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Code Issues Releases Activity

Merge remote-tracking branch 'origin/MikeL_ConfigVehicle' into revo

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This commit is contained in:
James Cotton 2012-06-14 19:18:23 -05:00
commit 07f8922f2f
8 changed files with 170 additions and 142 deletions
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1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
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@ -25,7 +25,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configccpmwidget.h"
//#include "mixersettings.h"
#include <QDebug>
#include <QStringList>

56
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -182,18 +182,16 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
QString airframeType = "FixedWing";
// Save the curve (common to all Fixed wing frames)
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Remove Feed Forward, it is pointless on a plane:
UAVObjectField* field = obj->getField(QString("FeedForward"));
UAVObjectField* field = mixer->getField(QString("FeedForward"));
field->setDouble(0);
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
// Set the throttle curve
setThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
//All airframe types must start with "FixedWing"
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
airframeType = "FixedWing";
@ -229,36 +227,26 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
UAVDataObject* obj;
UAVObjectField *field;
UAVDataObject* mixer= dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Roll");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
// Find the channel number for Elevon1 (FixedWingRoll1)
channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)*100);
m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
}
}
if (frameType == "FixedWingVtail") {
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
if (chMixerNumber >=0) {
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Yaw");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
}
}
if (frameType == "FixedWingVtail") {
channel = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)*100);
m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
}
}
}

29
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -25,7 +25,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configmultirotorwidget.h"
#include "mixersettings.h"
#include <QDebug>
#include <QStringList>
@ -296,12 +295,8 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->multiThrottleCurve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
// Curve is also common to all quads:
setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
@ -1036,20 +1031,22 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
//disable all
for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -29,6 +29,7 @@
#include "ui_airframe.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"

54
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -233,6 +233,60 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
}
}
void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
{
QPointer<UAVObjectField> field;
switch (curveType)
{
case MIXER_THROTTLECURVE1:
{
field = mixer->getField("ThrottleCurve1");
break;
}
case MIXER_THROTTLECURVE2:
{
field = mixer->getField("ThrottleCurve2");
break;
}
}
if (field && field->getNumElements() == curve.length()) {
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
}
}
void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve)
{
Q_ASSERT(mixer);
Q_ASSERT(curve);
QPointer<UAVObjectField> field;
switch (curveType)
{
case MIXER_THROTTLECURVE1:
{
field = mixer->getField("ThrottleCurve1");
break;
}
case MIXER_THROTTLECURVE2:
{
field = mixer->getField("ThrottleCurve2");
break;
}
}
if (field) {
curve->clear();
for (unsigned int i=0; i < field->getNumElements(); i++) {
curve->append(field->getValue(i).toDouble());
}
}
}
/**
Reset the contents of a field
*/

5
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
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@ -111,6 +111,9 @@ class VehicleConfig: public ConfigTaskWidget
VehicleConfig(QWidget *parent = 0);
~VehicleConfig();
/* Enumeration options for ThrottleCurves */
typedef enum { MIXER_THROTTLECURVE1=0, MIXER_THROTTLECURVE2=1 } MixerThrottleCurveElem;
/* Enumeration options for field MixerType */
typedef enum { MIXERTYPE_DISABLED=0, MIXERTYPE_MOTOR=1, MIXERTYPE_SERVO=2, MIXERTYPE_CAMERAROLL=3, MIXERTYPE_CAMERAPITCH=4, MIXERTYPE_CAMERAYAW=5, MIXERTYPE_ACCESSORY0=6, MIXERTYPE_ACCESSORY1=7, MIXERTYPE_ACCESSORY2=8, MIXERTYPE_ACCESSORY3=9, MIXERTYPE_ACCESSORY4=10, MIXERTYPE_ACCESSORY5=11 } MixerTypeElem;
/* Array element names for field MixerVector */
@ -127,6 +130,8 @@ class VehicleConfig: public ConfigTaskWidget
void resetMixerVector(UAVDataObject* mixer, int channel);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();

165
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -36,10 +36,11 @@
#include <math.h>
#include <QDesktopServices>
#include <QUrl>
#include <QEventLoop>
#include "systemsettings.h"
#include "mixersettings.h"
#include "actuatorsettings.h"
#include <QEventLoop>
/**
Helper delegate for the custom mixer editor table.
@ -781,77 +782,65 @@ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
Note: does NOT ask for an object refresh itself!
*/
void ConfigVehicleTypeWidget::updateCustomAirframeUI()
{
{
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
QList<double> curveValues;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// setup throttlecurve 1
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1,&curveValues);
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
if (field)
{
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
} else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
else
m_aircraft->customThrottle1Curve->initCurve(curveValues);
}
int total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.length(),(double)1);
}
else {
m_aircraft->customThrottle1Curve->initCurve(curveValues);
}
curveValues.clear();
// setup throttlecurve 2
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE2,&curveValues);
field = obj->getField(QString("ThrottleCurve2"));
if (field)
{
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1);
} else {
for (unsigned int i=0; i < field->getNumElements(); i++) {
curveValues.append(field->getValue(i).toDouble());
}
m_aircraft->customThrottle2Curve->initCurve(curveValues);
}
total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.length(),(double)1);
}
else {
m_aircraft->customThrottle2Curve->initCurve(curveValues);
}
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
// Update the mixer table:
for (int channel=0; channel<8; channel++) {
UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
if (field)
{
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel);
if (q)
{
QString s = field->getValue().toString();
setComboCurrentIndex(q, q->findText(s));
}
field = obj->getField(mixerVectors.at(i));
if (field)
{
int ti = field->getElementNames().indexOf("ThrottleCurve1");
m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("ThrottleCurve2");
m_aircraft->customMixerTable->item(2,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Roll");
m_aircraft->customMixerTable->item(3,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->customMixerTable->item(4,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Yaw");
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
}
m_aircraft->customMixerTable->item(1,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
m_aircraft->customMixerTable->item(2,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
m_aircraft->customMixerTable->item(3,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)));
m_aircraft->customMixerTable->item(4,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)));
m_aircraft->customMixerTable->item(5,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
}
}
}
@ -866,9 +855,6 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
UAVDataObject* obj;
UAVObjectField* field;
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@ -883,45 +869,42 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
else {
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(QString("FeedForward"));
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->customThrottle1Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
field = obj->getField("ThrottleCurve2");
curve.clear();
curve = m_aircraft->customThrottle2Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
VehicleConfig* vconfig = new VehicleConfig();
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
field->setValue(q->currentText());
field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(m_aircraft->customMixerTable->item(1,i)->text(),ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(m_aircraft->customMixerTable->item(2,i)->text(),ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(m_aircraft->customMixerTable->item(3,i)->text(),ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(m_aircraft->customMixerTable->item(4,i)->text(),ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
for (int channel=0; channel<8; channel++) {
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel);
vconfig->setMixerType(mixer,channel,
q->currentText() == "Servo" ? VehicleConfig::MIXERTYPE_SERVO : VehicleConfig::MIXERTYPE_MOTOR);
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5,channel)->text().toDouble());
}
}
// set the airframe type
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
field = obj->getField(QString("AirframeType"));
field->setValue(airframeType);
UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
if (field)
field->setValue(airframeType);
updateCustomAirframeUI();
}

1
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -38,6 +38,7 @@
#include "cfg_vehicletypes/configfixedwingwidget.h"
#include "cfg_vehicletypes/configmultirotorwidget.h"
#include "cfg_vehicletypes/configgroundvehiclewidget.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include <QtGui/QWidget>
#include <QList>