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Code Issues Releases Activity

OP-311 New "Arming" tab in the config widget to setup how the airframe is armed.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2763 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2011-02-08 16:49:33 +00:00 committed by edouard
parent 93ee2765be
commit 04ba1261f0
2 changed files with 1132 additions and 982 deletions
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1981
ground/openpilotgcs/src/plugins/config/configservowidget.cpp
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@ -1,980 +1,1001 @@
/**
******************************************************************************
*
* @file configservowidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
*****************************************************************************/
/*
* 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 "configservowidget.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
ConfigServoWidget::ConfigServoWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_config = new Ui_SettingsWidget();
m_config->setupUi(this);
// First of all, put all the channel widgets into lists, so that we can
// 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.
outLabels << m_config->ch0OutValue
<< m_config->ch1OutValue
<< m_config->ch2OutValue
<< m_config->ch3OutValue
<< m_config->ch4OutValue
<< m_config->ch5OutValue
<< m_config->ch6OutValue
<< m_config->ch7OutValue;
outSliders << m_config->ch0OutSlider
<< m_config->ch1OutSlider
<< m_config->ch2OutSlider
<< m_config->ch3OutSlider
<< m_config->ch4OutSlider
<< m_config->ch5OutSlider
<< m_config->ch6OutSlider
<< m_config->ch7OutSlider;
outMin << m_config->ch0OutMin
<< m_config->ch1OutMin
<< m_config->ch2OutMin
<< m_config->ch3OutMin
<< m_config->ch4OutMin
<< m_config->ch5OutMin
<< m_config->ch6OutMin
<< m_config->ch7OutMin;
outMax << m_config->ch0OutMax
<< m_config->ch1OutMax
<< m_config->ch2OutMax
<< m_config->ch3OutMax
<< m_config->ch4OutMax
<< m_config->ch5OutMax
<< m_config->ch6OutMax
<< m_config->ch7OutMax;
reversals << m_config->ch0Rev
<< m_config->ch1Rev
<< m_config->ch2Rev
<< m_config->ch3Rev
<< m_config->ch4Rev
<< m_config->ch5Rev
<< m_config->ch6Rev
<< m_config->ch7Rev;
inSliders << m_config->ch0Slider
<< m_config->ch1Slider
<< m_config->ch2Slider
<< m_config->ch3Slider
<< m_config->ch4Slider
<< m_config->ch5Slider
<< m_config->ch6Slider
<< m_config->ch7Slider;
// Now connect the widget to the ManualControlCommand / Channel UAVObject
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlCommand")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*)));
// Get the receiver types supported by OpenPilot and fill the corresponding
// dropdown menu:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
QString fieldName = QString("InputMode");
UAVObjectField *field = obj->getField(fieldName);
m_config->receiverType->addItems(field->getOptions());
m_config->receiverType->setDisabled(true); // This option does not work for now, it is a compile-time option.
// Fill in the dropdown menus for the channel RC Input assignement.
QStringList channelsList;
channelsList << "None";
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
channelsList.append(field->getName());
}
}
m_config->ch0Assign->addItems(channelsList);
m_config->ch1Assign->addItems(channelsList);
m_config->ch2Assign->addItems(channelsList);
m_config->ch3Assign->addItems(channelsList);
m_config->ch4Assign->addItems(channelsList);
m_config->ch5Assign->addItems(channelsList);
m_config->ch6Assign->addItems(channelsList);
m_config->ch7Assign->addItems(channelsList);
// And for the channel output assignement options
m_config->ch0Output->addItem("None");
m_config->ch1Output->addItem("None");
m_config->ch2Output->addItem("None");
m_config->ch3Output->addItem("None");
m_config->ch4Output->addItem("None");
m_config->ch5Output->addItem("None");
m_config->ch6Output->addItem("None");
m_config->ch7Output->addItem("None");
// And the flight mode settings:
field = obj->getField(QString("Pos1FlightMode"));
m_config->fmsModePos1->addItems(field->getOptions());
m_config->fmsModePos2->addItems(field->getOptions());
m_config->fmsModePos3->addItems(field->getOptions());
field = obj->getField(QString("Pos1StabilizationSettings"));
channelsList.clear();
channelsList.append(field->getOptions());
m_config->fmsSsPos1Roll->addItems(channelsList);
m_config->fmsSsPos1Pitch->addItems(channelsList);
m_config->fmsSsPos1Yaw->addItems(channelsList);
m_config->fmsSsPos2Roll->addItems(channelsList);
m_config->fmsSsPos2Pitch->addItems(channelsList);
m_config->fmsSsPos2Yaw->addItems(channelsList);
m_config->fmsSsPos3Roll->addItems(channelsList);
m_config->fmsSsPos3Pitch->addItems(channelsList);
m_config->fmsSsPos3Yaw->addItems(channelsList);
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
m_config->ch0Output->addItem(field->getName());
m_config->ch1Output->addItem(field->getName());
m_config->ch2Output->addItem(field->getName());
m_config->ch3Output->addItem(field->getName());
m_config->ch4Output->addItem(field->getName());
m_config->ch5Output->addItem(field->getName());
m_config->ch6Output->addItem(field->getName());
m_config->ch7Output->addItem(field->getName());
}
}
for (int i = 0; i < 8; i++) {
connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
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
connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
}
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
requestRCInputUpdate();
requestRCOutputUpdate();
connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
connect(m_config->getRCInputCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
// Flightmode panel is connected to the same as rcinput because
// the underlying object is the same!
