ground/gcs/src/plugins/config/configoutputwidget.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configoutputwidget.cpp
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   6  *             E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup ConfigPlugin Config Plugin
  10  * @{
  11  * @brief Servo output configuration panel for the config gadget
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #include "configoutputwidget.h"
  30
  31 #include "ui_output.h"
  32 #include "ui_outputchannelform.h"
  33
  34 #include "outputchannelform.h"
  35 #include "configvehicletypewidget.h"
  36
  37 #include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
  38 #include <extensionsystem/pluginmanager.h>
  39 #include <uavobjecthelper.h>
  40
  41 #include "mixersettings.h"
  42 #include "actuatorcommand.h"
  43 #include "actuatorsettings.h"
  44 #include "flightmodesettings.h"
  45 #include "flightstatus.h"
  46 #include "systemsettings.h"
  47
  48 #include <QDebug>
  49 #include <QStringList>
  50 #include <QWidget>
  51 #include <QTextEdit>
  52 #include <QMessageBox>
  53
  54 // Motor settings
  55 #define DSHOT_MAXOUTPUT_RANGE         2000
  56 #define DSHOT_MINTOUTPUT_RANGE        0
  57 #define PWMSYNC_MAXOUTPUT_RANGE       1900
  58 #define DEFAULT_MAXOUTPUT_RANGE       2000
  59 #define DEFAULT_MINOUTPUT_RANGE       900
  60 #define DEFAULT_MINOUTPUT_VALUE       1000
  61 #define REVMOTOR_NEUTRAL_TARGET_VALUE 1500
  62 #define REVMOTOR_NEUTRAL_DIFF_VALUE   150
  63 #define MOTOR_NEUTRAL_DIFF_VALUE      200
  64
  65 // Servo settings
  66 #define SERVO_MAXOUTPUT_RANGE         2500
  67 #define SERVO_MINOUTPUT_RANGE         500
  68 #define SERVO_MAXOUTPUT_VALUE         2000
  69 #define SERVO_MINOUTPUT_VALUE         1000
  70 #define SERVO_NEUTRAL_VALUE           1500
  71
  72 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
  73 {
  74     m_ui = new Ui_OutputWidget();
  75     m_ui->setupUi(this);
  76
  77     // must be done before auto binding !
  78     setWikiURL("Output+Configuration");
  79
  80     addAutoBindings();
  81
  82     m_ui->boardWarningFrame->setVisible(false);
  83     m_ui->configWarningFrame->setVisible(false);
  84
  85     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  86     UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
  87     connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
  88
  89     connect(m_ui->channelOutTest, SIGNAL(clicked(bool)), this, SLOT(runChannelTests(bool)));
  90
  91     // Configure the task widget
  92
  93     // Track the ActuatorSettings object
  94     addUAVObject("ActuatorSettings");
  95
  96     // NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
  97     // Register for ActuatorSettings changes:
  98     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
  99         OutputChannelForm *form = new OutputChannelForm(i, this);
 100         form->moveTo(*(m_ui->channelLayout));
 101
 102         connect(m_ui->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
 103         connect(form, SIGNAL(channelChanged(int, int)), this, SLOT(sendChannelTest(int, int)));
 104
 105         addWidget(form->ui->actuatorMin);
 106         addWidget(form->ui->actuatorNeutral);
 107         addWidget(form->ui->actuatorMax);
 108         addWidget(form->ui->actuatorRev);
 109         addWidget(form->ui->actuatorLink);
 110     }
 111
 112     // Associate the buttons with their UAVO fields
 113     addWidget(m_ui->spinningArmed);
 114     connect(m_ui->spinningArmed, SIGNAL(clicked(bool)), this, SLOT(updateSpinStabilizeCheckComboBoxes()));
 115
 116     addUAVObject("FlightModeSettings");
 117     addWidgetBinding("FlightModeSettings", "AlwaysStabilizeWhenArmedSwitch", m_ui->alwaysStabilizedSwitch);
 118
 119     connect(FlightStatus::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateAlwaysStabilizeStatus()));
 120
 121     MixerSettings *mixer = MixerSettings::GetInstance(getObjectManager());
