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LibrePilot/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp

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/**
******************************************************************************
*
* @file configstabilizationwidget.h
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief The Configuration Gadget used to update settings in the firmware
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configstabilizationwidget.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QSignalMapper>
ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
stabSettings = StabilizationSettings::GetInstance(getObjectManager());
m_stabilization = new Ui_StabilizationWidget();
m_stabilization->setupUi(this);
// Now connect the widget to the ManualControlCommand / Channel UAVObject
//UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("StabilizationSettings")));
requestStabilizationUpdate();
connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate()));
connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate()));
connect(m_stabilization->getStabilizationCurrent, SIGNAL(clicked()), this, SLOT(requestStabilizationUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestStabilizationUpdate()));
// Create a timer to regularly send the object update in case
// we want realtime updates.
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(sendStabilizationUpdate()));
connect(m_stabilization->realTimeUpdates, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdateToggle(bool)));
// Connect the updates of the stab values
connect(m_stabilization->rateRollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKP(double)));
connect(m_stabilization->rateRollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKI(double)));
connect(m_stabilization->rateRollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollILimit(double)));
connect(m_stabilization->ratePitchKp, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKP(double)));
connect(m_stabilization->ratePitchKi, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKI(double)));
connect(m_stabilization->ratePitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchILimit(double)));
connect(m_stabilization->rollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRollKP(double)));
connect(m_stabilization->rollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRollKI(double)));
connect(m_stabilization->rollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRollILimit(double)));
connect(m_stabilization->pitchKp, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKP(double)));
connect(m_stabilization->pitchKi, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKI(double)));
connect(m_stabilization->pitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updatePitchILimit(double)));
// Connect all the help buttons to signal mapper that passes button name to SLOT function
QSignalMapper* signalMapper = new QSignalMapper(this);
connect( m_stabilization->rateStabiHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_stabilization->rateStabiHelp, m_stabilization->rateStabiHelp->objectName());
connect( m_stabilization->attitudeStabiHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_stabilization->attitudeStabiHelp, m_stabilization->attitudeStabiHelp->objectName());
connect( m_stabilization->angleLimitsHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_stabilization->angleLimitsHelp, m_stabilization->angleLimitsHelp->objectName());
connect( m_stabilization->updateRealTimeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_stabilization->updateRealTimeHelp, m_stabilization->updateRealTimeHelp->objectName());
connect( m_stabilization->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_stabilization->commandHelp, m_stabilization->commandHelp->objectName());
connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
}
ConfigStabilizationWidget::~ConfigStabilizationWidget()
{
// Do nothing
}
void ConfigStabilizationWidget::updateRateRollKP(double val)
{
if (m_stabilization->linkRateRP->isChecked()) {
m_stabilization->ratePitchKp->setValue(val);
}
}
void ConfigStabilizationWidget::updateRateRollKI(double val)
{
if (m_stabilization->linkRateRP->isChecked()) {
m_stabilization->ratePitchKi->setValue(val);
}
}
void ConfigStabilizationWidget::updateRateRollILimit(double val)
{
if (m_stabilization->linkRateRP->isChecked()) {
m_stabilization->ratePitchILimit->setValue(val);
}
}
void ConfigStabilizationWidget::updateRatePitchKP(double val)
{
if (m_stabilization->linkRateRP->isChecked()) {
m_stabilization->rateRollKp->setValue(val);
}
}
void ConfigStabilizationWidget::updateRatePitchKI(double val)
{
if (m_stabilization->linkRateRP->isChecked()) {
m_stabilization->rateRollKi->setValue(val);
}
}
void ConfigStabilizationWidget::updateRatePitchILimit(double val)
{
if (m_stabilization->linkRateRP->isChecked()) {
m_stabilization->rateRollILimit->setValue(val);
}
}
void ConfigStabilizationWidget::updateRollKP(double val)
{
if (m_stabilization->linkAttitudeRP->isChecked()) {
m_stabilization->pitchKp->setValue(val);
}
}
void ConfigStabilizationWidget::updateRollKI(double val)
