Accurately reflect PWM output configuration #3507
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Reviewer's GuideThis PR refactors gripper-related logic by moving configuration checks into computed properties and a new Vuex module, replaces hardcoded channel detection with a dynamic loop over expanded channel definitions, and enhances the UI with validation messaging and layout constraints. Class diagram for new ArdupilotCapabilitiesStore Vuex moduleclassDiagram
class ArdupilotCapabilitiesStore {
+firmware_supports_actuators: boolean
}
ArdupilotCapabilitiesStore <|-- ardupilot_capabilities: instance
ArdupilotCapabilitiesStore ..> autopilot_data: uses
Class diagram for updated gripper.vue component logicclassDiagram
class Gripper {
+gripper: number | null
+boardType: string | undefined
+configured_actuators(): number[]
+misconfigured_gripper(): string | null
+toBoardFriendlyChannel(servo: string): string
}
Gripper ..> ardupilot_capabilities: uses
Gripper ..> autopilot_data: uses
Gripper ..> autopilot: uses
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Williangalvani
commented
Aug 29, 2025
| } | ||
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| get firmware_supports_light_functions(): boolean { | ||
| // TODO: light functions were introduced at the same time as actuators |
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Suggested change
| // TODO: light functions were introduced at the same time as actuators | |
| // light functions were introduced at the same time as actuators |
ES-Alexander
requested changes
Aug 29, 2025
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| BTN_FUNCTION.SERVO_1_MIN_MOMENTARY, | ||
| BTN_FUNCTION.SERVO_1_MAX_MOMENTARY, | ||
| BTN_FUNCTION.SERVO_1_MIN_TOGGLE, | ||
| BTN_FUNCTION.SERVO_1_MAX_TOGGLE, | ||
| BTN_FUNCTION.SERVO_1_MIN, | ||
| BTN_FUNCTION.SERVO_1_MAX, |
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Haven't these been renamed now to actuator_n_*? Not sure how that's best handled from a display perspective, given they were/are called servo_n_* for older firmware versions 🤷♂️
| BTN_FUNCTION.SERVO_5_MAX_TOGGLE, | ||
| BTN_FUNCTION.SERVO_5_MIN, | ||
| BTN_FUNCTION.SERVO_5_MAX, | ||
| ] |
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What about Actuator 6?
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| <v-card-text v-if="misconfigured_gripper" class="red--text"> | ||
| {{ misconfigured_gripper }} |
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This seems worth expanding to more general checks of missing outputs corresponding to assigned button functions:
- Lights N
- Actuator N (with gripper mentioned as a potential intended output)
- Relay N
but that's perhaps out of scope for this PR 🤷♂️
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| get firmware_supports_light_functions(): boolean { | ||
| // TODO: light functions were introduced at the same time as actuators | ||
| return autopilot_data.parameter('ACTUATOR1_INC') !== undefined |
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Is there pre-filtering somewhere, that makes this apply only to ArduSub?
IIRC Actuator outputs are more general ArduPilot, but Lights is a Sub thing - I could be wrong on both accounts though 🤷♂️
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Relevant to #3501 |
ES-Alexander
changed the title
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Needs to include outputs displaying as RCIN9/10 when using a firmware that supports the new lights outputs (if the output parameters are not using Lights1/2 values) |
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mixed feelings about the store. thoughts?
the idea is to slowly move logic away from .vue files
Summary by Sourcery
Extract actuator capability detection to a Vuex module and enhance the gripper component with generic channel mapping and misconfiguration warnings.
New Features:
Enhancements: