zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge pull request #4123 from gregd72002/master 

Implementing throttle axis accumulator with deadband support
QGC4.4
Don Gagne 8 years ago committed by GitHub
parent
3950327eb6 7fcae94cb7
commit
9da1f5f8d4
5 changed files with 253 additions and 28 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 86
      src/Joystick/Joystick.cc
  2. 18
      src/Joystick/Joystick.h
  3. 60
      src/VehicleSetup/JoystickConfig.qml
  4. 81
      src/VehicleSetup/JoystickConfigController.cc
  5. 36
      src/VehicleSetup/JoystickConfigController.h

86
src/Joystick/Joystick.cc
Unescape View File

@ -23,6 +23,8 @@ const char* Joystick::_calibratedSettingsKey = "Calibrated1"; // Increment @@ -23,6 +23,8 @@ const char* Joystick::_calibratedSettingsKey = "Calibrated1"; // Increment
const char* Joystick::_buttonActionSettingsKey = "ButtonActionName%1";
const char* Joystick::_throttleModeSettingsKey = "ThrottleMode";
const char* Joystick::_exponentialSettingsKey = "Exponential";
const char* Joystick::_accumulatorSettingsKey = "Accumulator";
const char* Joystick::_deadbandSettingsKey = "Deadband";
const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
"RollAxis",
@ -46,6 +48,8 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC @@ -46,6 +48,8 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
, _lastButtonBits(0)
, _throttleMode(ThrottleModeCenterZero)
, _exponential(false)
, _accumulator(false)
, _deadband(false)
, _activeVehicle(NULL)
, _pollingStartedForCalibration(false)
, _multiVehicleManager(multiVehicleManager)
@ -86,16 +90,19 @@ void Joystick::_loadSettings(void) @@ -86,16 +90,19 @@ void Joystick::_loadSettings(void)
_calibrated = settings.value(_calibratedSettingsKey, false).toBool();
_exponential = settings.value(_exponentialSettingsKey, false).toBool();
_accumulator = settings.value(_accumulatorSettingsKey, false).toBool();
_deadband = settings.value(_deadbandSettingsKey, false).toBool();
_throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
badSettings |= !convertOk;
qCDebug(JoystickLog) << "_loadSettings calibrated:throttlemode:exponential:badsettings" << _calibrated << _throttleMode << _exponential << badSettings;
qCDebug(JoystickLog) << "_loadSettings calibrated:throttlemode:exponential:deadband:badsettings" << _calibrated << _throttleMode << _exponential << _deadband << badSettings;
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
QString trimTpl ("Axis%1Trim");
QString revTpl ("Axis%1Rev");
QString deadbndTpl ("Axis%1Deadbnd");
for (int axis=0; axis<_axisCount; axis++) {
Calibration_t* calibration = &_rgCalibration[axis];
@ -109,9 +116,13 @@ void Joystick::_loadSettings(void) @@ -109,9 +116,13 @@ void Joystick::_loadSettings(void)
calibration->max = settings.value(maxTpl.arg(axis), 32767).toInt(&convertOk);
badSettings |= !convertOk;
calibration->deadband = settings.value(deadbndTpl.arg(axis), 0).toInt(&convertOk);
badSettings |= !convertOk;
calibration->reversed = settings.value(revTpl.arg(axis), false).toBool();
qCDebug(JoystickLog) << "_loadSettings axis:min:max:trim:reversed:badsettings" << axis << calibration->min << calibration->max << calibration->center << calibration->reversed << badSettings;
qCDebug(JoystickLog) << "_loadSettings axis:min:max:trim:reversed:deadband:badsettings" << axis << calibration->min << calibration->max << calibration->center << calibration->reversed << calibration->deadband << badSettings;
}
for (int function=0; function<maxFunction; function++) {
@ -145,14 +156,17 @@ void Joystick::_saveSettings(void) @@ -145,14 +156,17 @@ void Joystick::_saveSettings(void)
settings.setValue(_calibratedSettingsKey, _calibrated);
settings.setValue(_exponentialSettingsKey, _exponential);
settings.setValue(_accumulatorSettingsKey, _accumulator);
settings.setValue(_deadbandSettingsKey, _deadband);
settings.setValue(_throttleModeSettingsKey, _throttleMode);
qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode" << _calibrated << _throttleMode;
qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode:deadband" << _calibrated << _throttleMode << _deadband;
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
QString trimTpl ("Axis%1Trim");
QString revTpl ("Axis%1Rev");
QString deadbndTpl ("Axis%1Deadbnd");
for (int axis=0; axis<_axisCount; axis++) {
Calibration_t* calibration = &_rgCalibration[axis];
@ -161,14 +175,16 @@ void Joystick::_saveSettings(void) @@ -161,14 +175,16 @@ void Joystick::_saveSettings(void)
settings.setValue(minTpl.arg(axis), calibration->min);
settings.setValue(maxTpl.arg(axis), calibration->max);
settings.setValue(revTpl.arg(axis), calibration->reversed);
settings.setValue(deadbndTpl.arg(axis), calibration->deadband);
qCDebug(JoystickLog) << "_saveSettings name:axis:min:max:trim:reversed"
qCDebug(JoystickLog) << "_saveSettings name:axis:min:max:trim:reversed:deadband"
<< _name
<< axis
<< calibration->min
<< calibration->max
<< calibration->center
<< calibration->reversed;
<< calibration->reversed
<< calibration->deadband;
}
for (int function=0; function<maxFunction; function++) {
@ -183,7 +199,7 @@ void Joystick::_saveSettings(void) @@ -183,7 +199,7 @@ void Joystick::_saveSettings(void)
}
/// Adjust the raw axis value to the -1:1 range given calibration information
float Joystick::_adjustRange(int value, Calibration_t calibration)
float Joystick::_adjustRange(int value, Calibration_t calibration, bool withDeadbands)
{
float valueNormalized;
float axisLength;
@ -199,6 +215,12 @@ float Joystick::_adjustRange(int value, Calibration_t calibration) @@ -199,6 +215,12 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
axisLength = calibration.center - calibration.min;
}
if (withDeadbands) {
if (valueNormalized>calibration.deadband) valueNormalized-=calibration.deadband;
else if (valueNormalized<-calibration.deadband) valueNormalized+=calibration.deadband;
else valueNormalized = 0.f;
}
float axisPercent = valueNormalized / axisLength;
float correctedValue = axisBasis * axisPercent;
@ -208,13 +230,14 @@ float Joystick::_adjustRange(int value, Calibration_t calibration) @@ -208,13 +230,14 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
}
#if 0
qCDebug(JoystickLog) << "_adjustRange corrected:value:min:max:center:reversed:basis:normalized:length"
qCDebug(JoystickLog) << "_adjustRange corrected:value:min:max:center:reversed:deadband:basis:normalized:length"
<< correctedValue
<< value
<< calibration.min
<< calibration.max
<< calibration.center
<< calibration.center
<< calibration.reversed
<< calibration.deadband
<< axisBasis
<< valueNormalized
<< axisLength;
@ -265,16 +288,25 @@ void Joystick::run(void) @@ -265,16 +288,25 @@ void Joystick::run(void)
if (_calibrationMode != CalibrationModeCalibrating) {
int axis = _rgFunctionAxis[rollFunction];
float roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
float roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _deadband);
axis = _rgFunctionAxis[pitchFunction];
float pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
float pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _deadband);
axis = _rgFunctionAxis[yawFunction];
float yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
float yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis],_deadband);
axis = _rgFunctionAxis[throttleFunction];
float throttle = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
float throttle = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _throttleMode==ThrottleModeDownZero?false:_deadband);
if ( _accumulator ) {
static float throttle_accu = 0.f;
throttle_accu += throttle*(40/1000.f); //for throttle to change from min to max it will take 1000ms (40ms is a loop time)
throttle_accu = std::max(static_cast<float>(-1.f), std::min(throttle_accu, static_cast<float>(1.f)));
throttle = throttle_accu;
}
float roll_limited = std::max(static_cast<float>(-M_PI_4), std::min(roll, static_cast<float>(M_PI_4)));
float pitch_limited = std::max(static_cast<float>(-M_PI_4), std::min(pitch, static_cast<float>(M_PI_4)));
@ -512,6 +544,11 @@ void Joystick::setThrottleMode(int mode) @@ -512,6 +544,11 @@ void Joystick::setThrottleMode(int mode)
}
_throttleMode = (ThrottleMode_t)mode;
if (_throttleMode == ThrottleModeDownZero) {
setAccumulator(false);
}
_saveSettings();
emit throttleModeChanged(_throttleMode);
}
@ -529,6 +566,31 @@ void Joystick::setExponential(bool expo) @@ -529,6 +566,31 @@ void Joystick::setExponential(bool expo)
emit exponentialChanged(_exponential);
}
bool Joystick::accumulator(void)
{
return _accumulator;
}
void Joystick::setAccumulator(bool accu)
{
_accumulator = accu;
_saveSettings();
emit accumulatorChanged(_accumulator);
}
bool Joystick::deadband(void)
{
return _deadband;
}
void Joystick::setDeadband(bool deadband)
{
_deadband = deadband;
_saveSettings();
}
void Joystick::startCalibrationMode(CalibrationMode_t mode)
{
if (mode == CalibrationModeOff) {

