mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Make the UI support 10 output channels
This commit is contained in:
James Cotton
parent
9312610f3b
commit
0193187d0c
@ -138,46 +138,6 @@
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<string>None</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 1</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 2</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 3</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 4</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 5</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 6</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 7</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 8</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="4" column="1">
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@ -187,46 +147,6 @@
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<string>None</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 1</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 2</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 3</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 4</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 5</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 6</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 7</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 8</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="3" column="0">
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@ -243,46 +163,6 @@
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<string>None</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 1</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 2</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 3</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 4</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 5</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 6</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 7</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 8</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="4" column="0">
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@ -105,10 +105,13 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
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ffTuningInProgress = false;
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ffTuningPhase = false;
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mixerTypes << "Mixer1Type" << "Mixer2Type" << "Mixer3Type"
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<< "Mixer4Type" << "Mixer5Type" << "Mixer6Type" << "Mixer7Type" << "Mixer8Type";
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mixerVectors << "Mixer1Vector" << "Mixer2Vector" << "Mixer3Vector"
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<< "Mixer4Vector" << "Mixer5Vector" << "Mixer6Vector" << "Mixer7Vector" << "Mixer8Vector";
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QStringList channels;
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channels << "None";
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for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
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mixerTypes << QString("Mixer%1Type").arg(i+1);
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mixerVectors << QString("Mixer%1Vector").arg(i+1);
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channels << QString("Channel%1").arg(i+1);
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}
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QStringList airframeTypes;
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airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Custom";
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@ -124,11 +127,6 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
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<< "Octo Coax X" << "Hexacopter Y6" << "Tricopter Y";
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m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
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QStringList channels;
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channels << "None" << "Channel1" << "Channel2" << "Channel3" <<
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"Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8";
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// Now load all the channel assignements for fixed wing
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m_aircraft->fwElevator1Channel->addItems(channels);
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m_aircraft->fwElevator2Channel->addItems(channels);
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@ -41,12 +41,26 @@
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#include "camerastabsettings.h"
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#include "hwsettings.h"
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#include "mixersettings.h"
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#include "actuatorcommand.h"
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ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
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{
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m_camerastabilization = new Ui_CameraStabilizationWidget();
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m_camerastabilization->setupUi(this);
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QComboBox * selectors[3] = {
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m_camerastabilization->rollChannel,
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m_camerastabilization->pitchChannel,
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m_camerastabilization->yawChannel
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};
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for (int i = 0; i < 3; i++) {
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selectors[i]->clear();
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selectors[i]->addItem("None");
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for (int j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++)
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selectors[i]->addItem(QString("Channel %1").arg(j+1));
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}
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connectUpdates();
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// Connect buttons
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@ -38,28 +38,31 @@
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#include <QMessageBox>
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#include <QDesktopServices>
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#include <QUrl>
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#include "actuatorcommand.h"
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ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
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{
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m_config = new Ui_OutputWidget();
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m_config->setupUi(this);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
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addUAVObject("ActuatorSettings");
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
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addUAVObject("ActuatorSettings");
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// First of all, put all the channel widgets into lists, so that we can
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// First of all, put all the channel widgets into lists, so that we can
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// manipulate those:
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// NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
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// NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
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outLabels << m_config->ch0OutValue
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<< m_config->ch1OutValue
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<< m_config->ch2OutValue
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<< m_config->ch3OutValue
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<< m_config->ch4OutValue
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<< m_config->ch5OutValue
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<< m_config->ch6OutValue
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<< m_config->ch7OutValue;
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<< m_config->ch1OutValue
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<< m_config->ch2OutValue
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<< m_config->ch3OutValue
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<< m_config->ch4OutValue
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<< m_config->ch5OutValue
