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Code Issues Releases Activity

VehicleConfig, multirotor, slight refactor;

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This commit is contained in:
Mike LaBranche 2012-07-07 10:07:04 -07:00
parent 594453d191
commit 0a4101c915
4 changed files with 53 additions and 58 deletions
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94
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -42,7 +42,8 @@
#include "actuatorsettings.h"
#include "actuatorcommand.h"
//#define Pi 3.14159265358979323846
const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChannelBox");
/**
@ -89,10 +90,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
quad->setElementId("tri");
//Enable all necessary motor channel boxes...
for (i=1; i <=3; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
@ -103,10 +102,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-X");
//Enable all necessary motor channel boxes...
for (i=1; i <=4; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
// init mixer levels
m_aircraft->mrRollMixLevel->setValue(50);
@ -117,10 +114,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
quad->setElementId("quad-plus");
//Enable all necessary motor channel boxes...
for (i=1; i <=4; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
@ -131,10 +126,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
quad->setElementId("quad-hexa");
//Enable all necessary motor channel boxes...
for (i=1; i <=6; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33);
@ -144,10 +137,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
quad->setElementId("quad-hexa-H");
//Enable all necessary motor channel boxes...
for (i=1; i <=6; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -159,10 +150,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
quad->setElementId("hexa-coax");
//Enable all necessary motor channel boxes...
for (i=1; i <=6; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -174,10 +163,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
quad->setElementId("quad-octo");
//Enable all necessary motor channel boxes
for (i=1; i <=8; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
//Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
@ -188,10 +175,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
quad->setElementId("quad-octo-v");
//Enable all necessary motor channel boxes
for (i=1; i <=8; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
//Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
@ -203,10 +188,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
quad->setElementId("octo-coax-P");
//Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
//Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
@ -218,10 +201,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
quad->setElementId("octo-coax-X");
//Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -499,7 +479,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
if (frameType == "QuadP") {
if (frameType == "QuadP")
{
// Motors 1/2/3/4 are: N / E / S / W
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
@ -524,7 +505,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrRollMixLevel->setValue( -value/1.27);
}
} else if (frameType == "QuadX") {
}
else if (frameType == "QuadX")
{
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
@ -548,7 +531,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
}
} else if (frameType == "Hexa") {
}
else if (frameType == "Hexa")
{
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
@ -579,7 +564,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
}
} else if (frameType == "HexaX") {
}
else if (frameType == "HexaX")
{
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
@ -606,7 +593,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(1-value/1.27) );
}
} else if (frameType == "HexaCoax") {
}
else if (frameType == "HexaCoax")
{
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
@ -632,8 +621,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( value/1.27);
}
} else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") {
}
else if (frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
@ -689,7 +679,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
}
}
} else if (frameType == "OctoCoaxX") {
}
else if (frameType == "OctoCoaxX")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
@ -716,7 +708,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
}
} else if (frameType == "Tri") {
}
else if (frameType == "Tri")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);

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

@ -66,6 +66,7 @@ private:
virtual void ResetActuators(GUIConfigDataUnion* configData);
static QStringList getChannelDescriptions();
static const QString CHANNELBOXNAME;
private slots:
virtual void setupUI(QString airframeType);

13
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -129,15 +129,16 @@ void VehicleConfig::setComboCurrentIndex(QComboBox* box, int index)
/**
Helper function:
enables/disables the named combobox within supplied uiowner
enables/disables the named comboboxes within supplied uiowner
*/
void VehicleConfig::enableComboBox(QWidget* owner, QString boxName, bool enable)
void VehicleConfig::enableComboBoxes(QWidget* owner, QString boxName, int boxCount, bool enable)
{
QComboBox* box = qFindChild<QComboBox*>(owner, boxName);
if (box)
box->setEnabled(enable);
for (int i = 1; i <= boxCount; i++) {
QComboBox* box = qFindChild<QComboBox*>(owner, QString("%0%1").arg(boxName).arg(i));
if (box)
box->setEnabled(enable);
}
}
QString VehicleConfig::getMixerType(UAVDataObject* mixer, int channel)
{
Q_ASSERT(mixer);

3
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -123,8 +123,7 @@ class VehicleConfig: public ConfigTaskWidget
static void SetConfigData(GUIConfigDataUnion configData);
static void resetField(UAVObjectField * field);
static void setComboCurrentIndex(QComboBox* box, int index);
static void enableComboBox(QWidget* owner, QString boxName, bool enable);
static void enableComboBoxes(QWidget* owner, QString boxName, int boxCount, bool enable);
double getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName);
void setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value);
void resetMixerVector(UAVDataObject* mixer, int channel);