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Added arming fuctionality and emergency button #665

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merged 17 commits into from
May 31, 2023
Merged

Added arming fuctionality and emergency button #665

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1133484
Added arming fuctionality and emergency button
tobbeanton May 9, 2023
873670f
Added canArm flag to arming logic
tobbeanton May 9, 2023
b606474
fixed flake8 errors
tobbeanton May 9, 2023
d18b514
Fixed arm/disarm button not being deactivated if disconnect before fu…
tobbeanton May 10, 2023
12f5dfd
Use arming message
krichardsson May 16, 2023
955d692
Use correct motor value
krichardsson May 29, 2023
2c68685
Update copyright
krichardsson May 29, 2023
3baa365
Only set up logging to supervisor info if it
krichardsson May 29, 2023
934ec30
Updated tab images
krichardsson May 30, 2023
d6ed000
Updated main ui docs
krichardsson May 30, 2023
8b2d359
Fixed exception when using old fw
krichardsson May 30, 2023
7608050
Updated log and param group name
krichardsson May 30, 2023
c8201c6
Fix parse problem with default address
krichardsson May 30, 2023
a47a9f6
Reduced logging noise
krichardsson May 30, 2023
0470f79
updated cfclient tab image and added arming doc
tobbeanton May 30, 2023
656986d
Merge branch 'tobba/arming' of https://github.com/bitcraze/crazyflie-…
tobbeanton May 30, 2023
1d4b3e1
Bumped cflib to 0.1.23
krichardsson May 31, 2023
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18 changes: 12 additions & 6 deletions src/cfclient/ui/dialogs/inputconfigdialogue.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -107,8 +107,12 @@ def __init__(self, joystickReader, *args):
"Press the button for Roll negative calibration"))
self.detectKillswitch.clicked.connect(
lambda: self._button_detect(
"killswitch", "Killswitch",
"Press the button for the killswitch (will disable motors)"))
"estop", "Disarm/Kill",
"Press the button to disarm/kill (will disable motors)"))
self.detectArm.clicked.connect(
lambda: self._button_detect(
"arm", "Arm system",
"Press the button to arm the system (will enable motor ouput)"))
self.detectAlt1.clicked.connect(
lambda: self._button_detect(
"alt1", "Alternative function 1",
Expand Down Expand Up @@ -142,9 +146,10 @@ def __init__(self, joystickReader, *args):
self.detectYaw, self.detectThrust,
self.detectPitchPos, self.detectPitchNeg,
self.detectRollPos, self.detectRollNeg,
self.detectKillswitch, self.detectExitapp,
self._detect_assisted_control, self.detectAlt1,
self.detectAlt2, self.detectMuxswitch]
self.detectKillswitch, self.detectArm,
self.detectExitapp, self._detect_assisted_control,
self.detectAlt1, self.detectAlt2,
self.detectMuxswitch]

self._button_to_detect = ""
self._axis_to_detect = ""
Expand Down Expand Up @@ -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...

"arm": self.arm,
"alt1": self.alt1,
"alt2": self.alt2,
"exitapp": self.exitapp,
Expand Down
83 changes: 53 additions & 30 deletions src/cfclient/ui/dialogs/inputconfigdialogue.ui
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -505,13 +505,13 @@
<property name="geometry">
<rect>
<x>600</x>
<y>158</y>
<y>150</y>
<width>292</width>
<height>202</height>
<height>221</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="5" column="1">
<item row="6" column="1">
<widget class="QPushButton" name="detectAlt2">
<property name="enabled">
<bool>false</bool>
Expand All @@ -521,7 +521,30 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="2" column="1">
<widget class="QPushButton" name="detectKillswitch">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Detect</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="muxswitch">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Mux switch</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="alt1">
<property name="enabled">
<bool>false</bool>
Expand All @@ -534,8 +557,8 @@
</property>
</widget>
</item>
<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

<property name="enabled">
<bool>false</bool>
</property>
Expand All @@ -544,30 +567,33 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QPushButton" name="detectKillswitch">
<item row="6" column="0">
<widget class="QCheckBox" name="alt2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Detect</string>
<string>Alt 2</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="killswitch">
<item row="1" column="0">
<widget class="QCheckBox" name="_assisted_control">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Killswitch</string>
<string>Assisted control</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="exitapp">
<property name="enabled">
<bool>false</bool>
Expand All @@ -580,21 +606,21 @@
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="_assisted_control">
<item row="2" column="0">
<widget class="QCheckBox" name="killswitch">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Assisted control</string>
<string>Disarm/kill</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="_detect_assisted_control">
<item row="7" column="1">
<widget class="QPushButton" name="detectMuxswitch">
<property name="enabled">
<bool>false</bool>
</property>
Expand All @@ -603,21 +629,18 @@
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="alt2">
<item row="5" column="1">
<widget class="QPushButton" name="detectAlt1">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Alt 2</string>
</property>
<property name="checkable">
<bool>true</bool>
<string>Detect</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="detectAlt1">
<widget class="QPushButton" name="detectExitapp">
<property name="enabled">
<bool>false</bool>
</property>
Expand All @@ -626,21 +649,21 @@
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="muxswitch">
<item row="3" column="0">
<widget class="QCheckBox" name="arm">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Mux switch</string>
<string>Arm</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QPushButton" name="detectMuxswitch">
<item row="3" column="1">
<widget class="QPushButton" name="detectArm">
<property name="enabled">
<bool>false</bool>
</property>
Expand Down
9 changes: 9 additions & 0 deletions src/cfclient/ui/main.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,9 @@ def __init__(self, *args):
self.joystickReader.hover_input_updated.add_callback(
self.cf.commander.send_hover_setpoint)

#Emergency stop button
self.esButton.clicked.connect(self._emergency_stop)

# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self._connected)
Expand Down Expand Up @@ -562,6 +565,12 @@ def _show_input_device_config_dialog(self):
def _show_connect_dialog(self):
self.logConfigDialogue.show()

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...

self.cf.param.set_value("system.arm", int(False))


def _update_battery(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))

Expand Down
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