Merge remote-tracking branch 'origin/OP-530-PT_Dreamer'

Note this requires redoing the mixer settings!

Conflicts:
	shared/uavobjectdefinition/mixersettings.xml

ground/openpilotgcs/src/plugins/config/configairframewidget.cpp

@@ -374,7 +374,7 @@ void ConfigAirframeWidget::resetFwMixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements());
+    resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
 }
 
 /**
@@ -384,7 +384,7 @@ void ConfigAirframeWidget::resetMrMixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements());
+    resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.95);
 }
 
 /**
@@ -394,7 +394,7 @@ void ConfigAirframeWidget::resetCt1Mixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements());
+    resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements(),1);
 }
 
 /**
@@ -404,21 +404,17 @@ void ConfigAirframeWidget::resetCt2Mixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
-    resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements());
+    resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
 }
 
 
 /**
   Resets a mixer curve
   */
-void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
+void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements, double maxvalue)
 {
-    QList<double> curveValues;
-    for (double i=0; i<numElements; i++) {
-        curveValues.append(i/(numElements-1));
-    }
     // Setup all Throttle1 curves for all types of airframes
-    mixer->initCurve(curveValues);
+    mixer->initLinearCurve((quint32)numElements,maxvalue);
 }
 
 /**
@@ -484,18 +480,29 @@ void ConfigAirframeWidget::refreshValues()
     // If the 1st element of the curve is <= -10, then the curve
     // is a straight line (that's how the mixer works on the mainboard):
     if (field->getValue(0).toInt() <= -10) {
-        for (double i=0; i<field->getNumElements(); i++) {
+        m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
-            curveValues.append(i/(field->getNumElements()-1));
+        m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
     }
-    } else {
+    else {
+        double temp=0;
+        double value;
         for (unsigned int i=0; i < field->getNumElements(); i++) {
-            curveValues.append(field->getValue(i).toDouble());
+            value=field->getValue(i).toDouble();
+            temp+=value;
+            curveValues.append(value);
+        }
+        if(temp==0)
+        {
+            m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.95);;
+            m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
+        }
+        else
+        {
+            m_aircraft->multiThrottleCurve->initCurve(curveValues);
+            m_aircraft->fixedWingThrottle->initCurve(curveValues);
         }
     }
     // Setup all Throttle1 curves for all types of airframes
-    m_aircraft->fixedWingThrottle->initCurve(curveValues);
-    m_aircraft->multiThrottleCurve->initCurve(curveValues);
-
     // Load the Settings for fixed wing frames:
     if (frameType.startsWith("FixedWing")) {
          // Then retrieve how channels are setup
@@ -1754,31 +1761,32 @@ void ConfigAirframeWidget::updateCustomAirframeUI()
     // If the 1st element of the curve is <= -10, then the curve
     // is a straight line (that's how the mixer works on the mainboard):
     if (field->getValue(0).toInt() <= -10) {
-        for (double i=0; i<field->getNumElements(); i++) {
+        m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
-            curveValues.append(i/(field->getNumElements()-1));
-        }
     } else {
+        double temp=0;
+        double value;
         for (unsigned int i=0; i < field->getNumElements(); i++) {
-            curveValues.append(field->getValue(i).toDouble());
+            value=field->getValue(i).toDouble();
-        }
+            temp+=value;
+            curveValues.append(value);
         }
+        if(temp==0)
+            m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
+        else
             m_aircraft->customThrottle1Curve->initCurve(curveValues);
-
+    }
     field = obj->getField(QString("ThrottleCurve2"));
     curveValues.clear();;
     // If the 1st element of the curve is <= -10, then the curve
     // is a straight line (that's how the mixer works on the mainboard):
     if (field->getValue(0).toInt() <= -10) {
-        for (double i=0; i<field->getNumElements(); i++) {
+        m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1);
-            curveValues.append(i/(field->getNumElements()-1));
-        }
     } else {
         for (unsigned int i=0; i < field->getNumElements(); i++) {
             curveValues.append(field->getValue(i).toDouble());
         }
-    }
         m_aircraft->customThrottle2Curve->initCurve(curveValues);
-
+    }
     // Retrieve Feed Forward:
     field = obj->getField(QString("FeedForward"));
     m_aircraft->customFFSlider->setValue(field->getDouble()*100);

ground/openpilotgcs/src/plugins/config/configairframewidget.h

@@ -61,7 +61,7 @@ private:
     virtual void enableControls(bool enable);
 
     void resetField(UAVObjectField * field);
-    void resetMixer (MixerCurveWidget *mixer, int numElements);
+    void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue);
     void resetActuators();
     //void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
     void setupQuadMotor(int channel, double roll, double pitch, double yaw);

ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp

@@ -372,12 +372,7 @@ void ConfigccpmWidget::UpdateType()
   */
 void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
 {
-    QList<double> curveValues;
+    mixer->initLinearCurve(numElements,(double)1);
-    for (double i=0; i<numElements; i++) {
-        curveValues.append(i/(numElements-1));
-    }
-    // Setup all Throttle1 curves for all types of airframes
-    mixer->initCurve(curveValues);
 }
 
 void ConfigccpmWidget::UpdateCurveWidgets()

ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp

@@ -147,7 +147,17 @@ QList<double> MixerCurveWidget::getCurve() {
 
     return list;
 }
-
+/**
+  Sets a linear graph
+  */
+void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
+{
+    QList<double> points;
+    for (double i=0; i<numPoints;i++) {
+        points.append(maxValue*(i/(numPoints-1)));
+    }
+    initCurve(points);
+}
 /**
   Setd the current curve settings
   */

ground/openpilotgcs/src/plugins/config/mixercurvewidget.h

@@ -45,6 +45,7 @@ public:
    void itemMoved(double itemValue); // Callback when a point is moved, to be updated
    void initCurve (QList<double> points);
    QList<double> getCurve();
+   void initLinearCurve(quint32 numPoints, double maxValue);
    void setCurve(QList<double>);
    void setMin(double value);
    void setMax(double value);

shared/uavobjectdefinition/mixersettings.xml

@@ -5,7 +5,7 @@
         <field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
         <field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
         <field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
-        <field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
+	<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
         <field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
         <field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
         <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>