bool OutputCalibrationPage::checkAlarms()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
SystemAlarms *systemAlarms = SystemAlarms::GetInstance(uavObjectManager);
Q_ASSERT(systemAlarms);
SystemAlarms::DataFields data = systemAlarms->getData();
if (data.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
QMessageBox mbox(this);
mbox.setText(QString(tr("The actuator module is in an error state.\n\n"
"Please make sure the correct firmware version is used then "
"restart the wizard and try again. If the problem persists please "
"consult the openpilot.org support forum.")));
mbox.setStandardButtons(QMessageBox::Ok);
mbox.setIcon(QMessageBox::Critical);
getWizard()->setWindowFlags(getWizard()->windowFlags() & ~Qt::WindowStaysOnTopHint);
mbox.exec();
getWizard()->setWindowFlags(getWizard()->windowFlags() | Qt::WindowStaysOnTopHint);
getWizard()->setWindowIcon(qApp->windowIcon());
getWizard()->show();
return false;
}
return true;
}
/**
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
*/
void ConfigOutputWidget::runChannelTests(bool state)
{
SystemAlarms * systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
if(state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
QMessageBox mbox;
mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. Please fix these before testing outputs.")));
mbox.setStandardButtons(QMessageBox::Ok);
mbox.exec();
// Unfortunately must cache this since callback will reoccur
accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
m_config->channelOutTest->setChecked(false);
return;
}
// Confirm this is definitely what they want
if(state) {
QMessageBox mbox;
mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter. It is recommended to remove any blades from motors. Are you sure you want to do this?")));
mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
int retval = mbox.exec();
if(retval != QMessageBox::Yes) {
state = false;
qDebug() << "Cancelled";
m_config->channelOutTest->setChecked(false);
return;
}
}
ActuatorCommand * obj = ActuatorCommand::GetInstance(getObjectManager());
UAVObject::Metadata mdata = obj->getMetadata();
if (state)
{
wasItMe=true;
accInitialData = mdata;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
}
else
{
wasItMe=false;
mdata = accInitialData; // Restore metadata
}
obj->setMetadata(mdata);
obj->updated();
}
