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Merge pull request #840 from DonLakeFlyer/RCCalFixes 

Updated RC Cal validation rules
QGC4.4
Lorenz Meier 11 years ago
parent
1898be3f0e e39b779ad0
commit
d4b826c393
6 changed files with 469 additions and 180 deletions
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  1. 413
      src/qgcunittest/PX4RCCalibrationTest.cc
  2. 55
      src/qgcunittest/PX4RCCalibrationTest.h
  3. 45
      src/ui/designer/RCChannelWidget.cc
  4. 11
      src/ui/designer/RCChannelWidget.h
  5. 108
      src/ui/px4_configuration/PX4RCCalibration.cc
  6. 17
      src/ui/px4_configuration/PX4RCCalibration.h

413
src/qgcunittest/PX4RCCalibrationTest.cc
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@ -26,7 +26,7 @@ @@ -26,7 +26,7 @@
#include "MockQGCUASParamManager.h"
/// @file
/// @brief QGCPX4RCCAlibration Widget unit test
/// @brief QPX4RCCalibration Widget unit test
///
/// @author Don Gagne <don@thegagnes.com>
@ -50,7 +50,7 @@ @@ -50,7 +50,7 @@
// by the Next button on the second iteration.
#define NEXT_OR_CANCEL(cancelNum) \
{ \
if (standaloneTest && tryCancel ## cancelNum) { \
if (mode == testModeStandalone && tryCancel ## cancelNum) { \
QTest::mouseClick(_cancelButton, Qt::LeftButton); \
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateChannelWait); \
tryCancel ## cancelNum = false; \
@ -60,11 +60,94 @@ @@ -60,11 +60,94 @@
} \
}
const int PX4RCCalibrationTest::_testMinValue = PX4RCCalibration::_rcCalPWMDefaultMinValue + 10;
const int PX4RCCalibrationTest::_testMaxValue = PX4RCCalibration::_rcCalPWMDefaultMaxValue - 10;
const int PX4RCCalibrationTest::_testTrimValue = PX4RCCalibration::_rcCalPWMDefaultTrimValue + 10;
const int PX4RCCalibrationTest::_testThrottleTrimValue = PX4RCCalibration::_rcCalPWMDefaultMinValue + 10;
const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettingsPreValidate[PX4RCCalibrationTest::_availableChannels] = {
//Min Value Max Value Trim Value Reversed MinMaxShown MinValid MaxValid
// Channel 0 : rcCalFunctionRoll
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, false, true, true, true },
// Channel 1 : rcCalFunctionPitch
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, false, true, true, true },
// Channel 2 : rcCalFunctionYaw
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, false, true, true, true },
// Channel 3 : rcCalFunctionThrottle
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testThrottleTrimValue, false, true, true, true },
// Channel 4 : rcCalFunctionModeSwitch
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
// Channel 5 : Simulate invalid Min, valid Max
{ PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, true },
// Channels 6-7: Invalid Min/Max, since available channel Min/Max is still shown
{ PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, false },
{ PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, false, false },
};
const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettingsPostValidate[PX4RCCalibration::_chanMax] = {
// Min Value Max Value Trim Value Reversed MinMaxShown MinValid MaxValid
// Channel 0 : rcCalFunctionRoll
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, false, true, true, true },
// Channel 1 : rcCalFunctionPitch
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, false, true, true, true },
// Channel 2 : rcCalFunctionYaw
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testTrimValue, false, true, true, true },
// Channel 3 : rcCalFunctionThrottle
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibrationTest::_testThrottleTrimValue, false, true, true, true },
// Channel 4 : rcCalFunctionModeSwitch
{ PX4RCCalibrationTest::_testMinValue, PX4RCCalibrationTest::_testMaxValue, PX4RCCalibration::_rcCalPWMCenterPoint, false, true, true, true },
// Channel 5 : Simulate invalid Min, valid Max, validation should switch back to defaults
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
// Channels 6-7: Invalid Min/Max, since available channel Min/Max is still shown, validation will set to defaults
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, true, true, true },
// We are simulating an 8-channel radio, all other channel should be defaulted
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
{ PX4RCCalibration::_rcCalPWMDefaultMinValue, PX4RCCalibration::_rcCalPWMDefaultMaxValue, PX4RCCalibration::_rcCalPWMDefaultTrimValue, false, false, false, false },
};
PX4RCCalibrationTest::PX4RCCalibrationTest(void) :
_mockUASManager(NULL),
_calWidget(NULL)
{
}
/// @brief Called one time before any test cases are run.
void PX4RCCalibrationTest::initTestCase(void)
{
// The test case code makes the following assumptions about PX4RCCalibration class internals.
// Make sure these don't change out from under us.
Q_ASSERT(PX4RCCalibration::rcCalFunctionRoll == 0);
Q_ASSERT(PX4RCCalibration::rcCalFunctionPitch == 1);
Q_ASSERT(PX4RCCalibration::rcCalFunctionYaw == 2);
Q_ASSERT(PX4RCCalibration::rcCalFunctionThrottle == 3);
Q_ASSERT(PX4RCCalibration::rcCalFunctionModeSwitch == 4);
// We only set min/max for required channels. Make sure the set of required channels doesn't change out from under us.