 122     Q_ASSERT(mixer);
 123     m_banks << OutputBankControls(mixer, m_ui->chBank1, QColor("#C6ECAE"), m_ui->cb_outputRate1, m_ui->cb_outputMode1);
 124     m_banks << OutputBankControls(mixer, m_ui->chBank2, QColor("#91E5D3"), m_ui->cb_outputRate2, m_ui->cb_outputMode2);
 125     m_banks << OutputBankControls(mixer, m_ui->chBank3, QColor("#FCEC52"), m_ui->cb_outputRate3, m_ui->cb_outputMode3);
 126     m_banks << OutputBankControls(mixer, m_ui->chBank4, QColor("#C3A8FF"), m_ui->cb_outputRate4, m_ui->cb_outputMode4);
 127     m_banks << OutputBankControls(mixer, m_ui->chBank5, QColor("#F7F7F2"), m_ui->cb_outputRate5, m_ui->cb_outputMode5);
 128     m_banks << OutputBankControls(mixer, m_ui->chBank6, QColor("#FF9F51"), m_ui->cb_outputRate6, m_ui->cb_outputMode6);
 129
 130     QList<int> rates;
 131     rates << 50 << 60 << 125 << 165 << 270 << 330 << 400 << 490;
 132     int i = 0;
 133     foreach(OutputBankControls controls, m_banks) {
 134         addWidget(controls.rateCombo());
 135
 136         controls.rateCombo()->addItem(tr("-"), QVariant(0));
 137         controls.rateCombo()->model()->setData(controls.rateCombo()->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
 138         foreach(int rate, rates) {
 139             controls.rateCombo()->addItem(tr("%1 Hz").arg(rate), rate);
 140         }
 141
 142         addWidgetBinding("ActuatorSettings", "BankMode", controls.modeCombo(), i++, 0, true);
 143         connect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 144     }
 145
 146     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 147     connect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateBoardWarnings(UAVObject *)));
 148
 149     inputCalibrationStarted = false;
 150     channelTestsStarted     = false;
 151
 152     // TODO why do we do that ?
 153     disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
 154 }
 155
 156 ConfigOutputWidget::~ConfigOutputWidget()
 157 {
 158     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 159
 160     disconnect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateBoardWarnings(UAVObject *)));
 161     foreach(OutputBankControls controls, m_banks) {
 162         disconnect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 163     }
 164 }
 165
 166 void ConfigOutputWidget::enableControls(bool enable)
 167 {
 168     ConfigTaskWidget::enableControls(enable);
 169
 170     if (!enable) {
 171         m_ui->channelOutTest->setChecked(false);
 172     }
 173     m_ui->channelOutTest->setEnabled(enable);
 174 }
 175
 176 /**
 177    Force update all channels with the values in the OutputChannelForms.
 178  */
 179 void ConfigOutputWidget::sendAllChannelTests()
 180 {
 181     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
 182         OutputChannelForm *form = getOutputChannelForm(i);
 183         sendChannelTest(i, form->neutral());
 184     }
 185 }
 186
 187 /**
 188    Toggles the channel testing mode by making the GCS take over
 189    the ActuatorCommand objects
 190  */
 191 void ConfigOutputWidget::runChannelTests(bool state)
 192 {
 193     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 194     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 195
 196     if (state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
 197         QMessageBox mbox;
 198         mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. "
 199                                 "Please fix these before testing outputs.")));
 200         mbox.setStandardButtons(QMessageBox::Ok);
 201         mbox.exec();
 202
 203         // Unfortunately must cache this since callback will reoccur
 204         m_accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
 205
 206         m_ui->channelOutTest->setChecked(false);
 207         return;
 208     }
 209
 210     // Confirm this is definitely what they want
 211     if (state) {
 212         QMessageBox mbox;
 213         mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter."
