Merged in f5soh/librepilot/LP-551_Tx_Wizard_output (pull request #488)

LP-551 Tx Wizard output

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>

Author: f5soh

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

@@ -98,13 +98,15 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     widget = new ConfigInputWidget(this);
     static_cast<ConfigTaskWidget *>(widget)->bind();
     stackWidget->insertTab(ConfigGadgetWidget::Input, widget, *icon, QString("Input"));
+    QWidget *inputWidget = widget;
 
     icon   = new QIcon();
     icon->addFile(":/configgadget/images/output_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/output_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     widget = new ConfigOutputWidget(this);
     static_cast<ConfigTaskWidget *>(widget)->bind();
     stackWidget->insertTab(ConfigGadgetWidget::Output, widget, *icon, QString("Output"));
+    QWidget *outputWidget = widget;
 
     icon   = new QIcon();
     icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
@@ -165,6 +167,12 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
         onOPLinkConnect();
     }
 
+    // Connect output tab and input tab
+    // Input tab do not start calibration if Output tab is not safe
+    // Output tab uses the signal from Input tab and freeze all output UI while calibrating inputs
+    connect(outputWidget, SIGNAL(outputConfigSafeChanged(bool)), inputWidget, SLOT(setOutputConfigSafe(bool)));
+    connect(inputWidget, SIGNAL(inputCalibrationStateChanged(bool)), outputWidget, SLOT(setInputCalibrationState(bool)));
+
     help = 0;
     connect(stackWidget, SIGNAL(currentAboutToShow(int, bool *)), this, SLOT(tabAboutToChange(int, bool *)));
 }

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

@@ -497,6 +497,16 @@ void ConfigInputWidget::enableControls(bool enable)
     } else {
         // Hide configAlarmStatus when disconnected
         ui->configAlarmStatus->setVisible(false);
+        if (wizardStep != wizardNone) {
+            // Close input wizard
+            wzCancel();
+        }
+        if (ui->runCalibration->isChecked()) {
+            // Close manual calibration
+            ui->runCalibration->setChecked(false);
+            ui->runCalibration->setText(tr("Start Manual Calibration"));
+            emit inputCalibrationStateChanged(false);
+        }
     }
 }
 
@@ -509,6 +519,12 @@ void ConfigInputWidget::resizeEvent(QResizeEvent *event)
 
 void ConfigInputWidget::goToWizard()
 {
+    if (!outputConfigIsSafe) {
+        QMessageBox::warning(this, tr("Warning"), tr("There is something wrong in <b>Output</b> tab."
+                                                     "<p>Please fix the issue before starting the Transmitter wizard.</p>"), QMessageBox::Ok);
+        return;
+    }
+
     QMessageBox msgBox;
 
     msgBox.setText(tr("Arming Settings are now set to 'Always Disarmed' for your safety."));
@@ -519,6 +535,9 @@ void ConfigInputWidget::goToWizard()
     msgBox.setDefaultButton(QMessageBox::Ok);
     msgBox.exec();
 
+    // Tell Output tab we freeze actuators soon
+    emit inputCalibrationStateChanged(true);
+
     // Set correct tab visible before starting wizard.
     if (ui->tabWidget->currentIndex() != 0) {
         ui->tabWidget->setCurrentIndex(0);
@@ -587,6 +606,9 @@ void ConfigInputWidget::wzCancel()
     flightModeSettingsObj->setData(memento.flightModeSettingsData);
     actuatorSettingsObj->setData(memento.actuatorSettingsData);
     systemSettingsObj->setData(memento.systemSettingsData);
+
+    // Tell Output tab the calibration is ended
+    emit inputCalibrationStateChanged(false);
 }
 
 void ConfigInputWidget::registerControlActivity()
@@ -682,6 +704,9 @@ void ConfigInputWidget::wzNext()
         // move to Arming Settings tab
         ui->stackedWidget->setCurrentIndex(0);
         ui->tabWidget->setCurrentIndex(3);
+
+        // Tell Output tab the calibration is ended
+        emit inputCalibrationStateChanged(false);
         break;
     default:
         Q_ASSERT(0);
@@ -1872,7 +1897,7 @@ void ConfigInputWidget::updateConfigAlarmStatus()
         switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
         case SystemAlarms::EXTENDEDALARMSTATUS_FLIGHTMODE:
             message = tr("Config error");
-            tooltipMessage = tr("There is something wrong with your config,\nusually a Thrust mode or Assisted mode not supported.\n\n"
+            tooltipMessage = tr("There is something wrong in the current config,\nusually a Thrust mode or Assisted mode not supported.\n\n"
                                 "Tip: Reduce the Flight Mode Count to find the culprit.");
             bgColor = "red";
         }
@@ -1916,6 +1941,19 @@ void ConfigInputWidget::updateCalibration()
 