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
if (PX4RCCalibration::_rgFunctionInfo[chanFunction].required) {
Q_ASSERT(chanFunction == PX4RCCalibration::rcCalFunctionRoll ||
chanFunction == PX4RCCalibration::rcCalFunctionPitch ||
chanFunction == PX4RCCalibration::rcCalFunctionYaw ||
chanFunction == PX4RCCalibration::rcCalFunctionThrottle ||
chanFunction == PX4RCCalibration::rcCalFunctionModeSwitch);
}
}
}
void PX4RCCalibrationTest::init(void)
@ -139,6 +222,11 @@ void PX4RCCalibrationTest::_minRCChannels_test(void) @@ -139,6 +222,11 @@ void PX4RCCalibrationTest::_minRCChannels_test(void)
// Next button won't be enabled until we see the minimum number of channels.
for (int i=0; i<PX4RCCalibration::_chanMinimum; i++) {
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
// We use _chanCount internally so we should validate it
QCOMPARE(_calWidget->_chanCount, i+1);
// Validate Next button state
if (i == PX4RCCalibration::_chanMinimum - 1) {
// Last channel should trigger enable
CHK_BUTTONS(nextButtonMask);
@ -146,6 +234,12 @@ void PX4RCCalibrationTest::_minRCChannels_test(void) @@ -146,6 +234,12 @@ void PX4RCCalibrationTest::_minRCChannels_test(void)
// Still less than the minimum channels
CHK_BUTTONS(0);
}
// Only available channels should have enabled widget. A ui update cycle needs to have passed so we wait a little.
QTest::qWait(PX4RCCalibration::_updateInterval * 2);
for (int chanWidget=0; chanWidget<PX4RCCalibration::_chanMax; chanWidget++) {
QCOMPARE(_rgRadioWidget[chanWidget]->isEnabled(), !!(chanWidget <= i));
}
}
}
@ -167,13 +261,13 @@ void PX4RCCalibrationTest::_liveRC_test(void) @@ -167,13 +261,13 @@ void PX4RCCalibrationTest::_liveRC_test(void)
}
#endif
void PX4RCCalibrationTest::_beginState_worker(bool standaloneTest)
void PX4RCCalibrationTest::_beginState_worker(enum TestMode mode)
{
bool tryCancel1 = true;
StartOver:
if (standaloneTest) {
_centerAllChannels();
if (mode == testModeStandalone || mode == testModePrerequisite) {
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateBegin);
}
@ -192,34 +286,41 @@ StartOver: @@ -192,34 +286,41 @@ StartOver:
void PX4RCCalibrationTest::_beginState_test(void)
{
_beginState_worker(true /* standalone test */);
_beginState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_identifyState_worker(bool standaloneTest, bool skipOptional)
void PX4RCCalibrationTest::_identifyState_worker(enum TestMode mode)
{
bool tryCancel1 = standaloneTest;
bool tryCancel1 = true;
StartOver:
if (standaloneTest) {
_centerAllChannels();
if (mode == testModeStandalone || mode == testModePrerequisite)
{
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateIdentify);
}
// Loop over all functions setting them to a channel
// Loop over all function idenitfying required channels
for (int i=0; i<PX4RCCalibration::rcCalFunctionMax; i++) {
// If this function is required you can't skip it
bool skipAllowed = !PX4RCCalibration::_rgFunctionInfo[i].required;
int skipMask = skipAllowed ? skipButtonMask : 0;
bool skipNonRequired = !PX4RCCalibration::_rgFunctionInfo[i].required;
int skipMask = skipNonRequired ? skipButtonMask : 0;
// We should now be waiting for movement on a channel to identify the RC function. The Next button will stay
// disabled until the sticks are moved enough to identify the channel. For required functions the Skip button is
// disabled.
CHK_BUTTONS(cancelButtonMask | skipMask);
// Move channel lower than delta to make sure function is not identified
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint - (PX4RCCalibration::_rcCalMoveDelta - 2.0f));
// Skip this mapping if allowed
if (skipNonRequired) {
QTest::mouseClick(_skipButton, Qt::LeftButton);
continue;
}
// Move channel less than delta to make sure function is not identified
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint + (PX4RCCalibration::_rcCalMoveDelta - 2.0f));
CHK_BUTTONS(cancelButtonMask | skipMask);
if (i != 0) {
@ -229,20 +330,12 @@ StartOver: @@ -229,20 +330,12 @@ StartOver:
CHK_BUTTONS(cancelButtonMask | skipMask);
}
// Skip this mapping if allowed and requested
if (skipAllowed && skipOptional) {
QTest::mouseClick(_skipButton, Qt::LeftButton);
continue;
} else {
}
if (tryCancel1) {
NEXT_OR_CANCEL(1);
}
// Move channel larger than delta to identify channel. We should now be sitting in a found state.
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMValidMinValue);
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint + (PX4RCCalibration::_rcCalMoveDelta + 2.0f));
CHK_BUTTONS(cancelButtonMask | tryAgainButtonMask | nextButtonMask);
NEXT_OR_CANCEL(1);
@ -252,48 +345,58 @@ StartOver: @@ -252,48 +345,58 @@ StartOver:
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateMinMax);
CHK_BUTTONS(nextButtonMask | cancelButtonMask);
if (standaloneTest) {
if (mode == testModeStandalone) {
_calWidget->_writeCalibration(false /* !trimsOnly */);
_validateParameters(validateMappingMask, skipOptional);
_validateParameters(validateMappingMask);
}
}
void PX4RCCalibrationTest::_identifyState_test(void)
{
_identifyState_worker(true /* standalone test */, false /* don't skip optional */);
_identifyState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_identifyStateSkipOptional_test(void)
{
_identifyState_worker(true /* standalone test */, true /* skip optional */);
}
void PX4RCCalibrationTest::_minMaxState_worker(bool standaloneTest)
void PX4RCCalibrationTest::_minMaxState_worker(enum TestMode mode)
{
bool tryCancel1 = true;
StartOver:
if (standaloneTest) {
if (mode == testModeStandalone || mode == testModePrerequisite) {
// The Min/Max calibration updates the radio channel ui widgets with the min/max values as you move the sticks.
// In order for the roll/pitch/yaw/throttle radio channel ui widgets to be updated correctly those fucntions
// In order for the roll/pitch/yaw/throttle radio channel ui widgets to be updated correctly those functions
// must be alread mapped to a channel. So we have to run the _identifyState_test first to set up the internal
// state correctly.
_identifyState_test();
_identifyState_worker(testModePrerequisite);
_centerAllChannels();
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateMinMax);
// We should now be waiting for min/max values.
