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Merge pull request #4123 from gregd72002/master 

Implementing throttle axis accumulator with deadband support
QGC4.4
Don Gagne 9 years ago committed by GitHub
parent
3950327eb6 7fcae94cb7
commit
9da1f5f8d4
5 changed files with 253 additions and 28 deletions
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  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
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@ -23,6 +23,8 @@ const char* Joystick::_calibratedSettingsKey = "Calibrated1"; // Increment
const char* Joystick::_buttonActionSettingsKey = "ButtonActionName%1"; const char* Joystick::_buttonActionSettingsKey = "ButtonActionName%1";
const char* Joystick::_throttleModeSettingsKey = "ThrottleMode"; const char* Joystick::_throttleModeSettingsKey = "ThrottleMode";
const char* Joystick::_exponentialSettingsKey = "Exponential"; const char* Joystick::_exponentialSettingsKey = "Exponential";
const char* Joystick::_accumulatorSettingsKey = "Accumulator";
const char* Joystick::_deadbandSettingsKey = "Deadband";
const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = { const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
"RollAxis", "RollAxis",
@ -46,6 +48,8 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
, _lastButtonBits(0) , _lastButtonBits(0)
, _throttleMode(ThrottleModeCenterZero) , _throttleMode(ThrottleModeCenterZero)
, _exponential(false) , _exponential(false)
, _accumulator(false)
, _deadband(false)
, _activeVehicle(NULL) , _activeVehicle(NULL)
, _pollingStartedForCalibration(false) , _pollingStartedForCalibration(false)
, _multiVehicleManager(multiVehicleManager) , _multiVehicleManager(multiVehicleManager)
@ -86,16 +90,19 @@ void Joystick::_loadSettings(void)
_calibrated = settings.value(_calibratedSettingsKey, false).toBool(); _calibrated = settings.value(_calibratedSettingsKey, false).toBool();
_exponential = settings.value(_exponentialSettingsKey, 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); _throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
badSettings |= !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 minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max"); QString maxTpl ("Axis%1Max");
QString trimTpl ("Axis%1Trim"); QString trimTpl ("Axis%1Trim");
QString revTpl ("Axis%1Rev"); QString revTpl ("Axis%1Rev");
QString deadbndTpl ("Axis%1Deadbnd");
for (int axis=0; axis<_axisCount; axis++) { for (int axis=0; axis<_axisCount; axis++) {
Calibration_t* calibration = &_rgCalibration[axis]; Calibration_t* calibration = &_rgCalibration[axis];
@ -109,9 +116,13 @@ void Joystick::_loadSettings(void)
calibration->max = settings.value(maxTpl.arg(axis), 32767).toInt(&convertOk); calibration->max = settings.value(maxTpl.arg(axis), 32767).toInt(&convertOk);
badSettings |= !convertOk; badSettings |= !convertOk;
calibration->deadband = settings.value(deadbndTpl.arg(axis), 0).toInt(&convertOk);
badSettings |= !convertOk;
calibration->reversed = settings.value(revTpl.arg(axis), false).toBool(); 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++) { for (int function=0; function<maxFunction; function++) {
@ -145,14 +156,17 @@ void Joystick::_saveSettings(void)
settings.setValue(_calibratedSettingsKey, _calibrated); settings.setValue(_calibratedSettingsKey, _calibrated);
settings.setValue(_exponentialSettingsKey, _exponential); settings.setValue(_exponentialSettingsKey, _exponential);
settings.setValue(_accumulatorSettingsKey, _accumulator);
settings.setValue(_deadbandSettingsKey, _deadband);
settings.setValue(_throttleModeSettingsKey, _throttleMode); 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 minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max"); QString maxTpl ("Axis%1Max");
QString trimTpl ("Axis%1Trim"); QString trimTpl ("Axis%1Trim");
QString revTpl ("Axis%1Rev"); QString revTpl ("Axis%1Rev");
QString deadbndTpl ("Axis%1Deadbnd");
for (int axis=0; axis<_axisCount; axis++) { for (int axis=0; axis<_axisCount; axis++) {
Calibration_t* calibration = &_rgCalibration[axis]; Calibration_t* calibration = &_rgCalibration[axis];
@ -161,14 +175,16 @@ void Joystick::_saveSettings(void)
settings.setValue(minTpl.arg(axis), calibration->min); settings.setValue(minTpl.arg(axis), calibration->min);
settings.setValue(maxTpl.arg(axis), calibration->max); settings.setValue(maxTpl.arg(axis), calibration->max);
settings.setValue(revTpl.arg(axis), calibration->reversed); 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 << _name
