mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Merge branch 'kenz/extraGUIchanges' of ssh://git.openpilot.org/OpenPilot into cp/extraGUIchanges
This commit is contained in:
chris pember
commit
086232406d
@ -1092,7 +1092,7 @@ margin:1px;</string>
|
||||
Typical value is 50% for + or X configuration on quads.</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-100</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
@ -1450,7 +1450,7 @@ font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Multirotor Yaw Direction</string>
|
||||
<string>Multirotor Motor Direction</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
@ -1506,9 +1506,9 @@ margin:1px;</string>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QCheckBox" name="TricopterRevMixercheckBox">
|
||||
<widget class="QCheckBox" name="MultirotorRevMixercheckBox">
|
||||
<property name="text">
|
||||
<string>Reverse Yaw Mix</string>
|
||||
<string>Reverse all motors</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
@ -21,12 +21,12 @@
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>-1</number>
|
||||
<number>6</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QTabWidget" name="Autotune_tabs">
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
<number>1</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="Preautotune_tab">
|
||||
<attribute name="title">
|
||||
@ -80,17 +80,18 @@
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
|
||||
<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is an experimental plugin for the GCS that is going to make your aircraft shake etc so test with lots of space and be <span style=" font-weight:600;">very very wary</span> for it creating bad tuning values. Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:</p>
|
||||
<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Go to the UAVOBrowser and under HwSettings.OptionalModules enable Autotune. Click send then save. Power cycle your board (disconnect battery AND usb).<br /></li>
|
||||
<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">In Input configuration set one of your flight modes to &quot;Autotune&quot;<br /></li>
|
||||
<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, flip to autotune, keep it in the air while it's shaking<br /></li>
|
||||
<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm. (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
|
||||
<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out. <br /></li>
|
||||
<li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly then new settings</li>
|
||||
<li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the &quot;Enable Autotune Module&quot; checkbox below this text, and go to the next tab.</li></ul></body></html></string>
|
||||
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">This is an experimental plugin for the GCS that is going to make your aircraft shake etc so test with lots of space and be </span><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> for it creating bad tuning values. Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:</span></p>
|
||||
<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Go to the UAVOBrowser and under HwSettings.OptionalModules enable Autotune. Click send then save. Power cycle your board (disconnect battery AND usb).<br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">In Input configuration set one of your flight modes to &quot;Autotune&quot;<br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, flip to autotune, keep it in the air while it's shaking<br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm. (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out. <br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly then new settings</li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the &quot;Enable Autotune Module&quot; checkbox below this text, and go to the next tab.</li></ul></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@ -194,8 +195,8 @@ p, li { white-space: pre-wrap; }
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>709</width>
|
||||
<height>588</height>
|
||||
<width>717</width>
|
||||
<height>602</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
@ -690,8 +691,6 @@ Useful if you have accidentally changed some settings.</string>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
</resources>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
|
||||
@ -49,7 +49,7 @@ const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChanne
|
||||
/**
|
||||
Constructor
|
||||
*/
|
||||
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
|
||||
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent), invertMotors(1)
|
||||
{
|
||||
m_aircraft = aircraft;
|
||||
}
|
||||
@ -87,20 +87,18 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
|
||||
|
||||
if (frameType == "Tri" || frameType == "Tricopter Y") {
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
|
||||
quad->setElementId("tri");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(100);
|
||||
m_aircraft->mrPitchMixLevel->setValue(100);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
|
||||
m_aircraft->triYawChannelBox->setEnabled(true);
|
||||
}
|
||||
else if (frameType == "QuadX" || frameType == "Quad X") {
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
|
||||
quad->setElementId("quad-x");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
|
||||
@ -108,104 +106,173 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
|
||||
// init mixer levels
|
||||
m_aircraft->mrRollMixLevel->setValue(50);
|
||||
m_aircraft->mrPitchMixLevel->setValue(50);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
}
|
||||
else if (frameType == "QuadP" || frameType == "Quad +") {
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
|
||||
quad->setElementId("quad-plus");
|
||||
|
||||
//Enable all necessary motor channel boxes...
