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Code Issues Releases Activity

OP-907 step 1: extract vehicle specific UIs from airframe.ui

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This commit is contained in:
Philippe Renon 2013-03-23 16:53:24 +01:00
parent 1e2e93b8c0
commit 0d3e00134a
18 changed files with 3138 additions and 377 deletions
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37
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/airframe_ccpm.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CcpmConfigWidget</class>
<widget class="QWidget" name="CcpmConfigWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>880</width>
<height>608</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="margin">
<number>12</number>
</property>
<item>
<widget class="ConfigCcpmWidget" name="widget_3" native="true"/>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>ConfigCcpmWidget</class>
<extends>QWidget</extends>
<header>cfg_vehicletypes/configccpmwidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

713
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/airframe_custom.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CustomConfigWidget</class>
<widget class="QWidget" name="CustomConfigWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>880</width>
<height>608</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="margin">
<number>12</number>
</property>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_14">
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Curve 1</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<widget class="MixerCurve" name="customThrottle1Curve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>300</width>
<height>350</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>Curve 2</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_17">
<item>
<widget class="MixerCurve" name="customThrottle2Curve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>300</width>
<height>350</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<widget class="QTableWidget" name="customMixerTable">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<attribute name="horizontalHeaderDefaultSectionSize">
<number>50</number>
</attribute>
<attribute name="horizontalHeaderStretchLastSection">
<bool>false</bool>
</attribute>
<row>
<property name="text">
<string>Type</string>
</property>
</row>
<row>
<property name="text">
<string>Curve 1</string>
</property>
</row>
<row>
<property name="text">
<string>Curve 2</string>
</property>
</row>
<row>
<property name="text">
<string>Roll</string>
</property>
</row>
<row>
<property name="text">
<string>Pitch</string>
</property>
</row>
<row>
<property name="text">
<string>Yaw</string>
</property>
</row>
<column>
<property name="text">
<string>Ch 1</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 2</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 3</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 4</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 5</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 6</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 7</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 8</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 9</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 10</string>
</property>
</column>
<item row="0" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="6">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="7">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="8">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="9">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="6">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="7">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="8">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="9">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="6">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="7">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="8">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="9">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="6">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="7">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="8">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="9">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="6">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="7">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="8">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="9">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="6">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="7">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="8">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="9">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>MixerCurve</class>
<extends>QWidget</extends>
<header location="global">mixercurve.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

530
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/airframe_fixedwing.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>FixedWingConfigWidget</class>
<widget class="QWidget" name="FixedWingConfigWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>880</width>
<height>608</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="margin">
<number>9</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Airplane type:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="fixedWingType"/>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>230</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Output Channel Assignments</string>
</property>
<layout class="QFormLayout" name="formLayout_3">
<item row="1" column="0">
<widget class="QLabel" name="fwEngineLabel">
<property name="text">
<string>Engine</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="fwEngineChannelBox">
<property name="toolTip">
<string>Select output channel for the engine</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="fwAileron1Label">
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Aileron 1</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="fwAileron1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first aileron (or elevon)</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="fwAileron2Label">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Aileron 2</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="fwAileron2ChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Select output channel for the second aileron (or elevon)</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="fwElevator1Label">
<property name="minimumSize">
<size>
<width>67</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Elevator 1</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="fwElevator1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first elevator</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="fwElevator2Label">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>67</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Elevator 2</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="fwElevator2ChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Select output channel for a secondary elevator</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="fwRudder1Label">
<property name="text">
<string>Rudder 1</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QComboBox" name="fwRudder1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first rudder</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="fwRudder2Label">
<property name="text">
<string>Rudder 2</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QComboBox" name="fwRudder2ChannelBox">
<property name="toolTip">
<string>Select output channel for a secondary rudder</string>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="elevonMixBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Elevon Mix</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<widget class="QLabel" name="elevonLabel1">
<property name="minimumSize">
<size>
<width>65</width>
<height>0</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Rudder %</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="elevonSlider1">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="elevonSliderLabel1">
<property name="text">
<string>50</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<widget class="QLabel" name="elevonLabel2">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch %</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="elevonSlider2">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="elevonSliderLabel2">
<property name="text">
<string>50</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>100</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Throttle Curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<widget class="MixerCurve" name="fixedWingThrottle" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>500</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>300</width>
<height>350</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_13">
<item>
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="fwStatusLabel">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Mixer OK</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>MixerCurve</class>
<extends>QWidget</extends>
<header location="global">mixercurve.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections>
<connection>
<sender>elevonSlider1</sender>
<signal>valueChanged(int)</signal>
<receiver>elevonSliderLabel1</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>124</x>
<y>126</y>
</hint>
<hint type="destinationlabel">
<x>124</x>
<y>126</y>
</hint>
</hints>
</connection>
<connection>
<sender>elevonSlider2</sender>
<signal>valueChanged(int)</signal>
<receiver>elevonSliderLabel2</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>362</x>
<y>299</y>
</hint>
<hint type="destinationlabel">
<x>124</x>
<y>126</y>
</hint>
</hints>
</connection>
</connections>
</ui>

548
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>GroundConfigWidget</class>
<widget class="QWidget" name="GroundConfigWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>880</width>
<height>608</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="margin">
<number>12</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_61">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_31">
<item>
<widget class="QLabel" name="label_51">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Vehicle type:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="groundVehicleType"/>
</item>
<item>
<spacer name="horizontalSpacer_31">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_33">
<item>
<widget class="QLabel" name="label_7">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Channel Assignment</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_41">
<item>
<widget class="QGroupBox" name="groupBox_7">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Output channel asignmets</string>
</property>
<layout class="QFormLayout" name="formLayout_5">
<item row="0" column="0">
<widget class="QLabel" name="gvEngineLabel">
<property name="minimumSize">
<size>
<width>77</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Engine</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="gvEngineChannelBox">
<property name="toolTip">
<string>Select output channel for the engine</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="gvAileron1Label">
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Aileron 1</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="gvAileron1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first aileron (or elevon)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="gvAileron2Label">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Aileron 2</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="gvAileron2ChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Select output channel for the second aileron (or elevon)</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="gvMotor1Label">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Motor</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="gvMotor1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first motor</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="gvMotor2Label">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>47</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Motor 2</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="gvMotor2ChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Select output channel for a second motor</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="gvSteering1Label">
<property name="text">
<string>Front Steering</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="gvSteering1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first steering actuator</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="gvSteering2Label">
<property name="text">
<string>Rear Steering</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QComboBox" name="gvSteering2ChannelBox">
<property name="toolTip">
<string>Select output channel for a second steering actuator</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="differentialSteeringMixBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Differential Steering Mix</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_33">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_30">
<item>
<layout class="QVBoxLayout" name="verticalLayout_34">
<item>
<widget class="QLabel" name="differentialSteeringLabel1">
<property name="minimumSize">
<size>
<width>65</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Left %</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="differentialSteeringSlider1">
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gvDiffSteering1Label">
<property name="text">
<string>50</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_35">
<item>
<widget class="QLabel" name="differentialSteeringLabel2">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Right %</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="differentialSteeringSlider2">
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gvDiffSteering2Label">
<property name="text">
<string>50</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="gvThrottleCurve1GroupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>100</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Front throttle curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_36">
<item>
<widget class="MixerCurve" name="groundVehicleThrottle1" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>500</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>300</width>
<height>350</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Rear throttle curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_37">
<item>
<widget class="MixerCurve" name="groundVehicleThrottle2" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>500</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>300</width>
<height>350</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_1">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_28">
<item>
<spacer name="horizontalSpacer_21">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="gvStatusLabel">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Mixer OK</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>MixerCurve</class>
<extends>QWidget</extends>
<header location="global">mixercurve.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections>
<connection>
<sender>differentialSteeringSlider1</sender>
<signal>valueChanged(int)</signal>
<receiver>gvDiffSteering1Label</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>124</x>
<y>126</y>
</hint>
<hint type="destinationlabel">
<x>315</x>
<y>391</y>
</hint>
</hints>
</connection>
<connection>
<sender>differentialSteeringSlider2</sender>
<signal>valueChanged(int)</signal>
<receiver>gvDiffSteering2Label</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>124</x>
<y>126</y>
</hint>
<hint type="destinationlabel">
<x>390</x>
<y>391</y>
</hint>
</hints>
</connection>
</connections>
</ui>