connect(m_config->saveFmsToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveFmsToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
connect(m_config->getFmsCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
connect(m_config->saveRCOutputToSD, SIGNAL(clicked()), this, SLOT(saveRCOutputObject()));
connect(m_config->saveRCOutputToRAM, SIGNAL(clicked()), this, SLOT(sendRCOutputUpdate()));
connect(m_config->getRCOutputCurrent, SIGNAL(clicked()), this, SLOT(requestRCOutputUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCInputUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCOutputUpdate()));
firstUpdate = true;
}
ConfigServoWidget::~ConfigServoWidget()
{
// Do nothing
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
*/
void ConfigServoWidget::sendChannelTest(int value)
{
// First of all, update the label:
QSlider *ob = (QSlider*)QObject::sender();
int index = outSliders.indexOf(ob);
if (reversals[index]->isChecked())
value = outMin[index]->value()-value+outMax[index]->value();
else
outLabels[index]->setText(QString::number(value));
outLabels[index]->setText(QString::number(value));
if (!m_config->channelOutTest->isChecked())
return;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
UAVObjectField * channel = obj->getField("Channel");
channel->setValue(value,index);
obj->updated();
}
/**
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
*/
void ConfigServoWidget::runChannelTests(bool state)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
if (state)
{
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryUpdatePeriod = 100;
}
else
{
mdata = accInitialData; // Restore metadata
}
obj->setMetadata(mdata);
}
/********************************
* Output settings
*******************************/
/**
Request the current config from the board (RC Output)
*/
void ConfigServoWidget::requestRCOutputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
UAVObjectField *field = obj->getField(QString("AirframeType"));
m_config->aircraftType->setText(QString("Aircraft type: ") + field->getValue().toString());
// Reset all channel assignements:
m_config->ch0Output->setCurrentIndex(0);
m_config->ch1Output->setCurrentIndex(0);
m_config->ch2Output->setCurrentIndex(0);
m_config->ch3Output->setCurrentIndex(0);
m_config->ch4Output->setCurrentIndex(0);
m_config->ch5Output->setCurrentIndex(0);
m_config->ch6Output->setCurrentIndex(0);
m_config->ch7Output->setCurrentIndex(0);
// Get the channel assignements:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
assignOutputChannel(obj,field->getName());
}
}
// Get Output rates for both banks
field = obj->getField(QString("ChannelUpdateFreq"));
m_config->outputRate1->setValue(field->getValue(0).toInt());
m_config->outputRate2->setValue(field->getValue(1).toInt());
// Get Channel ranges:
for (int i=0;i<8;i++) {
field = obj->getField(QString("ChannelMin"));
int minValue = field->getValue(i).toInt();
outMin[i]->setValue(minValue);
field = obj->getField(QString("ChannelMax"));
int maxValue = field->getValue(i).toInt();
outMax[i]->setValue(maxValue);
if (maxValue>minValue) {
outSliders[i]->setMinimum(minValue);
outSliders[i]->setMaximum(maxValue);
reversals[i]->setChecked(false);
} else {
outSliders[i]->setMinimum(maxValue);
outSliders[i]->setMaximum(minValue);
reversals[i]->setChecked(true);
}
}
field = obj->getField(QString("ChannelNeutral"));
for (int i=0; i<8; i++) {
int value = field->getValue(i).toInt();
outSliders[i]->setValue(value);
outLabels[i]->setText(QString::number(value));
}
}
/**
* Sends the config to the board, without saving to the SD card (RC Output)
*/
void ConfigServoWidget::sendRCOutputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Now send channel ranges:
UAVObjectField * field = obj->getField(QString("ChannelMax"));
for (int i = 0; i < 8; i++) {
field->setValue(outMax[i]->value(),i);
}
field = obj->getField(QString("ChannelMin"));
for (int i = 0; i < 8; i++) {
field->setValue(outMin[i]->value(),i);
}
field = obj->getField(QString("ChannelNeutral"));
for (int i = 0; i < 8; i++) {
field->setValue(outSliders[i]->value(),i);
}
field = obj->getField(QString("ChannelUpdateFreq"));
field->setValue(m_config->outputRate1->value(),0);
field->setValue(m_config->outputRate2->value(),1);
// Set Actuator assignement for each channel:
// Rule: if two channels have the same setting (which is wrong!) the higher channel
// will get the setting.
// First, reset all channel assignements:
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
// NOTE: we assume that all options in ActuatorSettings are a channel assignement
// except for the options called "ChannelXXX"
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
if (m_config->ch0Output->currentIndex() != 0) {
field = obj->getField(m_config->ch0Output->currentText());
field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch1Output->currentIndex() != 0) {
field = obj->getField(m_config->ch1Output->currentText());
field->setValue(field->getOptions().at(1)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch2Output->currentIndex() != 0) {
field = obj->getField(m_config->ch2Output->currentText());
field->setValue(field->getOptions().at(2)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch3Output->currentIndex() != 0) {
field = obj->getField(m_config->ch3Output->currentText());
field->setValue(field->getOptions().at(3)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch4Output->currentIndex() != 0) {
field = obj->getField(m_config->ch4Output->currentText());
field->setValue(field->getOptions().at(4)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch5Output->currentIndex() != 0) {
field = obj->getField(m_config->ch5Output->currentText());
field->setValue(field->getOptions().at(5)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch6Output->currentIndex() != 0) {
field = obj->getField(m_config->ch6Output->currentText());
field->setValue(field->getOptions().at(6)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch7Output->currentIndex() != 0) {
field = obj->getField(m_config->ch7Output->currentText());
field->setValue(field->getOptions().at(7)); // -> This way we don't depend on channel naming convention
}
// ... and send to the OP Board
obj->updated();
}
/**
Sends the config to the board and request saving into the SD card (RC Output)
*/
void ConfigServoWidget::saveRCOutputObject()
{
// Send update so that the latest value is saved
sendRCOutputUpdate();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
Sets the minimum/maximum value of the channel 0 to seven output sliders.
Have to do it here because setMinimum is not a slot.
One added trick: if the slider is at either its max or its min when the value
is changed, then keep it on the max/min.
*/
void ConfigServoWidget::setChOutRange()
{
QSpinBox *spinbox = (QSpinBox*)QObject::sender();
int index = outMin.indexOf(spinbox); // This is the channel number
if (index < 0)
index = outMax.indexOf(spinbox); // We can't know if the signal came from min or max
QSlider *slider = outSliders[index];
int oldMini = slider->minimum();
int oldMaxi = slider->maximum();
if (outMin[index]->value()<outMax[index]->value())
{
slider->setRange(outMin[index]->value(), outMax[index]->value());
reversals[index]->setChecked(false);
}
else
{
slider->setRange(outMax[index]->value(), outMin[index]->value());
reversals[index]->setChecked(true);
}
if (slider->value() == oldMini)
slider->setValue(slider->minimum());
// if (slider->value() == oldMaxi)
// slider->setValue(slider->maximum()); // this can be dangerous if it happens to be controlling a motor at the time!
}
/**
Reverses the channel when the checkbox is clicked
*/
void ConfigServoWidget::reverseChannel(bool state)
{
QCheckBox *checkbox = (QCheckBox*)QObject::sender();
int index = reversals.indexOf(checkbox); // This is the channel number
// Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
// the situations below can happen!
if (state && (outMax[index]->value()<outMin[index]->value()))
return;
if (!state && (outMax[index]->value()>outMin[index]->value()))
return;
// Now, swap the min & max values (only on the spinboxes, the slider
// does not change!
int temp = outMax[index]->value();
outMax[index]->setValue(outMin[index]->value());
outMin[index]->setValue(temp);
// Also update the channel value
// This is a trick to force the slider to update its value and
// emit the right signal itself, because our sendChannelTest(int) method
// relies on the object sender's identity.