18
src/Joystick/Joystick.h
Unescape View File

@ -34,6 +34,7 @@ public: @@ -34,6 +34,7 @@ public:
int min;
int max;
int center;
int deadband;
bool reversed;
} Calibration_t;
@ -65,7 +66,8 @@ public: @@ -65,7 +66,8 @@ public:
Q_INVOKABLE QString getButtonAction(int button);
Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
Q_PROPERTY(int exponential READ exponential WRITE setExponential NOTIFY exponentialChanged)
Q_PROPERTY(bool exponential READ exponential WRITE setExponential NOTIFY exponentialChanged)
Q_PROPERTY(bool accumulator READ accumulator WRITE setAccumulator NOTIFY accumulatorChanged)
// Property accessors
@ -93,6 +95,12 @@ public: @@ -93,6 +95,12 @@ public:
bool exponential(void);
void setExponential(bool expo);
bool accumulator(void);
void setAccumulator(bool accu);
bool deadband(void);
void setDeadband(bool accu);
typedef enum {
CalibrationModeOff, // Not calibrating
CalibrationModeMonitor, // Monitors are active, continue to send to vehicle if already polling
@ -118,6 +126,8 @@ signals: @@ -118,6 +126,8 @@ signals:
void exponentialChanged(bool exponential);
void accumulatorChanged(bool accumulator);
void enabledChanged(bool enabled);
/// Signal containing new joystick information
@ -133,7 +143,7 @@ signals: @@ -133,7 +143,7 @@ signals:
protected:
void _saveSettings(void);
void _loadSettings(void);
float _adjustRange(int value, Calibration_t calibration);
float _adjustRange(int value, Calibration_t calibration, bool withDeadbands);
void _buttonAction(const QString& action);
bool _validAxis(int axis);
bool _validButton(int button);
@ -175,6 +185,8 @@ protected: @@ -175,6 +185,8 @@ protected:
ThrottleMode_t _throttleMode;
bool _exponential;
bool _accumulator;
bool _deadband;
Vehicle* _activeVehicle;
bool _pollingStartedForCalibration;
@ -189,6 +201,8 @@ private: @@ -189,6 +201,8 @@ private:
static const char* _buttonActionSettingsKey;
static const char* _throttleModeSettingsKey;
static const char* _exponentialSettingsKey;
static const char* _accumulatorSettingsKey;
static const char* _deadbandSettingsKey;
};
#endif

