2011-02-02 00:01:52 +01:00
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/**
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******************************************************************************
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*
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* @file GCSControlgadget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
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* @{
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* @brief A gadget to control the UAV, either from the keyboard or a joystick
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "gcscontrolgadget.h"
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#include "gcscontrolgadgetwidget.h"
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#include "gcscontrolgadgetconfiguration.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include <QDebug>
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#define JOYSTICK_UPDATE_RATE 50
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GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent, QObject *plugin) :
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IUAVGadget(classId, parent),
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m_widget(widget)
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{
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connect(getManualControlCommand(),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(manualControlCommandUpdated(UAVObject*)));
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connect(widget,SIGNAL(sticksChanged(double,double,double,double)),this,SLOT(sticksChangedLocally(double,double,double,double)));
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connect(this,SIGNAL(sticksChangedRemotely(double,double,double,double)),widget,SLOT(updateSticks(double,double,double,double)));
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manualControlCommandUpdated(getManualControlCommand());
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joystickTime.start();
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GCSControlPlugin *pl = dynamic_cast<GCSControlPlugin*>(plugin);
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connect(pl->sdlGamepad,SIGNAL(gamepads(quint8)),this,SLOT(gamepads(quint8)));
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connect(pl->sdlGamepad,SIGNAL(buttonState(ButtonNumber,bool)),this,SLOT(buttonState(ButtonNumber,bool)));
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connect(pl->sdlGamepad,SIGNAL(axesValues(QListInt16)),this,SLOT(axesValues(QListInt16)));
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}
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GCSControlGadget::~GCSControlGadget()
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{
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delete m_widget;
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}
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void GCSControlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
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{
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GCSControlGadgetConfiguration *GCSControlConfig = qobject_cast< GCSControlGadgetConfiguration*>(config);
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QList<int> ql = GCSControlConfig->getChannelsMapping();
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rollChannel = ql.at(0);
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pitchChannel = ql.at(1);
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yawChannel = ql.at(2);
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throttleChannel = ql.at(3);
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controlsMode = GCSControlConfig->getControlsMode();
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int i;
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for (i=0;i<8;i++)
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{
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buttonSettings[i].ActionID=GCSControlConfig->getbuttonSettings(i).ActionID;
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buttonSettings[i].FunctionID=GCSControlConfig->getbuttonSettings(i).FunctionID;
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buttonSettings[i].Amount=GCSControlConfig->getbuttonSettings(i).Amount;
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buttonSettings[i].Amount=GCSControlConfig->getbuttonSettings(i).Amount;
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channelReverse[i]=GCSControlConfig->getChannelsReverse().at(i);
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}
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}
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ManualControlCommand* GCSControlGadget::getManualControlCommand() {
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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return dynamic_cast<ManualControlCommand*>( objManager->getObject(QString("ManualControlCommand")) );
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}
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void GCSControlGadget::manualControlCommandUpdated(UAVObject * obj) {
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double roll = obj->getField("Roll")->getDouble();
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double pitch = obj->getField("Pitch")->getDouble();
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double yaw = obj->getField("Yaw")->getDouble();
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double throttle = obj->getField("Throttle")->getDouble();
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// Remap RPYT to left X/Y and right X/Y depending on mode
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switch (controlsMode) {
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case 1:
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// Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
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emit sticksChangedRemotely(yaw,-pitch,roll,throttle);
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break;
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case 2:
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// Mode 2: LeftX = Yaw, LeftY = Throttle, RightX = Roll, RightY = Pitch
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emit sticksChangedRemotely(yaw,throttle,roll,-pitch);
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break;
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case 3:
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// Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
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emit sticksChangedRemotely(roll,-pitch,yaw,throttle);
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break;
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case 4:
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// Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
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emit sticksChangedRemotely(roll,throttle,yaw,-pitch);
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break;
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}
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}
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/**
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Update the manual commands - maps depending on mode
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*/
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void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double rightX, double rightY) {
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ManualControlCommand * obj = getManualControlCommand();
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double oldRoll = obj->getField("Roll")->getDouble();
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double oldPitch = obj->getField("Pitch")->getDouble();
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double oldYaw = obj->getField("Yaw")->getDouble();
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double oldThrottle = obj->getField("Throttle")->getDouble();
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double newRoll;
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double newPitch;
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double newYaw;
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double newThrottle;
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// Remap left X/Y and right X/Y to RPYT depending on mode
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switch (controlsMode) {
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case 1:
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// Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
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newRoll = rightX;
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newPitch = -leftY;
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newYaw = leftX;
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newThrottle = rightY;
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break;
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case 2:
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// Mode 2: LeftX = Yaw, LeftY = Throttle, RightX = Roll, RightY = Pitch
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newRoll = rightX;
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newPitch = -rightY;
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newYaw = leftX;
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newThrottle = leftY;
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break;
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case 3:
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// Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
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newRoll = leftX;
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newPitch = -leftY;
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newYaw = rightX;
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newThrottle = rightY;
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break;
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case 4:
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// Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
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newRoll = leftX;
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newPitch = -rightY;
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newYaw = rightX;
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newThrottle = leftY;
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break;
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}
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//check if buttons have control over this axis... if so don't update it
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int buttonRollControl=0;
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int buttonPitchControl=0;
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int buttonYawControl=0;
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int buttonThrottleControl=0;
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for (int i=0;i<8;i++)
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{
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if ((buttonSettings[i].FunctionID==1)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonRollControl=1;
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if ((buttonSettings[i].FunctionID==2)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonPitchControl=1;
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if ((buttonSettings[i].FunctionID==3)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonYawControl=1;
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if ((buttonSettings[i].FunctionID==4)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonThrottleControl=1;
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}
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//if we are not in local gcs control mode, ignore the joystick input
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if (((GCSControlGadgetWidget *)m_widget)->getGCSControl()==false)return;
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if((newThrottle != oldThrottle) || (newPitch != oldPitch) || (newYaw != oldYaw) || (newRoll != oldRoll)) {