if (outSliders[index]->value()<outSliders[index]->maximum()) {
outSliders[index]->setValue(outSliders[index]->value()+1);
outSliders[index]->setValue(outSliders[index]->value()-1);
} else {
outSliders[index]->setValue(outSliders[index]->value()-1);
outSliders[index]->setValue(outSliders[index]->value()+1);
}
}
/********************************
* Input settings
*******************************/
/**
Request the current config from the board
*/
void ConfigServoWidget::requestRCInputUpdate()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
// Now update all the slider values:
QString fieldName = QString("ChannelMax");
UAVObjectField *field = obj->getField(fieldName);
m_config->ch0Max->setText(field->getValue(0).toString());
m_config->ch0Slider->setMaximum(field->getValue(0).toInt());
m_config->ch1Max->setText(field->getValue(1).toString());
m_config->ch1Slider->setMaximum(field->getValue(1).toInt());
m_config->ch2Max->setText(field->getValue(2).toString());
m_config->ch2Slider->setMaximum(field->getValue(2).toInt());
m_config->ch3Max->setText(field->getValue(3).toString());
m_config->ch3Slider->setMaximum(field->getValue(3).toInt());
m_config->ch4Max->setText(field->getValue(4).toString());
m_config->ch4Slider->setMaximum(field->getValue(4).toInt());
m_config->ch5Max->setText(field->getValue(5).toString());
m_config->ch5Slider->setMaximum(field->getValue(5).toInt());
m_config->ch6Max->setText(field->getValue(6).toString());
m_config->ch6Slider->setMaximum(field->getValue(6).toInt());
m_config->ch7Max->setText(field->getValue(7).toString());
m_config->ch7Slider->setMaximum(field->getValue(7).toInt());
fieldName = QString("ChannelMin");
field = obj->getField(fieldName);
m_config->ch0Min->setText(field->getValue(0).toString());
m_config->ch0Slider->setMinimum(field->getValue(0).toInt());
m_config->ch1Min->setText(field->getValue(1).toString());
m_config->ch1Slider->setMinimum(field->getValue(1).toInt());
m_config->ch2Min->setText(field->getValue(2).toString());
m_config->ch2Slider->setMinimum(field->getValue(2).toInt());
m_config->ch3Min->setText(field->getValue(3).toString());
m_config->ch3Slider->setMinimum(field->getValue(3).toInt());
m_config->ch4Min->setText(field->getValue(4).toString());
m_config->ch4Slider->setMinimum(field->getValue(4).toInt());
m_config->ch5Min->setText(field->getValue(5).toString());
m_config->ch5Slider->setMinimum(field->getValue(5).toInt());
m_config->ch6Min->setText(field->getValue(6).toString());
m_config->ch6Slider->setMinimum(field->getValue(6).toInt());
m_config->ch7Min->setText(field->getValue(7).toString());
m_config->ch7Slider->setMinimum(field->getValue(7).toInt());
fieldName = QString("ChannelNeutral");
field = obj->getField(fieldName);
m_config->ch0Slider->setValue(field->getValue(0).toInt());
m_config->ch1Slider->setValue(field->getValue(1).toInt());
m_config->ch2Slider->setValue(field->getValue(2).toInt());
m_config->ch3Slider->setValue(field->getValue(3).toInt());
m_config->ch4Slider->setValue(field->getValue(4).toInt());
m_config->ch5Slider->setValue(field->getValue(5).toInt());
m_config->ch6Slider->setValue(field->getValue(6).toInt());
m_config->ch7Slider->setValue(field->getValue(7).toInt());
// Update receiver type
fieldName = QString("InputMode");
field = obj->getField(fieldName);
m_config->receiverType->setCurrentIndex(m_config->receiverType->findText(field->getValue().toString()));
// Reset all channel assignement dropdowns:
m_config->ch0Assign->setCurrentIndex(0);
m_config->ch1Assign->setCurrentIndex(0);
m_config->ch2Assign->setCurrentIndex(0);
m_config->ch3Assign->setCurrentIndex(0);
m_config->ch4Assign->setCurrentIndex(0);
m_config->ch5Assign->setCurrentIndex(0);
m_config->ch6Assign->setCurrentIndex(0);
m_config->ch7Assign->setCurrentIndex(0);
// Update all channels assignements
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
assignChannel(obj, field->getName());
}
}
// Update all the flight mode settingsin the relevant tab
field = obj->getField(QString("Pos1FlightMode"));
m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue().toString())));
field = obj->getField(QString("Pos2FlightMode"));
m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue().toString())));
field = obj->getField(QString("Pos3FlightMode"));
m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue().toString())));
field = obj->getField(QString("Pos1StabilizationSettings"));
m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText(
field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText(
field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText(
field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
field = obj->getField(QString("Pos2StabilizationSettings"));
m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText(
field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText(
field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText(
field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
field = obj->getField(QString("Pos3StabilizationSettings"));
m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText(
field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText(
field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText(
field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
}
/**
* Sends the config to the board, without saving to the SD card
*/
void ConfigServoWidget::sendRCInputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
// Now update all fields from the sliders:
QString fieldName = QString("ChannelMax");
UAVObjectField * field = obj->getField(fieldName);
field->setValue(m_config->ch0Max->text().toInt(),0);
field->setValue(m_config->ch1Max->text().toInt(),1);
field->setValue(m_config->ch2Max->text().toInt(),2);
field->setValue(m_config->ch3Max->text().toInt(),3);
field->setValue(m_config->ch4Max->text().toInt(),4);
field->setValue(m_config->ch5Max->text().toInt(),5);
field->setValue(m_config->ch6Max->text().toInt(),6);
field->setValue(m_config->ch7Max->text().toInt(),7);
fieldName = QString("ChannelMin");
field = obj->getField(fieldName);
field->setValue(m_config->ch0Min->text().toInt(),0);
field->setValue(m_config->ch1Min->text().toInt(),1);
field->setValue(m_config->ch2Min->text().toInt(),2);
field->setValue(m_config->ch3Min->text().toInt(),3);
field->setValue(m_config->ch4Min->text().toInt(),4);
field->setValue(m_config->ch5Min->text().toInt(),5);
field->setValue(m_config->ch6Min->text().toInt(),6);
field->setValue(m_config->ch7Min->text().toInt(),7);
fieldName = QString("ChannelNeutral");
field = obj->getField(fieldName);
field->setValue(m_config->ch0Slider->value(),0);
field->setValue(m_config->ch1Slider->value(),1);
field->setValue(m_config->ch2Slider->value(),2);
field->setValue(m_config->ch3Slider->value(),3);
field->setValue(m_config->ch4Slider->value(),4);
field->setValue(m_config->ch5Slider->value(),5);
field->setValue(m_config->ch6Slider->value(),6);
field->setValue(m_config->ch7Slider->value(),7);
// Set RC Receiver type:
fieldName = QString("InputMode");
field = obj->getField(fieldName);
field->setValue(m_config->receiverType->currentText());
// Set Roll/Pitch/Yaw/Etc assignement:
// Rule: if two channels have the same setting (which is wrong!) the higher channel
// will get the setting.