 214                                 "It is recommended to remove any blades from motors. Are you sure you want to do this?")));
 215         mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
 216         int retval = mbox.exec();
 217         if (retval != QMessageBox::Yes) {
 218             state = false;
 219             qDebug() << "Cancelled";
 220             m_ui->channelOutTest->setChecked(false);
 221             return;
 222         }
 223     }
 224
 225     channelTestsStarted = state;
 226
 227     enableBanks(!state);
 228
 229     ActuatorCommand *obj = ActuatorCommand::GetInstance(getObjectManager());
 230     UAVObject::Metadata mdata = obj->getMetadata();
 231     if (state) {
 232         m_accInitialData = mdata;
 233         UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
 234         UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 235         UAVObject::SetGcsTelemetryAcked(mdata, false);
 236         UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 237         mdata.gcsTelemetryUpdatePeriod = 100;
 238     } else {
 239         mdata = m_accInitialData; // Restore metadata
 240     }
 241     obj->setMetadata(mdata);
 242     obj->updated();
 243
 244     // Setup the correct initial channel values when the channel testing mode is turned on.
 245     if (state) {
 246         sendAllChannelTests();
 247     }
 248
 249     // Add info at end
 250     if (!state && isDirty()) {
 251         QMessageBox mbox;
 252         mbox.setText(QString(tr("You may want to save your neutral settings.")));
 253         mbox.setStandardButtons(QMessageBox::Ok);
 254         mbox.setIcon(QMessageBox::Information);
 255         mbox.exec();
 256     }
 257 }
 258
 259 OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const
 260 {
 261     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 262     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 263         if (outputChannelForm->index() == index) {
 264             return outputChannelForm;
 265         }
 266     }
 267
 268     // no OutputChannelForm found with given index
 269     return NULL;
 270 }
 271
 272 /**
 273  * Set the label for a channel output assignement
 274  */
 275 void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString &str)
 276 {
 277     // FIXME: use signal/ slot approach
 278     UAVObjectField *field = obj->getField(str);
 279     QStringList options   = field->getOptions();
 280     int index = options.indexOf(field->getValue().toString());
 281
 282     OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
 283
 284     if (outputChannelForm) {
 285         outputChannelForm->setName(str);
 286     }
 287 }
 288
 289 /**
 290    Sends the channel value to the UAV to move the servo.
 291    Returns immediately if we are not in testing mode
 292  */
 293 void ConfigOutputWidget::sendChannelTest(int index, int value)
 294 {
 295     if (!m_ui->channelOutTest->isChecked()) {
 296         return;
 297     }
 298
 299     if (index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
 300         return;
 301     }
 302
 303     ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
 304     Q_ASSERT(actuatorCommand);
 305     ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
 306     actuatorCommandFields.Channel[index] = value;
 307     actuatorCommand->setData(actuatorCommandFields);
 308 }
 309
 310 void ConfigOutputWidget::setColor(QWidget *widget, const QColor color)
 311 {
 312     QPalette p(palette());
 313
 314     p.setColor(QPalette::Background, color);
 315     p.setColor(QPalette::Base, color);
 316     p.setColor(QPalette::Active, QPalette::Button, color);
 317     p.setColor(QPalette::Inactive, QPalette::Button, color);
 318     widget->setAutoFillBackground(true);
 319     widget->setPalette(p);
 320 }
 321
 322 /********************************
 323  *  Output settings
 324  *******************************/
 325
 326 /**
 327    Request the current config from the board (RC Output)
 328  */
 329 void ConfigOutputWidget::refreshWidgetsValuesImpl(UAVObject *obj)
 330 {
 331     Q_UNUSED(obj);
 332
 333     // Get Actuator Settings
 334     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 335
 336     Q_ASSERT(actuatorSettings);
 337     ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 338
