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Code Issues Releases Activity

Make the UI support 10 output channels

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This commit is contained in:
James Cotton 2011-10-11 02:05:24 -05:00
parent 9312610f3b
commit 0193187d0c
6 changed files with 233 additions and 194 deletions
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120
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -138,46 +138,6 @@
<string>None</string> <string>None</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>Channel 1</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 2</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 3</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 4</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 5</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 6</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 7</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 8</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item row="4" column="1"> <item row="4" column="1">
@ -187,46 +147,6 @@
<string>None</string> <string>None</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>Channel 1</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 2</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 3</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 4</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 5</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 6</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 7</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 8</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="3" column="0">
@ -243,46 +163,6 @@
<string>None</string> <string>None</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>Channel 1</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 2</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 3</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 4</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 5</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 6</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 7</string>
</property>
</item>
<item>
<property name="text">
<string>Channel 8</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="4" column="0">

16
ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
View File

@ -105,10 +105,13 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
ffTuningInProgress = false; ffTuningInProgress = false;
ffTuningPhase = false; ffTuningPhase = false;
mixerTypes << "Mixer1Type" << "Mixer2Type" << "Mixer3Type" QStringList channels;
<< "Mixer4Type" << "Mixer5Type" << "Mixer6Type" << "Mixer7Type" << "Mixer8Type"; channels << "None";
mixerVectors << "Mixer1Vector" << "Mixer2Vector" << "Mixer3Vector" for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
<< "Mixer4Vector" << "Mixer5Vector" << "Mixer6Vector" << "Mixer7Vector" << "Mixer8Vector"; mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
channels << QString("Channel%1").arg(i+1);
}
QStringList airframeTypes; QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Custom"; airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Custom";
@ -124,11 +127,6 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
<< "Octo Coax X" << "Hexacopter Y6" << "Tricopter Y"; << "Octo Coax X" << "Hexacopter Y6" << "Tricopter Y";
m_aircraft->multirotorFrameType->addItems(multiRotorTypes); m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
QStringList channels;
channels << "None" << "Channel1" << "Channel2" << "Channel3" <<
"Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8";
// Now load all the channel assignements for fixed wing // Now load all the channel assignements for fixed wing
m_aircraft->fwElevator1Channel->addItems(channels); m_aircraft->fwElevator1Channel->addItems(channels);
m_aircraft->fwElevator2Channel->addItems(channels); m_aircraft->fwElevator2Channel->addItems(channels);

14
ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
View File

@ -41,12 +41,26 @@
#include "camerastabsettings.h" #include "camerastabsettings.h"
#include "hwsettings.h" #include "hwsettings.h"
#include "mixersettings.h" #include "mixersettings.h"
#include "actuatorcommand.h"
ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent) ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
{ {
m_camerastabilization = new Ui_CameraStabilizationWidget(); m_camerastabilization = new Ui_CameraStabilizationWidget();
m_camerastabilization->setupUi(this); m_camerastabilization->setupUi(this);
QComboBox * selectors[3] = {
m_camerastabilization->rollChannel,
m_camerastabilization->pitchChannel,
m_camerastabilization->yawChannel
};
for (int i = 0; i < 3; i++) {
selectors[i]->clear();
selectors[i]->addItem("None");
for (int j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++)
selectors[i]->addItem(QString("Channel %1").arg(j+1));
}
connectUpdates(); connectUpdates();
// Connect buttons // Connect buttons