// First, reset all channel assignements:
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
// Then assign according to current GUI state:
if (m_config->ch0Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch0Assign->currentText());
field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch1Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch1Assign->currentText());
field->setValue(field->getOptions().at(1));
}
if (m_config->ch2Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch2Assign->currentText());
field->setValue(field->getOptions().at(2));
}
if (m_config->ch3Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch3Assign->currentText());
field->setValue(field->getOptions().at(3));
}
if (m_config->ch4Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch4Assign->currentText());
field->setValue(field->getOptions().at(4));
}
if (m_config->ch5Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch5Assign->currentText());
field->setValue(field->getOptions().at(5));
}
if (m_config->ch6Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch6Assign->currentText());
field->setValue(field->getOptions().at(6));
}
if (m_config->ch7Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch7Assign->currentText());
field->setValue(field->getOptions().at(7));
}
// Send all the flight mode settings
field = obj->getField(QString("Pos1FlightMode"));
field->setValue(m_config->fmsModePos1->currentText());
field = obj->getField(QString("Pos2FlightMode"));
field->setValue(m_config->fmsModePos2->currentText());
field = obj->getField(QString("Pos3FlightMode"));
field->setValue(m_config->fmsModePos3->currentText());
field = obj->getField(QString("Pos1StabilizationSettings"));
field->setValue(m_config->fmsSsPos1Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos1Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos1Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
field = obj->getField(QString("Pos2StabilizationSettings"));
field->setValue(m_config->fmsSsPos2Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos2Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos2Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
field = obj->getField(QString("Pos3StabilizationSettings"));
field->setValue(m_config->fmsSsPos3Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos3Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos3Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
// ... and send to the OP Board
obj->updated();
}
/**
Sends the config to the board and request saving into the SD card
*/
void ConfigServoWidget::saveRCInputObject()
{
// Send update so that the latest value is saved
sendRCInputUpdate();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
* Set the dropdown option for a channel Input assignement
*/
void ConfigServoWidget::assignChannel(UAVDataObject *obj, QString str)
{
UAVObjectField* field = obj->getField(str);
QStringList options = field->getOptions();
switch (options.indexOf(field->getValue().toString())) {
case 0:
m_config->ch0Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 1:
m_config->ch1Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 2:
m_config->ch2Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 3:
m_config->ch3Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 4:
m_config->ch4Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 5:
m_config->ch5Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 6:
m_config->ch6Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 7:
m_config->ch7Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
}
}
/**
* Set the dropdown option for a channel output assignement
*/
void ConfigServoWidget::assignOutputChannel(UAVDataObject *obj, QString str)
{
UAVObjectField* field = obj->getField(str);
QStringList options = field->getOptions();
switch (options.indexOf(field->getValue().toString())) {
case 0:
m_config->ch0Output->setCurrentIndex(m_config->ch0Output->findText(str));
break;
case 1:
m_config->ch1Output->setCurrentIndex(m_config->ch1Output->findText(str));
break;
case 2:
m_config->ch2Output->setCurrentIndex(m_config->ch2Output->findText(str));
break;
case 3:
m_config->ch3Output->setCurrentIndex(m_config->ch3Output->findText(str));
break;
case 4:
m_config->ch4Output->setCurrentIndex(m_config->ch4Output->findText(str));
break;
case 5:
m_config->ch5Output->setCurrentIndex(m_config->ch5Output->findText(str));
break;
case 6:
m_config->ch6Output->setCurrentIndex(m_config->ch6Output->findText(str));
break;
case 7:
m_config->ch7Output->setCurrentIndex(m_config->ch7Output->findText(str));
break;
}
}
/**
* Updates the slider positions and min/max values
*
*/
void ConfigServoWidget::updateChannels(UAVObject* controlCommand)
{
QString fieldName = QString("Connected");
UAVObjectField *field = controlCommand->getField(fieldName);
if (field->getValue().toBool()) {
m_config->RCInputConnected->setText("RC Receiver Connected");
} else {
m_config->RCInputConnected->setText("RC Receiver Not Connected");
}
if (m_config->doRCInputCalibration->isChecked()) {
if (firstUpdate) {
// Increase the data rate from the board so that the sliders
// move faster
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mccDataRate = mdata.flightTelemetryUpdatePeriod;
mdata.flightTelemetryUpdatePeriod = 150;
controlCommand->setMetadata(mdata);
}
fieldName = QString("Channel");
field = controlCommand->getField(fieldName);
// Hey: if you find a nicer way of doing this, be my guest!
this->updateChannelSlider(&*m_config->ch0Slider,
&*m_config->ch0Min,
&*m_config->ch0Max,
&*m_config->ch0Rev,field->getValue(0).toInt());
this->updateChannelSlider(&*m_config->ch1Slider,
&*m_config->ch1Min,
&*m_config->ch1Max,
&*m_config->ch1Rev,field->getValue(1).toInt());
this->updateChannelSlider(&*m_config->ch2Slider,
&*m_config->ch2Min,
&*m_config->ch2Max,
&*m_config->ch2Rev,field->getValue(2).toInt());
this->updateChannelSlider(&*m_config->ch3Slider,
&*m_config->ch3Min,
&*m_config->ch3Max,
&*m_config->ch3Rev,field->getValue(3).toInt());
this->updateChannelSlider(&*m_config->ch4Slider,
&*m_config->ch4Min,
&*m_config->ch4Max,
&*m_config->ch4Rev,field->getValue(4).toInt());
this->updateChannelSlider(&*m_config->ch5Slider,
&*m_config->ch5Min,
&*m_config->ch5Max,
&*m_config->ch5Rev,field->getValue(5).toInt());
this->updateChannelSlider(&*m_config->ch6Slider,
&*m_config->ch6Min,
&*m_config->ch6Max,
&*m_config->ch6Rev,field->getValue(6).toInt());
this->updateChannelSlider(&*m_config->ch7Slider,
&*m_config->ch7Min,
&*m_config->ch7Max,
&*m_config->ch7Rev,field->getValue(7).toInt());
firstUpdate = false;
} else {
if (!firstUpdate) {
// Restore original data rate from the board:
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = mccDataRate;
controlCommand->setMetadata(mdata);
}
firstUpdate = true;
}
//Update the Flight mode channel slider
UAVObject* obj = getObjectManager()->getObject("ManualControlSettings");
// Find the channel currently assigned to flightmode
field = obj->getField("FlightMode");
int chIndex = field->getOptions().indexOf(field->getValue().toString());
if ( chIndex < field->getOptions().length()-1) {
float valueScaled;
int chMin = inSliders.at(chIndex)->minimum();
int chMax = inSliders.at(chIndex)->maximum();
int chNeutral = inSliders.at(chIndex)->value();
int value = controlCommand->getField("Channel")->getValue(chIndex).toInt();
if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) {
if (chMax != chNeutral) {
valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
} else {
valueScaled = 0;
}
} else {
if (chMin != chNeutral) {
valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
} else {
valueScaled = 0;
}
}
// Bound
if (valueScaled > 1.0) {
valueScaled = 1.0;
} else if (valueScaled < -1.0) {
valueScaled = -1.0;
}
m_config->fmsSlider->setValue(valueScaled*100);
}
}
void ConfigServoWidget::updateChannelSlider(QSlider* slider, QLabel* min, QLabel* max, QCheckBox* rev, int value)
{
Q_UNUSED(rev);
if (firstUpdate) {
// Reset all the min/max values of the sliders since we are
// starting the calibration.
slider->setMaximum(value);
slider->setMinimum(value);
slider->setValue(value);
max->setText(QString::number(value));
min->setText(QString::number(value));
return;
}
if (value != 0) { // Avoids glitches...
if (value > slider->maximum()) {
slider->setMaximum(value);
max->setText(QString::number(value));
}
if (value < slider->minimum()) {
slider->setMinimum(value);
min->setText(QString::number(value));
}
slider->setValue(value);
}
}
/**
******************************************************************************
*
* @file configservowidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
*****************************************************************************/
/*
* 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 "configservowidget.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
ConfigServoWidget::ConfigServoWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_config = new Ui_SettingsWidget();
m_config->setupUi(this);
// First of all, put all the channel widgets into lists, so that we can
// 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.