CHK_BUTTONS(nextButtonMask | cancelButtonMask);
}
// Send min/max values for all channels
for (int i=0; i<PX4RCCalibration::_chanMax; i++) {
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMValidMinValue);
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMValidMaxValue);
// Before we start sending rc values the widgets should all have min/max as invalid
for (int chan=0; chan<PX4RCCalibration::_chanMax; chan++) {
QCOMPARE(_rgRadioWidget[chan]->isMinValid(), false);
QCOMPARE(_rgRadioWidget[chan]->isMaxValid(), false);
}
// Try setting a min/max value that is below the threshold to make sure min/max doesn't go valid
_mockUAS->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMinValue + 1));
_mockUAS->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMaxValue - 1));
QCOMPARE(_rgRadioWidget[0]->isMinValid(), false);
QCOMPARE(_rgRadioWidget[0]->isMaxValid(), false);
// Send min/max values
for (int chan=0; chan<_minMaxChannels; chan++) {
// Send Min/Max
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)_rgChannelSettingsPreValidate[chan].rcMin);
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)_rgChannelSettingsPreValidate[chan].rcMax);
}
_validateWidgets(validateMinMaxMask, _rgChannelSettingsPreValidate);
// Make sure throttle is at min
_mockUAS->emitRemoteControlChannelRawChanged(PX4RCCalibration::rcCalFunctionThrottle, (float)PX4RCCalibration::_rcCalPWMValidMinValue);
@ -303,18 +406,7 @@ StartOver: @@ -303,18 +406,7 @@ StartOver:
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateCenterThrottle);
CHK_BUTTONS(cancelButtonMask);
// Also at this point the radio channel widgets should be displaying the current min/max we just set.
for (int i=0; i<PX4RCCalibration::_chanMax; i++) {
RCChannelWidget* radioWidget = _rgRadioWidget[i];
Q_ASSERT(radioWidget);
QCOMPARE(radioWidget->isMinMaxShown(), true);
QCOMPARE(radioWidget->min(), PX4RCCalibration::_rcCalPWMValidMinValue);
QCOMPARE(radioWidget->max(), PX4RCCalibration::_rcCalPWMValidMaxValue);
}
if (standaloneTest) {
if (mode == testModeStandalone) {
_calWidget->_writeCalibration(false /* !trimsOnly */);
_validateParameters(validateMinMaxMask);
}
@ -322,20 +414,20 @@ StartOver: @@ -322,20 +414,20 @@ StartOver:
void PX4RCCalibrationTest::_minMaxState_test(void)
{
_minMaxState_worker(true /* standalone test */);
_minMaxState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_centerThrottleState_worker(bool standaloneTest)
void PX4RCCalibrationTest::_centerThrottleState_worker(enum TestMode mode)
{
bool tryCancel1 = true;
StartOver:
if (standaloneTest) {
if (mode == testModeStandalone || mode == testModePrerequisite) {
// In order to perform the center throttle state test the throttle channel has to have been identified.
// So we have to run the _identifyState_test first to set up the internal state correctly.
_identifyState_test();
_identifyState_worker(testModePrerequisite);
_centerAllChannels();
_centerChannels();
_mockUAS->emitRemoteControlChannelRawChanged(PX4RCCalibration::rcCalFunctionThrottle, (float)PX4RCCalibration::_rcCalPWMValidMinValue);
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateCenterThrottle);
@ -362,21 +454,21 @@ StartOver: @@ -362,21 +454,21 @@ StartOver:
void PX4RCCalibrationTest::_centerThrottleState_test(void)
{
_centerThrottleState_worker(true /* standalone test */);
_centerThrottleState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_detectInversionState_worker(bool standaloneTest)
void PX4RCCalibrationTest::_detectInversionState_worker(enum TestMode mode)
{
bool tryCancel1 = true;
bool tryCancel2 = true;
StartOver:
if (standaloneTest) {
if (mode == testModeStandalone || mode == testModePrerequisite) {
// In order to perform the detect inversion test the roll/pitch/yaw/throttle functions must be mapped to a channel.
// So we have to run the _identifyState_test first to set up the internal state correctly.
_identifyState_test();
_identifyState_worker(testModePrerequisite);
_centerAllChannels();
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateDetectInversion);
@ -394,27 +486,31 @@ StartOver: @@ -394,27 +486,31 @@ StartOver:
}
// Move all channels except for the one we are trying to detect to min and max value to make sure there is no effect.
for (int chan=0; chan<PX4RCCalibration::_chanMax; chan++) {
for (int chan=0; chan<_availableChannels; chan++) {
if (chanFunction != chan) {
_mockUAS->emitRemoteControlChannelRawChanged(chan, PX4RCCalibration::_rcCalPWMValidMaxValue);
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint + (PX4RCCalibration::_rcCalMoveDelta + 2.0f));
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint - (PX4RCCalibration::_rcCalMoveDelta + 2.0f));
CHK_BUTTONS(cancelButtonMask);
// Make sure to re-center for next inversion detect
_mockUAS->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
}
}
// Move the channel we are detecting inversion on to the min value which should indicate no inversion.
// This should put us in the found state and enable the Next button.
_mockUAS->emitRemoteControlChannelRawChanged(chanFunction, PX4RCCalibration::_rcCalPWMValidMinValue);
_mockUAS->emitRemoteControlChannelRawChanged(chanFunction, (float)PX4RCCalibration::_rcCalPWMCenterPoint - (PX4RCCalibration::_rcCalMoveDelta + 2.0f));
CHK_BUTTONS(cancelButtonMask | tryAgainButtonMask | nextButtonMask);
}
// Click the next button: We should now be waiting for low throttle in prep for trim detection.
// Throttle channel is at minimum so Next button should be disabled.
