diff --git a/ground/src/plugins/config/ccpm.ui b/ground/src/plugins/config/ccpm.ui index 98dec8c51..ead385ee9 100644 --- a/ground/src/plugins/config/ccpm.ui +++ b/ground/src/plugins/config/ccpm.ui @@ -6,8 +6,8 @@ 0 0 - 806 - 822 + 821 + 606 @@ -18,8 +18,8 @@ 10 10 - 1096 - 541 + 791 + 551 @@ -46,11 +46,6 @@ Select aircraft type here - - - Custom - Advanced settings - - @@ -65,7 +60,7 @@ Swashplate config: - + 11 @@ -283,7 +278,7 @@ - + 0 @@ -458,7 +453,7 @@ - + true @@ -482,6 +477,9 @@ + + true + CCPM Mixing @@ -493,7 +491,7 @@ - false + true Collective @@ -504,7 +502,13 @@ - false + true + + + + 0 + 0 + 100 @@ -521,7 +525,7 @@ - false + true Cyclic @@ -532,6 +536,19 @@ + + + + 100 + + + 5 + + + 50 + + + @@ -584,6 +601,9 @@ + + + @@ -638,6 +658,30 @@ 400 + + QFrame::NoFrame + + + QFrame::Plain + + + 0 + + + Qt::ScrollBarAlwaysOff + + + Qt::ScrollBarAlwaysOff + + + + + 220 + 220 + 220 + + + Qt::AlignHCenter|Qt::AlignTop @@ -657,101 +701,647 @@ Curve settings - + - 20 - 190 - 261 - 141 + 22 + 11 + 661 + 501 - - - 8 - + + + + + + + + 10 + + + + Select aircraft type here + + + + Linear + + + + + Flat + + + + + Step + + + + + Custom + + + + + + + + + + Number of points + + + + + + + 2 + + + 10 + + + 5 + + + + + + + + + + + Min + + + + + + + Max + + + + + + + Step point + + + + + + + 1 + + + 10.000000000000000 + + + + + + + 1 + + + 10.000000000000000 + + + 1.000000000000000 + + + + + + + 1 + + + 100.000000000000000 + + + 50.000000000000000 + + + + + + + + + + + + 10 + + + + Select aircraft type here + + + + Throttle + + + + + Pitch + + + + + + + + Generate curves based on settings + + + <-- Generate Curve + + + + + + + + + + + + + + + + + Throttle Curve 2 + + + + + + + Reset + + + + + + + + + + 0 + 0 + + + + + 150 + 150 + + + + + 200 + 200 + + + + + + + + Val: 0.00 + + + + + + + + + + + + + Throttle Curve 1 + + + + + + + Reset + + + + + + + + + + 0 + 0 + + + + + 150 + 150 + + + + + 200 + 200 + + + + + + + + Val: 0.00 + + + + + + + + + + + + + + 8 + + + + Qt::ScrollBarAlwaysOn + + + Qt::ScrollBarAlwaysOff + + + false + + + true + + + + 0% + + + + + 25% + + + + + 50% + + + + + 75% + + + + + 100% + + + + + none + + + + + none + + + + + none + + + + + none + + + + + none + + + + + Throttle Curve + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + Blade Pitch Curve + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + 0 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + 0 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + .25 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + .25 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + .5 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + .5 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + .75 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + .75 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + 1 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + 1 + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + + + + Qt::Horizontal + + + + 40 + 10 + + + + + + + + Qt::Vertical + + + + 20 + 10 + + + + + + + + + + + + Advanced settings + + + + + 15 + 21 + 661 + 211 + + + + + 0 + 0 + - Qt::ScrollBarAlwaysOn + Qt::ScrollBarAlwaysOff Qt::ScrollBarAlwaysOff - - false - - - true - - 0% + Engine - 25% + Tail Rotor - 50% + Servo W - 75% + Servo X - 100% + Servo Y - none - - - - - none - - - - - none - - - - - none - - - - - none + Servo Z - Throttle Curve - - - AlignHCenter|AlignVCenter|AlignCenter + Channel - Blade Pitch Curve + Curve 1 - - AlignHCenter|AlignVCenter|AlignCenter + + + + Curve 2 + + + + + Roll + + + + + Pitch + + + + + Yaw - 0 + - AlignHCenter|AlignVCenter|AlignCenter @@ -759,7 +1349,39 @@ - 0 + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - AlignHCenter|AlignVCenter|AlignCenter @@ -767,7 +1389,7 @@ - .25 + - AlignHCenter|AlignVCenter|AlignCenter @@ -775,7 +1397,39 @@ - .25 + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - AlignHCenter|AlignVCenter|AlignCenter @@ -783,7 +1437,7 @@ - .5 + - AlignHCenter|AlignVCenter|AlignCenter @@ -791,7 +1445,39 @@ - .5 + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - AlignHCenter|AlignVCenter|AlignCenter @@ -799,7 +1485,7 @@ - .75 + - AlignHCenter|AlignVCenter|AlignCenter @@ -807,7 +1493,39 @@ - .75 + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - AlignHCenter|AlignVCenter|AlignCenter @@ -815,7 +1533,7 @@ - 1 + - AlignHCenter|AlignVCenter|AlignCenter @@ -823,7 +1541,39 @@ - 1 + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - AlignHCenter|AlignVCenter|AlignCenter @@ -845,7 +1595,7 @@ AlignHCenter|AlignVCenter|AlignCenter - + - @@ -853,7 +1603,7 @@ AlignHCenter|AlignVCenter|AlignCenter - + - @@ -861,7 +1611,7 @@ AlignHCenter|AlignVCenter|AlignCenter - + - @@ -869,7 +1619,7 @@ AlignHCenter|AlignVCenter|AlignCenter - + - @@ -877,676 +1627,6 @@ AlignHCenter|AlignVCenter|AlignCenter - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - 20 - 20 - 271 - 21 - - - - - 10 - - - - Select aircraft type here - - - - Linear - - - - - Flat - - - - - Step - - - - - Custom - - - - - - - 180 - 50 - 51 - 22 - - - - 2 - - - 10 - - - 5 - - - - - - 80 - 50 - 91 - 16 - - - - Number of points - - - - - - 150 - 140 - 121 - 27 - - - - Generate curves based on settings - - - <-- Generate Curve - - - - - - 40 - 100 - 62 - 22 - - - - 1 - - - 10.000000000000000 - - - - - - 130 - 100 - 62 - 22 - - - - 1 - - - 10.000000000000000 - - - 1.000000000000000 - - - - - - 220 - 100 - 62 - 22 - - - - 1 - - - 100.000000000000000 - - - 50.000000000000000 - - - - - - 40 - 80 - 61 - 16 - - - - Min - - - - - - 130 - 80 - 61 - 16 - - - - Max - - - - - - 220 - 80 - 61 - 16 - - - - Step point - - - - - - 310 - 10 - 371 - 331 - - - - - - - 30 - 140 - 111 - 21 - - - - - 10 - - - - Select aircraft type here - - - - Throttle - - - - - Pitch - - - - - - - Advanced settings - - - - true - - - - 10 - 20 - 251 - 141 - - - - - 0 - 0 - - - - QFrame::StyledPanel - - - QFrame::Plain - - - 0 - - - Qt::ScrollBarAlwaysOff - - - Qt::ScrollBarAlwaysOff - - - false - - - false - - - true - - - QAbstractItemView::SingleSelection - - - - ServoW - - - - - ServoX - - - - - ServoY - - - - - ServoZ - - - - - Angle - - - - - Output - - - - - 0 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 8 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 60 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 5 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 180 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 1 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 300 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - 10 - 180 - 101 - 30 - - - - CollectiveConstant: - - - - - true - - - - 10 - 260 - 91 - 16 - - - - CorrectionAngle: - - - - - - 10 - 290 - 101 - 30 - - - - Throttle Output - - - - - - 10 - 320 - 81 - 30 - - - - Tail Rotor Servo - - - - - - 90 - 290 - 151 - 21 - - - - - 10 - - - - Select aircraft type here - - - 2 - - - - 0 - - - - - 1 - - - - - 2 - - - - - 3 - - - - - 4 - - - - - 5 - - - - - 6 - - - - - 7 - - - - - 8 - - - - - - - 90 - 320 - 151 - 21 - - - - - 10 - - - - Select aircraft type here - - - 3 - - - - 0 - - - - - 1 - - - - - 2 - - - - - 3 - - - - - 4 - - - - - 5 - - - - - 6 - - - - - 7 - - - - - 8 - - - - - - - 130 - 180 - 62 - 22 - - - - 1.000000000000000 - - - 0.050000000000000 - - - 0.500000000000000 - - - - - true - - - - 130 - 260 - 62 - 22 - - - - 0 - - - 360.000000000000000 - - - 15.000000000000000 - - - - - - 300 - 10 - 371 - 331 - - - - - - false - - - - 130 - 220 - 62 - 22 - - - - 1.000000000000000 - - - 0.050000000000000 - - - 0.500000000000000 - - - - - false - - - - 10 - 210 - 101 - 40 - - - - RevoConstant: - @@ -1599,6 +1679,114 @@ + + + MixerCurveWidget + QWidget +