60
src/VehicleSetup/JoystickConfig.qml
Unescape View File

@ -72,7 +72,7 @@ SetupPage { @@ -72,7 +72,7 @@ SetupPage {
Item {
property int axisValue: 0
property int deadbandValue: 0
property int __lastAxisValue: 0
readonly property int __axisValueMaxJitter: 100
@ -87,6 +87,20 @@ SetupPage { @@ -87,6 +87,20 @@ SetupPage {
color: __barColor
}
// Deadband
Rectangle {
id: deadbandBar
anchors.verticalCenter: parent.verticalCenter
x: _deadbandPosition
width: _deadbandWidth
height: parent.height / 2
color: "#8c161a"
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
@ -126,13 +140,15 @@ SetupPage { @@ -126,13 +140,15 @@ SetupPage {
duration: 1500
}
/*
// Axis value debugger
/*
QGCLabel {
anchors.fill: parent
text: axisValue
}
*/
}
} // Component - axisMonitorDisplayComponent
@ -180,6 +196,8 @@ SetupPage { @@ -180,6 +196,8 @@ SetupPage {
target: controller
onRollAxisValueChanged: rollLoader.item.axisValue = value
onRollAxisDeadbandChanged: rollLoader.item.deadbandValue = value
}
}
@ -210,6 +228,9 @@ SetupPage { @@ -210,6 +228,9 @@ SetupPage {
target: controller
onPitchAxisValueChanged: pitchLoader.item.axisValue = value
onPitchAxisDeadbandChanged: pitchLoader.item.deadbandValue = value
}
}
@ -240,6 +261,8 @@ SetupPage { @@ -240,6 +261,8 @@ SetupPage {
target: controller
onYawAxisValueChanged: yawLoader.item.axisValue = value
onYawAxisDeadbandChanged: yawLoader.item.deadbandValue = value
}
}
@ -270,6 +293,8 @@ SetupPage { @@ -270,6 +293,8 @@ SetupPage {
target: controller
onThrottleAxisValueChanged: throttleLoader.item.axisValue = value
onThrottleAxisDeadbandChanged: throttleLoader.item.deadbandValue = value
}
}
} // Column - Attitude Control labels
@ -382,6 +407,21 @@ SetupPage { @@ -382,6 +407,21 @@ SetupPage {
onClicked: _activeJoystick.throttleMode = 0
}
Row {
x: 20
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: _activeJoystick.throttleMode == 0
QGCCheckBox {
id: accumulator
checked: _activeJoystick.accumulator
text: qsTr("Spring loaded throttle smoothing")
onClicked: _activeJoystick.accumulator = checked
}
}
QGCRadioButton {
exclusiveGroup: throttleModeExclusiveGroup
text: qsTr("Full down stick is zero throttle")
@ -435,6 +475,20 @@ SetupPage { @@ -435,6 +475,20 @@ SetupPage {
onActivated: _activeVehicle.joystickMode = index
}
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: advancedSettings.checked
QGCCheckBox {
id: deadband
checked: controller.deadbandToggle
text: qsTr("Deadbands")
onClicked: controller.deadbandToggle = checked
}
}
}
} // Column - left column
@ -697,3 +751,5 @@ SetupPage { @@ -697,3 +751,5 @@ SetupPage {
} // Item
} // Component - pageComponent
} // SetupPage