outLabels << m_config->ch0OutValue
<< m_config->ch1OutValue
<< m_config->ch2OutValue
<< m_config->ch3OutValue
<< m_config->ch4OutValue
<< m_config->ch5OutValue
<< m_config->ch6OutValue
<< m_config->ch7OutValue;
outSliders << m_config->ch0OutSlider
<< m_config->ch1OutSlider
<< m_config->ch2OutSlider
<< m_config->ch3OutSlider
<< m_config->ch4OutSlider
<< m_config->ch5OutSlider
<< m_config->ch6OutSlider
<< m_config->ch7OutSlider;
outMin << m_config->ch0OutMin
<< m_config->ch1OutMin
<< m_config->ch2OutMin
<< m_config->ch3OutMin
<< m_config->ch4OutMin
<< m_config->ch5OutMin
<< m_config->ch6OutMin
<< m_config->ch7OutMin;
outMax << m_config->ch0OutMax
<< m_config->ch1OutMax
<< m_config->ch2OutMax
<< m_config->ch3OutMax
<< m_config->ch4OutMax
<< m_config->ch5OutMax
<< m_config->ch6OutMax
<< m_config->ch7OutMax;
reversals << m_config->ch0Rev
<< m_config->ch1Rev
<< m_config->ch2Rev
<< m_config->ch3Rev
<< m_config->ch4Rev
<< m_config->ch5Rev
<< m_config->ch6Rev
<< m_config->ch7Rev;
inSliders << m_config->ch0Slider
<< m_config->ch1Slider
<< m_config->ch2Slider
<< m_config->ch3Slider
<< m_config->ch4Slider
<< m_config->ch5Slider
<< m_config->ch6Slider
<< m_config->ch7Slider;
// Now connect the widget to the ManualControlCommand / Channel UAVObject
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlCommand")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*)));
// Get the receiver types supported by OpenPilot and fill the corresponding
// dropdown menu:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
QString fieldName = QString("InputMode");
UAVObjectField *field = obj->getField(fieldName);
m_config->receiverType->addItems(field->getOptions());
m_config->receiverType->setDisabled(true); // This option does not work for now, it is a compile-time option.
// Fill in the dropdown menus for the channel RC Input assignement.
QStringList channelsList;
channelsList << "None";
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
channelsList.append(field->getName());
}
}
m_config->ch0Assign->addItems(channelsList);
m_config->ch1Assign->addItems(channelsList);
m_config->ch2Assign->addItems(channelsList);
m_config->ch3Assign->addItems(channelsList);
m_config->ch4Assign->addItems(channelsList);
m_config->ch5Assign->addItems(channelsList);
m_config->ch6Assign->addItems(channelsList);
m_config->ch7Assign->addItems(channelsList);
// And for the channel output assignement options
m_config->ch0Output->addItem("None");
m_config->ch1Output->addItem("None");
m_config->ch2Output->addItem("None");
m_config->ch3Output->addItem("None");
m_config->ch4Output->addItem("None");
m_config->ch5Output->addItem("None");
m_config->ch6Output->addItem("None");
m_config->ch7Output->addItem("None");
// And the flight mode settings:
field = obj->getField(QString("Pos1FlightMode"));
m_config->fmsModePos1->addItems(field->getOptions());
m_config->fmsModePos2->addItems(field->getOptions());
m_config->fmsModePos3->addItems(field->getOptions());
field = obj->getField(QString("Pos1StabilizationSettings"));
channelsList.clear();
channelsList.append(field->getOptions());
m_config->fmsSsPos1Roll->addItems(channelsList);
m_config->fmsSsPos1Pitch->addItems(channelsList);
m_config->fmsSsPos1Yaw->addItems(channelsList);
m_config->fmsSsPos2Roll->addItems(channelsList);
m_config->fmsSsPos2Pitch->addItems(channelsList);
m_config->fmsSsPos2Yaw->addItems(channelsList);
m_config->fmsSsPos3Roll->addItems(channelsList);
m_config->fmsSsPos3Pitch->addItems(channelsList);
m_config->fmsSsPos3Yaw->addItems(channelsList);
// And the Armin configurations:
field = obj->getField(QString("Arming"));
m_config->armControl->clear();
m_config->armControl->addItems(field->getOptions());
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
m_config->ch0Output->addItem(field->getName());
m_config->ch1Output->addItem(field->getName());
m_config->ch2Output->addItem(field->getName());
m_config->ch3Output->addItem(field->getName());
m_config->ch4Output->addItem(field->getName());
m_config->ch5Output->addItem(field->getName());
m_config->ch6Output->addItem(field->getName());
m_config->ch7Output->addItem(field->getName());
}
}
for (int i = 0; i < 8; i++) {
connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
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
connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
}
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
requestRCInputUpdate();
requestRCOutputUpdate();
connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
connect(m_config->getRCInputCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
// Flightmode panel is connected to the same as rcinput because
// the underlying object is the same!
connect(m_config->saveFmsToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveFmsToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
connect(m_config->getFmsCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
connect(m_config->saveArmToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveArmToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
connect(m_config->getArmCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
connect(m_config->saveRCOutputToSD, SIGNAL(clicked()), this, SLOT(saveRCOutputObject()));
connect(m_config->saveRCOutputToRAM, SIGNAL(clicked()), this, SLOT(sendRCOutputUpdate()));
connect(m_config->getRCOutputCurrent, SIGNAL(clicked()), this, SLOT(requestRCOutputUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCInputUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCOutputUpdate()));
firstUpdate = true;
}
ConfigServoWidget::~ConfigServoWidget()
{
// Do nothing
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
*/
void ConfigServoWidget::sendChannelTest(int value)
{
// First of all, update the label:
QSlider *ob = (QSlider*)QObject::sender();
int index = outSliders.indexOf(ob);
if (reversals[index]->isChecked())
value = outMin[index]->value()-value+outMax[index]->value();
else
outLabels[index]->setText(QString::number(value));
outLabels[index]->setText(QString::number(value));
if (!m_config->channelOutTest->isChecked())
return;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
UAVObjectField * channel = obj->getField("Channel");
channel->setValue(value,index);
obj->updated();
}
/**
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
*/
void ConfigServoWidget::runChannelTests(bool state)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
if (state)
{
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryUpdatePeriod = 100;
}
else
{
mdata = accInitialData; // Restore metadata
}
obj->setMetadata(mdata);
}
/********************************
* Output settings
*******************************/
/**
Request the current config from the board (RC Output)
*/
void ConfigServoWidget::requestRCOutputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
UAVObjectField *field = obj->getField(QString("AirframeType"));
m_config->aircraftType->setText(QString("Aircraft type: ") + field->getValue().toString());
// Reset all channel assignements:
m_config->ch0Output->setCurrentIndex(0);
m_config->ch1Output->setCurrentIndex(0);
m_config->ch2Output->setCurrentIndex(0);
m_config->ch3Output->setCurrentIndex(0);
m_config->ch4Output->setCurrentIndex(0);
m_config->ch5Output->setCurrentIndex(0);
m_config->ch6Output->setCurrentIndex(0);
m_config->ch7Output->setCurrentIndex(0);
// Get the channel assignements:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
assignOutputChannel(obj,field->getName());
}
}
// Get Output rates for both banks
field = obj->getField(QString("ChannelUpdateFreq"));
m_config->outputRate1->setValue(field->getValue(0).toInt());
m_config->outputRate2->setValue(field->getValue(1).toInt());
// Get Channel ranges:
for (int i=0;i<8;i++) {
field = obj->getField(QString("ChannelMin"));
int minValue = field->getValue(i).toInt();
outMin[i]->setValue(minValue);
field = obj->getField(QString("ChannelMax"));
int maxValue = field->getValue(i).toInt();
outMax[i]->setValue(maxValue);
if (maxValue>minValue) {
outSliders[i]->setMinimum(minValue);
outSliders[i]->setMaximum(maxValue);
reversals[i]->setChecked(false);
} else {
outSliders[i]->setMinimum(maxValue);
outSliders[i]->setMaximum(minValue);
reversals[i]->setChecked(true);
}
}
field = obj->getField(QString("ChannelNeutral"));
for (int i=0; i<8; i++) {
int value = field->getValue(i).toInt();
outSliders[i]->setValue(value);
outLabels[i]->setText(QString::number(value));
}
}
/**
* Sends the config to the board, without saving to the SD card (RC Output)
*/
void ConfigServoWidget::sendRCOutputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Now send channel ranges:
UAVObjectField * field = obj->getField(QString("ChannelMax"));
for (int i = 0; i < 8; i++) {
field->setValue(outMax[i]->value(),i);
}
field = obj->getField(QString("ChannelMin"));
for (int i = 0; i < 8; i++) {
field->setValue(outMin[i]->value(),i);
}
field = obj->getField(QString("ChannelNeutral"));
for (int i = 0; i < 8; i++) {
field->setValue(outSliders[i]->value(),i);
}
field = obj->getField(QString("ChannelUpdateFreq"));
field->setValue(m_config->outputRate1->value(),0);
field->setValue(m_config->outputRate2->value(),1);
// Set Actuator assignement for each channel:
// Rule: if two channels have the same setting (which is wrong!) the higher channel
// will get the setting.