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||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(100);
|
||||
m_aircraft->mrPitchMixLevel->setValue(100);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
}
|
||||
else if (frameType == "Hexa" || frameType == "Hexacopter")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
|
||||
quad->setElementId("quad-hexa");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(50);
|
||||
m_aircraft->mrPitchMixLevel->setValue(33);
|
||||
m_aircraft->mrYawMixLevel->setValue(33);
|
||||
setYawMixLevel(33);
|
||||
}
|
||||
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
|
||||
quad->setElementId("quad-hexa-H");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(33);
|
||||
m_aircraft->mrPitchMixLevel->setValue(50);
|
||||
m_aircraft->mrYawMixLevel->setValue(33);
|
||||
setYawMixLevel(33);
|
||||
|
||||
}
|
||||
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
|
||||
quad->setElementId("hexa-coax");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(100);
|
||||
m_aircraft->mrPitchMixLevel->setValue(50);
|
||||
m_aircraft->mrYawMixLevel->setValue(66);
|
||||
setYawMixLevel(66);
|
||||
|
||||
}
|
||||
else if (frameType == "Octo" || frameType == "Octocopter")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
|
||||
quad->setElementId("quad-octo");
|
||||
|
||||
//Enable all necessary motor channel boxes
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(33);
|
||||
m_aircraft->mrPitchMixLevel->setValue(33);
|
||||
m_aircraft->mrYawMixLevel->setValue(25);
|
||||
setYawMixLevel(25);
|
||||
}
|
||||
else if (frameType == "OctoV" || frameType == "Octocopter V")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
|
||||
quad->setElementId("quad-octo-v");
|
||||
|
||||
//Enable all necessary motor channel boxes
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(25);
|
||||
m_aircraft->mrPitchMixLevel->setValue(25);
|
||||
m_aircraft->mrYawMixLevel->setValue(25);
|
||||
setYawMixLevel(25);
|
||||
|
||||
}
|
||||
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
|
||||
quad->setElementId("octo-coax-P");
|
||||
|
||||
//Enable all necessary motor channel boxes
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(100);
|
||||
m_aircraft->mrPitchMixLevel->setValue(100);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
|
||||
}
|
||||
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
|
||||
quad->setElementId("octo-coax-X");
|
||||
|
||||
//Enable all necessary motor channel boxes
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(50);
|
||||
m_aircraft->mrPitchMixLevel->setValue(50);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
}
|
||||
|
||||
//Draw the appropriate airframe
|
||||
drawAirframe(frameType);
|
||||
}
|
||||
|
||||
void ConfigMultiRotorWidget::drawAirframe(QString frameType){
|
||||
|
||||
invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
|
||||
|
||||
if (frameType == "Tri" || frameType == "Tricopter Y") {
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("tri");
|
||||
else
|
||||
quad->setElementId("tri_reverse");
|
||||
}
|
||||
else if (frameType == "QuadX" || frameType == "Quad X") {
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-x");
|
||||
else
|
||||
quad->setElementId("quad-x_reverse");
|
||||
}
|
||||
else if (frameType == "QuadP" || frameType == "Quad +") {
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-plus");
|
||||
else
|
||||
quad->setElementId("quad-plus_reverse");
|
||||
}
|
||||
else if (frameType == "Hexa" || frameType == "Hexacopter")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-hexa");
|
||||
else
|
||||
quad->setElementId("quad-hexa_reverse");
|
||||
}
|
||||
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-hexa-H");
|
||||
else
|
||||
quad->setElementId("quad-hexa-H_reverse");
|
||||
}
|
||||
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("hexa-coax");
|
||||
else
|
||||
quad->setElementId("hexa-coax_reverse");
|
||||
}
|
||||
else if (frameType == "Octo" || frameType == "Octocopter")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-octo");
|
||||
else
|
||||
quad->setElementId("quad-octo_reverse");
|
||||
}
|
||||
else if (frameType == "OctoV" || frameType == "Octocopter V")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-octo-v");
|
||||
else
|
||||
quad->setElementId("quad-octo-v_reverse");
|
||||
}
|
||||
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("octo-coax-P");
|
||||
else
|
||||
quad->setElementId("octo-coax-P_reverse");
|
||||
|
||||
}
|
||||
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("octo-coax-X");
|
||||
else
|
||||
quad->setElementId("octo-coax-X_reverse");
|
||||
|
||||
}
|
||||
}
|
||||
@ -259,6 +326,21 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
|
||||
return channelDesc;
|
||||
}
|
||||
|
||||