<< axis << axis
<< calibration->min << calibration->min
<< calibration->max << calibration->max
<< calibration->center << calibration->center
<< calibration->reversed; << calibration->reversed
<< calibration->deadband;
} }
for (int function=0; function<maxFunction; function++) { for (int function=0; function<maxFunction; function++) {
@ -183,7 +199,7 @@ void Joystick::_saveSettings(void)
} }
/// Adjust the raw axis value to the -1:1 range given calibration information /// 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 valueNormalized;
float axisLength; float axisLength;
@ -199,6 +215,12 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
axisLength = calibration.center - calibration.min; 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 axisPercent = valueNormalized / axisLength;
float correctedValue = axisBasis * axisPercent; float correctedValue = axisBasis * axisPercent;
@ -208,13 +230,14 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
} }
#if 0 #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 << correctedValue
<< value << value
<< calibration.min << calibration.min
<< calibration.max << calibration.max
<< calibration.center << calibration.center
<< calibration.center << calibration.reversed
<< calibration.deadband
<< axisBasis << axisBasis
<< valueNormalized << valueNormalized
<< axisLength; << axisLength;
@ -265,16 +288,25 @@ void Joystick::run(void)
if (_calibrationMode != CalibrationModeCalibrating) { if (_calibrationMode != CalibrationModeCalibrating) {
int axis = _rgFunctionAxis[rollFunction]; int axis = _rgFunctionAxis[rollFunction];
float roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]); float roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _deadband);
axis = _rgFunctionAxis[pitchFunction]; axis = _rgFunctionAxis[pitchFunction];
float pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]); float pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _deadband);
axis = _rgFunctionAxis[yawFunction]; axis = _rgFunctionAxis[yawFunction];
float yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]); float yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis],_deadband);
axis = _rgFunctionAxis[throttleFunction]; 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 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))); 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)
} }
_throttleMode = (ThrottleMode_t)mode; _throttleMode = (ThrottleMode_t)mode;
if (_throttleMode == ThrottleModeDownZero) {
setAccumulator(false);
}
_saveSettings(); _saveSettings();
emit throttleModeChanged(_throttleMode); emit throttleModeChanged(_throttleMode);
} }
@ -529,6 +566,31 @@ void Joystick::setExponential(bool expo)
emit exponentialChanged(_exponential); 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) void Joystick::startCalibrationMode(CalibrationMode_t mode)
{ {
if (mode == CalibrationModeOff) { if (mode == CalibrationModeOff) {

18
src/Joystick/Joystick.h
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@ -34,6 +34,7 @@ public:
int min; int min;
int max; int max;
int center; int center;
int deadband;
bool reversed; bool reversed;
} Calibration_t; } Calibration_t;
@ -65,7 +66,8 @@ public:
Q_INVOKABLE QString getButtonAction(int button); Q_INVOKABLE QString getButtonAction(int button);
Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged) 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 // Property accessors
@ -93,6 +95,12 @@ public:
bool exponential(void); bool exponential(void);
void setExponential(bool expo); void setExponential(bool expo);
bool accumulator(void);
void setAccumulator(bool accu);
bool deadband(void);
void setDeadband(bool accu);
typedef enum { typedef enum {
CalibrationModeOff, // Not calibrating CalibrationModeOff, // Not calibrating
CalibrationModeMonitor, // Monitors are active, continue to send to vehicle if already polling CalibrationModeMonitor, // Monitors are active, continue to send to vehicle if already polling
@ -118,6 +126,8 @@ signals:
void exponentialChanged(bool exponential); void exponentialChanged(bool exponential);
void accumulatorChanged(bool accumulator);
void enabledChanged(bool enabled); void enabledChanged(bool enabled);
/// Signal containing new joystick information /// Signal containing new joystick information
@ -133,7 +143,7 @@ signals:
protected: protected:
void _saveSettings(void); void _saveSettings(void);