mixercurvewidget.h
+ 1 + + + + TabObject + ccpmType + ccpmEngineChannel + ccpmTailChannel + ccpmServoWChannel + ccpmServoXChannel + ccpmServoYChannel + ccpmServoZChannel + ccpmSingleServo + ccpmAngleW + ccpmAngleX + ccpmAngleY + ccpmAngleZ + ccpmCorrectionAngle + ccpmCollectiveSlider + ccpmCollectivespinBox + ccpmRevoSlider + ccpmREVOspinBox + SwashplateImage + getccpmCurrent + saveccpmToRAM + saveccpmToSD + CurveType + NumCurvePoints + CurveValue1 + CurveValue2 + CurveValue3 + CurveToGenerate + ccpmGenerateCurve + pushButton_3 + pushButton_2 + CurveSettings + ccpmAdvancedSettingsTable + - + + + ccpmCollectiveSlider + sliderMoved(int) + ccpmCollectivespinBox + setValue(int) + + + 246 + 309 + + + 228 + 501 + + + + + ccpmCollectivespinBox + valueChanged(int) + ccpmCollectiveSlider + setValue(int) + + + 247 + 496 + + + 243 + 391 + + + + + ccpmREVOspinBox + valueChanged(int) + ccpmRevoSlider + setValue(int) + + + 320 + 498 + + + 326 + 393 + + + + + ccpmRevoSlider + sliderMoved(int) + ccpmREVOspinBox + setValue(int) + + + 303 + 222 + + + 308 + 496 + + + + diff --git a/ground/src/plugins/config/configccpmwidget.cpp b/ground/src/plugins/config/configccpmwidget.cpp index eac03495b..ef4de7f98 100644 --- a/ground/src/plugins/config/configccpmwidget.cpp +++ b/ground/src/plugins/config/configccpmwidget.cpp @@ -86,27 +86,48 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) channels << "Channel0" << "Channel1" << "Channel2" << "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "None" ; m_ccpm->ccpmEngineChannel->addItems(channels); + m_ccpm->ccpmEngineChannel->setCurrentIndex(8); m_ccpm->ccpmTailChannel->addItems(channels); + m_ccpm->ccpmTailChannel->setCurrentIndex(8); m_ccpm->ccpmServoWChannel->addItems(channels); + m_ccpm->ccpmServoWChannel->setCurrentIndex(8); m_ccpm->ccpmServoXChannel->addItems(channels); + m_ccpm->ccpmServoXChannel->setCurrentIndex(8); m_ccpm->ccpmServoYChannel->addItems(channels); + m_ccpm->ccpmServoYChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->addItems(channels); + m_ccpm->ccpmServoZChannel->setCurrentIndex(8); QStringList Types; - Types << "CCPM 90º" << "CCPM 120º" << "CCPM 140º" ; + Types << "Custom - Advanced Settings" << "Custom - User Angles" << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" ; m_ccpm->ccpmType->addItems(Types); requestccpmUpdate(); UpdateCurveSettings(); - ccpmSwashplateUpdate(); + UpdateType(); + connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate())); connect(m_ccpm->saveccpmToRAM, SIGNAL(clicked()), this, SLOT(sendccpmUpdate())); connect(m_ccpm->getccpmCurrent, SIGNAL(clicked()), this, SLOT(requestccpmUpdate())); connect(m_ccpm->ccpmGenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve())); connect(m_ccpm->NumCurvePoints, SIGNAL(valueChanged(int)), this, SLOT(UpdateCurveSettings())); connect(m_ccpm->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings())); - connect(m_ccpm->ServoSettings, SIGNAL(cellChanged(int,int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); + connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); + connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); + + + + connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate())); @@ -117,6 +138,59 @@ ConfigccpmWidget::~ConfigccpmWidget() // Do nothing } +void ConfigccpmWidget::UpdateType() +{ + int TypeInt,angle,NumServo; + QString TypeText; + + + TypeInt = m_ccpm->ccpmType->currentIndex(); + TypeText = m_ccpm->ccpmType->currentText(); + + //set visibility of user settings + m_ccpm->ccpmAngleW->setEnabled(TypeInt==1); + m_ccpm->ccpmAngleX->setEnabled(TypeInt==1); + m_ccpm->ccpmAngleY->setEnabled(TypeInt==1); + m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1); + + m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0); + m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0); + m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0); + m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0); + m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0); + m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0); + m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0); + m_ccpm->ccpmCollectivespinBox->setEnabled(TypeInt>0); + m_ccpm->ccpmRevoSlider->setEnabled(TypeInt>0); + m_ccpm->ccpmREVOspinBox->setEnabled(TypeInt>0); + + + //set values for pre defined heli types + if (TypeInt>1) + { + //NumServo = TypeText.mid(TypeText.indexOf(QRegExp("[0-9]{1,1} Servo"))).toInt(); + // angle = TypeText.mid(TypeText.indexOf(QRegExp("[0-9]{1,3}º"))).toInt(); + if (TypeText.compare(QString("CCPM 2 SERVO 90º"))) + { + m_ccpm->ccpmAngleW->setValue(60); + m_ccpm->ccpmAngleX->setValue(180); + m_ccpm->ccpmAngleY->setValue(300); + m_ccpm->ccpmAngleZ->setValue(0); + m_ccpm->ccpmAngleZ->setEnabled(0); + m_ccpm->ccpmServoZChannel->setEnabled(0); + } + + } + + + //update UI + ccpmSwashplateUpdate(); + +} + + + + void ConfigccpmWidget::UpdateCurveSettings() { int NumCurvePoints,i; @@ -242,40 +316,132 @@ void ConfigccpmWidget::GenerateCurve() void ConfigccpmWidget::ccpmSwashplateUpdate() { - double angle,x,y; + double angle,correctionangle,x,y; int used; + correctionangle=m_ccpm->ccpmCorrectionAngle->value(); - used=m_ccpm->ServoSettings->item(0,1)->text().compare("None"); + used=m_ccpm->ccpmServoWChannel->currentIndex()<8; ServoW->setVisible(used!=0); - angle=(180+m_ccpm->ServoSettings->item(0,0)->text().toDouble())*Pi/180.00; + angle=(180+m_ccpm->ccpmAngleW->value())*Pi/180.00; x=200.00-(200.00*sin(angle))-10.00; y=200.00+(200.00*cos(angle))-10.00; ServoW->setPos(x, y); - used=m_ccpm->ServoSettings->item(1,1)->text().compare("None"); + used=m_ccpm->ccpmServoXChannel->currentIndex()<8; ServoX->setVisible(used!=0); - angle=(180+m_ccpm->ServoSettings->item(1,0)->text().toDouble())*Pi/180.00; + angle=(180+m_ccpm->ccpmAngleX->value())*Pi/180.00; x=200.00-(200.00*sin(angle))-10.00; y=200.00+(200.00*cos(angle))-10.00; ServoX->setPos(x, y); - used=m_ccpm->ServoSettings->item(2,1)->text().compare("None"); + used=m_ccpm->ccpmServoYChannel->currentIndex()<8; ServoY->setVisible(used!=0); - angle=(180+m_ccpm->ServoSettings->item(2,0)->text().toDouble())*Pi/180.00; + angle=(180+m_ccpm->ccpmAngleY->value())*Pi/180.00; x=200.00-(200.00*sin(angle))-10.00; y=200.00+(200.00*cos(angle))-10.00; ServoY->setPos(x, y); - used=m_ccpm->ServoSettings->item(3,1)->text().compare("None"); + used=m_ccpm->ccpmServoZChannel->currentIndex()<8; ServoZ->setVisible(used!