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ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/airframe_multirotor.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MultiRotorConfigWidget</class>
<widget class="QWidget" name="MultiRotorConfigWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>880</width>
<height>608</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="margin">
<number>12</number>
</property>
<item>
<widget class="QWidget" name="multiRotorLayout" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
<property name="margin">
<number>0</number>
</property>
<property name="verticalSpacing">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_10">
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Frame Type</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,1,0">
<property name="margin">
<number>12</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<property name="sizeConstraint">
<enum>QLayout::SetFixedSize</enum>
</property>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QComboBox" name="multirotorFrameType">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>25</height>
</size>
</property>
<property name="toolTip">
<string>Select the Multirotor frame type here.</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>8</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGraphicsView" name="quadShape">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background:transparent</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_7">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>8</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox_9">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Mix Level</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<property name="horizontalSpacing">
<number>0</number>
</property>
<property name="margin">
<number>12</number>
</property>
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0">
<item row="0" column="0">
<widget class="QLabel" name="mrRollMixValue">
<property name="minimumSize">
<size>
<width>30</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>100</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSlider" name="mrRollMixLevel">
<property name="minimumSize">
<size>
<width>35</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Weight of Roll mixing in percent.
Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_42">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>30</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="1">
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<widget class="QLabel" name="mrPitchMixValue">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>100</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSlider" name="mrPitchMixLevel">
<property name="minimumSize">
<size>
<width>35</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Weight of Pitch mixing in percent.
Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_40">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="2">
<layout class="QGridLayout" name="gridLayout_5">
<item row="0" column="0">
<widget class="QLabel" name="mrYawMixValue">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>50</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSlider" name="mrYawMixLevel">
<property name="minimumSize">
<size>
<width>40</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Weight of Yaw mixing in percent.
Typical value is 50% for + or X configuration on quads.</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_6">
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="mrStatusLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Mixer OK</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="0" column="2">
<widget class="QGroupBox" name="groupBox_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Throttle Curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<property name="margin">
<number>12</number>
</property>
<item>
<widget class="MixerCurve" name="multiThrottleCurve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background:transparent</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="0" colspan="3">
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>140</height>
</size>
</property>
<property name="title">
<string>Motor output channels</string>
</property>
<layout class="QGridLayout" name="gridLayout_6" columnstretch="1,1,0,0,1">
<property name="margin">
<number>12</number>
</property>
<item row="0" column="0" rowspan="5">
<layout class="QFormLayout" name="formLayout_2">
<property name="sizeConstraint">
<enum>QLayout::SetMaximumSize</enum>
</property>
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<property name="verticalSpacing">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="MotorOutputLabel1">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>1</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="multiMotorChannelBox1">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_8">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>2</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="multiMotorChannelBox2">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_9">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>3</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="multiMotorChannelBox3">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_10">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>4</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="multiMotorChannelBox4">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="1" rowspan="5">
<layout class="QFormLayout" name="formLayout_4">
<property name="sizeConstraint">
<enum>QLayout::SetMaximumSize</enum>
</property>
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<property name="verticalSpacing">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label_11">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>5</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="multiMotorChannelBox5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_12">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>6</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="multiMotorChannelBox6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_16">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>7</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="multiMotorChannelBox7">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_17">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>8</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="multiMotorChannelBox8">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="2" rowspan="5" colspan="2">
<widget class="Line" name="line">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>16</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Multirotor Motor Direction</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QComboBox" name="triYawChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>40</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>16</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Tricopter Yaw Servo channel</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QCheckBox" name="MultirotorRevMixercheckBox">
<property name="text">
<string>Reverse all motors</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>MixerCurve</class>
<extends>QWidget</extends>
<header location="global">mixercurve.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

7
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -25,6 +25,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "configccpmwidget.h" #include "configccpmwidget.h"
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
#include <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
@ -36,10 +39,6 @@
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
#define Pi 3.14159265358979323846 #define Pi 3.14159265358979323846

98
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -27,12 +27,13 @@
#ifndef CONFIGccpmWIDGET_H #ifndef CONFIGccpmWIDGET_H
#define CONFIGccpmWIDGET_H #define CONFIGccpmWIDGET_H
#include "cfg_vehicletypes/vehicleconfig.h"
#include "ui_ccpm.h" #include "ui_ccpm.h"
#include "../uavobjectwidgetutils/configtaskwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include <QtSvg/QSvgRenderer> #include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem> #include <QtSvg/QGraphicsSvgItem>
#include <QGraphicsEllipseItem> #include <QGraphicsEllipseItem>
@ -63,66 +64,67 @@ public:
friend class ConfigVehicleTypeWidget; friend class ConfigVehicleTypeWidget;
private: private:
Ui_ccpmWidget *m_ccpm; Ui_ccpmWidget *m_ccpm;
QGraphicsSvgItem *SwashplateImg; QGraphicsSvgItem *SwashplateImg;
QGraphicsSvgItem *CurveImg; QGraphicsSvgItem *CurveImg;
QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS]; QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS];
QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS]; QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS];
QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS]; QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS];
QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS]; QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS];
QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS]; QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS];
QString TypeText; QString TypeText;
bool SwashLvlConfigurationInProgress; bool SwashLvlConfigurationInProgress;
UAVObject::Metadata SwashLvlaccInitialData; UAVObject::Metadata SwashLvlaccInitialData;
int SwashLvlState; int SwashLvlState;
int SwashLvlServoInterlock; int SwashLvlServoInterlock;
SwashplateServoSettingsStruct oldSwashLvlConfiguration; SwashplateServoSettingsStruct oldSwashLvlConfiguration;
SwashplateServoSettingsStruct newSwashLvlConfiguration; SwashplateServoSettingsStruct newSwashLvlConfiguration;
int MixerChannelData[6]; int MixerChannelData[6];
int ShowDisclaimer(int messageID); int ShowDisclaimer(int messageID);
virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget
bool updatingFromHardware; bool updatingFromHardware;
bool updatingToHardware; bool updatingToHardware;
virtual void ResetActuators(GUIConfigDataUnion* configData); virtual void ResetActuators(GUIConfigDataUnion* configData);
static QStringList getChannelDescriptions(); static QStringList getChannelDescriptions();
QString updateConfigObjects(); QString updateConfigObjects();
private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual bool throwConfigError(QString airframeType);
void ccpmSwashplateUpdate(); private slots:
void ccpmSwashplateRedraw(); virtual void setupUI(QString airframeType);
void UpdateMixer(); virtual void refreshWidgetsValues(QString frameType);
void UpdateType(); virtual QString updateConfigObjectsFromWidgets();
virtual bool throwConfigError(QString airframeType);
void SwashLvlStartButtonPressed(); void ccpmSwashplateUpdate();
void SwashLvlNextButtonPressed(); void ccpmSwashplateRedraw();
void SwashLvlCancelButtonPressed(); void UpdateMixer();
void SwashLvlFinishButtonPressed(); void UpdateType();
//void UpdateCCPMOptionsFromUI(); void SwashLvlStartButtonPressed();
//void UpdateCCPMUIFromOptions(); void SwashLvlNextButtonPressed();
void SwashLvlCancelButtonPressed();
void SwashLvlFinishButtonPressed();
void SetUIComponentVisibilities(); //void UpdateCCPMOptionsFromUI();
//void UpdateCCPMUIFromOptions();
void enableSwashplateLevellingControl(bool state); void SetUIComponentVisibilities();
void setSwashplateLevel(int percent);
void SwashLvlSpinBoxChanged(int value);
virtual void refreshValues() {}; // Not used
public slots: void enableSwashplateLevellingControl(bool state);
void getMixer(); void setSwashplateLevel(int percent);
void setMixer(); void SwashLvlSpinBoxChanged(int value);
void saveccpmUpdate(); virtual void refreshValues() {}; // Not used
public slots:
void getMixer();
void setMixer();
void saveccpmUpdate();
protected: protected:
void showEvent(QShowEvent *event); void showEvent(QShowEvent *event);