_centerAllChannels();
_centerChannels();
NEXT_OR_CANCEL(2);
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateTrims);
CHK_BUTTONS(cancelButtonMask);
if (standaloneTest) {
if (mode == testModeStandalone) {
_calWidget->_writeCalibration(false /* !trimsOnly */);
_validateParameters(validateMappingMask | validateReversedMask);
}
@ -422,21 +518,20 @@ StartOver: @@ -422,21 +518,20 @@ StartOver:
void PX4RCCalibrationTest::_detectInversionState_test(void)
{
_detectInversionState_worker(true /* standalone test */);
_detectInversionState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_trimsState_worker(bool standaloneTest)
void PX4RCCalibrationTest::_trimsState_worker(enum TestMode mode)
{
bool tryCancel1 = true;
StartOver:
if (standaloneTest) {
if (mode == testModeStandalone || mode == testModePrerequisite) {
// In order to perform the trim state test the functions must be mapped and the min/max values must be set.
// So we have to run the _identifyState_test and _minMaxState_test first to set up the internal state correctly.
_identifyState_test();
_minMaxState_test();
// So we have to run the _minMaxState_test first to set up the internal state correctly.
_minMaxState_worker(testModePrerequisite);
_centerAllChannels();
_centerChannels();
_calWidget->_unitTestForceCalState(PX4RCCalibration::rcCalStateTrims);
@ -444,16 +539,23 @@ StartOver: @@ -444,16 +539,23 @@ StartOver:
CHK_BUTTONS(cancelButtonMask);
}
// Move the throttle to min. Next should enable
_mockUAS->emitRemoteControlChannelRawChanged(PX4RCCalibration::rcCalFunctionThrottle, PX4RCCalibration::_rcCalPWMValidMinValue);
// Send trim values to attitude control function channels
for (int chan=0; chan<_attitudeChannels; chan++) {
_mockUAS->emitRemoteControlChannelRawChanged(chan, _rgChannelSettingsPreValidate[chan].rcTrim);
}
_validateWidgets(validateTrimsMask, _rgChannelSettingsPreValidate);
// Throttle trim was set, so next should be enabled
CHK_BUTTONS(cancelButtonMask | nextButtonMask);
// Click the next button which should set Trims and take us the Save step.
NEXT_OR_CANCEL(1);
QCOMPARE(_calWidget->_rcCalState, PX4RCCalibration::rcCalStateSave);
CHK_BUTTONS(cancelButtonMask | nextButtonMask);
_validateWidgets(validateTrimsMask, _rgChannelSettingsPostValidate);
if (standaloneTest) {
if (mode == testModeStandalone) {
_calWidget->_writeCalibration(false /* !trimsOnly */);
_validateParameters(validateTrimsMask);
}
@ -461,37 +563,38 @@ StartOver: @@ -461,37 +563,38 @@ StartOver:
void PX4RCCalibrationTest::_trimsState_test(void)
{
_trimsState_worker(true /* standalone test */);
_trimsState_worker(testModeStandalone);
}
void PX4RCCalibrationTest::_fullCalibration_test(void) {
_centerAllChannels();
_centerChannels();
QTest::mouseClick(_nextButton, Qt::LeftButton);
_beginState_worker(false);
_identifyState_worker(false, false);
_minMaxState_worker(false);
_centerThrottleState_worker(false);
_detectInversionState_worker(false);
_trimsState_worker(false);
_beginState_worker(testModeFullSequence);
_identifyState_worker(testModeFullSequence);
_minMaxState_worker(testModeFullSequence);
_centerThrottleState_worker(testModeFullSequence);
_detectInversionState_worker(testModeFullSequence);
_trimsState_worker(testModeFullSequence);
// One more click and the parameters should get saved
QTest::mouseClick(_nextButton, Qt::LeftButton);
_validateParameters(validateAllMask);
_validateWidgets(validateAllMask, _rgChannelSettingsPostValidate);
}
/// @brief Sends RC center point values on all channels.
void PX4RCCalibrationTest::_centerAllChannels(void)
/// @brief Sends RC center point values on minimum set of channels.
void PX4RCCalibrationTest::_centerChannels(void)
{
// We use all channels for testing. Initialize to center point. This should set the channel count above the minimum
// such that we can enter the idle state.
for (int i=0; i<PX4RCCalibration::_chanMax; i++) {
// Initialize available channels them to center point. This should also set the channel count above the
// minimum such that we can enter the idle state.
for (int i=0; i<_availableChannels; i++) {
_mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint);
}
}
void PX4RCCalibrationTest::_validateParameters(int validateMask, bool skipOptional)
void PX4RCCalibrationTest::_validateParameters(int validateMask)
{
MockQGCUASParamManager* paramMgr = _mockUAS->getMockQGCUASParamManager();
MockQGCUASParamManager::ParamMap_t mapParamsSet = paramMgr->getMockSetParameters();
@ -501,51 +604,117 @@ void PX4RCCalibrationTest::_validateParameters(int validateMask, bool skipOption @@ -501,51 +604,117 @@ void PX4RCCalibrationTest::_validateParameters(int validateMask, bool skipOption
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Set Min/Max/Reversed parameter for all channels. Not that parameter name is 1-based.
for (int chan = 1; chan <= PX4RCCalibration::_chanMax; chan++) {
// Check mapping for all fuctions
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
int expectedParameterValue;
int expectedChannelValue;
if (PX4RCCalibration::_rgFunctionInfo[chanFunction].required) {
// We only map the required functions. All functions should be mapped to the same channel index
expectedParameterValue = chanFunction + 1; // 1-based parameter value
expectedChannelValue = chanFunction;
} else {
expectedParameterValue = 0; // 0 signals no mapping
expectedChannelValue = PX4RCCalibration::_chanMax;
}
if (validateMask & validateMappingMask) {
QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true);
QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedParameterValue);
}
}
// Validate the channel settings. Note the channels are 1-based in parameter names.
for (int chan = 0; chan<PX4RCCalibration::_chanMax; chan++) {
int oneBasedChannel = chan + 1;
int rcMinExpected, rcMaxExpected, rcTrimExpected;
bool convertOk;
// Required channels have min/max set on them. Remaining channels are left to default.