=0); - angle=(180+m_ccpm->ServoSettings->item(3,0)->text().toDouble())*Pi/180.00; + angle=(180+m_ccpm->ccpmAngleZ->value())*Pi/180.00; x=200.00-(200.00*sin(angle))-10.00; y=200.00+(200.00*cos(angle))-10.00; ServoZ->setPos(x, y); + UpdateMixer(); + } +void ConfigccpmWidget::UpdateMixer() +{ + int i,j,Type; + float CollectiveConstant,ThisAngle[6]; + QTableWidgetItem *newItem;// = new QTableWidgetItem(); + QString Channel; + + Type = m_ccpm->ccpmType->currentIndex(); + CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; + + + if (Type>0) + {//not advanced settings + //get the channel data from the ui + MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); + MixerChannelData[1] = m_ccpm->ccpmTailChannel->currentIndex(); + MixerChannelData[2] = m_ccpm->ccpmServoWChannel->currentIndex(); + MixerChannelData[3] = m_ccpm->ccpmServoXChannel->currentIndex(); + MixerChannelData[4] = m_ccpm->ccpmServoYChannel->currentIndex(); + MixerChannelData[5] = m_ccpm->ccpmServoZChannel->currentIndex(); + + //get the angle data from the ui + ThisAngle[2] = m_ccpm->ccpmAngleW->value(); + ThisAngle[3] = m_ccpm->ccpmAngleX->value(); + ThisAngle[4] = m_ccpm->ccpmAngleY->value(); + ThisAngle[5] = m_ccpm->ccpmAngleZ->value(); + + //go through the user data and update the mixer matrix + for (i=0;i<6;i++) + { + /* + data.Mixer0Type = 0;//Disabled,Motor,Servo + data.Mixer0Vector[0] = 0;//ThrottleCurve1 + data.Mixer0Vector[1] = 0;//ThrottleCurve2 + data.Mixer0Vector[2] = 0;//Roll + data.Mixer0Vector[3] = 0;//Pitch + data.Mixer0Vector[4] = 0;//Yaw + + */ + if (MixerChannelData[i]<8) + { + m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i] )); + //config the vector + if (i==0) + {//motor-engine + m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1 + m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 + m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll + m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch + m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw + } + if (i==1) + {//tailrotor + m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 + m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 + m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll + m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch + m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw + } + if (i>1) + {//Swashplate + m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 + m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2 + m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin(ThisAngle[i]*Pi/180.00))));//Roll + m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos(ThisAngle[i]*Pi/180.00))));//Pitch + m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw + + } + } + else + { + for (j=0;j<6;j++) m_ccpm->ccpmAdvancedSettingsTable->item(i,j)->setText(QString("-")); + } + + } + } + else + {//advanced settings + for (i=0;i<6;i++) + { + Channel =m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->text(); + if (Channel == "-") Channel = QString("8"); + MixerChannelData[i]= Channel.toInt(); + } + } + + + +} /************************** * ccpm settings @@ -307,10 +473,9 @@ void ConfigccpmWidget::requestccpmUpdate() */ void ConfigccpmWidget::sendccpmUpdate() { - int i,ThisChannel[6]; -float CollectiveConstant,ThisAngle[6]; + int i,j; + float CollectiveConstant,ThisAngle[6]; UAVObjectField *field; - QTableWidgetItem *newItem;// = new QTableWidgetItem(); UAVDataObject* obj; ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); @@ -319,31 +484,7 @@ float CollectiveConstant,ThisAngle[6]; obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); Q_ASSERT(obj); - CollectiveConstant=m_ccpm->CollectiveConstant->value(); - - - //get the channel data from the ui - ThisChannel[0] = m_ccpm->ccpmThrottle->currentText().toInt(); - ThisChannel[1] = m_ccpm->ccpmTailRotor->currentText().toInt(); - newItem =m_ccpm->ServoSettings->item(0, 1); - ThisChannel[2] = newItem->text().toInt(); - newItem =m_ccpm->ServoSettings->item(1, 1); - ThisChannel[3] = newItem->text().toInt(); - newItem =m_ccpm->ServoSettings->item(2, 1); - ThisChannel[4] = newItem->text().toInt(); - newItem =m_ccpm->ServoSettings->item(3, 1); - ThisChannel[5] = newItem->text().toInt(); - - - //get the angle data from the ui - newItem =m_ccpm->ServoSettings->item(0, 0); - ThisAngle[2] = newItem->text().toFloat(); - newItem =m_ccpm->ServoSettings->item(1, 0); - ThisAngle[3] = newItem->text().toFloat(); - newItem =m_ccpm->ServoSettings->item(2, 0); - ThisAngle[4] = newItem->text().toFloat(); - newItem =m_ccpm->ServoSettings->item(3, 0); - ThisAngle[5] = newItem->text().toFloat(); + UpdateMixer(); //go through the user data and update the mixer matrix for (i=0;i<6;i++) @@ -357,10 +498,10 @@ float CollectiveConstant,ThisAngle[6]; data.Mixer0Vector[4] = 0;//Yaw */ - if (ThisChannel[i]<8) + if (MixerChannelData[i]<8) { - //select the correct mixer for this config element - field = obj->getField(tr( "Mixer%1Type" ).arg( ThisChannel[i] )); + //select the correct mixer for this config element + field = obj->getField(tr( "Mixer%1Type" ).arg( MixerChannelData[i] )); //set the mixer type if (i==0) { @@ -372,33 +513,13 @@ float CollectiveConstant,ThisAngle[6]; } //select the correct mixer for this config element - field = obj->getField(tr( "Mixer%1Vector" ).arg( ThisChannel[i] )); - //config the vector - if (i==0) - {//motor - field->setValue(127.0,0);//ThrottleCurve1 - field->setValue(0,1);//ThrottleCurve2 - field->setValue(0,2);//Roll - field->setValue(0,3);//Pitch - field->setValue(0,4);//Yaw + field = obj->getField(tr( "Mixer%1Vector" ).arg( MixerChannelData[i] )); + //config the vector + for (j=0;j<6;j++) + { + field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->text().toInt()); } - if (i==1) - {//tailrotor - field->setValue(0,0);//ThrottleCurve1 - field->setValue(0,1);//ThrottleCurve2 - field->setValue(0,2);//Roll - field->setValue(0,3);//Pitch - field->setValue(127.0,4);//Yaw - } - if (i>1) - {//Swashplate - field->setValue(0,0);//ThrottleCurve1 - field->setValue(127.0*CollectiveConstant,1);//ThrottleCurve2 - field->setValue(127.0*(1-CollectiveConstant)*sin(ThisAngle[i]*Pi/180.00),2);//Roll - field->setValue(127.0*(1-CollectiveConstant)*cos(ThisAngle[i]*Pi/180.00),3);//Pitch - field->setValue(0,4);//Yaw - } } } @@ -408,14 +529,12 @@ float CollectiveConstant,ThisAngle[6]; field = obj->getField(QString("ThrottleCurve1")); for (i=0;i<5;i++) { - newItem =m_ccpm->CurveSettings->item(i, 0); - field->setValue(newItem->text().toDouble(),i); + field->setValue(m_ccpm->CurveSettings->item(i, 0)->text().toDouble(),i); } field = obj->getField(QString("ThrottleCurve2")); for (i=0;i<5;i++) { - newItem =m_ccpm->CurveSettings->item(i, 1); - field->setValue(newItem->text().toDouble(),i); + field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i); } obj->updated(); diff --git a/ground/src/plugins/config/configccpmwidget.h b/ground/src/plugins/config/configccpmwidget.h index 6b6d47f10..d9b5b6bdb 100644 --- a/ground/src/plugins/config/configccpmwidget.h +++ b/ground/src/plugins/config/configccpmwidget.h @@ -56,6 +56,8 @@ private: QGraphicsSvgItem *ServoY; QGraphicsSvgItem *ServoZ; + int MixerChannelData[6]; + private slots: void requestccpmUpdate(); void sendccpmUpdate(); @@ -63,6 +65,8 @@ private: void ccpmSwashplateUpdate(); void UpdateCurveSettings(); void GenerateCurve(); + void UpdateMixer(); + void UpdateType(); };