A new plugin for RC calibration by amilcarlucas · Pull Request #1816 · ArduPilot/MethodicConfigurator

amilcarlucas · 2026-07-11T14:21:24Z

Description

RC controller calibration plugin

WIP needs a lot more testing and development

implements #1754

Checklist

Run pre-commit checks locally
Verified by a human programmer
All commits are signed off (use git commit --signoff)
Code follows our coding standards
Documentation updated if needed
No breaking changes or properly documented

Testing

Describe how you tested these changes:

Unit tests pass
Integration tests pass
Manual testing performed
Tested on flight controller hardware

Copilot

Pull request overview

This PR introduces an RC calibration/monitoring plugin to ArduPilot Methodic Configurator, including a new RC data model, a tkinter frontend view, and supporting registration/schema wiring. It also factors out a shared calibration popup base class and refactors the existing compass calibration popup to use it.

Changes:

Add RC calibration plugin wiring (plugin constant, plugin registration in __main__.py, schema enum update, and data model factory hookup).
Introduce RC calibration UI (frontend_tkinter_rc_calibration.py) and a quadcopter preview renderer stub (renderer_3d_quadcopter.py).
Add CalibrationPopupBase and refactor compass calibration popup to inherit from it.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 14 comments.

Show a summary per file

File	Description
`ardupilot_methodic_configurator/renderer_3d_quadcopter.py`	New renderer stub used by the RC calibration UI preview.
`ardupilot_methodic_configurator/plugin_constants.py`	Adds `PLUGIN_RC_CALIBRATION`.
`ardupilot_methodic_configurator/frontend_tkinter_rc_calibration.py`	New RC calibration plugin UI (embedded view + popup + dev window).
`ardupilot_methodic_configurator/frontend_tkinter_compass_calibration.py`	Refactors compass popup to use the new shared popup base.
`ardupilot_methodic_configurator/frontend_tkinter_calibration_popup_base.py`	New shared base class for calibration popups.
`ardupilot_methodic_configurator/data_model_rc_calibration.py`	New RC calibration data model using MAVLink RC telemetry and parameter writes.
`ardupilot_methodic_configurator/data_model_parameter_editor.py`	Wires RC calibration data model creation into plugin model factory.
`ardupilot_methodic_configurator/configuration_steps_schema.json`	Extends plugin name enum to include `rc_calibration`.
`ardupilot_methodic_configurator/__main__.py`	Registers the RC calibration plugin at startup.
`ARCHITECTURE_rc_calibration.md`	Adds architecture doc for the new plugin.

+"""
+3D Quadcopter Renderer using PyOpenGL.
+
+This module provides a class to render a simple 3D quadcopter model
+based on roll, pitch, yaw, and throttle inputs.
+


+        Args:
+            roll: Roll angle in degrees.
+            pitch: Pitch angle in degrees.
+            yaw: Yaw angle in degrees.
+            throttle: Throttle value (0.0 to 1.0).
+


+        self.flight_mode: str = "No Data"
+        self.channels: list[dict] = []


+        ttk.Label(mode_frame, text=_("Flight Mode:"), font=("TkDefaultFont", 11, "bold")).pack(side="left")
+        self.mode_label = ttk.Label(mode_frame, text="No Data", font=("TkDefaultFont", 11))
+        self.mode_label.pack(side="left", padx=10)


+        # Update Flight Mode
+        self.flight_mode = telemetry.get("flight_mode", "No Data")
+        self.mode_label.configure(text=self.flight_mode)


+        if not self.is_connected():
+            error_msg = _("Not connected to flight controller")
+            return False, error_msg


+        for ch_idx, min_val in self._channel_min.items():
+            ch_num = ch_idx + 1  # convert to 1-based RC channel number
+            max_val = self._channel_max.get(ch_idx, _RC_CENTER_PWM * 2 - min_val)
+            trim_val = (min_val + max_val) // 2
+            self.flight_controller.set_param(f"RC{ch_num}_MIN", float(min_val))
+            self.flight_controller.set_param(f"RC{ch_num}_MAX", float(max_val))
+            self.flight_controller.set_param(f"RC{ch_num}_TRIM", float(trim_val))


+        try:
+            rc_msg = master.recv_match(  # pyright: ignore[reportAttributeAccessIssue]
+                type="RC_CHANNELS", blocking=False
+            )


+class RCCalibrationDataModel:
+    """Data model for RC calibration, backed by MAVLink RC_CHANNELS telemetry."""
+
+    def __init__(self, flight_controller: FlightController) -> None:
+        self.flight_controller = flight_controller
+        self._is_calibrating = False
+        self._channel_min: dict[int, int] = {}  # 0-based channel index → observed minimum PWM
+        self._channel_max: dict[int, int] = {}  # 0-based channel index → observed maximum PWM