 339     // Get channel descriptions
 340     QStringList channelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
 341
 342     // Initialize output forms
 343     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 344     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 345         outputChannelForm->setName(channelDesc[outputChannelForm->index()]);
 346
 347         // init min,max,neutral
 348         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 349         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 350         outputChannelForm->setRange(minValue, maxValue);
 351
 352         int neutral  = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 353         outputChannelForm->setNeutral(neutral);
 354     }
 355
 356     // Get the SpinWhileArmed setting
 357     m_ui->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
 358
 359     for (int i = 0; i < m_banks.count(); i++) {
 360         OutputBankControls controls = m_banks.at(i);
 361         // Reset to all disabled
 362         controls.label()->setText("-");
 363
 364         controls.rateCombo()->setEnabled(false);
 365         setColor(controls.rateCombo(), palette().color(QPalette::Background));
 366         controls.rateCombo()->setCurrentIndex(0);
 367
 368         controls.modeCombo()->setEnabled(false);
 369         setColor(controls.modeCombo(), palette().color(QPalette::Background));
 370     }
 371
 372     // Get connected board model
 373     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 374     Q_ASSERT(pm);
 375     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
 376     Q_ASSERT(utilMngr);
 377     QStringList bankLabels;
 378     QList<int> channelBanks;
 379
 380     if (utilMngr) {
 381         int board = utilMngr->getBoardModel();
 382         // Setup labels and combos for banks according to board type
 383         if ((board & 0xff00) == 0x0400) {
 384             // Coptercontrol family of boards 4 timer banks
 385             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
 386             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
 387         } else if (board == 0x0903) {
 388             // Revolution family of boards 6 timer banks
 389             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
 390             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
 391         } else if (board == 0x0905) {
 392             // Revolution Nano
 393             bankLabels << "1 (1)" << "2 (2,7,11)" << "3 (3)" << "4 (4)" << "5 (5-6)" << "6 (8-10,12)";
 394             channelBanks << 1 << 2 << 3 << 4 << 5 << 5 << 2 << 6 << 6 << 6 << 2 << 6;
 395         } else if (board == 0x9201) {
 396             // Sparky2
 397             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7-8)" << "6 (9-10)";
 398             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 5 << 6 << 6;
 399         } else if (board == 0x1001) {
 400             // SPRacingF3
 401             bankLabels << "1 (1-3,7)" << "2 (4,8)" << "3 (5)" << "4 (6)";
 402             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 1 << 2;
 403         } else if (board == 0x1002 || board == 0x1003) {
 404             // SPRacingF3_EVO, NucleoF303RE
 405             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5-8)";
 406             channelBanks << 1 << 1 << 1 << 2 << 3 << 3 << 3 << 3;
 407         } else if (board == 0x1005) { // PikoBLX
 408             bankLabels << "1 (1-4)" << "2 (5-6)" << "3 (7)" << "4 (8)";
 409             channelBanks << 1 << 1 << 1 << 1 << 2 << 2 << 3 << 4;
 410         } else if (board == 0x1006) { // tinyFISH
 411             bankLabels << "1 (1)" << "2 (2)" << "3 (3-4)" << "4 (5-6)";
 412             channelBanks << 1 << 2 << 3 << 3 << 4 << 4;
 413         }
 414     }
 415
 416     // Store how many banks are active according to the board
 417     activeBanksCount = bankLabels.count();
 418
 419     int i = 0;
 420     foreach(QString banklabel, bankLabels) {
 421         OutputBankControls controls = m_banks.at(i);
 422
 423         controls.label()->setText(banklabel);
 424         int index = controls.rateCombo()->findData(actuatorSettingsData.BankUpdateFreq[i]);
 425         if (index == -1) {
 426             controls.rateCombo()->addItem(tr("%1 Hz").arg(actuatorSettingsData.BankUpdateFreq[i]), actuatorSettingsData.BankUpdateFreq[i]);
