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

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp

@@ -25,7 +25,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "configccpmwidget.h"
-//#include "mixersettings.h"
 
 #include <QDebug>
 #include <QStringList>

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp

@@ -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");
+    // Set the throttle curve
-	QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
+    setThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
-	for (int i=0;i<curve.length();i++) {
+
-		field->setValue(curve.at(i),i);
-	}
-	
 	//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;
+    UAVDataObject* mixer= dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    UAVObjectField *field;
+    Q_ASSERT(mixer);
 
+    int channel;
 	if (frameType == "FixedWingElevon") {
         // If the airframe is elevon, restore the slider setting
-		// Find the channel number for Elevon1 (FixedWingRoll1)
+        // Find the channel number for Elevon1 (FixedWingRoll1)
-		obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+        channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
-		Q_ASSERT(obj);
+        if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
-		int chMixerNumber = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
+            m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)*100);
-		if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
+            m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
-			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);
 		}
 	}
-	if (frameType == "FixedWingVtail") {
+    if (frameType == "FixedWingVtail") {
-		obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+        channel = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
-		Q_ASSERT(obj);
+        if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
-		int chMixerNumber = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
+            m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)*100);
-		if (chMixerNumber >=0) {
+            m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
-			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);
-		}
-	}
-	
 }
 
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp

@@ -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:
+    // Curve is also common to all quads:
-	field = obj->getField("ThrottleCurve1");
+    setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
-	QList<double> curve = m_aircraft->multiThrottleCurve->getCurve();
-	for (int i=0;i<curve.length();i++) {
-		field->setValue(curve.at(i),i);
-	}
 	
 	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
+    UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    // Disable all
+    Q_ASSERT(mixer);
-    foreach(QString mixer, mixerTypes) {
+
-        field = obj->getField(mixer);
+    //disable all
-        Q_ASSERT(field);
+    for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
-        field->setValue("Disabled");
+    {
+        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;

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h

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

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp

@@ -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
   */

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h

@@ -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();

ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp

@@ -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")));
+    // setup throttlecurve 1
-    Q_ASSERT(obj);
+    vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1,&curveValues);
 
-    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
+    int total = 0;
-    if (field)
+    for (int i=0; i<curveValues.length(); i++)
-    {
+        total += curveValues.at(i);
-        // 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 (curveValues.at(0) <= -10 || total == 0) {
-        if (field->getValue(0).toInt() <= -10) {
+        m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.length(),(double)1);
-            m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
+    }
-        } else {
+    else {
-            double temp=0;
+        m_aircraft->customThrottle1Curve->initCurve(curveValues);
-            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);
-        }
     }
 
-    curveValues.clear();
+    // setup throttlecurve 2
+    vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE2,&curveValues);
 
-    field = obj->getField(QString("ThrottleCurve2"));
+    total = 0;
-    if (field)
+    for (int i=0; i<curveValues.length(); i++)
-    {
+        total += curveValues.at(i);
-        // 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 (curveValues.at(0) <= -10 || total == 0) {
-        if (field->getValue(0).toInt() <= -10) {
+        m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.length(),(double)1);
-            m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1);
+    }
-        } else {
+    else {
-            for (unsigned int i=0; i < field->getNumElements(); i++) {
+        m_aircraft->customThrottle2Curve->initCurve(curveValues);
-                curveValues.append(field->getValue(i).toDouble());
-            }
-            m_aircraft->customThrottle2Curve->initCurve(curveValues);
-        }
     }
 
-    // Update the table:
+
-    for (int i=0; i<8; i++) {
+    // Update the mixer table:
-        field = obj->getField(mixerTypes.at(i));
+    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));
+            m_aircraft->customMixerTable->item(1,channel)->setText(
-            if (field)
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
-            {
+            m_aircraft->customMixerTable->item(2,channel)->setText(
-                int ti = field->getElementNames().indexOf("ThrottleCurve1");
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
-                m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
+            m_aircraft->customMixerTable->item(3,channel)->setText(
-                ti = field->getElementNames().indexOf("ThrottleCurve2");
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)));
-                m_aircraft->customMixerTable->item(2,i)->setText(field->getValue(ti).toString());
+            m_aircraft->customMixerTable->item(4,channel)->setText(
-                ti = field->getElementNames().indexOf("Roll");
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)));
-                m_aircraft->customMixerTable->item(3,i)->setText(field->getValue(ti).toString());
+            m_aircraft->customMixerTable->item(5,channel)->setText(
-                ti = field->getElementNames().indexOf("Pitch");
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
-                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());
-            }
         }
     }
 }
@@ -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:
+        UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-        field = obj->getField("ThrottleCurve1");
+        Q_ASSERT(mixer);
-        QList<double> curve = m_aircraft->customThrottle1Curve->getCurve();
-        for (int i=0;i<curve.length();i++) {
-            field->setValue(curve.at(i),i);
-        }
 
-        field = obj->getField("ThrottleCurve2");
+        VehicleConfig* vconfig = new VehicleConfig();
-        curve.clear();
+
-        curve = m_aircraft->customThrottle2Curve->getCurve();
+        vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
-        for (int i=0;i<curve.length();i++) {
+        vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
-            field->setValue(curve.at(i),i);
-        }
 
         // Update the table:
-        for (int i=0; i<8; i++) {
+        for (int channel=0; channel<8; channel++) {
-            field = obj->getField(mixerTypes.at(i));
+            QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel);
-            QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
+
-            field->setValue(q->currentText());
+            vconfig->setMixerType(mixer,channel,
-            field = obj->getField(mixerVectors.at(i));
+                q->currentText() == "Servo" ? VehicleConfig::MIXERTYPE_SERVO : VehicleConfig::MIXERTYPE_MOTOR);
-            int ti = field->getElementNames().indexOf("ThrottleCurve1");
+
-            field->setValue(m_aircraft->customMixerTable->item(1,i)->text(),ti);
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
-            ti = field->getElementNames().indexOf("ThrottleCurve2");
+                                            m_aircraft->customMixerTable->item(1,channel)->text().toDouble());
-            field->setValue(m_aircraft->customMixerTable->item(2,i)->text(),ti);
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
-            ti = field->getElementNames().indexOf("Roll");
+                                            m_aircraft->customMixerTable->item(2,channel)->text().toDouble());
-            field->setValue(m_aircraft->customMixerTable->item(3,i)->text(),ti);
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL,
-            ti = field->getElementNames().indexOf("Pitch");
+                                            m_aircraft->customMixerTable->item(3,channel)->text().toDouble());
-            field->setValue(m_aircraft->customMixerTable->item(4,i)->text(),ti);
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH,
-            ti = field->getElementNames().indexOf("Yaw");
+                                            m_aircraft->customMixerTable->item(4,channel)->text().toDouble());
-            field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
+            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")));
+    UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
-    field = obj->getField(QString("AirframeType"));
+    Q_ASSERT(system);
-    field->setValue(airframeType);
+
+    QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
+    if (field)
+        field->setValue(airframeType);
 
     updateCustomAirframeUI();
 }

ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h

@@ -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>