// First, reset all channel assignements:
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
// NOTE: we assume that all options in ActuatorSettings are a channel assignement
// except for the options called "ChannelXXX"
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
if (m_config->ch0Output->currentIndex() != 0) {
field = obj->getField(m_config->ch0Output->currentText());
field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch1Output->currentIndex() != 0) {
field = obj->getField(m_config->ch1Output->currentText());
field->setValue(field->getOptions().at(1)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch2Output->currentIndex() != 0) {
field = obj->getField(m_config->ch2Output->currentText());
field->setValue(field->getOptions().at(2)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch3Output->currentIndex() != 0) {
field = obj->getField(m_config->ch3Output->currentText());
field->setValue(field->getOptions().at(3)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch4Output->currentIndex() != 0) {
field = obj->getField(m_config->ch4Output->currentText());
field->setValue(field->getOptions().at(4)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch5Output->currentIndex() != 0) {
field = obj->getField(m_config->ch5Output->currentText());
field->setValue(field->getOptions().at(5)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch6Output->currentIndex() != 0) {
field = obj->getField(m_config->ch6Output->currentText());
field->setValue(field->getOptions().at(6)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch7Output->currentIndex() != 0) {
field = obj->getField(m_config->ch7Output->currentText());
field->setValue(field->getOptions().at(7)); // -> This way we don't depend on channel naming convention
}
// ... and send to the OP Board
obj->updated();
}
/**
Sends the config to the board and request saving into the SD card (RC Output)
*/
void ConfigServoWidget::saveRCOutputObject()
{
// Send update so that the latest value is saved
sendRCOutputUpdate();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
Sets the minimum/maximum value of the channel 0 to seven output sliders.
Have to do it here because setMinimum is not a slot.
One added trick: if the slider is at either its max or its min when the value
is changed, then keep it on the max/min.
*/
void ConfigServoWidget::setChOutRange()
{
QSpinBox *spinbox = (QSpinBox*)QObject::sender();
int index = outMin.indexOf(spinbox); // This is the channel number
if (index < 0)
index = outMax.indexOf(spinbox); // We can't know if the signal came from min or max
QSlider *slider = outSliders[index];
int oldMini = slider->minimum();
int oldMaxi = slider->maximum();
if (outMin[index]->value()<outMax[index]->value())
{
slider->setRange(outMin[index]->value(), outMax[index]->value());
reversals[index]->setChecked(false);
}
else
{
slider->setRange(outMax[index]->value(), outMin[index]->value());
reversals[index]->setChecked(true);
}
if (slider->value() == oldMini)
slider->setValue(slider->minimum());
// if (slider->value() == oldMaxi)
// slider->setValue(slider->maximum()); // this can be dangerous if it happens to be controlling a motor at the time!
}
/**
Reverses the channel when the checkbox is clicked
*/
void ConfigServoWidget::reverseChannel(bool state)
{
QCheckBox *checkbox = (QCheckBox*)QObject::sender();
int index = reversals.indexOf(checkbox); // This is the channel number
// Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
// the situations below can happen!
if (state && (outMax[index]->value()<outMin[index]->value()))
return;
if (!state && (outMax[index]->value()>outMin[index]->value()))
return;
// Now, swap the min & max values (only on the spinboxes, the slider
// does not change!
int temp = outMax[index]->value();
outMax[index]->setValue(outMin[index]->value());
outMin[index]->setValue(temp);
// Also update the channel value
// This is a trick to force the slider to update its value and
// emit the right signal itself, because our sendChannelTest(int) method
// relies on the object sender's identity.
if (outSliders[index]->value()<outSliders[index]->maximum()) {
outSliders[index]->setValue(outSliders[index]->value()+1);
outSliders[index]->setValue(outSliders[index]->value()-1);
} else {
outSliders[index]->setValue(outSliders[index]->value()-1);
outSliders[index]->setValue(outSliders[index]->value()+1);
}
}
/********************************
* Input settings
*******************************/
/**
Request the current config from the board
*/
void ConfigServoWidget::requestRCInputUpdate()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
// Now update all the slider values:
QString fieldName = QString("ChannelMax");
UAVObjectField *field = obj->getField(fieldName);
m_config->ch0Max->setText(field->getValue(0).toString());
m_config->ch0Slider->setMaximum(field->getValue(0).toInt());
m_config->ch1Max->setText(field->getValue(1).toString());
m_config->ch1Slider->setMaximum(field->getValue(1).toInt());
m_config->ch2Max->setText(field->getValue(2).toString());
m_config->ch2Slider->setMaximum(field->getValue(2).toInt());
m_config->ch3Max->setText(field->getValue(3).toString());
m_config->ch3Slider->setMaximum(field->getValue(3).toInt());
m_config->ch4Max->setText(field->getValue(4).toString());
m_config->ch4Slider->setMaximum(field->getValue(4).toInt());
m_config->ch5Max->setText(field->getValue(5).toString());
m_config->ch5Slider->setMaximum(field->getValue(5).toInt());
m_config->ch6Max->setText(field->getValue(6).toString());
m_config->ch6Slider->setMaximum(field->getValue(6).toInt());
m_config->ch7Max->setText(field->getValue(7).toString());
m_config->ch7Slider->setMaximum(field->getValue(7).toInt());
fieldName = QString("ChannelMin");
field = obj->getField(fieldName);
m_config->ch0Min->setText(field->getValue(0).toString());