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if (buttonRollControl==0)obj->getField("Roll")->setDouble(newRoll);
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if (buttonPitchControl==0)obj->getField("Pitch")->setDouble(newPitch);
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if (buttonYawControl==0)obj->getField("Yaw")->setDouble(newYaw);
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if (buttonThrottleControl==0)obj->getField("Throttle")->setDouble(newThrottle);
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obj->updated();
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}
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}
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void GCSControlGadget::gamepads(quint8 count)
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{
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// sdlGamepad.setGamepad(0);
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// sdlGamepad.setTickRate(JOYSTICK_UPDATE_RATE);
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}
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void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
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{
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int state;
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if ((buttonSettings[number].ActionID>0)&&(buttonSettings[number].FunctionID>0)&&(pressed))
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{//this button is configured
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
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bool currentCGSControl = ((GCSControlGadgetWidget *)m_widget)->getGCSControl();
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switch (buttonSettings[number].ActionID)
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{
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case 1://increase
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if (currentCGSControl)
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{
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switch (buttonSettings[number].FunctionID)
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{
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case 1://Roll
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obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble()+buttonSettings[number].Amount));
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break;
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case 2://Pitch
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obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble()+buttonSettings[number].Amount));
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break;
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case 3://Yaw
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obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble()+buttonSettings[number].Amount));
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break;
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case 4://Throttle
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obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble()+buttonSettings[number].Amount));
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break;
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}
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}
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break;
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case 2://decrease
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if (currentCGSControl)
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{
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switch (buttonSettings[number].FunctionID)
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{
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case 1://Roll
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obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble()-buttonSettings[number].Amount));
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break;
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case 2://Pitch
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obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble()-buttonSettings[number].Amount));
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break;
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case 3://Yaw
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obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble()-buttonSettings[number].Amount));
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break;
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case 4://Throttle
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obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble()-buttonSettings[number].Amount));
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break;
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}
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}
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break;
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case 3://toggle
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switch (buttonSettings[number].FunctionID)
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{
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case 1://Armed
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if (currentCGSControl)
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{
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2011-05-07 22:06:04 +02:00
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
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if(obj->getField("Armed")->getValue().toString().compare("Armed")==0)
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2011-02-02 00:01:52 +01:00
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{
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2011-05-07 22:06:04 +02:00
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obj->getField("Armed")->setValue("Disarmed");
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2011-02-02 00:01:52 +01:00
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}
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else
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{
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2011-05-07 22:06:04 +02:00
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obj->getField("Armed")->setValue("Armed");
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2011-02-02 00:01:52 +01:00
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}
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}
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break;
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case 2://GCS Control
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//Toggle the GCS Control checkbox, its built in signalling will handle the update to OP
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((GCSControlGadgetWidget *)m_widget)->setGCSControl(!currentCGSControl);
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break;
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}
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break;
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}
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obj->updated();
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}
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//buttonSettings[number].ActionID NIDT
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//buttonSettings[number].FunctionID -RPYTAC
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//buttonSettings[number].Amount
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}
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void GCSControlGadget::axesValues(QListInt16 values)
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{
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int chMax = values.length();
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if (rollChannel > chMax || pitchChannel > chMax ||
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yawChannel > chMax || throttleChannel > chMax ) {
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qDebug() << "GCSControl: configuration is inconsistent with current joystick! Aborting update.";
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return;
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}
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double rValue = (rollChannel > -1) ? values[rollChannel] : 0;
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double pValue = (pitchChannel > -1) ? values[pitchChannel] : 0;
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double yValue = (yawChannel > -1) ? values[yawChannel] : 0;
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double tValue = (throttleChannel > -1) ? values[throttleChannel] : 0;
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double max = 32767;
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if (rollChannel > -1) if(channelReverse[rollChannel]==true)rValue = -rValue;
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if (pitchChannel > -1) if(channelReverse[pitchChannel]==true)pValue = -pValue;
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if (yawChannel > -1) if(channelReverse[yawChannel]==true)yValue = -yValue;
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if (throttleChannel > -1) if(channelReverse[throttleChannel]==true)tValue = -tValue;
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if(joystickTime.elapsed() > JOYSTICK_UPDATE_RATE) {
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joystickTime.restart();
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// Remap RPYT to left X/Y and right X/Y depending on mode
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// Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
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// Mode 2: LeftX = Yaw, LeftY = THrottle, RightX = Roll, RightY = Pitch
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// Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
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// Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
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switch (controlsMode) {
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case 1:
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sticksChangedLocally(yValue/max,-pValue/max,rValue/max,-tValue/max);
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break;
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case 2:
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sticksChangedLocally(yValue/max,-tValue/max,rValue/max,-pValue/max);
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break;
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case 3:
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sticksChangedLocally(rValue/max,-pValue/max,yValue/max,-tValue/max);
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break;
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case 4:
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sticksChangedLocally(rValue/max,-tValue/max,yValue/max,-pValue/max);
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break;
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}
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}
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}
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double GCSControlGadget::bound(double input)
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{
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if (input > 1.0)return 1.0;
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if (input <-1.0)return -1.0;
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return input;
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}
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double GCSControlGadget::wrap(double input)
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{
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while (input > 1.0)input -= 2.0;
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while (input <-1.0)input += 2.0;
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return input;
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}
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