void ConfigMultiRotorWidget::setYawMixLevel(int value)
|
||||
{
|
||||
if(value<0)
|
||||
{
|
||||
m_aircraft->mrYawMixLevel->setValue((-1)*value);
|
||||
m_aircraft->MultirotorRevMixercheckBox->setChecked(true);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_aircraft->mrYawMixLevel->setValue(value);
|
||||
m_aircraft->MultirotorRevMixercheckBox->setChecked(false);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@ -500,7 +582,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
|
||||
setYawMixLevel( 1-value/1.27 );
|
||||
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
@ -526,7 +608,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
|
||||
setYawMixLevel( 1-value/1.27 );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
m_aircraft->mrRollMixLevel->setValue( value/1.27);
|
||||
@ -556,7 +638,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
//change channels
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
@ -589,7 +671,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
@ -617,7 +699,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( value/1.27 );
|
||||
setYawMixLevel( value/1.27 );
|
||||
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
@ -648,7 +730,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
//change channels
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
@ -660,7 +742,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
//change channels
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
@ -672,7 +754,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
//change channels
|
||||
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
|
||||
@ -705,7 +787,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
|
||||
@ -732,6 +814,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
drawAirframe(frameType);
|
||||
}
|
||||
|
||||
|
||||
@ -959,7 +1043,8 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
|
||||
// and enable only the relevant channels:
|
||||
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
|
||||
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
|
||||
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
|
||||
invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
|
||||
double yFactor =invertMotors * (double)m_aircraft->mrYawMixLevel->value()/100;
|
||||
for (int i=0 ; i<8; i++) {
|
||||
if(mmList.at(i)->isEnabled())
|
||||
{
|
||||
|
||||
@ -64,9 +64,14 @@ private:
|
||||
void setupMotors(QList<QString> motorList);
|
||||
void setupQuadMotor(int channel, double roll, double pitch, double yaw);
|
||||
|
||||
float invertMotors;
|
||||
|
||||
virtual void ResetActuators(GUIConfigDataUnion* configData);
|
||||
static QStringList getChannelDescriptions();
|
||||
static const QString CHANNELBOXNAME;
|
||||
void setYawMixLevel(int);
|
||||
|
||||
void drawAirframe(QString multiRotorType);
|
||||
|
||||
private slots:
|
||||
virtual void setupUI(QString airframeType);
|
||||
|
||||
@ -56,7 +56,6 @@ public slots:
|
||||
private slots:
|
||||
void recomputeStabilization();
|
||||
void saveStabilization();
|
||||
void refreshValues();
|
||||
};
|
||||
|
||||
#endif // CONFIGAUTOTUNE_H
|
||||
|
||||
@ -215,6 +215,9 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
|
||||
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
|
||||
//Connect the multirotor motor reverse checkbox
|
||||
connect(m_aircraft->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
|
||||
|
||||
// Connect the help pushbutton
|
||||
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
|
||||
enableControls(false);
|
||||
@ -483,7 +486,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
|
||||
UAVObjectField *field = system->getField(QString("AirframeType"));
|
||||
Q_ASSERT(field);
|
||||
// At this stage, we will need to have some hardcoded settings in this code, this
|
||||
// is not ideal, but here you go.
|
||||
// is not ideal, but there you go.
|
||||
QString frameType = field->getValue().toString();
|
||||
setupAirframeUI(frameType);
|
||||
|
||||
@ -766,6 +769,12 @@ void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
|
||||
box->setCurrentIndex(index);
|
||||
}
|
||||
|
||||
void ConfigVehicleTypeWidget::reverseMultirotorMotor(){
|
||||
QString frameType = m_aircraft->multirotorFrameType->currentText();
|
||||
m_multirotor->drawAirframe(frameType);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
WHAT DOES THIS DO???
|
||||
*/
|
||||
|
||||
@ -95,6 +95,7 @@ private slots:
|
||||
|
||||
void enableFFTest();
|
||||
void openHelp();
|
||||
void reverseMultirotorMotor();
|
||||
|
||||
protected:
|
||||
void showEvent(QShowEvent *event);
|
||||
|
||||
File diff suppressed because one or more lines are too long
|
Before Width: | Height: | Size: 407 KiB After Width: | Height: | Size: 758 KiB |
Loading…
Reference in New Issue
Block a user