m_config->ch0Slider->setMinimum(field->getValue(0).toInt());
m_config->ch1Min->setText(field->getValue(1).toString());
m_config->ch1Slider->setMinimum(field->getValue(1).toInt());
m_config->ch2Min->setText(field->getValue(2).toString());
m_config->ch2Slider->setMinimum(field->getValue(2).toInt());
m_config->ch3Min->setText(field->getValue(3).toString());
m_config->ch3Slider->setMinimum(field->getValue(3).toInt());
m_config->ch4Min->setText(field->getValue(4).toString());
m_config->ch4Slider->setMinimum(field->getValue(4).toInt());
m_config->ch5Min->setText(field->getValue(5).toString());
m_config->ch5Slider->setMinimum(field->getValue(5).toInt());
m_config->ch6Min->setText(field->getValue(6).toString());
m_config->ch6Slider->setMinimum(field->getValue(6).toInt());
m_config->ch7Min->setText(field->getValue(7).toString());
m_config->ch7Slider->setMinimum(field->getValue(7).toInt());
fieldName = QString("ChannelNeutral");
field = obj->getField(fieldName);
m_config->ch0Slider->setValue(field->getValue(0).toInt());
m_config->ch1Slider->setValue(field->getValue(1).toInt());
m_config->ch2Slider->setValue(field->getValue(2).toInt());
m_config->ch3Slider->setValue(field->getValue(3).toInt());
m_config->ch4Slider->setValue(field->getValue(4).toInt());
m_config->ch5Slider->setValue(field->getValue(5).toInt());
m_config->ch6Slider->setValue(field->getValue(6).toInt());
m_config->ch7Slider->setValue(field->getValue(7).toInt());
// Update receiver type
fieldName = QString("InputMode");
field = obj->getField(fieldName);
m_config->receiverType->setCurrentIndex(m_config->receiverType->findText(field->getValue().toString()));
// Reset all channel assignement dropdowns:
m_config->ch0Assign->setCurrentIndex(0);
m_config->ch1Assign->setCurrentIndex(0);
m_config->ch2Assign->setCurrentIndex(0);
m_config->ch3Assign->setCurrentIndex(0);
m_config->ch4Assign->setCurrentIndex(0);
m_config->ch5Assign->setCurrentIndex(0);
m_config->ch6Assign->setCurrentIndex(0);
m_config->ch7Assign->setCurrentIndex(0);
// Update all channels assignements
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
assignChannel(obj, field->getName());
}
}
// Update all the flight mode settingsin the relevant tab
field = obj->getField(QString("Pos1FlightMode"));
m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue().toString())));
field = obj->getField(QString("Pos2FlightMode"));
m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue().toString())));
field = obj->getField(QString("Pos3FlightMode"));
m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue().toString())));
field = obj->getField(QString("Pos1StabilizationSettings"));
m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText(
field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText(
field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText(
field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
field = obj->getField(QString("Pos2StabilizationSettings"));
m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText(
field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText(
field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText(
field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
field = obj->getField(QString("Pos3StabilizationSettings"));
m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText(
field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText(
field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText(
field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
// Load the arming settings
field = obj->getField(QString("Arming"));
m_config->armControl->setCurrentIndex(m_config->armControl->findText(field->getValue().toString()));
field = obj->getField(QString("ArmedTimeout"));
m_config->armTimeout->setValue(field->getValue().toInt()/1000);
}
/**
* Sends the config to the board, without saving to the SD card
*/
void ConfigServoWidget::sendRCInputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
// Now update all fields from the sliders:
QString fieldName = QString("ChannelMax");
UAVObjectField * field = obj->getField(fieldName);
field->setValue(m_config->ch0Max->text().toInt(),0);
field->setValue(m_config->ch1Max->text().toInt(),1);
field->setValue(m_config->ch2Max->text().toInt(),2);
field->setValue(m_config->ch3Max->text().toInt(),3);
field->setValue(m_config->ch4Max->text().toInt(),4);
field->setValue(m_config->ch5Max->text().toInt(),5);
field->setValue(m_config->ch6Max->text().toInt(),6);
field->setValue(m_config->ch7Max->text().toInt(),7);
fieldName = QString("ChannelMin");
field = obj->getField(fieldName);
field->setValue(m_config->ch0Min->text().toInt(),0);
field->setValue(m_config->ch1Min->text().toInt(),1);
field->setValue(m_config->ch2Min->text().toInt(),2);
field->setValue(m_config->ch3Min->text().toInt(),3);
field->setValue(m_config->ch4Min->text().toInt(),4);
field->setValue(m_config->ch5Min->text().toInt(),5);
field->setValue(m_config->ch6Min->text().toInt(),6);
field->setValue(m_config->ch7Min->text().toInt(),7);
fieldName = QString("ChannelNeutral");
field = obj->getField(fieldName);
field->setValue(m_config->ch0Slider->value(),0);
field->setValue(m_config->ch1Slider->value(),1);
field->setValue(m_config->ch2Slider->value(),2);
field->setValue(m_config->ch3Slider->value(),3);
field->setValue(m_config->ch4Slider->value(),4);
field->setValue(m_config->ch5Slider->value(),5);
field->setValue(m_config->ch6Slider->value(),6);
field->setValue(m_config->ch7Slider->value(),7);
// Set RC Receiver type:
fieldName = QString("InputMode");
field = obj->getField(fieldName);
field->setValue(m_config->receiverType->currentText());
// Set Roll/Pitch/Yaw/Etc assignement:
// Rule: if two channels have the same setting (which is wrong!) the higher channel
// will get the setting.