20
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -25,8 +25,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "configfixedwingwidget.h" #include "configfixedwingwidget.h"
#include "configvehicletypewidget.h" //#include "configvehicletypewidget.h"
#include "mixersettings.h" #include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h"
#include <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
@ -38,16 +41,10 @@
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h"
/** /**
Constructor Constructor
*/ */
ConfigFixedWingWidget::ConfigFixedWingWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent) ConfigFixedWingWidget::ConfigFixedWingWidget(Ui_FixedWingConfigWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
{ {
m_aircraft = aircraft; m_aircraft = aircraft;
} }
@ -60,7 +57,6 @@ ConfigFixedWingWidget::~ConfigFixedWingWidget()
// Do nothing // Do nothing
} }
/** /**
Virtual function to setup the UI Virtual function to setup the UI
*/ */
@ -70,7 +66,7 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") { if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
// Setup the UI // Setup the UI
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing")); //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
m_aircraft->fwRudder1ChannelBox->setEnabled(true); m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true); m_aircraft->fwRudder1Label->setEnabled(true);
@ -92,7 +88,7 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->elevonMixBox->setHidden(true); m_aircraft->elevonMixBox->setHidden(true);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") { } else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing")); //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
m_aircraft->fwAileron1Label->setText("Elevon 1"); m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2"); m_aircraft->fwAileron2Label->setText("Elevon 2");
@ -111,7 +107,7 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->elevonLabel2->setText("Pitch"); m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") { } else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing")); //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
m_aircraft->fwRudder1ChannelBox->setEnabled(false); m_aircraft->fwRudder1ChannelBox->setEnabled(false);
m_aircraft->fwRudder1Label->setEnabled(false); m_aircraft->fwRudder1Label->setEnabled(false);

8
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -27,12 +27,14 @@
#ifndef CONFIGFIXEDWINGWIDGET_H #ifndef CONFIGFIXEDWINGWIDGET_H
#define CONFIGFIXEDWINGWIDGET_H #define CONFIGFIXEDWINGWIDGET_H
#include "ui_airframe.h" #include "cfg_vehicletypes/vehicleconfig.h"
#include "ui_airframe_fixedwing.h"
#include "../uavobjectwidgetutils/configtaskwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include "uavtalk/telemetrymanager.h" #include "uavtalk/telemetrymanager.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
#include <QItemDelegate> #include <QItemDelegate>
@ -44,13 +46,13 @@ class ConfigFixedWingWidget: public VehicleConfig
Q_OBJECT Q_OBJECT
public: public:
ConfigFixedWingWidget(Ui_AircraftWidget *aircraft = 0, QWidget *parent = 0); ConfigFixedWingWidget(Ui_FixedWingConfigWidget *aircraft = 0, QWidget *parent = 0);
~ConfigFixedWingWidget(); ~ConfigFixedWingWidget();
friend class ConfigVehicleTypeWidget; friend class ConfigVehicleTypeWidget;
private: private:
Ui_AircraftWidget *m_aircraft; Ui_FixedWingConfigWidget *m_aircraft;
bool setupFrameFixedWing(QString airframeType); bool setupFrameFixedWing(QString airframeType);
bool setupFrameElevon(QString airframeType); bool setupFrameElevon(QString airframeType);

21
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -25,8 +25,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "configgroundvehiclewidget.h" #include "configgroundvehiclewidget.h"
#include "configvehicletypewidget.h" //#include "configvehicletypewidget.h"
#include "mixersettings.h" #include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h"
#include <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
@ -38,23 +41,11 @@
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
#include "mixersettings.h" ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(Ui_GroundConfigWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
#include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h"
/**
Constructor
*/
ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
{ {
m_aircraft = aircraft; m_aircraft = aircraft;
} }
/**
Destructor
*/
ConfigGroundVehicleWidget::~ConfigGroundVehicleWidget() ConfigGroundVehicleWidget::~ConfigGroundVehicleWidget()
{ {
// Do nothing // Do nothing
@ -68,7 +59,7 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->differentialSteeringMixBox->setHidden(true); m_aircraft->differentialSteeringMixBox->setHidden(true);
//STILL NEEDS WORK //STILL NEEDS WORK
// Setup the UI // Setup the UI
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground")); //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground"));
m_aircraft->gvEngineChannelBox->setEnabled(false); m_aircraft->gvEngineChannelBox->setEnabled(false);
m_aircraft->gvEngineLabel->setEnabled(false); m_aircraft->gvEngineLabel->setEnabled(false);

9
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
View File

@ -27,12 +27,14 @@
#ifndef CONFIGGROUNDVEHICLEWIDGET_H #ifndef CONFIGGROUNDVEHICLEWIDGET_H
#define CONFIGGROUNDVEHICLEWIDGET_H #define CONFIGGROUNDVEHICLEWIDGET_H
#include "ui_airframe.h" #include "cfg_vehicletypes/vehicleconfig.h"
#include "ui_airframe_ground.h"
#include "../uavobjectwidgetutils/configtaskwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include "uavtalk/telemetrymanager.h" #include "uavtalk/telemetrymanager.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
#include <QItemDelegate> #include <QItemDelegate>
@ -44,13 +46,13 @@ class ConfigGroundVehicleWidget: public VehicleConfig
Q_OBJECT Q_OBJECT
public: public:
ConfigGroundVehicleWidget(Ui_AircraftWidget *aircraft = 0, QWidget *parent = 0); ConfigGroundVehicleWidget(Ui_GroundConfigWidget *aircraft = 0, QWidget *parent = 0);
~ConfigGroundVehicleWidget(); ~ConfigGroundVehicleWidget();
friend class ConfigVehicleTypeWidget; friend class ConfigVehicleTypeWidget;
private: private:
Ui_AircraftWidget *m_aircraft; Ui_GroundConfigWidget *m_aircraft;
bool setupGroundVehicleCar(QString airframeType); bool setupGroundVehicleCar(QString airframeType);
bool setupGroundVehicleDifferential(QString airframeType); bool setupGroundVehicleDifferential(QString airframeType);
@ -65,7 +67,6 @@ private slots:
virtual QString updateConfigObjectsFromWidgets(); virtual QString updateConfigObjectsFromWidgets();
virtual bool throwConfigError(QString airframeType); virtual bool throwConfigError(QString airframeType);
protected: protected:
}; };