if (chan < PX4RCCalibration::_chanMinimum) {
rcMinExpected = _testMinValue;
rcMaxExpected = _testMaxValue;
} else {
rcMinExpected = PX4RCCalibration::_rcCalPWMDefaultMinValue;
rcMaxExpected = PX4RCCalibration::_rcCalPWMDefaultMaxValue;
}
// Attitude control functions have trim set, other channels trim should be default
if (chan >= PX4RCCalibration::rcCalFunctionFirstAttitudeFunction && chan <= PX4RCCalibration::rcCalFunctionLastAttitudeFunction) {
if (chan == PX4RCCalibration::rcCalFunctionThrottle) {
rcTrimExpected = _testThrottleTrimValue;
} else {
rcTrimExpected = _testTrimValue;
}
} else {
rcTrimExpected = PX4RCCalibration::_rcCalPWMDefaultTrimValue;
}
if (validateMask & validateMinMaxMask) {
QCOMPARE(mapParamsSet.contains(minTpl.arg(chan)), true);
QCOMPARE(mapParamsSet[minTpl.arg(chan)].toInt(), PX4RCCalibration::_rcCalPWMValidMinValue);
QCOMPARE(mapParamsSet.contains(maxTpl.arg(chan)), true);
QCOMPARE(mapParamsSet[maxTpl.arg(chan)].toInt(), PX4RCCalibration::_rcCalPWMValidMaxValue);
QCOMPARE(mapParamsSet.contains(minTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet.contains(maxTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet[minTpl.arg(oneBasedChannel)].toInt(&convertOk), rcMinExpected);
QCOMPARE(convertOk, true);
QCOMPARE(mapParamsSet[maxTpl.arg(oneBasedChannel)].toInt(&convertOk), rcMaxExpected);
QCOMPARE(convertOk, true);
}
if (validateMask & validateTrimsMask) {
QCOMPARE(mapParamsSet.contains(trimTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet[trimTpl.arg(oneBasedChannel)].toInt(&convertOk), rcTrimExpected);
QCOMPARE(convertOk, true);
}
// No channels are reversed
if (validateMask & validateReversedMask) {
QCOMPARE(mapParamsSet.contains(revTpl.arg(chan)), true);
QCOMPARE(mapParamsSet[revTpl.arg(chan)].toFloat(), 1.0f /* not reversed */);
QCOMPARE(mapParamsSet.contains(revTpl.arg(oneBasedChannel)), true);
QCOMPARE(mapParamsSet[revTpl.arg(oneBasedChannel)].toFloat(&convertOk), 1.0f /* not reversed */);
QCOMPARE(convertOk, true);
}
}
if (validateMask & validateMappingMask) {
// Check mapping for all fuctions
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
// All functions should be mapped to the same channel index
QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true);
// We only map the required functions
int expectedValue;
if (skipOptional && !PX4RCCalibration::_rgFunctionInfo[chanFunction].required) {
expectedValue = 0; // 0 signals no mapping
} else {
if (PX4RCCalibration::_rgFunctionInfo[chanFunction].required) {
// All functions should be mapped to the same channel index
expectedValue = chanFunction + 1; // 1-based
} else {
expectedValue = 0; // 0 signals no mapping
}
QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedValue);
}
}
}
if (validateMask & validateTrimsMask) {
// Trims should be set for all Control Functions
for (int chanFunction=0; chanFunction<PX4RCCalibration::rcCalFunctionMax; chanFunction++) {
// For the unit test the function index == mapped channel. Also parameter name is 1-based.
int mappedChannel = chanFunction + 1;
QCOMPARE(mapParamsSet.contains(trimTpl.arg(mappedChannel)), true);
int trimValue;
if (chanFunction == PX4RCCalibration::rcCalFunctionThrottle) {
trimValue = PX4RCCalibration::_rcCalPWMValidMinValue;
} else {
trimValue = PX4RCCalibration::_rcCalPWMCenterPoint;
}
QCOMPARE(mapParamsSet[trimTpl.arg(mappedChannel)].toInt(), trimValue);
void PX4RCCalibrationTest::_validateWidgets(int validateMask, const struct ChannelSettings* rgChannelSettings)
{
// Radio channel widgets should be displaying the current min/max we just set. Wait a bit for ui to update before checking.