 427         }
 428         bool isPWM = (controls.modeCombo()->currentIndex() == ActuatorSettings::BANKMODE_PWM);
 429         controls.rateCombo()->setCurrentIndex(index);
 430         controls.rateCombo()->setEnabled(!inputCalibrationStarted && !channelTestsStarted && isPWM);
 431         setColor(controls.rateCombo(), controls.color());
 432         controls.modeCombo()->setEnabled(!inputCalibrationStarted && !channelTestsStarted);
 433         setColor(controls.modeCombo(), controls.color());
 434         i++;
 435     }
 436
 437     // Get Channel ranges:
 438     i = 0;
 439     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 440         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 441         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 442
 443         if (channelBanks.count() > i) {
 444             int bankNumber = channelBanks.at(i);
 445             OutputBankControls bankControls = m_banks.at(bankNumber - 1);
 446
 447             setChannelLimits(outputChannelForm, &bankControls);
 448
 449             outputChannelForm->setBank(QString::number(bankNumber));
 450             outputChannelForm->setColor(bankControls.color());
 451
 452             i++;
 453         }
 454         outputChannelForm->setRange(minValue, maxValue);
 455         int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 456         outputChannelForm->setNeutral(neutral);
 457     }
 458
 459     updateSpinStabilizeCheckComboBoxes();
 460     checkOutputConfig();
 461 }
 462
 463 /**
 464  * Sends the config to the board, without saving to the SD card (RC Output)
 465  */
 466 void ConfigOutputWidget::updateObjectsFromWidgetsImpl()
 467 {
 468     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 469
 470     Q_ASSERT(actuatorSettings);
 471     if (actuatorSettings) {
 472         ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 473
 474         // Set channel ranges
 475         QList<OutputChannelForm *> outputChannelForms     = findChildren<OutputChannelForm *>();
 476         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 477             actuatorSettingsData.ChannelMax[outputChannelForm->index()]     = outputChannelForm->max();
 478             actuatorSettingsData.ChannelMin[outputChannelForm->index()]     = outputChannelForm->min();
 479             actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
 480         }
 481
 482         // Set update rates
 483         actuatorSettingsData.BankUpdateFreq[0]    = m_ui->cb_outputRate1->currentData().toUInt();
 484         actuatorSettingsData.BankUpdateFreq[1]    = m_ui->cb_outputRate2->currentData().toUInt();
 485         actuatorSettingsData.BankUpdateFreq[2]    = m_ui->cb_outputRate3->currentData().toUInt();
 486         actuatorSettingsData.BankUpdateFreq[3]    = m_ui->cb_outputRate4->currentData().toUInt();
 487         actuatorSettingsData.BankUpdateFreq[4]    = m_ui->cb_outputRate5->currentData().toUInt();
 488         actuatorSettingsData.BankUpdateFreq[5]    = m_ui->cb_outputRate6->currentData().toUInt();
 489
 490         actuatorSettingsData.MotorsSpinWhileArmed = m_ui->spinningArmed->isChecked() ?
 491                                                     ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
 492                                                     ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
 493
 494         // Apply settings
 495         UAVObjectUpdaterHelper updateHelper;
 496         actuatorSettings->setData(actuatorSettingsData, false);
 497         updateHelper.doObjectAndWait(actuatorSettings);
 498     }
 499
 500     FlightModeSettings *flightModeSettings = FlightModeSettings::GetInstance(getObjectManager());
 501     Q_ASSERT(flightModeSettings);
 502
 503     if (flightModeSettings) {
 504         FlightModeSettings::DataFields flightModeSettingsData = flightModeSettings->getData();
 505         flightModeSettingsData.AlwaysStabilizeWhenArmedSwitch = m_ui->alwaysStabilizedSwitch->currentIndex();
 506
 507         // Apply settings
 508         flightModeSettings->setData(flightModeSettingsData);
 509     }
 510 }
 511
 512 void ConfigOutputWidget::updateSpinStabilizeCheckComboBoxes()
 513 {
 514     m_ui->alwayStabilizedLabel1->setEnabled(m_ui->spinningArmed->isChecked());