143
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -25,6 +25,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "configmultirotorwidget.h" #include "configmultirotorwidget.h"
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h"
#include <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
@ -37,46 +41,33 @@
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h"
const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChannelBox"); const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChannelBox");
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_MultiRotorConfigWidget *aircraft, QWidget *parent) : VehicleConfig(parent), invertMotors(1)
/**
Constructor
*/
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent), invertMotors(1)
{ {
m_aircraft = aircraft; m_aircraft = aircraft;
} }
/**
Destructor
*/
ConfigMultiRotorWidget::~ConfigMultiRotorWidget() ConfigMultiRotorWidget::~ConfigMultiRotorWidget()
{ {
// Do nothing // Do nothing
} }
void ConfigMultiRotorWidget::setupUI(QString frameType) void ConfigMultiRotorWidget::setupUI(QString frameType)
{ {
Q_ASSERT(m_aircraft); Q_ASSERT(m_aircraft);
Q_ASSERT(uiowner); Q_ASSERT(uiowner);
Q_ASSERT(quad); Q_ASSERT(quad);
int i; qDebug() << "ConfigMultiRotorWidget::setupUI - begin";
qDebug() << "ConfigMultiRotorWidget::setupUI - frame type" << frameType;
// set aircraftType to Multirotor, disable triyaw channel // set aircraftType to Multirotor, disable triyaw channel
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor")); //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->triYawChannelBox->setEnabled(false); m_aircraft->triYawChannelBox->setEnabled(false);
// disable all motor channel boxes // disable all motor channel boxes
for (i=1; i <=8; i++) { for (int i = 1; i <= 8; i++) {
// do it manually so we can turn off any error decorations // do it manually so we can turn off any error decorations
QComboBox *combobox = qFindChild<QComboBox*>(uiowner, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(uiowner, "multiMotorChannelBox" + QString::number(i));
if (combobox) { if (combobox) {
@ -118,8 +109,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrPitchMixLevel->setValue(100); m_aircraft->mrPitchMixLevel->setValue(100);
setYawMixLevel(50); setYawMixLevel(50);
} }
else if (frameType == "Hexa" || frameType == "Hexacopter") else if (frameType == "Hexa" || frameType == "Hexacopter") {
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
//Enable all necessary motor channel boxes... //Enable all necessary motor channel boxes...
@ -140,8 +130,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(33); setYawMixLevel(33);
} }
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
//Enable all necessary motor channel boxes... //Enable all necessary motor channel boxes...
@ -152,8 +141,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(66); setYawMixLevel(66);
} }
else if (frameType == "Octo" || frameType == "Octocopter") else if (frameType == "Octo" || frameType == "Octocopter") {
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
//Enable all necessary motor channel boxes //Enable all necessary motor channel boxes
@ -163,8 +151,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrPitchMixLevel->setValue(33); m_aircraft->mrPitchMixLevel->setValue(33);
setYawMixLevel(25); setYawMixLevel(25);
} }
else if (frameType == "OctoV" || frameType == "Octocopter V") else if (frameType == "OctoV" || frameType == "Octocopter V") {
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
//Enable all necessary motor channel boxes //Enable all necessary motor channel boxes
@ -175,8 +162,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(25); setYawMixLevel(25);
} }
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
//Enable all necessary motor channel boxes //Enable all necessary motor channel boxes
@ -187,8 +173,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(50); setYawMixLevel(50);
} }
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
//Enable all necessary motor channel boxes //Enable all necessary motor channel boxes
@ -199,82 +184,82 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(50); setYawMixLevel(50);
} }
//Draw the appropriate airframe // Draw the appropriate airframe
drawAirframe(frameType); drawAirframe(frameType);
qDebug() << "ConfigMultiRotorWidget::setupUI - end";
} }
void ConfigMultiRotorWidget::drawAirframe(QString frameType){ void ConfigMultiRotorWidget::drawAirframe(QString frameType)
{
qDebug() << "ConfigMultiRotorWidget::drawAirframe - begin";
qDebug() << "ConfigMultiRotorWidget::drawAirframe - frame type:" << frameType;
invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1; invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1 : 1;
if (frameType == "Tri" || frameType == "Tricopter Y") { if (frameType == "Tri" || frameType == "Tricopter Y") {
if(invertMotors > 0) if (invertMotors > 0) {
quad->setElementId("tri"); quad->setElementId("tri");
else } else {
quad->setElementId("tri_reverse"); quad->setElementId("tri_reverse");
} }
else if (frameType == "QuadX" || frameType == "Quad X") { } else if (frameType == "QuadX" || frameType == "Quad X") {
if(invertMotors > 0) qDebug() << "ConfigMultiRotorWidget::drawAirframe - 1";
if (invertMotors > 0) {
quad->setElementId("quad-x"); quad->setElementId("quad-x");
else } else {
quad->setElementId("quad-x_reverse"); quad->setElementId("quad-x_reverse");
} }
else if (frameType == "QuadP" || frameType == "Quad +") { qDebug() << "ConfigMultiRotorWidget::drawAirframe - 2";
if(invertMotors > 0) } else if (frameType == "QuadP" || frameType == "Quad +") {
if (invertMotors > 0) {
quad->setElementId("quad-plus"); quad->setElementId("quad-plus");
else } else {
quad->setElementId("quad-plus_reverse"); quad->setElementId("quad-plus_reverse");
} }
else if (frameType == "Hexa" || frameType == "Hexacopter") } else if (frameType == "Hexa" || frameType == "Hexacopter") {
{ if (invertMotors > 0) {
if(invertMotors > 0)
quad->setElementId("quad-hexa"); quad->setElementId("quad-hexa");
else } else {
quad->setElementId("quad-hexa_reverse"); quad->setElementId("quad-hexa_reverse");
} }
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) { } else if (frameType == "HexaX" || frameType == "Hexacopter X") {
if(invertMotors > 0) if (invertMotors > 0) {
quad->setElementId("quad-hexa-H"); quad->setElementId("quad-hexa-H");
else } else {
quad->setElementId("quad-hexa-H_reverse"); quad->setElementId("quad-hexa-H_reverse");
} }
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") } else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
{ if (invertMotors > 0) {
if(invertMotors > 0)
quad->setElementId("hexa-coax"); quad->setElementId("hexa-coax");
else } else {
quad->setElementId("hexa-coax_reverse"); quad->setElementId("hexa-coax_reverse");
} }
else if (frameType == "Octo" || frameType == "Octocopter") } else if (frameType == "Octo" || frameType == "Octocopter") {
{ if (invertMotors > 0) {
if(invertMotors > 0)
quad->setElementId("quad-octo"); quad->setElementId("quad-octo");
else } else {
quad->setElementId("quad-octo_reverse"); quad->setElementId("quad-octo_reverse");
} }
else if (frameType == "OctoV" || frameType == "Octocopter V") } else if (frameType == "OctoV" || frameType == "Octocopter V") {
{ if (invertMotors > 0) {
if(invertMotors > 0)
quad->setElementId("quad-octo-v"); quad->setElementId("quad-octo-v");
else } else {
quad->setElementId("quad-octo-v_reverse"); quad->setElementId("quad-octo-v_reverse");
} }
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") } else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
{ if (invertMotors > 0) {
if(invertMotors > 0)
quad->setElementId("octo-coax-P"); quad->setElementId("octo-coax-P");
else } else {
quad->setElementId("octo-coax-P_reverse"); quad->setElementId("octo-coax-P_reverse");
}
} } else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") if (invertMotors > 0) {
{
if(invertMotors > 0)
quad->setElementId("octo-coax-X"); quad->setElementId("octo-coax-X");
else } else {
quad->setElementId("octo-coax-X_reverse"); quad->setElementId("octo-coax-X_reverse");
}
} }
qDebug() << "ConfigMultiRotorWidget::drawAirframe - end";
} }
void ConfigMultiRotorWidget::ResetActuators(GUIConfigDataUnion* configData) void ConfigMultiRotorWidget::ResetActuators(GUIConfigDataUnion* configData)

10
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -27,14 +27,14 @@
#ifndef CONFIGMULTIROTORWIDGET_H #ifndef CONFIGMULTIROTORWIDGET_H
#define CONFIGMULTIROTORWIDGET_H #define CONFIGMULTIROTORWIDGET_H
#include "ui_airframe.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "cfg_vehicletypes/vehicleconfig.h" #include "cfg_vehicletypes/vehicleconfig.h"
#include "ui_airframe_multirotor.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include "uavtalk/telemetrymanager.h" #include "uavtalk/telemetrymanager.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
#include <QItemDelegate> #include <QItemDelegate>
@ -46,13 +46,13 @@ class ConfigMultiRotorWidget: public VehicleConfig
Q_OBJECT Q_OBJECT
public: public:
ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft = 0, QWidget *parent = 0); ConfigMultiRotorWidget(Ui_MultiRotorConfigWidget *aircraft = 0, QWidget *parent = 0);
~ConfigMultiRotorWidget(); ~ConfigMultiRotorWidget();
friend class ConfigVehicleTypeWidget; friend class ConfigVehicleTypeWidget;
private: private:
Ui_AircraftWidget *m_aircraft; Ui_MultiRotorConfigWidget *m_aircraft;
QWidget *uiowner; QWidget *uiowner;
QGraphicsSvgItem *quad; QGraphicsSvgItem *quad;

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -29,7 +29,6 @@
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include "systemsettings.h" #include "systemsettings.h"
#include <QDebug> #include <QDebug>

102
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -33,7 +33,6 @@
#include "uavobject.h" #include "uavobject.h"
#include "actuatorcommand.h" #include "actuatorcommand.h"
typedef struct { typedef struct {
uint VTOLMotorN:4; uint VTOLMotorN:4;
uint VTOLMotorS:4; uint VTOLMotorS:4;
@ -103,60 +102,79 @@ typedef union
groundGUISettingsStruct ground; groundGUISettingsStruct ground;
} GUIConfigDataUnion; } GUIConfigDataUnion;
class VehicleConfig: public ConfigTaskWidget class VehicleConfig: public ConfigTaskWidget
{ {
Q_OBJECT Q_OBJECT
public: public:
VehicleConfig(QWidget *parent = 0); VehicleConfig(QWidget *parent = 0);
~VehicleConfig(); ~VehicleConfig();
/* Enumeration options for ThrottleCurves */ /* Enumeration options for ThrottleCurves */
typedef enum { MIXER_THROTTLECURVE1=0, MIXER_THROTTLECURVE2=1 } MixerThrottleCurveElem; typedef enum {
MIXER_THROTTLECURVE1 = 0, MIXER_THROTTLECURVE2 = 1
} MixerThrottleCurveElem;
/* Enumeration options for field MixerType */ /* Enumeration options for field MixerType */
typedef enum { MIXERTYPE_DISABLED=0, MIXERTYPE_MOTOR=1, MIXERTYPE_SERVO=2, MIXERTYPE_CAMERAROLL=3, MIXERTYPE_CAMERAPITCH=4, MIXERTYPE_CAMERAYAW=5, MIXERTYPE_ACCESSORY0=6, MIXERTYPE_ACCESSORY1=7, MIXERTYPE_ACCESSORY2=8, MIXERTYPE_ACCESSORY3=9, MIXERTYPE_ACCESSORY4=10, MIXERTYPE_ACCESSORY5=11 } MixerTypeElem; typedef enum {
/* Array element names for field MixerVector */ MIXERTYPE_DISABLED = 0,
typedef enum { MIXERVECTOR_THROTTLECURVE1=0, MIXERVECTOR_THROTTLECURVE2=1, MIXERVECTOR_ROLL=2, MIXERVECTOR_PITCH=3, MIXERVECTOR_YAW=4 } MixerVectorElem; MIXERTYPE_MOTOR = 1,
MIXERTYPE_SERVO = 2,
MIXERTYPE_CAMERAROLL = 3,
MIXERTYPE_CAMERAPITCH = 4,
MIXERTYPE_CAMERAYAW = 5,
MIXERTYPE_ACCESSORY0 = 6,
MIXERTYPE_ACCESSORY1 = 7,
MIXERTYPE_ACCESSORY2 = 8,
MIXERTYPE_ACCESSORY3 = 9,
MIXERTYPE_ACCESSORY4 = 10,
MIXERTYPE_ACCESSORY5 = 11
} MixerTypeElem;
static GUIConfigDataUnion GetConfigData(); /* Array element names for field MixerVector */
static void SetConfigData(GUIConfigDataUnion configData); typedef enum {
static void resetField(UAVObjectField * field); MIXERVECTOR_THROTTLECURVE1 = 0,
static void setComboCurrentIndex(QComboBox* box, int index); MIXERVECTOR_THROTTLECURVE2 = 1,
static void enableComboBoxes(QWidget* owner, QString boxName, int boxCount, bool enable); MIXERVECTOR_ROLL = 2,
double getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName); MIXERVECTOR_PITCH = 3,
void setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value); MIXERVECTOR_YAW = 4
void resetMixerVector(UAVDataObject* mixer, int channel); } MixerVectorElem;
void resetMotorAndServoMixers(UAVDataObject* mixer);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName);
void setMixerValue(UAVDataObject* mixer, QString elementName, double value);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
bool isValidThrottleCurve(QList<double>* curve);
double getCurveMin(QList<double>* curve);
double getCurveMax(QList<double>* curve);
virtual void ResetActuators(GUIConfigDataUnion* configData);
QStringList channelNames; static GUIConfigDataUnion GetConfigData();
QStringList mixerTypes; static void SetConfigData(GUIConfigDataUnion configData);
QStringList mixerVectors; static void resetField(UAVObjectField * field);
QStringList mixerTypeDescriptions; static void setComboCurrentIndex(QComboBox* box, int index);
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);
void resetMotorAndServoMixers(UAVDataObject* mixer);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName);
void setMixerValue(UAVDataObject* mixer, QString elementName, double value);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
bool isValidThrottleCurve(QList<double>* curve);
double getCurveMin(QList<double>* curve);
double getCurveMax(QList<double>* curve);
virtual void ResetActuators(GUIConfigDataUnion* configData);
static const quint32 CHANNEL_NUMELEM = ActuatorCommand::CHANNEL_NUMELEM; QStringList channelNames;
QStringList mixerTypes;
QStringList mixerVectors;
QStringList mixerTypeDescriptions;
private: static const quint32 CHANNEL_NUMELEM = ActuatorCommand::CHANNEL_NUMELEM;;
static UAVObjectManager* getUAVObjectManager(); private:
static UAVObjectManager* getUAVObjectManager();
private slots: private slots:
public slots: public slots:
signals: signals:
//void ConfigurationChanged();
protected: protected:

23
ground/openpilotgcs/src/plugins/config/config.pro
View File

@ -18,7 +18,6 @@ HEADERS += configplugin.h \
config_cc_hw_widget.h \ config_cc_hw_widget.h \
configccattitudewidget.h \ configccattitudewidget.h \
configpipxtremewidget.h \ configpipxtremewidget.h \
cfg_vehicletypes/configccpmwidget.h \
configstabilizationwidget.h \ configstabilizationwidget.h \
assertions.h \ assertions.h \
calibration.h \ calibration.h \
@ -28,10 +27,11 @@ HEADERS += configplugin.h \
configcamerastabilizationwidget.h \ configcamerastabilizationwidget.h \
configtxpidwidget.h \ configtxpidwidget.h \
outputchannelform.h \ outputchannelform.h \
cfg_vehicletypes/configmultirotorwidget.h \
cfg_vehicletypes/configgroundvehiclewidget.h \
cfg_vehicletypes/configfixedwingwidget.h \
cfg_vehicletypes/vehicleconfig.h \ cfg_vehicletypes/vehicleconfig.h \
cfg_vehicletypes/configccpmwidget.h \
cfg_vehicletypes/configmultirotorwidget.h \
cfg_vehicletypes/configfixedwingwidget.h \
cfg_vehicletypes/configgroundvehiclewidget.h \
configrevowidget.h \ configrevowidget.h \
config_global.h \ config_global.h \
mixercurve.h \ mixercurve.h \
@ -60,17 +60,22 @@ SOURCES += configplugin.cpp \
configcamerastabilizationwidget.cpp \ configcamerastabilizationwidget.cpp \
configrevowidget.cpp \ configrevowidget.cpp \
configtxpidwidget.cpp \ configtxpidwidget.cpp \
cfg_vehicletypes/configmultirotorwidget.cpp \
cfg_vehicletypes/configgroundvehiclewidget.cpp \
cfg_vehicletypes/configfixedwingwidget.cpp \
cfg_vehicletypes/configccpmwidget.cpp \
outputchannelform.cpp \
cfg_vehicletypes/vehicleconfig.cpp \ cfg_vehicletypes/vehicleconfig.cpp \
cfg_vehicletypes/configccpmwidget.cpp \
cfg_vehicletypes/configmultirotorwidget.cpp \
cfg_vehicletypes/configfixedwingwidget.cpp \
cfg_vehicletypes/configgroundvehiclewidget.cpp \
outputchannelform.cpp \
mixercurve.cpp \ mixercurve.cpp \
dblspindelegate.cpp \ dblspindelegate.cpp \
configrevohwwidget.cpp configrevohwwidget.cpp
FORMS += airframe.ui \ FORMS += airframe.ui \
cfg_vehicletypes/airframe_ccpm.ui \
cfg_vehicletypes/airframe_fixedwing.ui \
cfg_vehicletypes/airframe_ground.ui \
cfg_vehicletypes/airframe_multirotor.ui \
cfg_vehicletypes/airframe_custom.ui \
cc_hw_settings.ui \ cc_hw_settings.ui \
ccpm.ui \ ccpm.ui \
stabilization.ui \ stabilization.ui \