QTest::qWait(PX4RCCalibration::_updateInterval * 2);
for (int chan=0; chan<_availableChannels; chan++) {
RCChannelWidget* radioWidget = _rgRadioWidget[chan];
Q_ASSERT(radioWidget);
if (validateMask & validateMinMaxMask) {
QCOMPARE(radioWidget->isMinMaxShown(), rgChannelSettings[chan].isMinMaxShown);
QCOMPARE(radioWidget->min(), rgChannelSettings[chan].rcMin);
QCOMPARE(radioWidget->max(), rgChannelSettings[chan].rcMax);
QCOMPARE(radioWidget->isMinValid(), rgChannelSettings[chan].isMinValid);
QCOMPARE(radioWidget->isMaxValid(), rgChannelSettings[chan].isMaxValid);
}
if (validateMask & validateTrimsMask) {
QCOMPARE(radioWidget->trim(), rgChannelSettings[chan].rcTrim);
}
}
}
for (int chan=_availableChannels; chan<=PX4RCCalibration::_chanMax; chan++) {
QCOMPARE(_rgRadioWidget[chan]->isEnabled(), false);
}
}

55
src/qgcunittest/PX4RCCalibrationTest.h
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@ -30,10 +30,11 @@ @@ -30,10 +30,11 @@
#include "px4_configuration/PX4RCCalibration.h"
/// @file
/// @brief QGCPX4RCCAlibration Widget unit test
/// @brief PX4RCCalibration Widget unit test
///
/// @author Don Gagne <don@thegagnes.com>
/// @brief PX4RCCalibration Widget unit test
class PX4RCCalibrationTest : public QObject
{
Q_OBJECT
@ -42,6 +43,7 @@ public: @@ -42,6 +43,7 @@ public:
PX4RCCalibrationTest(void);
private slots:
void initTestCase(void);
void init(void);
void cleanup(void);
@ -50,7 +52,6 @@ private slots: @@ -50,7 +52,6 @@ private slots:
//void _liveRC_test(void);
void _beginState_test(void);
void _identifyState_test(void);
void _identifyStateSkipOptional_test(void);
void _minMaxState_test(void);
void _centerThrottleState_test(void);
void _detectInversionState_test(void);
@ -58,13 +59,20 @@ private slots: @@ -58,13 +59,20 @@ private slots:
void _fullCalibration_test(void);
private:
void _centerAllChannels(void);
void _beginState_worker(bool standaloneTest);
void _identifyState_worker(bool standaloneTest, bool skipOptional);
void _minMaxState_worker(bool standaloneTest);
void _centerThrottleState_worker(bool standaloneTest);
void _detectInversionState_worker(bool standaloneTest);
void _trimsState_worker(bool standaloneTest);
/// @brief Modes to run worker functions
enum TestMode {
testModeStandalone, ///< Perform standalone test of calibration state
testModePrerequisite, ///< Setup prequisites for subsequent calibration state
testModeFullSequence, ///< Run as full calibration sequence
};
void _centerChannels(void);
void _beginState_worker(enum TestMode mode);
void _identifyState_worker(enum TestMode mode);
void _minMaxState_worker(enum TestMode mode);
void _centerThrottleState_worker(enum TestMode mode);
void _detectInversionState_worker(enum TestMode mode);
void _trimsState_worker(enum TestMode mode);
enum {
validateMinMaxMask = 1 << 0,
@ -73,7 +81,19 @@ private: @@ -73,7 +81,19 @@ private:
validateMappingMask = 1 << 3,
validateAllMask = 0xFFFF
};
void _validateParameters(int validateMask, bool skipOptional = false);
struct ChannelSettings {
int rcMin;
int rcMax;
int rcTrim;
int reversed;
bool isMinMaxShown;
bool isMinValid;
bool isMaxValid;
};
void _validateParameters(int validateMask);
void _validateWidgets(int validateMask, const struct ChannelSettings* rgChannelSettings);
MockUASManager* _mockUASManager;
MockUAS* _mockUAS;
@ -94,6 +114,21 @@ private: @@ -94,6 +114,21 @@ private:
QLabel* _statusLabel;
RCChannelWidget* _rgRadioWidget[PX4RCCalibration::_chanMax];
// When settings values into min/max/trim we set them slightly different than the defaults so that
// we can distinguish between the two values.
static const int _testMinValue;
static const int _testMaxValue;
static const int _testTrimValue;
static const int _testThrottleTrimValue;
static const int _availableChannels = 8; ///< 8 channel RC Trasmitter
static const int _requiredChannels = 5; ///< Required channels are 0-4
static const int _minMaxChannels = _requiredChannels + 1; ///< Send min/max to channels 0-5
static const int _attitudeChannels = 4; ///< Attitude channels are 0-3
static const struct ChannelSettings _rgChannelSettingsPreValidate[_availableChannels];
static const struct ChannelSettings _rgChannelSettingsPostValidate[PX4RCCalibration::_chanMax];
};
DECLARE_TEST(PX4RCCalibrationTest)

45
src/ui/designer/RCChannelWidget.cc
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@ -37,6 +37,8 @@ RCChannelWidget::RCChannelWidget(QWidget *parent) : @@ -37,6 +37,8 @@ RCChannelWidget::RCChannelWidget(QWidget *parent) :
_min(_centerValue),
_max(_centerValue),
_trim(_centerValue),
_minValid(false),
_maxValid(false),
_showMinMax(false),
_showTrim(false)
{
@ -90,19 +92,36 @@ void RCChannelWidget::paintEvent(QPaintEvent *event) @@ -90,19 +92,36 @@ void RCChannelWidget::paintEvent(QPaintEvent *event)
painter.setBrush(hGradientBrush);
if (_showMinMax) {
QString text;
// Draw the Min numeric value display to the left
painter.drawText(0, rowHeigth, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, "Min");
painter.drawText(0, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, QString::number(_min));
if (_minValid) {
text = QString::number(_min);
} else {
text = "----";
}
painter.drawText(0, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, text);
// Draw the Max numeric value display to the right
painter.drawText(width() - minMaxDisplayWidth, rowHeigth, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, "Max");
painter.drawText(width() - minMaxDisplayWidth, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, QString::number(_max));
if (_maxValid) {
text = QString::number(_max);
} else {
text = QString::number(_max);
}
painter.drawText(width() - minMaxDisplayWidth, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, text);
// Draw the Min/Max tick marks on the axis
int xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_min-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_max-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
int xTick;
if (_minValid) {
int xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_min-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
}
if (_maxValid) {
xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_max-_minRange) / (_maxRange-_minRange)));
painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom());
}
}
if (_showTrim) {
@ -221,3 +240,17 @@ void RCChannelWidget::_drawValuePointer(QPainter* painter, int xTip, int yTip, i @@ -221,3 +240,17 @@ void RCChannelWidget::_drawValuePointer(QPainter* painter, int xTip, int yTip, i
painter->drawPolygon (trianglePoints, 3);
}
/// @brief Set whether the Min range value is valid or not.
void RCChannelWidget::setMinValid(bool valid)
{
_minValid = valid;
update();
}
/// @brief Set whether the Max range value is valid or not.
void RCChannelWidget::setMaxValid(bool valid)
{
_maxValid = valid;
update();
}

11
src/ui/designer/RCChannelWidget.h
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@ -46,6 +46,12 @@ public: @@ -46,6 +46,12 @@ public:
void setMinMax(int min, int max);
/// @brief Set whether the Min range value is valid or not.
void setMinValid(bool valid);
/// @brief Set whether the Max range value is valid or not.
