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OP-1063 Multi_config_Hexa_fixes Svg file : Added HexX_reverse and fixed gradients

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SetupWizard : Updated Hexa, HexaC and HexaH default values, default Throttle curve at 90% max
Fixed a previous bug sign in HexaH (and HexaX because previously copied) : Bug was in M4 Roll and M6 Yaw.
This commit is contained in:
Laurent Lalanne 2014-07-13 01:39:50 +02:00
parent 748190935d
commit 0c0ae36413
3 changed files with 578 additions and 91 deletions
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18
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -158,23 +158,23 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
m_aircraft->mrRollMixLevel->setValue(60); // Old Roll 50 - Pitch 33
m_aircraft->mrPitchMixLevel->setValue(40);
setYawMixLevel(33);
m_aircraft->mrRollMixLevel->setValue(100); // Old Roll 50 - Pitch 33 - Yaw 33
m_aircraft->mrPitchMixLevel->setValue(100);// Do not alter mixer matrix
setYawMixLevel(100);
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
setComboCurrentIndex(m_aircraft->multirotorFrameType,
m_aircraft->multirotorFrameType->findText("Hexacopter X"));
m_aircraft->mrRollMixLevel->setValue(40); // Old: Roll 33 - Pitch 50
m_aircraft->mrPitchMixLevel->setValue(60);
setYawMixLevel(33);
m_aircraft->mrRollMixLevel->setValue(100); // Old: Roll 33 - Pitch 50 - Yaw 33
m_aircraft->mrPitchMixLevel->setValue(100);// Do not alter mixer matrix
setYawMixLevel(100);
} else if (frameType == "HexaH" || frameType == "Hexacopter H") {
setComboCurrentIndex(m_aircraft->multirotorFrameType,
m_aircraft->multirotorFrameType->findText("Hexacopter H"));
m_aircraft->mrRollMixLevel->setValue(40);
m_aircraft->mrPitchMixLevel->setValue(60);
setYawMixLevel(33);
m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
m_aircraft->mrPitchMixLevel->setValue(100);// All mixers RPY levels = 100%
setYawMixLevel(100);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
setComboCurrentIndex(m_aircraft->multirotorFrameType,
m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));

523
ground/openpilotgcs/src/plugins/config/images/multirotor-shapes.svg
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File diff suppressed because one or more lines are too long
Side by Side Swipe Overlay

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Width:  |  Height:  |  Size: 774 KiB

After

Width:  |  Height:  |  Size: 811 KiB

128
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -635,8 +635,9 @@ void VehicleConfigurationHelper::resetVehicleConfig()
for (int i = 1; i <= 2; i++) {
UAVObjectField *field = mSettings->getField(throttlePattern.arg(i));
Q_ASSERT(field);
// Wizard support only Multirotors - Set default curve with 90% max
for (quint32 i = 0; i < field->getNumElements(); i++) {
field->setValue(i * (1.0f / (field->getNumElements() - 1)), i);
field->setValue(i * (0.9f / (field->getNumElements() - 1)), i);
}
}
@ -832,49 +833,56 @@ void VehicleConfigurationHelper::setupHexaCopter()
switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
{
frame = SystemSettings::AIRFRAMETYPE_HEXA;
frame = SystemSettings::AIRFRAMETYPE_HEXA;
// HexaPlus according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw
//M1 { 1 , 0 , -1 },
//M2 { 0.5, -1, 1 },
//M3 { -0.5, -1, -1 },
//M4 { -1 , 0 , 1 },
//M5 { -0.5, 1 , -1 },
//M6 { 0.5, 1 , 1 },
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 33;
channels[0].yaw = -33;
channels[0].pitch = 100;
channels[0].yaw = -100;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -50;
channels[1].pitch = 33;
channels[1].yaw = 33;
channels[1].roll = -100;
channels[1].pitch = 50;
channels[1].yaw = 100;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -50;
channels[2].pitch = -33;
channels[2].yaw = -33;
channels[2].roll = -100;
channels[2].pitch = -50;
channels[2].yaw = -100;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = -33;
channels[3].yaw = 33;
channels[3].pitch = -100;
channels[3].yaw = 100;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 50;
channels[4].pitch = -33;
channels[4].yaw = -33;
channels[4].roll = 100;
channels[4].pitch = -50;
channels[4].yaw = -100;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 50;
channels[5].pitch = 33;
channels[5].yaw = 33;
channels[5].roll = 100;
channels[5].pitch = 50;
channels[5].yaw = 100;
guiSettings.multi.VTOLMotorN = 1;
guiSettings.multi.VTOLMotorNE = 2;
@ -943,48 +951,55 @@ void VehicleConfigurationHelper::setupHexaCopter()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
{
frame = SystemSettings::AIRFRAMETYPE_HEXAH;
// HexaH according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw
//M1 { 1 , -0.5, -0.5 },
//M2 { 0 , -1 , 1 },
//M3 { -1 , -0.5, -0.5 },
//M4 { -1 , 0.5, 0.5 },
//M5 { 0 , 1 , -1 },
//M6 { 1 , 0.5, 0.5 },
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = -33;
channels[0].pitch = 50;
channels[0].yaw = -33;
channels[0].roll = -50;
channels[0].pitch = 100;
channels[0].yaw = -50;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -33;
channels[1].roll = -100;
channels[1].pitch = 0;
channels[1].yaw = 33;
channels[1].yaw = 100;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -33;
channels[2].pitch = -50;
channels[2].yaw = -33;
channels[2].roll = -50;
channels[2].pitch = -100;
channels[2].yaw = -50;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -33;
channels[3].pitch = -50;
channels[3].yaw = 33;
channels[3].roll = 50;
channels[3].pitch = -100;
channels[3].yaw = 50;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 33;
channels[4].roll = 100;
channels[4].pitch = 0;
channels[4].yaw = -33;
channels[4].yaw = -100;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 33;
channels[5].pitch = 50;
channels[5].yaw = -33;
channels[5].roll = 50;
channels[5].pitch = 100;
channels[5].yaw = 50;
guiSettings.multi.VTOLMotorNE = 1;
guiSettings.multi.VTOLMotorE = 2;
@ -998,48 +1013,55 @@ void VehicleConfigurationHelper::setupHexaCopter()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X:
{
frame = SystemSettings::AIRFRAMETYPE_HEXAH;
// HexaX according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw
//M1 { 1, -0.5, -1 },
//M2 { 0, -1 , 1 },
//M3 { -1, -0.5, -1 },
//M4 { -1, 0.5, 1 },
//M5 { 0, 1 , -1 },
//M6 { 1, 0.5, 1 },
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = -33;
channels[0].pitch = 50;
channels[0].yaw = -33;
channels[0].roll = -50;
channels[0].pitch = 100;
channels[0].yaw = -100;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -33;
channels[1].roll = -100;
channels[1].pitch = 0;
channels[1].yaw = 33;
channels[1].yaw = 100;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -33;
channels[2].pitch = -50;
channels[2].yaw = -33;
channels[2].roll = -50;
channels[2].pitch = -100;
channels[2].yaw = -100;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -33;
channels[3].pitch = -50;
channels[3].yaw = 33;
channels[3].roll = 50;
channels[3].pitch = -100;
channels[3].yaw = 100;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 33;
channels[4].roll = 100;
channels[4].pitch = 0;
channels[4].yaw = -33;
channels[4].yaw = -100;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 33;
channels[5].pitch = 50;
channels[5].yaw = -33;
channels[5].roll = 50;
channels[5].pitch = 100;
channels[5].yaw = 100;
guiSettings.multi.VTOLMotorNE = 1;
guiSettings.multi.VTOLMotorE = 2;