345
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -25,6 +25,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "configvehicletypewidget.h" #include "configvehicletypewidget.h"
#include "systemsettings.h"
#include "mixersettings.h"
#include "actuatorsettings.h"
#include <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
@ -38,13 +41,9 @@
#include <QUrl> #include <QUrl>
#include <QEventLoop> #include <QEventLoop>
#include "systemsettings.h"
#include "mixersettings.h"
#include "actuatorsettings.h"
#include <extensionsystem/pluginmanager.h> #include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h> #include <coreplugin/generalsettings.h>
/** /**
Helper delegate for the custom mixer editor table. Helper delegate for the custom mixer editor table.
Taken straight from Qt examples, thanks! Taken straight from Qt examples, thanks!
@ -92,10 +91,6 @@ void SpinBoxDelegate::updateEditorGeometry(QWidget *editor,
/**********************************************************************************/ /**********************************************************************************/
/**
Constructor
*/
ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWidget(parent) ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWidget(parent)
{ {
m_aircraft = new Ui_AircraftWidget(); m_aircraft = new Ui_AircraftWidget();
@ -103,8 +98,9 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>(); Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode()) if (!settings->useExpertMode()) {
m_aircraft->saveAircraftToRAM->setVisible(false); m_aircraft->saveAircraftToRAM->setVisible(false);
}
addApplySaveButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD); addApplySaveButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD);
@ -115,49 +111,44 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
ffTuningInProgress = false; ffTuningInProgress = false;
ffTuningPhase = false; ffTuningPhase = false;
//Generate lists of mixerTypeNames, mixerVectorNames, channelNames
channelNames << "None";
for (int i = 0; i < (int)ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
channelNames << QString("Channel%1").arg(i+1);
}
QStringList airframeTypes; QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom"; airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes); m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(1); //Set default vehicle to MultiRotor
m_aircraft->airframesWidget->setCurrentIndex(1); // Force the tab index to match // *****************************************************************************************************************
// FIXED WING
// *****************************************************************************************************************
// create and setup a FixedWing config widget
QWidget *fixedwingConfigWidget = new QWidget();
m_fixedwingUi = new Ui_FixedWingConfigWidget();
m_fixedwingUi->setupUi(fixedwingConfigWidget);
m_aircraft->airframesWidget->addWidget(fixedwingConfigWidget);
m_fixedwing = new ConfigFixedWingWidget(m_fixedwingUi);
m_fixedwing->setupUI(m_fixedwingUi->fixedWingType->currentText() );
QStringList fixedWingTypes; QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail"; fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
m_aircraft->fixedWingType->addItems(fixedWingTypes); m_fixedwingUi->fixedWingType->addItems(fixedWingTypes);
m_aircraft->fixedWingType->setCurrentIndex(0); //Set default model to "Elevator aileron rudder" m_fixedwingUi->fixedWingType->setCurrentIndex(0); //Set default model to "Elevator aileron rudder"
QStringList groundVehicleTypes; connect(m_fixedwingUi->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle";
m_aircraft->groundVehicleType->addItems(groundVehicleTypes);
m_aircraft->groundVehicleType->setCurrentIndex(0); //Set default model to "Turnable (car)"
QStringList multiRotorTypes; // *****************************************************************************************************************
multiRotorTypes << "Tricopter Y"<< "Quad +" << "Quad X" << // MULTIROTOR
"Hexacopter" << "Hexacopter X" << "Hexacopter Y6" << // *****************************************************************************************************************
"Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ;
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
m_aircraft->multirotorFrameType->setCurrentIndex(2); //Set default model to "Quad X"
// create and setup a MultiRotor config widget
qDebug() << "create multirotor ui";
QWidget *multirotorConfigWidget = new QWidget();
m_multirotorUi = new Ui_MultiRotorConfigWidget();
m_multirotorUi->setupUi(multirotorConfigWidget);
m_aircraft->airframesWidget->addWidget(multirotorConfigWidget);
//NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name
// The upshot of this is that ALL new ComboBox widgets for selecting the output channel must have "ChannelBox" in their name
foreach(QComboBox *combobox, this->findChildren<QComboBox*>(QRegExp("\\S+ChannelBo\\S+")))//FOR WHATEVER REASON, THIS DOES NOT WORK WITH ChannelBox. ChannelBo is sufficiently accurate
{
combobox->addItems(channelNames);
}
// Setup the Multirotor picture in the Quad settings interface // Setup the Multirotor picture in the Quad settings interface
m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); m_multirotorUi->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); m_multirotorUi->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer(); QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/multirotor-shapes.svg")); renderer->load(QString(":/configgadget/images/multirotor-shapes.svg"));
quad = new QGraphicsSvgItem(); quad = new QGraphicsSvgItem();
@ -166,66 +157,129 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
QGraphicsScene *scene = new QGraphicsScene(this); QGraphicsScene *scene = new QGraphicsScene(this);
scene->addItem(quad); scene->addItem(quad);
scene->setSceneRect(quad->boundingRect()); scene->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->setScene(scene); m_multirotorUi->quadShape->setScene(scene);
m_multirotor = new ConfigMultiRotorWidget(m_multirotorUi);
m_multirotor->quad = quad;
m_multirotor->uiowner = this;
m_multirotor->setupUI(m_multirotorUi->multirotorFrameType->currentText());
QStringList multiRotorTypes;
multiRotorTypes << "Tricopter Y"<< "Quad +" << "Quad X" <<
"Hexacopter" << "Hexacopter X" << "Hexacopter Y6" <<
"Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ;
m_multirotorUi->multirotorFrameType->addItems(multiRotorTypes);
m_multirotorUi->multirotorFrameType->setCurrentIndex(2); //Set default model to "Quad X"
connect(m_multirotorUi->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
// Connect the multirotor motor reverse checkbox
connect(m_multirotorUi->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio);
// *****************************************************************************************************************
// HELICOPTER
// *****************************************************************************************************************
// create and setup a Helicopter config widget
QWidget *ccpmConfigWidget = new QWidget();
m_ccpmUi = new Ui_CcpmConfigWidget();
m_ccpmUi->setupUi(ccpmConfigWidget);
m_aircraft->airframesWidget->addWidget(ccpmConfigWidget);
m_heli = m_ccpmUi->widget_3;
m_heli->setupUI(QString("HeliCP"));
//mdl connect(m_heli->m_ccpm->ccpmType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
// *****************************************************************************************************************
// GROUND
// *****************************************************************************************************************
// create and setup a GroundVehicle config widget
qDebug() << "create ground ui";
QWidget *groundConfigWidget = new QWidget();
m_groundUi = new Ui_GroundConfigWidget();
m_groundUi->setupUi(groundConfigWidget);
m_aircraft->airframesWidget->addWidget(groundConfigWidget);
m_groundvehicle = new ConfigGroundVehicleWidget(m_groundUi);
m_groundvehicle->setupUI(m_groundUi->groundVehicleType->currentText());
QStringList groundVehicleTypes;
groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle";
m_groundUi->groundVehicleType->addItems(groundVehicleTypes);
m_groundUi->groundVehicleType->setCurrentIndex(0); //Set default model to "Turnable (car)"
connect(m_groundUi->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
// *****************************************************************************************************************
// CUSTOM
// *****************************************************************************************************************
QWidget *customConfigWidget = new QWidget();
m_customUi = new Ui_CustomConfigWidget();
m_customUi->setupUi(customConfigWidget);
m_aircraft->airframesWidget->addWidget(customConfigWidget);
// Put combo boxes in line one of the custom mixer table: // Put combo boxes in line one of the custom mixer table:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("Mixer1Type")); UAVObjectField* field = obj->getField(QString("Mixer1Type"));
QStringList list = field->getOptions(); QStringList list = field->getOptions();
for (int i=0; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) { for (int i=0; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) {
QComboBox* qb = new QComboBox(m_aircraft->customMixerTable); QComboBox* qb = new QComboBox(m_customUi->customMixerTable);
qb->addItems(list); qb->addItems(list);
m_aircraft->customMixerTable->setCellWidget(0,i,qb); m_customUi->customMixerTable->setCellWidget(0,i,qb);
} }
SpinBoxDelegate *sbd = new SpinBoxDelegate(); SpinBoxDelegate *sbd = new SpinBoxDelegate();
for (int i=1; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) { for (int i=1; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) {
m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd); m_customUi->customMixerTable->setItemDelegateForRow(i, sbd);
} }
// create and setup a MultiRotor config widget // *****************************************************************************************************************
m_multirotor = new ConfigMultiRotorWidget(m_aircraft);
m_multirotor->quad = quad;
m_multirotor->uiowner = this;
m_multirotor->setupUI(m_aircraft->multirotorFrameType->currentText());
// create and setup a GroundVehicle config widget // Set default vehicle to MultiRotor
m_groundvehicle = new ConfigGroundVehicleWidget(m_aircraft); m_aircraft->aircraftType->setCurrentIndex(1);
m_groundvehicle->setupUI(m_aircraft->groundVehicleType->currentText() ); // Force the tab index to match
m_aircraft->airframesWidget->setCurrentIndex(1);
// create and setup a FixedWing config widget // Generate lists of mixerTypeNames, mixerVectorNames, channelNames
m_fixedwing = new ConfigFixedWingWidget(m_aircraft); channelNames << "None";
m_fixedwing->setupUI(m_aircraft->fixedWingType->currentText() ); for (int i = 0; i < (int) ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
channelNames << QString("Channel%1").arg(i+1);
}
// create and setup a Helicopter config widget // NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name
m_heli = m_aircraft->widget_3; // The upshot of this is that ALL new ComboBox widgets for selecting the output channel must have "ChannelBox" in their name
m_heli->setupUI(QString("HeliCP")); // FOR WHATEVER REASON, THIS DOES NOT WORK WITH ChannelBox. ChannelBo is sufficiently accurate
QList<QComboBox *> l = findChildren<QComboBox*>(QRegExp("\\S+ChannelBo\\S+"));
foreach(QComboBox *combobox, l) {
combobox->addItems(channelNames);
}
//Connect aircraft type selection dropbox to callback function // Connect aircraft type selection dropbox to callback function
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int))); connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
//Connect airframe selection dropbox to callback functions // Connect the three feed forward test checkboxes
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
//mdl connect(m_heli->m_ccpm->ccpmType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
//Connect the three feed forward test checkboxes
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest())); connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest())); connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox3, 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 the help pushbutton
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
enableControls(false); enableControls(false);
refreshWidgetsValues(); refreshWidgetsValues();
addToDirtyMonitor(); addToDirtyMonitor();
disableMouseWheelEvents(); disableMouseWheelEvents();
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
} }
@ -323,14 +377,12 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
void ConfigVehicleTypeWidget::switchAirframeType(int index) void ConfigVehicleTypeWidget::switchAirframeType(int index)
{ {
m_aircraft->airframesWidget->setCurrentIndex(index); m_aircraft->airframesWidget->setCurrentIndex(index);
m_aircraft->quadShape->setSceneRect(quad->boundingRect()); m_multirotorUi->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio);
if (m_aircraft->aircraftType->findText("Custom")) { m_customUi->customMixerTable->resizeColumnsToContents();
m_aircraft->customMixerTable->resizeColumnsToContents(); for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()-
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()- m_customUi->customMixerTable->verticalHeader()->width())/ 10);
m_aircraft->customMixerTable->verticalHeader()->width())/10);
}
} }
} }
@ -344,11 +396,11 @@ void ConfigVehicleTypeWidget::showEvent(QShowEvent *event)
// Thit fitInView method should only be called now, once the // Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and // widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small. // the result is usually a ahrsbargraph that is way too small.
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio);
m_aircraft->customMixerTable->resizeColumnsToContents(); m_customUi->customMixerTable->resizeColumnsToContents();
for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()- m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/ 10); m_customUi->customMixerTable->verticalHeader()->width())/ 10);
} }
} }
@ -358,12 +410,12 @@ void ConfigVehicleTypeWidget::showEvent(QShowEvent *event)
void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent* event) void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent* event)
{ {
Q_UNUSED(event); Q_UNUSED(event);
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio);
// Make the custom table columns autostretch: // Make the custom table columns autostretch:
m_aircraft->customMixerTable->resizeColumnsToContents(); m_customUi->customMixerTable->resizeColumnsToContents();