void _loadSettings(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); void _buttonAction(const QString& action);
bool _validAxis(int axis); bool _validAxis(int axis);
bool _validButton(int button); bool _validButton(int button);
@ -175,6 +185,8 @@ protected:
ThrottleMode_t _throttleMode; ThrottleMode_t _throttleMode;
bool _exponential; bool _exponential;
bool _accumulator;
bool _deadband;
Vehicle* _activeVehicle; Vehicle* _activeVehicle;
bool _pollingStartedForCalibration; bool _pollingStartedForCalibration;
@ -189,6 +201,8 @@ private:
static const char* _buttonActionSettingsKey; static const char* _buttonActionSettingsKey;
static const char* _throttleModeSettingsKey; static const char* _throttleModeSettingsKey;
static const char* _exponentialSettingsKey; static const char* _exponentialSettingsKey;
static const char* _accumulatorSettingsKey;
static const char* _deadbandSettingsKey;
}; };
#endif #endif

60
src/VehicleSetup/JoystickConfig.qml
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@ -72,7 +72,7 @@ SetupPage {
Item { Item {
property int axisValue: 0 property int axisValue: 0
property int deadbandValue: 0
property int __lastAxisValue: 0 property int __lastAxisValue: 0
readonly property int __axisValueMaxJitter: 100 readonly property int __axisValueMaxJitter: 100
@ -87,6 +87,20 @@ SetupPage {
color: __barColor 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 // Center point
Rectangle { Rectangle {
anchors.horizontalCenter: parent.horizontalCenter anchors.horizontalCenter: parent.horizontalCenter
@ -126,13 +140,15 @@ SetupPage {
duration: 1500 duration: 1500
} }
/*
// Axis value debugger // Axis value debugger
/*
QGCLabel { QGCLabel {
anchors.fill: parent anchors.fill: parent
text: axisValue text: axisValue
} }
*/ */
} }
} // Component - axisMonitorDisplayComponent } // Component - axisMonitorDisplayComponent
@ -180,6 +196,8 @@ SetupPage {
target: controller target: controller
onRollAxisValueChanged: rollLoader.item.axisValue = value onRollAxisValueChanged: rollLoader.item.axisValue = value
onRollAxisDeadbandChanged: rollLoader.item.deadbandValue = value
} }
} }
@ -210,6 +228,9 @@ SetupPage {
target: controller target: controller
onPitchAxisValueChanged: pitchLoader.item.axisValue = value onPitchAxisValueChanged: pitchLoader.item.axisValue = value
onPitchAxisDeadbandChanged: pitchLoader.item.deadbandValue = value
} }
} }
@ -240,6 +261,8 @@ SetupPage {
target: controller target: controller
onYawAxisValueChanged: yawLoader.item.axisValue = value onYawAxisValueChanged: yawLoader.item.axisValue = value
onYawAxisDeadbandChanged: yawLoader.item.deadbandValue = value
} }
} }
@ -270,6 +293,8 @@ SetupPage {
target: controller target: controller
onThrottleAxisValueChanged: throttleLoader.item.axisValue = value onThrottleAxisValueChanged: throttleLoader.item.axisValue = value
onThrottleAxisDeadbandChanged: throttleLoader.item.deadbandValue = value
} }
} }
} // Column - Attitude Control labels } // Column - Attitude Control labels
@ -382,6 +407,21 @@ SetupPage {
onClicked: _activeJoystick.throttleMode = 0 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 { QGCRadioButton {
exclusiveGroup: throttleModeExclusiveGroup exclusiveGroup: throttleModeExclusiveGroup
text: qsTr("Full down stick is zero throttle") text: qsTr("Full down stick is zero throttle")
@ -435,6 +475,20 @@ SetupPage {
onActivated: _activeVehicle.joystickMode = index 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 } // Column - left column
@ -697,3 +751,5 @@ SetupPage {
} // Item } // Item
} // Component - pageComponent } // Component - pageComponent
} // SetupPage } // SetupPage

81
src/VehicleSetup/JoystickConfigController.cc
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@ -210,6 +210,18 @@ void JoystickConfigController::cancelButtonClicked(void)
_stopCalibration(); _stopCalibration();
} }
bool JoystickConfigController::getDeadbandToggle() {
return _activeJoystick->deadband();
}
void JoystickConfigController::setDeadbandToggle(bool deadband) {
_activeJoystick->setDeadband(deadband);
_signalAllAttiudeValueChanges();
emit deadbandToggled(deadband);
}
void JoystickConfigController::_saveAllTrims(void) void JoystickConfigController::_saveAllTrims(void)
{ {
// We save all trims as the first step. At this point no axes are mapped but it should still // 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)
_advanceState(); _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. /// @brief Waits for the sticks to be centered, enabling Next when done.