+> **Note:** The data model is currently a stub that returns dummy data.
+> MAVLink integration (`RC_CHANNELS` / `HEARTBEAT` messages) is planned for a future commit.


github-actions · 2026-07-11T14:39:25Z

☂️ Code Coverage

current status: ✅

Overall Coverage

Statements	Covered	Coverage	Threshold	Status
14947	13724	92%	89%	🟢

New Files

File	Coverage	Status
ardupilot_methodic_configurator/data_model_rc_calibration.py	100%	🟢
ardupilot_methodic_configurator/frontend_tkinter_calibration_popup_base.py	43%	🟢
ardupilot_methodic_configurator/frontend_tkinter_rc_calibration.py	16%	🟢
ardupilot_methodic_configurator/renderer_3d_quadcopter.py	29%	🟢
TOTAL	47%	🟢

Modified Files

File	Coverage	Status
ardupilot_methodic_configurator/main.py	89%	🟢
ardupilot_methodic_configurator/backend_flightcontroller.py	93%	🟢
ardupilot_methodic_configurator/backend_flightcontroller_commands.py	91%	🟢
ardupilot_methodic_configurator/backend_flightcontroller_protocols.py	100%	🟢
ardupilot_methodic_configurator/data_model_accelerometer_calibration.py	75%	🟢
ardupilot_methodic_configurator/data_model_parameter_editor.py	83%	🟢
ardupilot_methodic_configurator/frontend_tkinter_accelerometer_calibration.py	91%	🟢
ardupilot_methodic_configurator/frontend_tkinter_base_window.py	96%	🟢
ardupilot_methodic_configurator/frontend_tkinter_compass_calibration.py	67%	🟢
ardupilot_methodic_configurator/plugin_constants.py	100%	🟢
TOTAL	89%	🟢

updated for commit: 44aed60 by action🐍

github-actions · 2026-07-11T14:39:43Z

Test Results

4 files ± 0 4 suites ±0 45m 29s ⏱️ - 4m 7s
4 454 tests + 25 4 423 ✅ +1 7 💤 ±0 24 ❌ +24
17 602 runs +100 17 461 ✅ +5 45 💤 - 1 96 ❌ +96

For more details on these failures, see this check.

Results for commit 44aed60. ± Comparison against base commit a4ed796.

♻️ This comment has been updated with latest results.

theraihanrakibb

Solid foundation for the RC calibration plugin — thanks for the thorough architecture doc and the clean Model-View split. A few things worth addressing:

1. Doc/code contradiction (please fix): ARCHITECTURE_rc_calibration.md states several times "The data model is currently a stub that returns dummy data," but data_model_rc_calibration.py's get_rc_telemetry() actually reads real MAVLink RC_CHANNELS/HEARTBEAT via recv_match. Update the doc to match the code (or vice-versa).

2. grab_set() makes the live monitor modal (UX bug): CalibrationPopupBase.__init__ calls grab_set(), which captures all keyboard/mouse focus. That's correct for the compass calibration popup, but RCCalibrationPopup is meant to be a floating live monitor the user watches while using the rest of AMC. With grab_set() they can't interact with the main window. Override/disable grab_set in the RC subclass (or make the base non-modal and let compass opt in).

3. finish_calibration() trim heuristic: when a channel recorded a min but no max, max is synthesized as 3000 - min (assumes center 1500). Reasonable fallback, but add a comment so it isn't mistaken for a measured value later.

4. WIP vs CI: the status table shows many untested/unimplemented items, and the repo checklist wants BDD pytest — none are added for the new plugin. Either add a smoke test or open this as a draft PR so main-branch gating isn't a surprise.

5. Verify wiring: register_rc_calibration_plugin() and create_plugin_data_model() are wired, but I didn't see RCCalibrationView instantiated in plugin_factory/editor — confirm the embedded view actually mounts.

Nice refactor extracting CalibrationPopupBase (the compass popup drops ~80 duplicated lines).

iacker · 2026-07-11T19:11:09Z

Software test suite for `RCCalibrationDataModel` (offer to help your WIP)

Hi @amilcarlucas — saw #1816 is WIP and flagged as "needs a lot more testing". I focused on the part I can validate 100% without flight controller hardware: data_model_rc_calibration.py is pure logic with all MAVLink I/O behind FlightController, so it's fully mockable.

I added 25 hardware-free unit tests (mocked FC, same BDD Given-When-Then style as test_data_model_accelerometer_calibration.py). Coverage of data_model_rc_calibration.py: 99% (all statements, 25/26 branches — the one uncovered branch is a defensive loop edge).