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<< m_config->ch6OutValue
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<< m_config->ch7OutValue
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<< m_config->ch8OutValue
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<< m_config->ch9OutValue;
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outSliders << m_config->ch0OutSlider
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<< m_config->ch1OutSlider
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@ -68,7 +71,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
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<< m_config->ch4OutSlider
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<< m_config->ch5OutSlider
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<< m_config->ch6OutSlider
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<< m_config->ch7OutSlider;
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<< m_config->ch7OutSlider
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<< m_config->ch8OutSlider
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<< m_config->ch9OutSlider;
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outMin << m_config->ch0OutMin
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<< m_config->ch1OutMin
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@ -77,7 +82,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
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<< m_config->ch4OutMin
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<< m_config->ch5OutMin
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<< m_config->ch6OutMin
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<< m_config->ch7OutMin;
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<< m_config->ch7OutMin
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<< m_config->ch8OutMin
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<< m_config->ch9OutMin;
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outMax << m_config->ch0OutMax
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<< m_config->ch1OutMax
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@ -86,7 +93,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
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<< m_config->ch4OutMax
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<< m_config->ch5OutMax
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<< m_config->ch6OutMax
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<< m_config->ch7OutMax;
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<< m_config->ch7OutMax
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<< m_config->ch8OutMax
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<< m_config->ch9OutMax;
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reversals << m_config->ch0Rev
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<< m_config->ch1Rev
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@ -95,7 +104,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
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<< m_config->ch4Rev
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<< m_config->ch5Rev
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<< m_config->ch6Rev
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<< m_config->ch7Rev;
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<< m_config->ch7Rev
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<< m_config->ch8Rev
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<< m_config->ch9Rev;
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links << m_config->ch0Link
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<< m_config->ch1Link
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@ -104,15 +115,23 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
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<< m_config->ch4Link
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<< m_config->ch5Link
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<< m_config->ch6Link
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<< m_config->ch7Link;
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<< m_config->ch7Link
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<< m_config->ch8Link
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<< m_config->ch9Link;
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// Register for ActuatorSettings changes:
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for (int i = 0; i < 8; i++) {
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for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
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connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
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connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
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connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
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// Now connect the channel out sliders to our signal to send updates in test mode
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connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
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addWidget(outMin[i]);
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addWidget(outMax[i]);
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addWidget(reversals[i]);
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addWidget(outSliders[i]);
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addWidget(links[i]);
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}
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connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
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@ -134,39 +153,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
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addWidget(m_config->outputRate3);
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addWidget(m_config->outputRate2);
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addWidget(m_config->outputRate1);
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addWidget(m_config->ch0OutMin);
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addWidget(m_config->ch0OutSlider);
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addWidget(m_config->ch0OutMax);
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addWidget(m_config->ch0Rev);
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addWidget(m_config->ch0Link);
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addWidget(m_config->ch1OutMin);
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addWidget(m_config->ch1OutSlider);
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addWidget(m_config->ch1OutMax);
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addWidget(m_config->ch1Rev);
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addWidget(m_config->ch2OutMin);
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addWidget(m_config->ch2OutSlider);
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addWidget(m_config->ch2OutMax);
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addWidget(m_config->ch2Rev);
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addWidget(m_config->ch3OutMin);
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addWidget(m_config->ch3OutSlider);
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addWidget(m_config->ch3OutMax);
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addWidget(m_config->ch3Rev);
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addWidget(m_config->ch4OutMin);
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addWidget(m_config->ch4OutSlider);
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addWidget(m_config->ch4OutMax);
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addWidget(m_config->ch4Rev);
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addWidget(m_config->ch5OutMin);
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addWidget(m_config->ch5OutSlider);
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addWidget(m_config->ch5OutMax);
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addWidget(m_config->ch5Rev);
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addWidget(m_config->ch6OutMin);
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addWidget(m_config->ch6OutSlider);
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addWidget(m_config->ch6OutMax);
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addWidget(m_config->ch6Rev);
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addWidget(m_config->ch7OutMin);
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addWidget(m_config->ch7OutSlider);
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addWidget(m_config->ch7OutMax);
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addWidget(m_config->ch7Rev);
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addWidget(m_config->spinningArmed);