109
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -38,28 +38,31 @@
#include <QMessageBox> #include <QMessageBox>
#include <QDesktopServices> #include <QDesktopServices>
#include <QUrl> #include <QUrl>
#include "actuatorcommand.h"
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent) ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{ {
m_config = new Ui_OutputWidget(); m_config = new Ui_OutputWidget();
m_config->setupUi(this); m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD); setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
addUAVObject("ActuatorSettings"); addUAVObject("ActuatorSettings");
// First of all, put all the channel widgets into lists, so that we can // First of all, put all the channel widgets into lists, so that we can
// manipulate those: // manipulate those:
// NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8. // NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
outLabels << m_config->ch0OutValue outLabels << m_config->ch0OutValue
<< m_config->ch1OutValue << m_config->ch1OutValue
<< m_config->ch2OutValue << m_config->ch2OutValue
<< m_config->ch3OutValue << m_config->ch3OutValue
<< m_config->ch4OutValue << m_config->ch4OutValue
<< m_config->ch5OutValue << m_config->ch5OutValue
<< m_config->ch6OutValue << m_config->ch6OutValue
<< m_config->ch7OutValue; << m_config->ch7OutValue
<< m_config->ch8OutValue
<< m_config->ch9OutValue;
outSliders << m_config->ch0OutSlider outSliders << m_config->ch0OutSlider
<< m_config->ch1OutSlider << m_config->ch1OutSlider
@ -68,7 +71,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
<< m_config->ch4OutSlider << m_config->ch4OutSlider
<< m_config->ch5OutSlider << m_config->ch5OutSlider
<< m_config->ch6OutSlider << m_config->ch6OutSlider
<< m_config->ch7OutSlider; << m_config->ch7OutSlider
<< m_config->ch8OutSlider
<< m_config->ch9OutSlider;
outMin << m_config->ch0OutMin outMin << m_config->ch0OutMin
<< m_config->ch1OutMin << m_config->ch1OutMin
@ -77,7 +82,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
<< m_config->ch4OutMin << m_config->ch4OutMin
<< m_config->ch5OutMin << m_config->ch5OutMin
<< m_config->ch6OutMin << m_config->ch6OutMin
<< m_config->ch7OutMin; << m_config->ch7OutMin
<< m_config->ch8OutMin
<< m_config->ch9OutMin;
outMax << m_config->ch0OutMax outMax << m_config->ch0OutMax
<< m_config->ch1OutMax << m_config->ch1OutMax
@ -86,7 +93,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
<< m_config->ch4OutMax << m_config->ch4OutMax
<< m_config->ch5OutMax << m_config->ch5OutMax
<< m_config->ch6OutMax << m_config->ch6OutMax
<< m_config->ch7OutMax; << m_config->ch7OutMax
<< m_config->ch8OutMax
<< m_config->ch9OutMax;
reversals << m_config->ch0Rev reversals << m_config->ch0Rev
<< m_config->ch1Rev << m_config->ch1Rev
@ -95,7 +104,9 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
<< m_config->ch4Rev << m_config->ch4Rev
<< m_config->ch5Rev << m_config->ch5Rev
<< m_config->ch6Rev << m_config->ch6Rev
<< m_config->ch7Rev; << m_config->ch7Rev
<< m_config->ch8Rev
<< m_config->ch9Rev;
links << m_config->ch0Link links << m_config->ch0Link
<< m_config->ch1Link << m_config->ch1Link
@ -104,15 +115,23 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
<< m_config->ch4Link << m_config->ch4Link
<< m_config->ch5Link << m_config->ch5Link
<< m_config->ch6Link << m_config->ch6Link
<< m_config->ch7Link; << m_config->ch7Link
<< m_config->ch8Link
<< m_config->ch9Link;
// Register for ActuatorSettings changes: // Register for ActuatorSettings changes:
for (int i = 0; i < 8; i++) { for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange())); connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange())); connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool))); connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
// Now connect the channel out sliders to our signal to send updates in test mode // Now connect the channel out sliders to our signal to send updates in test mode
connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int))); connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
addWidget(outMin[i]);
addWidget(outMax[i]);
addWidget(reversals[i]);
addWidget(outSliders[i]);
addWidget(links[i]);
} }
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool))); connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
@ -134,39 +153,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
addWidget(m_config->outputRate3); addWidget(m_config->outputRate3);
addWidget(m_config->outputRate2); addWidget(m_config->outputRate2);
addWidget(m_config->outputRate1); addWidget(m_config->outputRate1);
addWidget(m_config->ch0OutMin);
addWidget(m_config->ch0OutSlider);
addWidget(m_config->ch0OutMax);
addWidget(m_config->ch0Rev);
addWidget(m_config->ch0Link);
addWidget(m_config->ch1OutMin);
addWidget(m_config->ch1OutSlider);
addWidget(m_config->ch1OutMax);