for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()- m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/ 10); m_customUi->customMixerTable->verticalHeader()->width())/ 10);
} }
} }
@ -372,33 +424,33 @@ void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent* event)
void ConfigVehicleTypeWidget::toggleAileron2(int index) void ConfigVehicleTypeWidget::toggleAileron2(int index)
{ {
if (index) { if (index) {
m_aircraft->fwAileron2ChannelBox->setEnabled(true); m_fixedwingUi->fwAileron2ChannelBox->setEnabled(true);
m_aircraft->fwAileron2Label->setEnabled(true); m_fixedwingUi->fwAileron2Label->setEnabled(true);
} else { } else {
m_aircraft->fwAileron2ChannelBox->setEnabled(false); m_fixedwingUi->fwAileron2ChannelBox->setEnabled(false);
m_aircraft->fwAileron2Label->setEnabled(false); m_fixedwingUi->fwAileron2Label->setEnabled(false);
} }
} }
void ConfigVehicleTypeWidget::toggleElevator2(int index) void ConfigVehicleTypeWidget::toggleElevator2(int index)
{ {
if (index) { if (index) {
m_aircraft->fwElevator2ChannelBox->setEnabled(true); m_fixedwingUi->fwElevator2ChannelBox->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true); m_fixedwingUi->fwElevator2Label->setEnabled(true);
} else { } else {
m_aircraft->fwElevator2ChannelBox->setEnabled(false); m_fixedwingUi->fwElevator2ChannelBox->setEnabled(false);
m_aircraft->fwElevator2Label->setEnabled(false); m_fixedwingUi->fwElevator2Label->setEnabled(false);
} }
} }
void ConfigVehicleTypeWidget::toggleRudder2(int index) void ConfigVehicleTypeWidget::toggleRudder2(int index)
{ {
if (index) { if (index) {
m_aircraft->fwRudder2ChannelBox->setEnabled(true); m_fixedwingUi->fwRudder2ChannelBox->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true); m_fixedwingUi->fwRudder2Label->setEnabled(true);
} else { } else {
m_aircraft->fwRudder2ChannelBox->setEnabled(false); m_fixedwingUi->fwRudder2ChannelBox->setEnabled(false);
m_aircraft->fwRudder2Label->setEnabled(false); m_fixedwingUi->fwRudder2Label->setEnabled(false);
} }
} }
@ -474,10 +526,13 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
{ {
Q_UNUSED(o); Q_UNUSED(o);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - begin";
if(!allObjectsUpdated()) if(!allObjectsUpdated())
return; return;
bool dirty=isDirty(); bool dirty = isDirty();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - isDirty:" << dirty;
// Get the Airframe type from the system settings: // Get the Airframe type from the system settings:
UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings"))); UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
@ -488,6 +543,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
// At this stage, we will need to have some hardcoded settings in this code, this // At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but there you go. // is not ideal, but there you go.
QString frameType = field->getValue().toString(); QString frameType = field->getValue().toString();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType;
setupAirframeUI(frameType); setupAirframeUI(frameType);
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
@ -501,33 +557,31 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
// is at least one of the curve values != 0? // is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) { if (vconfig->isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings // yes, use the curve we just read from mixersettings
m_aircraft->multiThrottleCurve->initCurve(&curveValues); m_multirotorUi->multiThrottleCurve->initCurve(&curveValues);
m_aircraft->fixedWingThrottle->initCurve(&curveValues); m_fixedwingUi->fixedWingThrottle->initCurve(&curveValues);
m_aircraft->groundVehicleThrottle1->initCurve(&curveValues); m_groundUi->groundVehicleThrottle1->initCurve(&curveValues);
} }
else { else {
// no, init a straight curve // no, init a straight curve
m_aircraft->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9); m_multirotorUi->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
m_aircraft->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0); m_fixedwingUi->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0);
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0); m_groundUi->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0);
} }
// Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES // Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (vconfig->isValidThrottleCurve(&curveValues)) { if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->groundVehicleThrottle2->initCurve(&curveValues); m_groundUi->groundVehicleThrottle2->initCurve(&curveValues);
} }
else { else {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0); m_groundUi->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
} }
// Load the Settings for fixed wing frames: // Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) { if (frameType.startsWith("FixedWing")) {
// Retrieve fixed wing settings // Retrieve fixed wing settings
m_fixedwing->refreshWidgetsValues(frameType); m_fixedwing->refreshWidgetsValues(frameType);
} else if (frameType == "Tri" || } else if (frameType == "Tri" ||
frameType == "QuadX" || frameType == "QuadP" || frameType == "QuadX" || frameType == "QuadP" ||
frameType == "Hexa" || frameType == "HexaCoax" || frameType == "HexaX" || frameType == "Hexa" || frameType == "HexaCoax" || frameType == "HexaX" ||
@ -538,18 +592,17 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
} else if (frameType == "HeliCP") { } else if (frameType == "HeliCP") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter"));
m_heli->refreshWidgetsValues(frameType); m_heli->refreshWidgetsValues(frameType);
} else if (frameType.startsWith("GroundVehicle")) { } else if (frameType.startsWith("GroundVehicle")) {
// Retrieve ground vehicle settings // Retrieve ground vehicle settings
m_groundvehicle->refreshWidgetsValues(frameType); m_groundvehicle->refreshWidgetsValues(frameType);
} else if (frameType == "Custom") { } else if (frameType == "Custom") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
} }
updateCustomAirframeUI(); updateCustomAirframeUI();
setDirty(dirty); setDirty(dirty);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - end";
} }
/** /**
@ -558,12 +611,13 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
*/ */
void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType) void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
{ {
bool dirty=isDirty(); qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - begin";
if(frameType == "FixedWing" || frameType == "Elevator aileron rudder" || qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - frame type" << frameType;
frameType == "FixedWingElevon" || frameType == "Elevon" || bool dirty = isDirty();
frameType == "FixedWingVtail" || frameType == "Vtail"){ if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
m_fixedwing->setupUI(frameType); m_fixedwing->setupUI(frameType);
} }
else if (frameType == "Tri" || frameType == "Tricopter Y" || else if (frameType == "Tri" || frameType == "Tricopter Y" ||
frameType == "QuadX" || frameType == "Quad X" || frameType == "QuadX" || frameType == "Quad X" ||
frameType == "QuadP" || frameType == "Quad +" || frameType == "QuadP" || frameType == "Quad +" ||
@ -588,10 +642,11 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
} }
//SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST??? //SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST???
m_aircraft->quadShape->setSceneRect(quad->boundingRect()); m_multirotorUi->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio);
setDirty(dirty); setDirty(dirty);
qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - end";
} }
@ -622,19 +677,19 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
// is at least one of the curve values != 0? // is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) { if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->customThrottle1Curve->initCurve(&curveValues); m_customUi->customThrottle1Curve->initCurve(&curveValues);
} }
else { else {
// no, init a straight curve // no, init a straight curve
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0); m_customUi->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0);
} }
if (MixerSettings* mxr = qobject_cast<MixerSettings *>(mixer)) { if (MixerSettings* mxr = qobject_cast<MixerSettings *>(mixer)) {
MixerSettings::DataFields mixerSettingsData = mxr->getData(); MixerSettings::DataFields mixerSettingsData = mxr->getData();
if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE) if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE)
m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE); m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
else { else {
m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH); m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
} }
} }
@ -642,10 +697,10 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (vconfig->isValidThrottleCurve(&curveValues)) { if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->customThrottle2Curve->initCurve(&curveValues); m_customUi->customThrottle2Curve->initCurve(&curveValues);
} }
else { else {
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin()); m_customUi->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_customUi->customThrottle2Curve->getMin());
} }
// Update the mixer table: // Update the mixer table:
@ -653,22 +708,22 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
UAVObjectField* field = mixer->getField(mixerTypes.at(channel)); UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
if (field) if (field)
{ {
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel); QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel);
if (q) if (q)
{ {
QString s = field->getValue().toString(); QString s = field->getValue().toString();
setComboCurrentIndex(q, q->findText(s)); setComboCurrentIndex(q, q->findText(s));
} }
m_aircraft->customMixerTable->item(1,channel)->setText( m_customUi->customMixerTable->item(1,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1))); QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
m_aircraft->customMixerTable->item(2,channel)->setText( m_customUi->customMixerTable->item(2,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2))); QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
m_aircraft->customMixerTable->item(3,channel)->setText( m_customUi->customMixerTable->item(3,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL))); QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)));
m_aircraft->customMixerTable->item(4,channel)->setText( m_customUi->customMixerTable->item(4,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH))); QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)));
m_aircraft->customMixerTable->item(5,channel)->setText( m_customUi->customMixerTable->item(5,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW))); QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
} }
} }
@ -715,12 +770,12 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets(); airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
} }
else { else {
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve()); vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_customUi->customThrottle1Curve->getCurve());
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve()); vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_customUi->customThrottle2Curve->getCurve());
// Update the table: // Update the table:
for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) { for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) {
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel); QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel);
if(q->currentText()=="Disabled") if(q->currentText()=="Disabled")
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED); vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
else if(q->currentText()=="Motor") else if(q->currentText()=="Motor")
@ -747,15 +802,15 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY5); vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY5);
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1,channel)->text().toDouble()); m_customUi->customMixerTable->item(1,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2, vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2,channel)->text().toDouble()); m_customUi->customMixerTable->item(2,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL, vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3,channel)->text().toDouble()); m_customUi->customMixerTable->item(3,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH, vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4,channel)->text().toDouble()); m_customUi->customMixerTable->item(4,channel)->text().toDouble());
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW, vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5,channel)->text().toDouble()); m_customUi->customMixerTable->item(5,channel)->text().toDouble());
} }
} }
@ -791,7 +846,7 @@ void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
} }
void ConfigVehicleTypeWidget::reverseMultirotorMotor(){ void ConfigVehicleTypeWidget::reverseMultirotorMotor(){
QString frameType = m_aircraft->multirotorFrameType->currentText(); QString frameType = m_multirotorUi->multirotorFrameType->currentText();
m_multirotor->drawAirframe(frameType); m_multirotor->drawAirframe(frameType);
} }
@ -801,9 +856,10 @@ void ConfigVehicleTypeWidget::reverseMultirotorMotor(){
*/ */
void ConfigVehicleTypeWidget::addToDirtyMonitor() void ConfigVehicleTypeWidget::addToDirtyMonitor()
{ {
addWidget(m_aircraft->customMixerTable); /*
addWidget(m_aircraft->customThrottle1Curve->getCurveWidget()); addWidget(m_customUi->customMixerTable);
addWidget(m_aircraft->customThrottle2Curve->getCurveWidget()); addWidget(m_customUi->customThrottle1Curve->getCurveWidget());
addWidget(m_customUi->customThrottle2Curve->getCurveWidget());
addWidget(m_aircraft->multiThrottleCurve->getCurveWidget()); addWidget(m_aircraft->multiThrottleCurve->getCurveWidget());
addWidget(m_aircraft->fixedWingThrottle->getCurveWidget()); addWidget(m_aircraft->fixedWingThrottle->getCurveWidget());
addWidget(m_aircraft->fixedWingType); addWidget(m_aircraft->fixedWingType);
@ -869,5 +925,6 @@ void ConfigVehicleTypeWidget::addToDirtyMonitor()
addWidget(m_heli->m_ccpm->ThrottleCurve->getCurveWidget()); addWidget(m_heli->m_ccpm->ThrottleCurve->getCurveWidget());
addWidget(m_heli->m_ccpm->PitchCurve->getCurveWidget()); addWidget(m_heli->m_ccpm->PitchCurve->getCurveWidget());
addWidget(m_heli->m_ccpm->ccpmAdvancedSettingsTable); addWidget(m_heli->m_ccpm->ccpmAdvancedSettingsTable);
*/
} }