81
src/VehicleSetup/JoystickConfigController.cc
Unescape View File

@ -210,6 +210,18 @@ void JoystickConfigController::cancelButtonClicked(void) @@ -210,6 +210,18 @@ void JoystickConfigController::cancelButtonClicked(void)
_stopCalibration();
}
bool JoystickConfigController::getDeadbandToggle() {
return _activeJoystick->deadband();
}
void JoystickConfigController::setDeadbandToggle(bool deadband) {
_activeJoystick->setDeadband(deadband);
_signalAllAttiudeValueChanges();
emit deadbandToggled(deadband);
}
void JoystickConfigController::_saveAllTrims(void)
{
// We save all trims as the first step. At this point no axes are mapped but it should still
@ -224,16 +236,28 @@ void JoystickConfigController::_saveAllTrims(void) @@ -224,16 +236,28 @@ void JoystickConfigController::_saveAllTrims(void)
_advanceState();
}
void JoystickConfigController::_axisDeadbandChanged(int axis, int value)
{
value = abs(value)<_calValidMaxValue?abs(value):_calValidMaxValue;
_rgAxisInfo[axis].deadband = value;
qCDebug(JoystickConfigControllerLog) << "Axis:" << axis << "Deadband:" << _rgAxisInfo[axis].deadband;
}
/// @brief Waits for the sticks to be centered, enabling Next when done.
void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t function, int axis, int value)
{
Q_UNUSED(function);
Q_UNUSED(axis);
Q_UNUSED(value);
// FIXME: Doesn't wait for center
//sensing deadband
if (abs(value)*1.1f>_rgAxisInfo[axis].deadband) { //add 10% on top of existing deadband
_axisDeadbandChanged(axis,abs(value)*1.1f);
}
_nextButton->setEnabled(true);
// FIXME: Doesn't wait for center
}
bool JoystickConfigController::_stickSettleComplete(int axis, int value)
@ -420,6 +444,7 @@ void JoystickConfigController::_resetInternalCalibrationValues(void) @@ -420,6 +444,7 @@ void JoystickConfigController::_resetInternalCalibrationValues(void)
struct AxisInfo* info = &_rgAxisInfo[i];
info->function = Joystick::maxFunction;
info->reversed = false;
info->deadband = 0;
info->axisMin = JoystickConfigController::_calCenterPoint;
info->axisMax = JoystickConfigController::_calCenterPoint;
info->axisTrim = JoystickConfigController::_calCenterPoint;
@ -457,7 +482,8 @@ void JoystickConfigController::_setInternalCalibrationValuesFromSettings(void) @@ -457,7 +482,8 @@ void JoystickConfigController::_setInternalCalibrationValuesFromSettings(void)
info->axisMin = calibration.min;
info->axisMax = calibration.max;
info->reversed = calibration.reversed;
info->deadband = calibration.deadband;
qCDebug(JoystickConfigControllerLog) << "Read settings name:axis:min:max:trim:reversed" << joystick->name() << axis << info->axisMin << info->axisMax << info->axisTrim << info->reversed;
}
@ -512,6 +538,7 @@ void JoystickConfigController::_validateCalibration(void) @@ -512,6 +538,7 @@ void JoystickConfigController::_validateCalibration(void)
info->axisMin = _calDefaultMinValue;
info->axisMax = _calDefaultMaxValue;
info->axisTrim = info->axisMin + ((info->axisMax - info->axisMin) / 2);
info->deadband = 0;
info->reversed = false;
}
}
@ -534,6 +561,7 @@ void JoystickConfigController::_writeCalibration(void) @@ -534,6 +561,7 @@ void JoystickConfigController::_writeCalibration(void)
calibration.min = info->axisMin;
calibration.max = info->axisMax;
calibration.reversed = info->reversed;
calibration.deadband = info->deadband;
joystick->setCalibration(axis, calibration);
}
@ -664,6 +692,42 @@ int JoystickConfigController::throttleAxisValue(void) @@ -664,6 +692,42 @@ int JoystickConfigController::throttleAxisValue(void)
}
}
int JoystickConfigController::rollAxisDeadband(void)
{
if ((_rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis) && (_activeJoystick->deadband())) {
return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::rollFunction]].deadband;
} else {
return 0;
}
}
int JoystickConfigController::pitchAxisDeadband(void)
{
if ((_rgFunctionAxisMapping[Joystick::pitchFunction] != _axisNoAxis) && (_activeJoystick->deadband())) {
return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::pitchFunction]].deadband;
} else {
return 0;
}
}
int JoystickConfigController::yawAxisDeadband(void)
{
if ((_rgFunctionAxisMapping[Joystick::yawFunction] != _axisNoAxis) && (_activeJoystick->deadband())) {
return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::yawFunction]].deadband;
} else {
return 0;
}
}
int JoystickConfigController::throttleAxisDeadband(void)
{
if ((_rgFunctionAxisMapping[Joystick::throttleFunction] != _axisNoAxis) && (_activeJoystick->deadband())) {
return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::throttleFunction]].deadband;
} else {
return 0;
}
}
bool JoystickConfigController::rollAxisMapped(void)
{
return _rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis;
@ -731,6 +795,11 @@ void JoystickConfigController::_signalAllAttiudeValueChanges(void) @@ -731,6 +795,11 @@ void JoystickConfigController::_signalAllAttiudeValueChanges(void)
emit pitchAxisReversedChanged(pitchAxisReversed());
emit yawAxisReversedChanged(yawAxisReversed());
emit throttleAxisReversedChanged(throttleAxisReversed());
emit rollAxisDeadbandChanged(rollAxisDeadband());
emit pitchAxisDeadbandChanged(pitchAxisDeadband());
emit yawAxisDeadbandChanged(yawAxisDeadband());
emit throttleAxisDeadbandChanged(throttleAxisDeadband());
}
void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)