void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t function, int axis, int value) void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t function, int axis, int value)
{ {
Q_UNUSED(function); Q_UNUSED(function);
Q_UNUSED(axis);
Q_UNUSED(value); //sensing deadband
if (abs(value)*1.1f>_rgAxisInfo[axis].deadband) { //add 10% on top of existing deadband
// FIXME: Doesn't wait for center _axisDeadbandChanged(axis,abs(value)*1.1f);
}
_nextButton->setEnabled(true); _nextButton->setEnabled(true);
// FIXME: Doesn't wait for center
} }
bool JoystickConfigController::_stickSettleComplete(int axis, int value) bool JoystickConfigController::_stickSettleComplete(int axis, int value)
@ -420,6 +444,7 @@ void JoystickConfigController::_resetInternalCalibrationValues(void)
struct AxisInfo* info = &_rgAxisInfo[i]; struct AxisInfo* info = &_rgAxisInfo[i];
info->function = Joystick::maxFunction; info->function = Joystick::maxFunction;
info->reversed = false; info->reversed = false;
info->deadband = 0;
info->axisMin = JoystickConfigController::_calCenterPoint; info->axisMin = JoystickConfigController::_calCenterPoint;
info->axisMax = JoystickConfigController::_calCenterPoint; info->axisMax = JoystickConfigController::_calCenterPoint;
info->axisTrim = JoystickConfigController::_calCenterPoint; info->axisTrim = JoystickConfigController::_calCenterPoint;
@ -457,7 +482,8 @@ void JoystickConfigController::_setInternalCalibrationValuesFromSettings(void)
info->axisMin = calibration.min; info->axisMin = calibration.min;
info->axisMax = calibration.max; info->axisMax = calibration.max;
info->reversed = calibration.reversed; 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; 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)
info->axisMin = _calDefaultMinValue; info->axisMin = _calDefaultMinValue;
info->axisMax = _calDefaultMaxValue; info->axisMax = _calDefaultMaxValue;
info->axisTrim = info->axisMin + ((info->axisMax - info->axisMin) / 2); info->axisTrim = info->axisMin + ((info->axisMax - info->axisMin) / 2);
info->deadband = 0;
info->reversed = false; info->reversed = false;
} }
} }
@ -534,6 +561,7 @@ void JoystickConfigController::_writeCalibration(void)
calibration.min = info->axisMin; calibration.min = info->axisMin;
calibration.max = info->axisMax; calibration.max = info->axisMax;
calibration.reversed = info->reversed; calibration.reversed = info->reversed;
calibration.deadband = info->deadband;
joystick->setCalibration(axis, calibration); joystick->setCalibration(axis, calibration);
} }
@ -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) bool JoystickConfigController::rollAxisMapped(void)
{ {
return _rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis; return _rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis;
@ -731,6 +795,11 @@ void JoystickConfigController::_signalAllAttiudeValueChanges(void)
emit pitchAxisReversedChanged(pitchAxisReversed()); emit pitchAxisReversedChanged(pitchAxisReversed());
emit yawAxisReversedChanged(yawAxisReversed()); emit yawAxisReversedChanged(yawAxisReversed());
emit throttleAxisReversedChanged(throttleAxisReversed()); emit throttleAxisReversedChanged(throttleAxisReversed());
emit rollAxisDeadbandChanged(rollAxisDeadband());
emit pitchAxisDeadbandChanged(pitchAxisDeadband());
emit yawAxisDeadbandChanged(yawAxisDeadband());
emit throttleAxisDeadbandChanged(throttleAxisDeadband());
} }
void JoystickConfigController::_activeJoystickChanged(Joystick* joystick) void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)

36
src/VehicleSetup/JoystickConfigController.h
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@ -51,29 +51,41 @@ public:
Q_PROPERTY(bool pitchAxisMapped READ pitchAxisMapped NOTIFY pitchAxisMappedChanged) Q_PROPERTY(bool pitchAxisMapped READ pitchAxisMapped NOTIFY pitchAxisMappedChanged)
Q_PROPERTY(bool yawAxisMapped READ yawAxisMapped NOTIFY yawAxisMappedChanged) Q_PROPERTY(bool yawAxisMapped READ yawAxisMapped NOTIFY yawAxisMappedChanged)
Q_PROPERTY(bool throttleAxisMapped READ throttleAxisMapped NOTIFY throttleAxisMappedChanged) Q_PROPERTY(bool throttleAxisMapped READ throttleAxisMapped NOTIFY throttleAxisMappedChanged)