32
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -34,11 +34,17 @@
#include "uavobject.h" #include "uavobject.h"
#include "uavtalk/telemetrymanager.h" #include "uavtalk/telemetrymanager.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include "cfg_vehicletypes/configccpmwidget.h" #include "cfg_vehicletypes/configccpmwidget.h"
#include "cfg_vehicletypes/configfixedwingwidget.h" #include "cfg_vehicletypes/configfixedwingwidget.h"
#include "cfg_vehicletypes/configmultirotorwidget.h"
#include "cfg_vehicletypes/configgroundvehiclewidget.h" #include "cfg_vehicletypes/configgroundvehiclewidget.h"
#include "cfg_vehicletypes/vehicleconfig.h" #include "cfg_vehicletypes/configmultirotorwidget.h"
#include "ui_airframe_ccpm.h"
#include "ui_airframe_fixedwing.h"
#include "ui_airframe_ground.h"
#include "ui_airframe_multirotor.h"
#include "ui_airframe_custom.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
@ -59,6 +65,12 @@ public:
private: private:
Ui_AircraftWidget *m_aircraft; Ui_AircraftWidget *m_aircraft;
Ui_CcpmConfigWidget *m_ccpmUi;
Ui_FixedWingConfigWidget *m_fixedwingUi;
Ui_MultiRotorConfigWidget *m_multirotorUi;
Ui_GroundConfigWidget *m_groundUi;
Ui_CustomConfigWidget *m_customUi;
ConfigCcpmWidget *m_heli; ConfigCcpmWidget *m_heli;
ConfigFixedWingWidget *m_fixedwing; ConfigFixedWingWidget *m_fixedwing;
ConfigMultiRotorWidget *m_multirotor; ConfigMultiRotorWidget *m_multirotor;
@ -66,7 +78,7 @@ private:
void updateCustomAirframeUI(); void updateCustomAirframeUI();
void addToDirtyMonitor(); void addToDirtyMonitor();
void resetField(UAVObjectField * field); void resetField(UAVObjectField *field);
//void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector); //void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
@ -81,10 +93,10 @@ private:
private slots: private slots:
virtual void refreshWidgetsValues(UAVObject * o=NULL); virtual void refreshWidgetsValues(UAVObject *o = NULL);
virtual void updateObjectsFromWidgets(); virtual void updateObjectsFromWidgets();
void setComboCurrentIndex(QComboBox* box, int index); void setComboCurrentIndex(QComboBox *box, int index);
void setupAirframeUI(QString type); void setupAirframeUI(QString type);
@ -102,6 +114,7 @@ protected:
void resizeEvent(QResizeEvent *event); void resizeEvent(QResizeEvent *event);
}; };
class SpinBoxDelegate : public QItemDelegate class SpinBoxDelegate : public QItemDelegate
@ -111,15 +124,12 @@ class SpinBoxDelegate : public QItemDelegate
public: public:
SpinBoxDelegate(QObject *parent = 0); SpinBoxDelegate(QObject *parent = 0);
QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const;
const QModelIndex &index) const;
void setEditorData(QWidget *editor, const QModelIndex &index) const; void setEditorData(QWidget *editor, const QModelIndex &index) const;
void setModelData(QWidget *editor, QAbstractItemModel *model, void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const;
const QModelIndex &index) const;
void updateEditorGeometry(QWidget *editor, void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const;
const QStyleOptionViewItem &option, const QModelIndex &index) const;
}; };
#endif // CONFIGVEHICLETYPEWIDGET_H #endif // CONFIGVEHICLETYPEWIDGET_H