 515     m_ui->alwayStabilizedLabel2->setEnabled(m_ui->spinningArmed->isChecked());
 516     m_ui->alwaysStabilizedSwitch->setEnabled(m_ui->spinningArmed->isChecked());
 517
 518     if (!m_ui->spinningArmed->isChecked()) {
 519         m_ui->alwaysStabilizedSwitch->setCurrentIndex(FlightModeSettings::ALWAYSSTABILIZEWHENARMEDSWITCH_DISABLED);
 520     }
 521 }
 522
 523 void ConfigOutputWidget::updateAlwaysStabilizeStatus()
 524 {
 525     FlightStatus *flightStatusObj = FlightStatus::GetInstance(getObjectManager());
 526     FlightStatus::DataFields flightStatus = flightStatusObj->getData();
 527
 528     if (flightStatus.AlwaysStabilizeWhenArmed == FlightStatus::ALWAYSSTABILIZEWHENARMED_TRUE) {
 529         m_ui->alwayStabilizedLabel2->setText(tr("AlwaysStabilizeWhenArmed is <b>ACTIVE</b>. This prevents arming!."));
 530     } else {
 531         m_ui->alwayStabilizedLabel2->setText(tr("(Really be careful!)."));
 532     }
 533 }
 534
 535 void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls)
 536 {
 537     // Set UI limits according to the bankmode and destination
 538     switch (bankControls->modeCombo()->currentIndex()) {
 539     case ActuatorSettings::BANKMODE_DSHOT:
 540         // 0 - 2000 UI limits, DShot min value is fixed to zero
 541         if (channelForm->isServoOutput()) {
 542             // Driving a servo using DShot doest not make sense so break
 543             break;
 544         }
 545         channelForm->setLimits(DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
 546         channelForm->setRange(DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
 547         channelForm->setNeutral(DSHOT_MINTOUTPUT_RANGE);
 548         break;
 549     case ActuatorSettings::BANKMODE_PWMSYNC:
 550         // 900 - 1900 UI limits
 551         // Default values 1000 - 1900
 552         channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE);
 553         channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
 554         channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
 555         if (channelForm->isServoOutput()) {
 556             // Servo: Some of them can handle PWMSync, 500 - 1900 UI limits
 557             // Default values 1000 - 1900 + neutral 1500
 558             channelForm->setRange(SERVO_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
 559             channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
 560         }
 561         break;
 562     case ActuatorSettings::BANKMODE_PWM:
 563         if (channelForm->isServoOutput()) {
 564             // Servo: 500 - 2500 UI limits
 565             // Default values 1000 - 2000 + neutral 1500
 566             channelForm->setLimits(SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE, SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE);
 567             channelForm->setRange(SERVO_MINOUTPUT_VALUE, SERVO_MAXOUTPUT_VALUE);
 568             channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
 569             break;
 570         }
 571     // PWM motor outputs fall to default
 572     case ActuatorSettings::BANKMODE_ONESHOT125:
 573     case ActuatorSettings::BANKMODE_ONESHOT42:
 574     case ActuatorSettings::BANKMODE_MULTISHOT:
 575         if (channelForm->isServoOutput()) {
 576             // Driving a servo using this mode does not make sense so break
 577             break;
 578         }
 579     default:
 580         // Motors 900 - 2000 UI limits
 581         // Default values 1000 - 2000, neutral set to min
 582         // This settings are used for PWM, OneShot125, OneShot42 and MultiShot
 583         channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE);
 584         channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, DEFAULT_MAXOUTPUT_RANGE);
 585         channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
 586         break;
 587     }
 588 }
 589
 590 ConfigOutputWidget::ChannelConfigWarning ConfigOutputWidget::checkChannelConfig(OutputChannelForm *channelForm, OutputBankControls *bankControls)
 591 {
 592     ChannelConfigWarning warning = None;
 593     int currentNeutralValue = channelForm->neutralValue();
 594
 595     // Check if RevMotor has neutral value around center
 596     if (channelForm->isReversableMotor()) {
 597         warning = IsReversibleMotorCheckNeutral;
