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Code Issues Releases Activity

OP-1622 Fix Throttle curves and allow forward/reverse for Car and Tank

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This commit is contained in:
Laurent Lalanne 2014-11-22 20:10:55 +01:00
parent 3492e2a67d
commit 0c72a76b35
3 changed files with 85 additions and 28 deletions
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3
ground/openpilotgcs/src/plugins/config/airframe_ground.ui
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@ -476,6 +476,9 @@ margin:1px;</string>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>

109
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
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@ -113,6 +113,15 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->differentialSteeringSlider1->setEnabled(false);
m_aircraft->differentialSteeringSlider2->setEnabled(false);
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
// Default Curve range -1 -> +1, allow forward/reverse (Car and Tank)
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
initMixerCurves(frameType);
if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)") {
// Tank
m_vehicleImg->setElementId("tank");
@ -136,10 +145,14 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Left throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Right throttle curve");
// If new setup, set sliders to defaults
if (frameTypeSaved->getValue().toString() != "GroundVehicleDifferential") {
m_aircraft->differentialSteeringSlider1->setValue(50);
m_aircraft->differentialSteeringSlider2->setValue(50);
// If new setup, set sliders to defaults and set curves values
// Allow forward/reverse 0.8 / -0.8 for Throttle, keep some room
// to allow rotate at full throttle and heading stabilization
if (frameTypeSaved->getValue().toString() != "GroundVehicleDifferential") {
m_aircraft->differentialSteeringSlider1->setValue(100);
m_aircraft->differentialSteeringSlider2->setValue(100);
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 0.8, -0.8);
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 0.8, -0.8);
}
} else if (frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle") {
// Motorcycle
@ -147,8 +160,8 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Motorcycle"));
m_aircraft->gvMotor1ChannelBox->setEnabled(false);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->gvMotor1Label->setText("Front motor");
m_aircraft->gvMotor2Label->setText("Rear motor");
m_aircraft->gvSteering1ChannelBox->setEnabled(true);
@ -157,8 +170,17 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Balancing");
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Front throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
// Curve range 0 -> +1 (no reverse)
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
// If new setup, set curves values
if (frameTypeSaved->getValue().toString() != "GroundVehicleMotorCycle") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0);
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0);
}
} else {
// Car
m_vehicleImg->setElementId("car");
@ -178,6 +200,12 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Front throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
// If new setup, set curves values
if (frameTypeSaved->getValue().toString() != "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0, -1.0);
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0, -1.0);
}
}
QGraphicsScene *scene = new QGraphicsScene();
@ -224,29 +252,11 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
{
setupUI(frameType);
initMixerCurves(frameType);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->groundVehicleThrottle1->initCurve(&curveValues);
} else {
// no, init a straight curve
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0);
}
// Setup all Throttle2 curves for all types of airframes
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (isValidThrottleCurve(&curveValues)) {
m_aircraft->groundVehicleThrottle2->initCurve(&curveValues);
} else {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
GUIConfigDataUnion config = getConfigData();
// THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE
@ -269,7 +279,51 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
m_aircraft->differentialSteeringSlider2->setValue(
-getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW) / 1.27);
}
}
}
}
/**
Virtual function to update curve values from board
*/
void ConfigGroundVehicleWidget::initMixerCurves(QString frameType)
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->groundVehicleThrottle1->initCurve(&curveValues);
} else {
// no, init a straight curve
if (frameType == "GroundVehicleDifferential") {
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 0.8, -0.8);
} else if (frameType == "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0, -1.0);
} else {
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0);
}
}
// Setup all Throttle2 curves for all types of airframes
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (isValidThrottleCurve(&curveValues)) {
m_aircraft->groundVehicleThrottle2->initCurve(&curveValues);
} else {
// no, init a straight curve
if (frameType == "GroundVehicleDifferential") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 0.8, -0.8);
} else if (frameType == "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0, -1.0);
} else {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
}
}
/**
@ -311,7 +365,6 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
*/
bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {

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

@ -50,6 +50,7 @@ public:
~ConfigGroundVehicleWidget();
virtual void refreshWidgetsValues(QString frameType);
virtual void initMixerCurves(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
protected: