Added arming fuctionality and emergency button #665
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Arming functionality has been added both by pressing a buton in the flight tab but also a joystick button can be assigned to do it. The functionality itself is implemented using the system.arm parameter.
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The disarm button in the flight tab is not always disabled after a disconnect. |
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The disarm button in the flight tab is not always disabled after a disconnect. |
| @@ -562,6 +565,12 @@ def _show_input_device_config_dialog(self): | |||
| def _show_connect_dialog(self): | |||
| self.logConfigDialogue.show() | |||
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| def _emergency_stop(self): | |||
| #send disarming command | |||
| if (self.uiState == UIState.CONNECTED): | |||
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I found here, if there is a firmware on the crazyflie that does not have 'system.arm' on there, the button 'arm and disarm' is active still and the terminal says:
WARNING:cflib.crazyflie.toc:Unable to find variable [system.arm]
WARNING:cflib.crazyflie.param:Cannot set value for [system.arm], it's not in the TOC!
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Hmm, yes the variable name us new but I guess this is avoidable for all new parameters that are used in e.g. the cfclient UI. Perhaps the warning is a good thing then?
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A bigger problem might be that the emergency button will not work...
| <item row="3" column="1"> | ||
| <widget class="QPushButton" name="detectExitapp"> | ||
| <item row="1" column="1"> | ||
| <widget class="QPushButton" name="_detect_assisted_control"> |
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We should probably unify to make this all snake cases, but that is just a beauty issue.
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Had the same idea but it generated a lot of side work as many of them are saved as button mapping
| @@ -178,7 +183,8 @@ def _reset_mapping(self): | |||
| "pitchNeg": self.pitchNeg, | |||
| "rollPos": self.rollPos, | |||
| "rollNeg": self.rollNeg, | |||
| "killswitch": self.killswitch, | |||
| "estop": self.killswitch, | |||
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I was wondering... do we want to force people to choose a kill button? Like, they can not save the config file if there is no pitch yaw roll and thrust assigned... but we can also force people to choose a kill button. This needs to be for both the crazyflie or bolt based systems I suppose.
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Might be a good idea but could there be joysticks without buttons? Then it would block those, which might be good...
src/cfclient/ui/tabs/FlightTab.py
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| self.actualM1.setValue(data[self.LOG_NAME_MOTOR_1]) | ||
| self.actualM2.setValue(data[self.LOG_NAME_MOTOR_2]) | ||
| self.actualM3.setValue(data[self.LOG_NAME_MOTOR_3]) | ||
| self.actualM4.setValue(data[self.LOG_NAME_MOTOR_1]) |
exists to keep backwards compatibility.
Arming functionality has been added both by pressing a buton in the flight tab but also a joystick button can be assigned to do it. The functionality itself is implemented using the system.arm parameter.
This PR requires bitcraze/crazyflie-firmware#1281
and bitcraze/crazyflie-lib-python#404