 598         int neutralDiff = qAbs(REVMOTOR_NEUTRAL_TARGET_VALUE - currentNeutralValue);
 599         if (neutralDiff < REVMOTOR_NEUTRAL_DIFF_VALUE) {
 600             // Reset warning
 601             warning = None;
 602         }
 603     }
 604
 605     // Check if NormalMotor neutral is not too high
 606     if (channelForm->isNormalMotor()) {
 607         warning = IsNormalMotorCheckNeutral;
 608         int neutralDiff = currentNeutralValue - DEFAULT_MINOUTPUT_VALUE;
 609         if (neutralDiff < MOTOR_NEUTRAL_DIFF_VALUE) {
 610             // Reset warning
 611             warning = None;
 612         }
 613     }
 614
 615     switch (bankControls->modeCombo()->currentIndex()) {
 616     case ActuatorSettings::BANKMODE_DSHOT:
 617         if (channelForm->isServoOutput()) {
 618             warning = CannotDriveServo;
 619             // Driving a servo using DShot doest not make sense so break
 620             break;
 621         }
 622         if (channelForm->isReversableMotor()) {
 623             // Bi-directional DShot not yet supported
 624             warning = BiDirectionalDShotNotSupported;
 625         }
 626         break;
 627     case ActuatorSettings::BANKMODE_PWMSYNC:
 628         break;
 629     case ActuatorSettings::BANKMODE_PWM:
 630         break;
 631     case ActuatorSettings::BANKMODE_ONESHOT125:
 632     case ActuatorSettings::BANKMODE_ONESHOT42:
 633     case ActuatorSettings::BANKMODE_MULTISHOT:
 634         if (channelForm->isServoOutput()) {
 635             warning = CannotDriveServo;
 636             // Driving a servo using this mode does not make sense so break
 637             break;
 638         }
 639     default:
 640         break;
 641     }
 642
 643     return warning;
 644 }
 645
 646
 647 void ConfigOutputWidget::onBankTypeChange()
 648 {
 649     QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
 650
 651     ChannelConfigWarning current_warning = None;
 652     ChannelConfigWarning warning_found   = None;
 653
 654     if (bankModeCombo != NULL) {
 655         int bankNumber = 1;
 656         QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 657         foreach(OutputBankControls controls, m_banks) {
 658             if (controls.modeCombo() == bankModeCombo) {
 659                 bool enabled = bankModeCombo->currentIndex() == ActuatorSettings::BANKMODE_PWM;
 660                 controls.rateCombo()->setEnabled(enabled);
 661                 controls.rateCombo()->setCurrentIndex(enabled ? 1 : 0);
 662                 foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 663                     if (outputChannelForm->bank().toInt() == bankNumber) {
 664                         setChannelLimits(outputChannelForm, &controls);
 665                         current_warning = checkChannelConfig(outputChannelForm, &controls);
 666                         if (current_warning > None) {
 667                             warning_found = current_warning;
 668                         }
 669                     }
 670                 }
 671                 break;
 672             }
 673
 674             bankNumber++;
 675         }
 676     }
 677
 678     updateChannelConfigWarning(warning_found);
 679 }
 680
 681 void ConfigOutputWidget::checkOutputConfig()
 682 {
 683     ChannelConfigWarning current_warning = None;
 684     ChannelConfigWarning warning_found   = None;
 685
 686     int bankNumber = 1;
 687
 688     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 689
 690     foreach(OutputBankControls controls, m_banks) {
 691         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 692             if (!outputChannelForm->isDisabledOutput() && (outputChannelForm->bank().toInt() == bankNumber)) {
 693                 current_warning = checkChannelConfig(outputChannelForm, &controls);
 694                 if (current_warning > None) {
 695                     warning_found = current_warning;
 696                 }
 697             }
 698         }
 699
 700         bankNumber++;
 701     }
 702
 703     updateChannelConfigWarning(warning_found);
 704
 705     // Emit signal to be received by Input tab
 706     emit outputConfigSafe(warning_found == None);
 707 }
 708
 709 void ConfigOutputWidget::stopTests()
 710 {
 711     m_ui->channelOutTest->setChecked(false);