36
src/VehicleSetup/JoystickConfigController.h
Unescape View File

@ -51,29 +51,41 @@ public: @@ -51,29 +51,41 @@ public:
Q_PROPERTY(bool pitchAxisMapped READ pitchAxisMapped NOTIFY pitchAxisMappedChanged)
Q_PROPERTY(bool yawAxisMapped READ yawAxisMapped NOTIFY yawAxisMappedChanged)
Q_PROPERTY(bool throttleAxisMapped READ throttleAxisMapped NOTIFY throttleAxisMappedChanged)
Q_PROPERTY(int rollAxisValue READ rollAxisValue NOTIFY rollAxisValueChanged)
Q_PROPERTY(int pitchAxisValue READ pitchAxisValue NOTIFY pitchAxisValueChanged)
Q_PROPERTY(int yawAxisValue READ yawAxisValue NOTIFY yawAxisValueChanged)
Q_PROPERTY(int throttleAxisValue READ throttleAxisValue NOTIFY throttleAxisValueChanged)
Q_PROPERTY(int rollAxisDeadband READ rollAxisDeadband NOTIFY rollAxisDeadbandChanged)
Q_PROPERTY(int pitchAxisDeadband READ pitchAxisDeadband NOTIFY pitchAxisDeadbandChanged)
Q_PROPERTY(int yawAxisDeadband READ yawAxisDeadband NOTIFY yawAxisDeadbandChanged)
Q_PROPERTY(int throttleAxisDeadband READ throttleAxisDeadband NOTIFY throttleAxisDeadbandChanged)
Q_PROPERTY(int rollAxisReversed READ rollAxisReversed NOTIFY rollAxisReversedChanged)
Q_PROPERTY(int pitchAxisReversed READ pitchAxisReversed NOTIFY pitchAxisReversedChanged)
Q_PROPERTY(int yawAxisReversed READ yawAxisReversed NOTIFY yawAxisReversedChanged)
Q_PROPERTY(int throttleAxisReversed READ throttleAxisReversed NOTIFY throttleAxisReversedChanged)
Q_PROPERTY(bool deadbandToggle READ getDeadbandToggle WRITE setDeadbandToggle NOTIFY deadbandToggled)
Q_PROPERTY(QString imageHelp MEMBER _imageHelp NOTIFY imageHelpChanged)
Q_INVOKABLE void cancelButtonClicked(void);
Q_INVOKABLE void skipButtonClicked(void);
Q_INVOKABLE void nextButtonClicked(void);
Q_INVOKABLE void start(void);
int rollAxisValue(void);
int pitchAxisValue(void);
int yawAxisValue(void);
int throttleAxisValue(void);
int rollAxisDeadband(void);
int pitchAxisDeadband(void);
int yawAxisDeadband(void);
int throttleAxisDeadband(void);
bool rollAxisMapped(void);
bool pitchAxisMapped(void);
bool yawAxisMapped(void);
@ -84,11 +96,14 @@ public: @@ -84,11 +96,14 @@ public:
bool yawAxisReversed(void);
bool throttleAxisReversed(void);
bool getDeadbandToggle(void);
void setDeadbandToggle(bool);
int axisCount(void);
signals:
void axisValueChanged(int axis, int value);
void rollAxisMappedChanged(bool mapped);
void pitchAxisMappedChanged(bool mapped);
void yawAxisMappedChanged(bool mapped);
@ -98,11 +113,18 @@ signals: @@ -98,11 +113,18 @@ signals:
void pitchAxisValueChanged(int value);
void yawAxisValueChanged(int value);
void throttleAxisValueChanged(int value);
void rollAxisDeadbandChanged(int value);
void pitchAxisDeadbandChanged(int value);
void yawAxisDeadbandChanged(int value);
void throttleAxisDeadbandChanged(int value);
void rollAxisReversedChanged(bool reversed);
void pitchAxisReversedChanged(bool reversed);
void yawAxisReversedChanged(bool reversed);
void throttleAxisReversedChanged(bool reversed);
void deadbandToggled(bool value);
void imageHelpChanged(QString source);
@ -112,6 +134,7 @@ signals: @@ -112,6 +134,7 @@ signals:
private slots:
void _activeJoystickChanged(Joystick* joystick);
void _axisValueChanged(int axis, int value);
void _axisDeadbandChanged(int axis, int value);
private:
/// @brief The states of the calibration state machine.
@ -144,6 +167,7 @@ private: @@ -144,6 +167,7 @@ private:
int axisMin; ///< Minimum axis value
int axisMax; ///< Maximum axis value
int axisTrim; ///< Trim position
int deadband; ///< Deadband
};
Joystick* _activeJoystick;

Write Preview
Loading…
Cancel
Save