addWidget(m_config->ch1Rev);
addWidget(m_config->ch2OutMin);
addWidget(m_config->ch2OutSlider);
addWidget(m_config->ch2OutMax);
addWidget(m_config->ch2Rev);
addWidget(m_config->ch3OutMin);
addWidget(m_config->ch3OutSlider);
addWidget(m_config->ch3OutMax);
addWidget(m_config->ch3Rev);
addWidget(m_config->ch4OutMin);
addWidget(m_config->ch4OutSlider);
addWidget(m_config->ch4OutMax);
addWidget(m_config->ch4Rev);
addWidget(m_config->ch5OutMin);
addWidget(m_config->ch5OutSlider);
addWidget(m_config->ch5OutMax);
addWidget(m_config->ch5Rev);
addWidget(m_config->ch6OutMin);
addWidget(m_config->ch6OutSlider);
addWidget(m_config->ch6OutMax);
addWidget(m_config->ch6Rev);
addWidget(m_config->ch7OutMin);
addWidget(m_config->ch7OutSlider);
addWidget(m_config->ch7OutMax);
addWidget(m_config->ch7Rev);
addWidget(m_config->spinningArmed); addWidget(m_config->spinningArmed);
} }
@ -384,14 +371,8 @@ void ConfigOutputWidget::refreshWidgetsValues()
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Reset all channel assignements: // Reset all channel assignements:
m_config->ch0Output->setText("-"); for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
m_config->ch1Output->setText("-"); outLabels[i]->setText("-");
m_config->ch2Output->setText("-");
m_config->ch3Output->setText("-");
m_config->ch4Output->setText("-");
m_config->ch5Output->setText("-");
m_config->ch6Output->setText("-");
m_config->ch7Output->setText("-");
// Get the channel assignements: // Get the channel assignements:
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings"))); UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
@ -443,7 +424,7 @@ void ConfigOutputWidget::refreshWidgetsValues()
// Get Channel ranges: // Get Channel ranges:
for (int i=0;i<8;i++) { for (int i=0;i<ActuatorCommand::CHANNEL_NUMELEM;i++) {
field = obj->getField(QString("ChannelMin")); field = obj->getField(QString("ChannelMin"));
int minValue = field->getValue(i).toInt(); int minValue = field->getValue(i).toInt();
outMin[i]->setValue(minValue); outMin[i]->setValue(minValue);
@ -462,7 +443,7 @@ void ConfigOutputWidget::refreshWidgetsValues()
} }
field = obj->getField(QString("ChannelNeutral")); field = obj->getField(QString("ChannelNeutral"));
for (int i=0; i<8; i++) { for (int i=0; i<ActuatorCommand::CHANNEL_NUMELEM; i++) {
int value = field->getValue(i).toInt(); int value = field->getValue(i).toInt();
outSliders[i]->setValue(value); outSliders[i]->setValue(value);
outLabels[i]->setText(QString::number(value)); outLabels[i]->setText(QString::number(value));
@ -483,17 +464,17 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
// Now send channel ranges: // Now send channel ranges:
UAVObjectField * field = obj->getField(QString("ChannelMax")); UAVObjectField * field = obj->getField(QString("ChannelMax"));
for (int i = 0; i < 8; i++) { for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outMax[i]->value(),i); field->setValue(outMax[i]->value(),i);
} }
field = obj->getField(QString("ChannelMin")); field = obj->getField(QString("ChannelMin"));
for (int i = 0; i < 8; i++) { for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outMin[i]->value(),i); field->setValue(outMin[i]->value(),i);
} }
field = obj->getField(QString("ChannelNeutral")); field = obj->getField(QString("ChannelNeutral"));
for (int i = 0; i < 8; i++) { for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outSliders[i]->value(),i); field->setValue(outSliders[i]->value(),i);
} }

166
ground/openpilotgcs/src/plugins/config/output.ui
View File

@ -970,6 +970,172 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="0">
<widget class="QLabel" name="actuator8Label">
<property name="text">
<string>Channel 9:</string>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="actuator9Label">
<property name="text">
<string>Channel 10:</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="ch8Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="ch9Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</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>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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> </layout>
</item> </item>
<item> <item>

2
shared/uavobjectdefinition/actuatorcommand.xml
View File

@ -1,7 +1,7 @@
<xml> <xml>
<object name="ActuatorCommand" singleinstance="true" settings="false"> <object name="ActuatorCommand" singleinstance="true" settings="false">
<description>Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule</description> <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="UpdateTime" units="ms" type="uint8" elements="1"/>
<field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/> <field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/>
<field name="NumFailedUpdates" units="" type="uint8" elements="1"/> <field name="NumFailedUpdates" units="" type="uint8" elements="1"/>