// First, reset all channel assignements:
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
// Then assign according to current GUI state:
if (m_config->ch0Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch0Assign->currentText());
field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch1Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch1Assign->currentText());
field->setValue(field->getOptions().at(1));
}
if (m_config->ch2Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch2Assign->currentText());
field->setValue(field->getOptions().at(2));
}
if (m_config->ch3Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch3Assign->currentText());
field->setValue(field->getOptions().at(3));
}
if (m_config->ch4Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch4Assign->currentText());
field->setValue(field->getOptions().at(4));
}
if (m_config->ch5Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch5Assign->currentText());
field->setValue(field->getOptions().at(5));
}
if (m_config->ch6Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch6Assign->currentText());
field->setValue(field->getOptions().at(6));
}
if (m_config->ch7Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch7Assign->currentText());
field->setValue(field->getOptions().at(7));
}
// Send all the flight mode settings
field = obj->getField(QString("Pos1FlightMode"));
field->setValue(m_config->fmsModePos1->currentText());
field = obj->getField(QString("Pos2FlightMode"));
field->setValue(m_config->fmsModePos2->currentText());
field = obj->getField(QString("Pos3FlightMode"));
field->setValue(m_config->fmsModePos3->currentText());
field = obj->getField(QString("Pos1StabilizationSettings"));
field->setValue(m_config->fmsSsPos1Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos1Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos1Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
field = obj->getField(QString("Pos2StabilizationSettings"));
field->setValue(m_config->fmsSsPos2Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos2Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos2Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
field = obj->getField(QString("Pos3StabilizationSettings"));
field->setValue(m_config->fmsSsPos3Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos3Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos3Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
// Save the arming settings
field = obj->getField(QString("Arming"));
field->setValue(m_config->armControl->currentText());
field = obj->getField(QString("ArmedTimeout"));
field->setValue(m_config->armTimeout->value()*1000);
// ... and send to the OP Board
obj->updated();
}
/**
Sends the config to the board and request saving into the SD card
*/
void ConfigServoWidget::saveRCInputObject()
{
// Send update so that the latest value is saved
sendRCInputUpdate();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
* Set the dropdown option for a channel Input assignement
*/
void ConfigServoWidget::assignChannel(UAVDataObject *obj, QString str)
{
UAVObjectField* field = obj->getField(str);
QStringList options = field->getOptions();
switch (options.indexOf(field->getValue().toString())) {
case 0:
m_config->ch0Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 1:
m_config->ch1Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 2:
m_config->ch2Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 3:
m_config->ch3Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 4:
m_config->ch4Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 5:
m_config->ch5Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 6:
m_config->ch6Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
case 7:
m_config->ch7Assign->setCurrentIndex(m_config->ch0Assign->findText(str));
break;
}
}
/**
* Set the dropdown option for a channel output assignement
*/
void ConfigServoWidget::assignOutputChannel(UAVDataObject *obj, QString str)
{
UAVObjectField* field = obj->getField(str);
QStringList options = field->getOptions();
switch (options.indexOf(field->getValue().toString())) {
case 0:
m_config->ch0Output->setCurrentIndex(m_config->ch0Output->findText(str));
break;
case 1:
m_config->ch1Output->setCurrentIndex(m_config->ch1Output->findText(str));
break;
case 2:
m_config->ch2Output->setCurrentIndex(m_config->ch2Output->findText(str));
break;
case 3:
m_config->ch3Output->setCurrentIndex(m_config->ch3Output->findText(str));
break;
case 4:
m_config->ch4Output->setCurrentIndex(m_config->ch4Output->findText(str));
break;
case 5:
m_config->ch5Output->setCurrentIndex(m_config->ch5Output->findText(str));
break;
case 6:
m_config->ch6Output->setCurrentIndex(m_config->ch6Output->findText(str));
break;
case 7:
m_config->ch7Output->setCurrentIndex(m_config->ch7Output->findText(str));
break;
}
}
/**
* Updates the slider positions and min/max values
*
*/
void ConfigServoWidget::updateChannels(UAVObject* controlCommand)
{
QString fieldName = QString("Connected");
UAVObjectField *field = controlCommand->getField(fieldName);
if (field->getValue().toBool()) {
m_config->RCInputConnected->setText("RC Receiver Connected");
} else {
m_config->RCInputConnected->setText("RC Receiver Not Connected");
}
if (m_config->doRCInputCalibration->isChecked()) {
if (firstUpdate) {
// Increase the data rate from the board so that the sliders
// move faster
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mccDataRate = mdata.flightTelemetryUpdatePeriod;
mdata.flightTelemetryUpdatePeriod = 150;
controlCommand->setMetadata(mdata);
}
fieldName = QString("Channel");
field = controlCommand->getField(fieldName);
// Hey: if you find a nicer way of doing this, be my guest!
this->updateChannelSlider(&*m_config->ch0Slider,
&*m_config->ch0Min,
&*m_config->ch0Max,
&*m_config->ch0Rev,field->getValue(0).toInt());
this->updateChannelSlider(&*m_config->ch1Slider,
&*m_config->ch1Min,
&*m_config->ch1Max,
&*m_config->ch1Rev,field->getValue(1).toInt());
this->updateChannelSlider(&*m_config->ch2Slider,
&*m_config->ch2Min,
&*m_config->ch2Max,
&*m_config->ch2Rev,field->getValue(2).toInt());
this->updateChannelSlider(&*m_config->ch3Slider,
&*m_config->ch3Min,
&*m_config->ch3Max,
&*m_config->ch3Rev,field->getValue(3).toInt());
this->updateChannelSlider(&*m_config->ch4Slider,
&*m_config->ch4Min,
&*m_config->ch4Max,
&*m_config->ch4Rev,field->getValue(4).toInt());
this->updateChannelSlider(&*m_config->ch5Slider,
&*m_config->ch5Min,
&*m_config->ch5Max,
&*m_config->ch5Rev,field->getValue(5).toInt());
this->updateChannelSlider(&*m_config->ch6Slider,
&*m_config->ch6Min,
&*m_config->ch6Max,
&*m_config->ch6Rev,field->getValue(6).toInt());
this->updateChannelSlider(&*m_config->ch7Slider,
&*m_config->ch7Min,
&*m_config->ch7Max,
&*m_config->ch7Rev,field->getValue(7).toInt());
firstUpdate = false;
} else {
if (!firstUpdate) {
// Restore original data rate from the board:
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = mccDataRate;
controlCommand->setMetadata(mdata);
}
firstUpdate = true;
}
//Update the Flight mode channel slider
UAVObject* obj = getObjectManager()->getObject("ManualControlSettings");
// Find the channel currently assigned to flightmode
field = obj->getField("FlightMode");
int chIndex = field->getOptions().indexOf(field->getValue().toString());
if ( chIndex < field->getOptions().length()-1) {
float valueScaled;
int chMin = inSliders.at(chIndex)->minimum();
int chMax = inSliders.at(chIndex)->maximum();
int chNeutral = inSliders.at(chIndex)->value();
int value = controlCommand->getField("Channel")->getValue(chIndex).toInt();
if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) {
if (chMax != chNeutral) {
valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
} else {
valueScaled = 0;
}
} else {
if (chMin != chNeutral) {
valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
} else {
valueScaled = 0;
}
}
// Bound
if (valueScaled > 1.0) {
valueScaled = 1.0;
} else if (valueScaled < -1.0) {
valueScaled = -1.0;
}
m_config->fmsSlider->setValue(valueScaled*100);
}
}
void ConfigServoWidget::updateChannelSlider(QSlider* slider, QLabel* min, QLabel* max, QCheckBox* rev, int value)
{
Q_UNUSED(rev);
if (firstUpdate) {
// Reset all the min/max values of the sliders since we are
// starting the calibration.
slider->setMaximum(value);
slider->setMinimum(value);
slider->setValue(value);
max->setText(QString::number(value));
min->setText(QString::number(value));
return;
}
if (value != 0) { // Avoids glitches...
if (value > slider->maximum()) {
slider->setMaximum(value);
max->setText(QString::number(value));
}
if (value < slider->minimum()) {
slider->setMinimum(value);
min->setText(QString::number(value));
}
slider->setValue(value);
}
}

133
ground/openpilotgcs/src/plugins/config/settingswidget.ui
View File

@ -17,7 +17,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>2</number>
<number>0</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
@ -2776,12 +2776,141 @@ Applies and Saves all settings to SD</string>
</property>
</widget>
</widget>
<widget class="QWidget" name="tab_4">
<attribute name="title">
<string>Arming Settings</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_17">
<property name="text">
<string>Arm airframe using:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="armControl">
<property name="toolTip">
<string>Indicate the control used for arming the airframe.</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label_18">
<property name="text">
<string>Arming timeout:</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="armTimeout">
<property name="toolTip">
<string>After the time indicated here, the frame will be disarmed.</string>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_19">
<property name="text">
<string>seconds.</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="getArmCurrent">
<property name="text">
<string>Get Current</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveArmToRAM">
<property name="text">
<string>Save to RAM</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveArmToSD">
<property name="text">
<string>Save to SD</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
<tabstops>
<tabstop>tabWidget</tabstop>
<tabstop>ch0Slider</tabstop>
<tabstop>ch1Slider</tabstop>
<tabstop>ch2Slider</tabstop>