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}
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@ -384,14 +371,8 @@ void ConfigOutputWidget::refreshWidgetsValues()
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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// Reset all channel assignements:
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m_config->ch0Output->setText("-");
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m_config->ch1Output->setText("-");
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m_config->ch2Output->setText("-");
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m_config->ch3Output->setText("-");
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m_config->ch4Output->setText("-");
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m_config->ch5Output->setText("-");
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m_config->ch6Output->setText("-");
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m_config->ch7Output->setText("-");
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for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
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outLabels[i]->setText("-");
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// Get the channel assignements:
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UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
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@ -443,7 +424,7 @@ void ConfigOutputWidget::refreshWidgetsValues()
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// Get Channel ranges:
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for (int i=0;i<8;i++) {
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for (int i=0;i<ActuatorCommand::CHANNEL_NUMELEM;i++) {
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field = obj->getField(QString("ChannelMin"));
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int minValue = field->getValue(i).toInt();
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outMin[i]->setValue(minValue);
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@ -462,7 +443,7 @@ void ConfigOutputWidget::refreshWidgetsValues()
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}
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field = obj->getField(QString("ChannelNeutral"));
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for (int i=0; i<8; i++) {
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for (int i=0; i<ActuatorCommand::CHANNEL_NUMELEM; i++) {
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int value = field->getValue(i).toInt();
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outSliders[i]->setValue(value);
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outLabels[i]->setText(QString::number(value));
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@ -483,17 +464,17 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
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// Now send channel ranges:
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UAVObjectField * field = obj->getField(QString("ChannelMax"));
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for (int i = 0; i < 8; i++) {
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for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
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field->setValue(outMax[i]->value(),i);
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}
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field = obj->getField(QString("ChannelMin"));
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for (int i = 0; i < 8; i++) {
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for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
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field->setValue(outMin[i]->value(),i);
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}
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field = obj->getField(QString("ChannelNeutral"));
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for (int i = 0; i < 8; i++) {
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for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
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field->setValue(outSliders[i]->value(),i);
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}
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@ -970,6 +970,172 @@ p, li { white-space: pre-wrap; }
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QLabel" name="actuator8Label">
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<property name="text">
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<string>Channel 9:</string>
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</property>
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</widget>
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</item>
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<item row="10" column="0">
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<widget class="QLabel" name="actuator9Label">
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<property name="text">
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<string>Channel 10:</string>
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<widget class="QLabel" name="ch8Output">
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<property name="font">
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<font>
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<pointsize>9</pointsize>
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</font>
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</property>
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<property name="text">
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<string>-</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="10" column="1">
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<widget class="QLabel" name="ch9Output">
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<property name="font">
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<font>
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<pointsize>9</pointsize>
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</font>
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</property>
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<property name="text">
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<string>-</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
|
||||
<item row="9" column="2">
|
||||
<widget class="QSpinBox" name="ch8OutMin">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="2">
|
||||
<widget class="QSpinBox" name="ch9OutMin">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="3">
|
||||
<widget class="QSlider" name="ch8OutSlider">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="3">
|
||||
<widget class="QSlider" name="ch9OutSlider">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="4">
|
||||
<widget class="QSpinBox" name="ch8OutMax">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="4">
|
||||
<widget class="QSpinBox" name="ch9OutMax">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="5">
|
||||
<widget class="QLabel" name="ch8OutValue">
|
||||
<property name="text">
|
||||
<string>0000</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="5">
|
||||
<widget class="QLabel" name="ch9OutValue">
|
||||
<property name="text">
|
||||
<string>0000</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="6">
|
||||
<widget class="QCheckBox" name="ch8Rev">
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>FreeSans</family>
|
||||
<pointsize>8</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Check to invert the channel.</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="6">
|
||||
<widget class="QCheckBox" name="ch9Rev">
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>FreeSans</family>
|
||||
<pointsize>8</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Check to invert the channel.</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="7">
|
||||
<widget class="QCheckBox" name="ch8Link">
|
||||
<property name="toolTip">
|
||||
<string>Only used with Test Output mode</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="7">
|
||||
<widget class="QCheckBox" name="ch9Link">
|
||||
<property name="toolTip">
|
||||
<string>Only used with Test Output mode</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
<xml>
|
||||
<object name="ActuatorCommand" singleinstance="true" settings="false">
|
||||
<description>Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule</description>
|
||||
<field name="Channel" units="us" type="int16" elements="8"/>
|
||||
<field name="Channel" units="us" type="int16" elements="10"/>
|
||||
<field name="UpdateTime" units="ms" type="uint8" elements="1"/>
|
||||
<field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/>
|
||||
<field name="NumFailedUpdates" units="" type="uint8" elements="1"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user