 712     channelTestsStarted = false;
 713 }
 714
 715 void ConfigOutputWidget::updateBoardWarnings(UAVObject *)
 716 {
 717     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 718     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 719
 720     if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
 721         switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
 722         case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
 723             setBoardWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
 724                                "When using Receiver Port setting 'PPM_PIN8+OneShot' "
 725                                "<b><font color='%1'>Bank %2</font></b> must be set to PWM")
 726                             .arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
 727             return;
 728         }
 729     }
 730     setBoardWarning(NULL);
 731 }
 732
 733 void ConfigOutputWidget::updateChannelConfigWarning(ChannelConfigWarning warning)
 734 {
 735     QString warning_str;
 736
 737     if (warning == BiDirectionalDShotNotSupported) {
 738         // TODO: Implement bi-directional DShot
 739         warning_str = "There is at least <b>one reversable motor using DShot</b> in your configuration.<br>"
 740                       "Bi-directional DShot is not currently supported, you should use PWM, OneShotXXX or MultiShot.";
 741     }
 742
 743     if (warning == IsNormalMotorCheckNeutral) {
 744         warning_str = "Seems there is at least one pretty <b>high neutral value</b> set in your configuration.<br>"
 745                       "Be sure all Esc are calibrated and no mechanical stress in all motors.";
 746     }
 747
 748     if (warning == IsReversibleMotorCheckNeutral) {
 749         warning_str = "There is at least one <b>reversable motor</b> in your configuration.<br>"
 750                       "Be sure you set a appropriate neutral value before saving and applying power to the vehicule.";
 751     }
 752
 753     if (warning == CannotDriveServo) {
 754         warning_str = "One Bank cannot drive a <b>servo output!</b><br>"
 755                       "You must use PWM for this bank or move the servo output to another compatible bank.";
 756     }
 757
 758     setConfigWarning(warning_str);
 759 }
 760
 761 void ConfigOutputWidget::enableBanks(bool state)
 762 {
 763     // Disable/Enable banks
 764     for (int i = 0; i < m_banks.count(); i++) {
 765         OutputBankControls controls = m_banks.at(i);
 766         if (i < activeBanksCount) {
 767             controls.modeCombo()->setEnabled(state);
 768             controls.rateCombo()->setEnabled(state);
 769         } else {
 770             controls.modeCombo()->setEnabled(false);
 771             controls.rateCombo()->setEnabled(false);
 772         }
 773     }
 774 }
 775
 776 void ConfigOutputWidget::setBoardWarning(QString message)
 777 {
 778     m_ui->boardWarningFrame->setVisible(!message.isNull());
 779     m_ui->boardWarningPic->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 780     m_ui->boardWarningTxt->setText(message);
 781 }
 782
 783 void ConfigOutputWidget::setConfigWarning(QString message)
 784 {
 785     m_ui->configWarningFrame->setVisible(!message.isNull());
 786     m_ui->configWarningPic->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 787     m_ui->configWarningTxt->setText(message);
 788 }
 789
 790 void ConfigOutputWidget::inputCalibrationStatus(bool started)
 791 {
 792     inputCalibrationStarted = started;
 793
 794     // Disable UI when a input calibration is started
 795     // so user cannot manipulate settings.
 796     enableControls(!started);
 797     enableBanks(!started);
 798
 799     // Disable every channel form when needed
 800     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
 801         OutputChannelForm *form = getOutputChannelForm(i);
 802         form->ui->actuatorRev->setChecked(false);
 803         form->ui->actuatorLink->setChecked(false);
 804         form->inputCalibrationStatus(started);
 805         form->enableControls(!started);
 806     }
 807 }
 808
 809 OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) :
 810     m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo)
 811 {}
 812
 813 OutputBankControls::~OutputBankControls()
 814 {}