void setMaxValid(bool valid);
/// @brief Sets the Trim value for the channel
void setTrim(int value);
@ -56,6 +62,8 @@ public: @@ -56,6 +62,8 @@ public:
void showMinMax(bool show);
bool isMinMaxShown() { return _showMinMax; }
bool isMinValid(void) { return _minValid; }
bool isMaxValid(void) { return _maxValid; }
void showTrim(bool show);
bool isTrimShown() { return _showTrim; }
@ -71,6 +79,9 @@ private: @@ -71,6 +79,9 @@ private:
int _max; ///< Max RC value
int _trim; ///< RC Value for Trim position
bool _minValid; ///< true: minimum value is valid
bool _maxValid; ///< true: maximum value is valid
bool _showMinMax; ///< true: show min max values on display
bool _showTrim; ///< true: show trim value on display

108
src/ui/px4_configuration/PX4RCCalibration.cc
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@ -31,13 +31,16 @@ @@ -31,13 +31,16 @@
#include "PX4RCCalibration.h"
#include "UASManager.h"
const int PX4RCCalibration::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets
const int PX4RCCalibration::_rcCalPWMValidMinValue = 1000;
const int PX4RCCalibration::_rcCalPWMValidMaxValue = 2000;
const int PX4RCCalibration::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets
const int PX4RCCalibration::_rcCalPWMCenterPoint = ((PX4RCCalibration::_rcCalPWMValidMaxValue - PX4RCCalibration::_rcCalPWMValidMinValue) / 2.0f) + PX4RCCalibration::_rcCalPWMValidMinValue;
const int PX4RCCalibration::_rcCalRoughCenterDelta = 200; ///< Delta around center point which is considered to be roughly centered
const float PX4RCCalibration::_rcCalMoveDelta = 300.0f; ///< Amount of delta which is considered stick movement
const float PX4RCCalibration::_rcCalMinDelta = 100.0f; ///< Amount of delta allowed around min value to consider channel at min
const int PX4RCCalibration::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
const int PX4RCCalibration::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max range value
const int PX4RCCalibration::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
const int PX4RCCalibration::_rcCalPWMDefaultMaxValue = 2000; ///< Default value for Max if not set
const int PX4RCCalibration::_rcCalPWMDefaultTrimValue = PX4RCCalibration::_rcCalPWMCenterPoint; ///< Default value for Trim if not set
const int PX4RCCalibration::_rcCalRoughCenterDelta = 200; ///< Delta around center point which is considered to be roughly centered
const float PX4RCCalibration::_rcCalMoveDelta = 300.0f; ///< Amount of delta which is considered stick movement
const float PX4RCCalibration::_rcCalMinDelta = 100.0f; ///< Amount of delta allowed around min value to consider channel at min
const struct PX4RCCalibration::FunctionInfo PX4RCCalibration::_rgFunctionInfo[PX4RCCalibration::rcCalFunctionMax] = {
// Name Inversion Message Parameter required
@ -274,6 +277,31 @@ void PX4RCCalibration::_setActiveUAS(UASInterface* active) @@ -274,6 +277,31 @@ void PX4RCCalibration::_setActiveUAS(UASInterface* active)
setEnabled(_mav ? true : false);
}
/// @brief Validates the current settings against the calibration rules resetting values as necessary.
void PX4RCCalibration::_validateCalibration(void)
{
for (int chan = 0; chan<_chanMax; chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
if (chan < _chanCount) {
// Validate Min/Max values. Although the channel appears as available we still may
// not have good min/max/trim values for it. Set to defaults if needed.
if (info->rcMin > _rcCalPWMValidMinValue || info->rcMax < _rcCalPWMValidMaxValue) {
info->rcMin = _rcCalPWMDefaultMinValue;
info->rcMax = _rcCalPWMDefaultMaxValue;
info->rcTrim = _rcCalPWMDefaultTrimValue;
}
} else {
// Unavailable channels are set to defaults
info->rcMin = _rcCalPWMDefaultMinValue;
info->rcMax = _rcCalPWMDefaultMaxValue;
info->rcTrim = _rcCalPWMDefaultTrimValue;
info->reversed = false;
}
}
}
/// @brief Saves the rc calibration values to the board parameters.
/// @param trimsOnly true: write only trim values, false: write all calibration values
void PX4RCCalibration::_writeCalibration(bool trimsOnly)
@ -282,6 +310,8 @@ void PX4RCCalibration::_writeCalibration(bool trimsOnly) @@ -282,6 +310,8 @@ void PX4RCCalibration::_writeCalibration(bool trimsOnly)
_mav->endRadioControlCalibration();
_validateCalibration();
QGCUASParamManagerInterface* paramMgr = _mav->getParamManager();
Q_ASSERT(paramMgr);
@ -290,17 +320,14 @@ void PX4RCCalibration::_writeCalibration(bool trimsOnly) @@ -290,17 +320,14 @@ void PX4RCCalibration::_writeCalibration(bool trimsOnly)
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Do not write the RC type, as these values depend on this
// active onboard parameter
for (int i = 0; i < _chanCount; ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
paramMgr->setPendingParam(0, trimTpl.arg(i+1), info->rcTrim);
for (int chan = 0; chan<_chanMax; chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
int oneBasedChannel = chan + 1;
paramMgr->setPendingParam(0, trimTpl.arg(oneBasedChannel), info->rcTrim);
if (!trimsOnly) {
paramMgr->setPendingParam(0, minTpl.arg(i+1), info->rcMin);
paramMgr->setPendingParam(0, maxTpl.arg(i+1), info->rcMax);
paramMgr->setPendingParam(0, revTpl.arg(i+1), info->reversed ? -1.0f : 1.0f);
paramMgr->setPendingParam(0, minTpl.arg(oneBasedChannel), info->rcMin);
paramMgr->setPendingParam(0, maxTpl.arg(oneBasedChannel), info->rcMax);
paramMgr->setPendingParam(0, revTpl.arg(oneBasedChannel), info->reversed ? -1.0f : 1.0f);