{
if (m_stabilization->linkAttitudeRP->isChecked()) {
m_stabilization->pitchKi->setValue(val);
}
}
void ConfigStabilizationWidget::updateRollILimit(double val)
{
if (m_stabilization->linkAttitudeRP->isChecked()) {
m_stabilization->pitchILimit->setValue(val);
}
}
void ConfigStabilizationWidget::updatePitchKP(double val)
{
if (m_stabilization->linkAttitudeRP->isChecked()) {
m_stabilization->rollKp->setValue(val);
}
}
void ConfigStabilizationWidget::updatePitchKI(double val)
{
if (m_stabilization->linkAttitudeRP->isChecked()) {
m_stabilization->rollKi->setValue(val);
}
}
void ConfigStabilizationWidget::updatePitchILimit(double val)
{
if (m_stabilization->linkAttitudeRP->isChecked()) {
m_stabilization->rollILimit->setValue(val);
}
}
/*******************************
* Stabilization Settings
*****************************/
/**
Request stabilization settings from the board
*/
void ConfigStabilizationWidget::requestStabilizationUpdate()
{
stabSettings->requestUpdate();
StabilizationSettings::DataFields stabData = stabSettings->getData();
// Now fill in all the fields, this is fairly tedious:
m_stabilization->rateRollKp->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP]);
m_stabilization->rateRollKi->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI]);
m_stabilization->rateRollILimit->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT]);
m_stabilization->ratePitchKp->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP]);
m_stabilization->ratePitchKi->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI]);
m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT]);
m_stabilization->rateYawKp->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP]);
m_stabilization->rateYawKi->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI]);
m_stabilization->rateYawILimit->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT]);
m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]);
m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]);
m_stabilization->rollILimit->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT]);
m_stabilization->pitchKp->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KP]);
m_stabilization->pitchKi->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KI]);
m_stabilization->pitchILimit->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT]);
m_stabilization->yawKp->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KP]);
m_stabilization->yawKi->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KI]);
m_stabilization->yawILimit->setValue(stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT]);
m_stabilization->rollMax->setValue(stabData.RollMax);
m_stabilization->pitchMax->setValue(stabData.PitchMax);
m_stabilization->yawMax->setValue(stabData.YawMax);
}
/**
Send telemetry settings to the board
*/
void ConfigStabilizationWidget::sendStabilizationUpdate()
{
StabilizationSettings::DataFields stabData = stabSettings->getData();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP] = m_stabilization->rateRollKp->value();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI] = m_stabilization->rateRollKi->value();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT] = m_stabilization->rateRollILimit->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP] = m_stabilization->ratePitchKp->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI] = m_stabilization->ratePitchKi->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT] = m_stabilization->ratePitchILimit->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP] = m_stabilization->rateYawKp->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI] = m_stabilization->rateYawKi->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT] = m_stabilization->rateYawILimit->value();
stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value();
stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value();
stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT] = m_stabilization->rollILimit->value();
stabData.PitchPI[StabilizationSettings::PITCHPI_KP] = m_stabilization->pitchKp->value();
stabData.PitchPI[StabilizationSettings::PITCHPI_KI] = m_stabilization->pitchKi->value();
stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT] = m_stabilization->pitchILimit->value();
stabData.YawPI[StabilizationSettings::YAWPI_KP] = m_stabilization->yawKp->value();
stabData.YawPI[StabilizationSettings::YAWPI_KI] = m_stabilization->yawKi->value();
stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT] = m_stabilization->yawILimit->value();
stabData.RollMax = m_stabilization->rollMax->value();
stabData.PitchMax = m_stabilization->pitchMax->value();
stabData.YawMax = m_stabilization->yawMax->value();
stabSettings->setData(stabData); // this is atomic
}
/**
Send telemetry settings to the board and request saving to SD card
*/
void ConfigStabilizationWidget::saveStabilizationUpdate()
{
// Send update so that the latest value is saved
sendStabilizationUpdate();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("StabilizationSettings")));
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
{
if (state)
updateTimer.start(300);
else
updateTimer.stop();
}