultSetpointChanged(logExtrema());
}
-void SwitchCalibrator::channelChanged(float raw)
+void SwitchCalibrator::setToggled()
{
- pulseWidth->setText(QString::number(static_cast<double>(raw)));
+ toggledPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+ emit toggledSetpointChanged(logExtrema());
}
diff --git a/src/ui/RadioCalibration/SwitchCalibrator.h b/src/ui/RadioCalibration/SwitchCalibrator.h
index f77cce8..430c1d1 100644
--- a/src/ui/RadioCalibration/SwitchCalibrator.h
+++ b/src/ui/RadioCalibration/SwitchCalibrator.h
@@ -8,7 +8,9 @@
#include <QGridLayout>
#include <QHBoxLayout>
-class SwitchCalibrator : public QWidget
+#include "AbstractCalibrator.h"
+
+class SwitchCalibrator : public AbstractCalibrator
{
Q_OBJECT
public:
@@ -18,17 +20,13 @@ signals:
void defaultSetpointChanged(float);
void toggledSetpointChanged(float);
-public slots:
- void channelChanged(float raw);
-protected:
- QLabel *pulseWidth;
- QPushButton *defaultButton;
- QPushButton *toggledButton;
-
- float defaultPos;
- float toggled;
+protected slots:
+ void setDefault();
+ void setToggled();
- QVector<float> log;
+protected:
+ QLabel *defaultPulseWidth;
+ QLabel *toggledPulseWidth;
};