}
}
@ -355,13 +382,7 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval) @@ -355,13 +382,7 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
case rcCalStateIdentify:
if (!_rcCalStateChannelComplete) {
// If this channel is already used in a mapping we can't used it again
bool channelAlreadyMapped = false;
for (int chanFunction=0; chanFunction<rcCalFunctionMax; chanFunction++) {
if (_rgFunctionChannelMapping[chanFunction] == chan) {
channelAlreadyMapped = true;
break;
}
}
bool channelAlreadyMapped = !(_rgChannelInfo[chan].function == rcCalFunctionMax);
// If the channel moved considerably, pick it
if (!channelAlreadyMapped && fabsf(_rcValueSave[chan] - fval) > _rcCalMoveDelta) {
@ -383,10 +404,12 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval) @@ -383,10 +404,12 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
break;
case rcCalStateMinMax:
if (fval < _rgChannelInfo[chan].rcMin) {
if (fval < _rgChannelInfo[chan].rcMin && fval <= _rcCalPWMValidMinValue) {
_rgRadioWidget[chan]->setMinValid(true);
_rgChannelInfo[chan].rcMin = fval;
}
if (fval > _rgChannelInfo[chan].rcMax) {
if (fval > _rgChannelInfo[chan].rcMax && fval >= _rcCalPWMValidMaxValue) {
_rgRadioWidget[chan]->setMaxValid(true);
_rgChannelInfo[chan].rcMax = fval;
}
break;
@ -572,7 +595,11 @@ void PX4RCCalibration::_rcCalChannelWait(bool firstTime) @@ -572,7 +595,11 @@ void PX4RCCalibration::_rcCalChannelWait(bool firstTime)
{
_rcCalState = rcCalStateChannelWait;
_resetInternalCalibrationValues();
if (firstTime) {
_resetInternalCalibrationValues();
} else {
_setInternalCalibrationValuesFromParameters();
}
if (_chanCount == 0) {
_ui->rcCalFound->setText(tr("Please turn on Radio"));
@ -741,18 +768,9 @@ void PX4RCCalibration::_rcCalTrims(void) @@ -741,18 +768,9 @@ void PX4RCCalibration::_rcCalTrims(void)
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
_initializeTrims();
_showTrimOnRadioWidgets(true);
}
/// @brief Initializes the trim values based on current min/max.
void PX4RCCalibration::_initializeTrims(void)
{
for (int chan=0; chan<=_chanMax; chan++) {
_rgChannelInfo[chan].rcTrim = ((_rgChannelInfo[chan].rcMax - _rgChannelInfo[chan].rcMin) / 2.0f) + _rgChannelInfo[chan].rcMin;
}
}
/// @brief Set up the Save state of calibration.
void PX4RCCalibration::_rcCalSave(void)
{
@ -766,6 +784,12 @@ void PX4RCCalibration::_rcCalSave(void) @@ -766,6 +784,12 @@ void PX4RCCalibration::_rcCalSave(void)
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
// This updates the internal values according to the validation rules. Then _updateView will tick and update ui
// such that the settings that will be written our are displayed.
_validateCalibration();
_showMinMaxOnRadioWidgets(true);
}
/// @brief This is used by unit test code to force the calibration state machine to the specified state.
@ -811,12 +835,26 @@ void PX4RCCalibration::_unitTestForceCalState(enum rcCalStates state) { @@ -811,12 +835,26 @@ void PX4RCCalibration::_unitTestForceCalState(enum rcCalStates state) {
/// @param show true: show the min/max values, false: hide the min/max values
void PX4RCCalibration::_showMinMaxOnRadioWidgets(bool show)
{
// Force a view update to widget have current values
_updateView();
// Turn on min/max display for all radio widgets
for (int i=0; i<_chanMax; i++) {
RCChannelWidget* radioWidget = _rgRadioWidget[i];
Q_ASSERT(radioWidget);
radioWidget->showMinMax(show);
if (show) {
if (radioWidget->min() <= _rcCalPWMValidMinValue) {
radioWidget->setMinValid(true);
}
if (radioWidget->max() >= _rcCalPWMValidMaxValue) {
radioWidget->setMaxValid(true);
}
} else {
radioWidget->setMinValid(false);
radioWidget->setMaxValid(false);
}
}
}

17
src/ui/px4_configuration/PX4RCCalibration.h
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@ -124,10 +124,10 @@ private: @@ -124,10 +124,10 @@ private:
// Methods - see source code for documentation
void _validateCalibration(void);
void _writeCalibration(bool trimsOnly);
void _resetInternalCalibrationValues(void);
void _setInternalCalibrationValuesFromParameters(void);
void _initializeTrims(void);
void _rcCalChannelWait(bool firstTime);
void _rcCalBegin(void);
@ -164,12 +164,15 @@ private: @@ -164,12 +164,15 @@ private:
int _rcCalStateIdentifyOldMapping; ///< Previous mapping for channel being currently identified
int _rcCalStateReverseOldMapping; ///< Previous mapping for channel being currently used to detect inversion
static const int _rcCalPWMCenterPoint; ///< PWM center value;
static const int _rcCalPWMValidMinValue; ///< Valid minimum PWM value
static const int _rcCalPWMValidMaxValue; ///< Valid maximum PWM value
static const int _rcCalRoughCenterDelta; ///< Delta around center point which is considered to be roughly centered
static const float _rcCalMoveDelta; ///< Amount of delta which is considered stick movement
static const float _rcCalMinDelta; ///< Amount of delta allowed around min value to consider channel at min
static const int _rcCalPWMCenterPoint;
static const int _rcCalPWMValidMinValue;
static const int _rcCalPWMValidMaxValue;
static const int _rcCalPWMDefaultMinValue;
static const int _rcCalPWMDefaultMaxValue;
static const int _rcCalPWMDefaultTrimValue;
static const int _rcCalRoughCenterDelta;
static const float _rcCalMoveDelta;
static const float _rcCalMinDelta;
float _rcValueSave[_chanMax]; ///< Saved values prior to detecting channel movement

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