 void ConfigInputWidget::simpleCalibration(bool enable)
 {
+    if (!isConnected()) {
+        return;
+    }
+
+    if (!outputConfigIsSafe) {
+        if (enable) {
+            QMessageBox::warning(this, tr("Warning"), tr("There is something wrong in <b>Output</b> tab."
+                                                         "<p>Please fix the issue before starting the Manual Calibration.</p>"), QMessageBox::Ok);
+            ui->runCalibration->setChecked(false);
+        }
+        return;
+    }
+
     if (enable) {
         ui->configurationWizard->setEnabled(false);
         ui->applyButton->setEnabled(false);
@@ -1932,6 +1970,9 @@ void ConfigInputWidget::simpleCalibration(bool enable)
         msgBox.setDefaultButton(QMessageBox::Ok);
         msgBox.exec();
 
+        // Tell Output tab we freeze actuators soon
+        emit inputCalibrationStateChanged(true);
+
         manualCommandData      = manualCommandObj->getData();
 
         manualSettingsData     = manualSettingsObj->getData();
@@ -1999,6 +2040,9 @@ void ConfigInputWidget::simpleCalibration(bool enable)
         ui->saveButton->setEnabled(true);
         ui->runCalibration->setText(tr("Start Manual Calibration"));
 
+        // Tell Output tab the calibration is ended
+        emit inputCalibrationStateChanged(false);
+
         disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration()));
     }
 }
@@ -2082,7 +2126,7 @@ void ConfigInputWidget::resetActuatorSettings()
     QString mixerType;
 
     // Clear all output data : Min, max, neutral at same value
-    // 1000 for motors and 1500 for all others (Reversable motor included)
+    // min value for motors and neutral for all others (Reversable motor, servo)
     for (unsigned int output = 0; output < ActuatorSettings::CHANNELMAX_NUMELEM; output++) {
         QString mixerNumType  = QString("Mixer%1Type").arg(output + 1);
         UAVObjectField *field = mixer->getField(mixerNumType);
@@ -2092,13 +2136,13 @@ void ConfigInputWidget::resetActuatorSettings()
             mixerType = field->getValue().toString();
         }
         if ((mixerType == "Motor") || (mixerType == "Disabled")) {
-            actuatorSettingsData.ChannelMax[output]     = 1000;
-            actuatorSettingsData.ChannelMin[output]     = 1000;
-            actuatorSettingsData.ChannelNeutral[output] = 1000;
+            // Apply current min setting to neutral/max values
+            actuatorSettingsData.ChannelMax[output]     = actuatorSettingsData.ChannelMin[output];
+            actuatorSettingsData.ChannelNeutral[output] = actuatorSettingsData.ChannelMin[output];
         } else {
-            actuatorSettingsData.ChannelMax[output]     = 1500;
-            actuatorSettingsData.ChannelMin[output]     = 1500;
-            actuatorSettingsData.ChannelNeutral[output] = 1500;
+            // Apply current neutral setting to min/max values
+            actuatorSettingsData.ChannelMax[output] = actuatorSettingsData.ChannelNeutral[output];
+            actuatorSettingsData.ChannelMin[output] = actuatorSettingsData.ChannelNeutral[output];
         }
         UAVObjectUpdaterHelper updateHelper;
         actuatorSettingsObj->setData(actuatorSettingsData, false);
@@ -2189,3 +2233,8 @@ void ConfigInputWidget::enableControlsChanged(bool enabled)
     ui->failsafeBatteryWarningFlightModeCb->setEnabled(enabled && batteryModuleEnabled);
     ui->failsafeBatteryCriticalFlightModeCb->setEnabled(enabled && batteryModuleEnabled);
 }
+
+void ConfigInputWidget::setOutputConfigSafe(bool status)
+{
+    outputConfigIsSafe = status;
+}

ground/gcs/src/plugins/config/configinputwidget.h

@@ -72,10 +72,17 @@ class ConfigInputWidget : public ConfigTaskWidget {
     void enableControls(bool enable);
     bool shouldObjectBeSaved(UAVObject *object);
 
+public slots:
+    void setOutputConfigSafe(bool status);
+
+signals:
+    void inputCalibrationStateChanged(bool newState);
+
 private:
     bool throttleError;
     bool growing;
     bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
+    bool outputConfigIsSafe;
     txMovements currentMovement;
     int movePos;
     void setTxMovement(txMovements movement);