Q_PROPERTY(int rollAxisValue READ rollAxisValue NOTIFY rollAxisValueChanged) Q_PROPERTY(int rollAxisValue READ rollAxisValue NOTIFY rollAxisValueChanged)
Q_PROPERTY(int pitchAxisValue READ pitchAxisValue NOTIFY pitchAxisValueChanged) Q_PROPERTY(int pitchAxisValue READ pitchAxisValue NOTIFY pitchAxisValueChanged)
Q_PROPERTY(int yawAxisValue READ yawAxisValue NOTIFY yawAxisValueChanged) Q_PROPERTY(int yawAxisValue READ yawAxisValue NOTIFY yawAxisValueChanged)
Q_PROPERTY(int throttleAxisValue READ throttleAxisValue NOTIFY throttleAxisValueChanged) 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 rollAxisReversed READ rollAxisReversed NOTIFY rollAxisReversedChanged)
Q_PROPERTY(int pitchAxisReversed READ pitchAxisReversed NOTIFY pitchAxisReversedChanged) Q_PROPERTY(int pitchAxisReversed READ pitchAxisReversed NOTIFY pitchAxisReversedChanged)
Q_PROPERTY(int yawAxisReversed READ yawAxisReversed NOTIFY yawAxisReversedChanged) Q_PROPERTY(int yawAxisReversed READ yawAxisReversed NOTIFY yawAxisReversedChanged)
Q_PROPERTY(int throttleAxisReversed READ throttleAxisReversed NOTIFY throttleAxisReversedChanged) 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_PROPERTY(QString imageHelp MEMBER _imageHelp NOTIFY imageHelpChanged)
Q_INVOKABLE void cancelButtonClicked(void); Q_INVOKABLE void cancelButtonClicked(void);
Q_INVOKABLE void skipButtonClicked(void); Q_INVOKABLE void skipButtonClicked(void);
Q_INVOKABLE void nextButtonClicked(void); Q_INVOKABLE void nextButtonClicked(void);
Q_INVOKABLE void start(void); Q_INVOKABLE void start(void);
int rollAxisValue(void); int rollAxisValue(void);
int pitchAxisValue(void); int pitchAxisValue(void);
int yawAxisValue(void); int yawAxisValue(void);
int throttleAxisValue(void); int throttleAxisValue(void);
int rollAxisDeadband(void);
int pitchAxisDeadband(void);
int yawAxisDeadband(void);
int throttleAxisDeadband(void);
bool rollAxisMapped(void); bool rollAxisMapped(void);
bool pitchAxisMapped(void); bool pitchAxisMapped(void);
bool yawAxisMapped(void); bool yawAxisMapped(void);
@ -84,11 +96,14 @@ public:
bool yawAxisReversed(void); bool yawAxisReversed(void);
bool throttleAxisReversed(void); bool throttleAxisReversed(void);
bool getDeadbandToggle(void);
void setDeadbandToggle(bool);
int axisCount(void); int axisCount(void);
signals: signals:
void axisValueChanged(int axis, int value); void axisValueChanged(int axis, int value);
void rollAxisMappedChanged(bool mapped); void rollAxisMappedChanged(bool mapped);
void pitchAxisMappedChanged(bool mapped); void pitchAxisMappedChanged(bool mapped);
void yawAxisMappedChanged(bool mapped); void yawAxisMappedChanged(bool mapped);
@ -98,11 +113,18 @@ signals:
void pitchAxisValueChanged(int value); void pitchAxisValueChanged(int value);
void yawAxisValueChanged(int value); void yawAxisValueChanged(int value);
void throttleAxisValueChanged(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 rollAxisReversedChanged(bool reversed);
void pitchAxisReversedChanged(bool reversed); void pitchAxisReversedChanged(bool reversed);
void yawAxisReversedChanged(bool reversed); void yawAxisReversedChanged(bool reversed);
void throttleAxisReversedChanged(bool reversed); void throttleAxisReversedChanged(bool reversed);
void deadbandToggled(bool value);
void imageHelpChanged(QString source); void imageHelpChanged(QString source);
@ -112,6 +134,7 @@ signals:
private slots: private slots:
void _activeJoystickChanged(Joystick* joystick); void _activeJoystickChanged(Joystick* joystick);
void _axisValueChanged(int axis, int value); void _axisValueChanged(int axis, int value);
void _axisDeadbandChanged(int axis, int value);
private: private:
/// @brief The states of the calibration state machine. /// @brief The states of the calibration state machine.
@ -144,6 +167,7 @@ private:
int axisMin; ///< Minimum axis value int axisMin; ///< Minimum axis value
int axisMax; ///< Maximum axis value int axisMax; ///< Maximum axis value
int axisTrim; ///< Trim position int axisTrim; ///< Trim position
int deadband; ///< Deadband
}; };
Joystick* _activeJoystick; Joystick* _activeJoystick;

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