Branch: iacker:test/rc-calibration-data-model, based on your RC_Calibration branch so it drops straight into the WIP. PR opened against your branch → #1819

What's covered

connection state (connected / disconnected)
start_calibration refusal when disconnected, stale min/max clearing
cancel_calibration writes nothing to the FC
finish_calibration: RCn_MIN/MAX/TRIM writes, midpoint trim, 0-based→1-based channel mapping, state cleanup
RC_CHANNELS telemetry: axis mapping, invalid-PWM sentinel (65535) handling, chancount bound, swallowed recv_match exceptions, HEARTBEAT flight_mode
min/max tracking active only while calibrating

One thing the tests surfaced (not a blocker, your call)

finish_calibration line 67:

max_val = self._channel_max.get(ch_idx, _RC_CENTER_PWM * 2 - min_val)

Because min and max are always updated together in get_rc_telemetry (lines 141-142), a channel present in _channel_min is always present in _channel_max too, so the symmetric fallback never triggers in practice. It's harmless, but if you intend it as a real safety net you may want to cover the "only one extreme seen" case explicitly — my test test_finish_uses_symmetric_fallback_when_max_missing pins the current behaviour either way.

Zero hardware claims here — this is purely the software data model. Manual/HW testing of the actual RC calibration flow is all yours. Happy to adjust naming/structure to your preference.

OmkarSarkar204 · 2026-07-12T03:32:27Z

@amilcarlucas, should we introduce the 3d model here? We can use the same model here to check the rc inputs in the 3d popup itself(as discussed), we can have the input bars on the sides along with the drone in the centre and then can be scrolled for additional options?

Also is an invert control option good or should it be done on the TX only?

volkkov

Good improvement overall. One edge case: empty string vs null aren't treated the same downstream — might need a normalization step.

Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>

Adds 25 hardware-free unit tests for data_model_rc_calibration.py using a mocked FlightController (MagicMock), following the BDD Given-When-Then style already used in test_data_model_accelerometer_calibration.py. Coverage of data_model_rc_calibration.py: 99% (all statements, 25/26 branches). Covered behaviours: - connection state (connected / disconnected) - start/cancel calibration and stale-state clearing - finish_calibration: RCn_MIN/MAX/TRIM writes, midpoint trim, symmetric max fallback, 0-based to 1-based channel mapping, state cleanup - RC_CHANNELS telemetry: axis mapping, invalid-PWM sentinel handling, chancount bound, swallowed recv_match exceptions, HEARTBEAT flight_mode - min/max tracking active only while calibrating No hardware required: all MAVLink I/O is mocked. Signed-off-by: Billard <82095453+iacker@users.noreply.github.com>

…ecks

Removes the duplicated window-centering block (R0801) shared between CalibrationPopupBase and CompassCalibrationInstructionsPopup. Both now call a single module-level center_over_parent() helper. Behavior unchanged; fixes the pylint 3.14 duplicate-code failure.

for more information, see https://pre-commit.ci

Copilot AI review requested due to automatic review settings July 11, 2026 14:21

amilcarlucas marked this pull request as draft July 11, 2026 14:21

Copilot started reviewing on behalf of amilcarlucas July 11, 2026 14:21 View session

amilcarlucas added enhancement New feature or request help wanted Extra attention is needed python Pull requests that update Python code needs hardware testing needs testing on a real flight controller hardware labels Jul 11, 2026

Copilot AI reviewed Jul 11, 2026

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theraihanrakibb reviewed Jul 11, 2026

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iacker mentioned this pull request Jul 11, 2026

test(rc-calibration): hardware-free test suite for RCCalibrationDataModel (99% cov) #1819

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volkkov reviewed Jul 13, 2026

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amilcarlucas and others added 6 commits July 15, 2026 19:48

feat(rc calibration): A new plugin for RC calibration

cce3b27

Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>

style(rc-calibration test): use implicit booleaness for empty dict ch…

2f8772e

…ecks

refactor(calibration): Use BaseWindow when possible

ebfaedd

feat(accel-cal): Be more explicit and inform the users

2ae479a

amilcarlucas mentioned this pull request Jul 16, 2026

Add a RC calibration plugin #1754

Open

1 task

amilcarlucas force-pushed the RC_Calibration branch from de962ef to 2ae479a Compare July 16, 2026 11:59

[pre-commit.ci] auto fixes from pre-commit.com hooks

44aed60

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iacker mentioned this pull request Jul 16, 2026

test(fc-commands): cover accel-cal cancel and SCALED_IMU helpers #1834

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A new plugin for RC calibration - #1816

A new plugin for RC calibration#1816
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		self.flight_mode: str = "No Data"
		self.channels: list[dict] = []

		> Note: The data model is currently a stub that returns dummy data.
		> MAVLink integration (`RC_CHANNELS` / `HEARTBEAT` messages) is planned for a future commit.

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iacker commented Jul 11, 2026

Software test suite for RCCalibrationDataModel (offer to help your WIP)

What's covered

One thing the tests surfaced (not a blocker, your call)

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Software test suite for `RCCalibrationDataModel` (offer to help your WIP)

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