More renaming of althold and assist mode to assited control (#280)

bitcraze · Feb 1, 2017 · cdbf14b · cdbf14b
1 parent da5ac79
commit cdbf14b
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Showing 4 changed files with 20 additions and 18 deletions.
diff --git a/src/cfclient/headless.py b/src/cfclient/headless.py
@@ -101,7 +101,7 @@ def connect_crazyflie(self, link_uri):
             group="imu_sensors", name="HMC5883L", cb=(
                 lambda name, found: self._jr.set_alt_hold_available(
                     eval(found))))
-        self._jr.althold_updated.add_callback(
+        self._jr.assisted_control_updated.add_callback(
             lambda enabled: self._cf.param.set_value("flightmode.althold",
                                                      enabled))
 

diff --git a/src/cfclient/ui/tabs/FlightTab.py b/src/cfclient/ui/tabs/FlightTab.py
@@ -107,7 +107,7 @@ def __init__(self, tabWidget, helper, *args):
         self.helper.inputDeviceReader.emergency_stop_updated.add_callback(
             self._emergency_stop_updated_signal.emit)
 
-        self.helper.inputDeviceReader.althold_updated.add_callback(
+        self.helper.inputDeviceReader.assisted_control_updated.add_callback(
             lambda enabled: self.helper.cf.param.set_value(
                 "flightmode.althold", enabled))
 
@@ -247,7 +247,7 @@ def uiSetupReady(self):
 
         try:
             assistmodeComboIndex = self._assist_mode_combo.findText(
-                Config().get("assistmode"), Qt.MatchFixedString)
+                Config().get("assistedControl"), Qt.MatchFixedString)
         except KeyError:
             assistmodeComboIndex = 0
         if (flightComboIndex < 0):
@@ -513,13 +513,14 @@ def flightmodeChange(self, item):
         self.maxYawRate.setEnabled(newState)
 
     def _assist_mode_changed(self, item):
-        Config().set("assistmode", str(self._assist_mode_combo.itemText(item)))
+        Config().set("assistedControl", str(self._assist_mode_combo.
+                                            itemText(item)))
         if (item == 0):  # Altitude hold
-            self.helper.inputDeviceReader.assisted_mode = \
-                    JoystickReader.ASSIST_MODE_ALTHOLD
+            self.helper.inputDeviceReader.assisted_control = \
+                    JoystickReader.ASSISTED_CONTROL_ALTHOLD
         if (item == 1):  # Position hold
-            self.helper.inputDeviceReader.assisted_mode = \
-                    JoystickReader.ASSIST_MODE_POSHOLD
+            self.helper.inputDeviceReader.assisted_control = \
+                    JoystickReader.ASSISTED_CONTROL_POSHOLD
 
     @pyqtSlot(bool)
     def changeXmode(self, checked):

diff --git a/src/cfclient/utils/input/__init__.py b/src/cfclient/utils/input/__init__.py
@@ -73,8 +73,8 @@ class JoystickReader(object):
     """
     inputConfig = []
 
-    ASSIST_MODE_ALTHOLD = 0
-    ASSIST_MODE_POSHOLD = 1
+    ASSISTED_CONTROL_ALTHOLD = 0
+    ASSISTED_CONTROL_POSHOLD = 1
 
     def __init__(self, do_device_discovery=True):
         self._input_device = None
@@ -89,9 +89,9 @@ def __init__(self, do_device_discovery=True):
         self.max_rp_angle = 0
         self.max_yaw_rate = 0
         try:
-            self.assisted_mode = Config().get("assistmode")
+            self.assisted_control = Config().get("assistedControl")
         except KeyError:
-            self.assisted_mode = JoystickReader.ASSIST_MODE_ALTHOLD
+            self.assisted_control = JoystickReader.ASSISTED_CONTROL_ALTHOLD
 
         self._old_thrust = 0
         self._old_raw_thrust = 0
@@ -161,7 +161,7 @@ def __init__(self, do_device_discovery=True):
         self.emergency_stop_updated = Caller()
         self.device_discovery = Caller()
         self.device_error = Caller()
-        self.althold_updated = Caller()
+        self.assisted_control_updated = Caller()
         self.alt1_updated = Caller()
         self.alt2_updated = Caller()
 
@@ -342,11 +342,12 @@ def read_input(self):
             if data:
                 if data.toggled.assistedControl:
                     try:
-                        self.althold_updated.call(str(data.assistedControl))
+                        self.assisted_control_updated.call(
+                                            str(data.assistedControl))
                     except Exception as e:
                         logger.warning(
                             "Exception while doing callback from input-device "
-                            "for althold: {}".format(e))
+                            "for assited control: {}".format(e))
 
                 if data.toggled.estop:
                     try:

diff --git a/src/cfclient/utils/input/inputreaderinterface.py b/src/cfclient/utils/input/inputreaderinterface.py
@@ -164,10 +164,10 @@ def _scale_and_deadband_yaw(self, yaw):
         return (InputReaderInterface.deadband(yaw, 0.2) *
                 self.input.max_yaw_rate)
 
-    def _limit_thrust(self, thrust, althold, emergency_stop):
+    def _limit_thrust(self, thrust, assisted_control, emergency_stop):
         # Thust limiting (slew, minimum and emergency stop)
         if self.input.springy_throttle:
-            if althold and self.input.has_pressure_sensor:
+            if assisted_control and self.input.has_pressure_sensor:
                 thrust = int(round(InputReaderInterface.deadband(thrust, 0.2) *
                                    32767 + 32767))  # Convert to uint16
             else:
@@ -217,7 +217,7 @@ def _limit_thrust(self, thrust, althold, emergency_stop):
                 thrust = limited_thrust
         else:
             thrust = thrust / 2 + 0.5
-            if althold and self.input.has_pressure_sensor:
+            if assisted_control and self.input.has_pressure_sensor:
                 thrust = 32767
             else:
                 if thrust < -0.90 or emergency_stop: