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Code Issues Releases Activity

OP-39 Removed an unnecessary struct declaration. Changed some texts. Removed some empty lines.

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This commit is contained in:
Fredrik Arvidsson 2012-10-01 21:50:00 +02:00
parent 138848453f
commit 13f10949e8
8 changed files with 397 additions and 404 deletions
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2
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
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@ -289,9 +289,9 @@ void ConfigInputWidget::resizeEvent(QResizeEvent *event)
void ConfigInputWidget::openHelp()
{
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/04Cf", QUrl::StrictMode) );
}
void ConfigInputWidget::goToWizard()
{
QMessageBox msgBox;

2
ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h
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@ -42,8 +42,6 @@ private:
public:
SetupWizard* getWizard() { return m_wizard; }
virtual bool isFinished() { return true; }
virtual quint16 stage() { return 0; }
};

2
ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui
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@ -33,7 +33,7 @@ p, li { white-space: pre-wrap; }
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If the board is already connected and successfully detected, the board type will already be displayed. You can </span><span style=" font-size:10pt; font-weight:600;">Disconnect</span><span style=" font-size:10pt;"> and select another device if you need to detect another board.</span></p>
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;If your board is not connected please connect the board to a USB port on your computer and select the device from the list below. Then press &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;Connect&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;If your board is not connected, please connect the board to a USB port on your computer and select the device from the list below. Then press &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;Connect&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>

8
ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.ui
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@ -26,12 +26,12 @@
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot basic input signal configuration&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;The OpenPilot controller supports many different types of input signals. Please select the type of input that matches your receiver configuration. If you are unsure, just leave the default option selected and continue the wizard.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, the controller will need to be rebooted at the end of this wizard after the configuration is written to the controller.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, you will be instructed to do so on the next page of this wizard.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>

2
ground/openpilotgcs/src/plugins/setupwizard/pages/rebootpage.ui
View File

@ -50,7 +50,7 @@ p, li { white-space: pre-wrap; }
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt; color:#000000;&quot;&gt;The configuration created by the wizard contains settings that require a reboot of your controller. Please power cycle the controller before continuing. To power cycle the controller remove all batteries and the usb cable for at least 30 seconds. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt; color:#000000;&quot;&gt;The configuration created by the wizard contains settings that require a reboot of your controller. Please power cycle the controller before continuing. To power cycle the controller remove all batteries and the USB cable for at least 30 seconds. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>

774
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -320,7 +320,7 @@ void VehicleConfigurationHelper::applyStabilizationConfiguration()
addModifiedObject(stabSettings, tr("Writing stabilization settings"));
}
void VehicleConfigurationHelper::applyMixerConfiguration(mixerSettings mixer)
void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings channels[])
{
// Set all mixer data
MixerSettings* mSettings = MixerSettings::GetInstance(m_uavoManager);
@ -332,15 +332,15 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerSettings mixer)
for(int i = 0; i < 10; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
field->setValue(field->getOptions().at(mixer.channels[i].type));
field->setValue(field->getOptions().at(channels[i].type));
field = mSettings->getField(mixerVectorPattern.arg(i + 1));
Q_ASSERT(field);
field->setValue((mixer.channels[i].throttle1 * 127) / 100, 0);
field->setValue((mixer.channels[i].throttle2 * 127) / 100, 1);
field->setValue((mixer.channels[i].roll * 127) / 100, 2);
field->setValue((mixer.channels[i].pitch * 127) / 100, 3);
field->setValue((mixer.channels[i].yaw *127) / 100, 4);
field->setValue((channels[i].throttle1 * 127) / 100, 0);
field->setValue((channels[i].throttle2 * 127) / 100, 1);
field->setValue((channels[i].roll * 127) / 100, 2);
field->setValue((channels[i].pitch * 127) / 100, 3);
field->setValue((channels[i].yaw *127) / 100, 4);
}
// Apply updates
@ -585,43 +585,43 @@ void VehicleConfigurationHelper::setupTriCopter()
// 2. Setup GUI data
// 3. Apply changes
mixerSettings mixer;
mixerChannelSettings channels[10];
GUIConfigDataUnion guiSettings = getGUIConfigData();
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = 100;
mixer.channels[0].pitch = 50;
mixer.channels[0].yaw = 0;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 100;
channels[0].pitch = 50;
channels[0].yaw = 0;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = -100;
mixer.channels[1].pitch = 50;
mixer.channels[1].yaw = 0;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -100;
channels[1].pitch = 50;
channels[1].yaw = 0;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = 0;
mixer.channels[2].pitch = -100;
mixer.channels[2].yaw = 0;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = -100;
channels[2].yaw = 0;
mixer.channels[3].type = MIXER_TYPE_SERVO;
mixer.channels[3].throttle1 = 0;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = 0;
mixer.channels[3].pitch = 0;
mixer.channels[3].yaw = 100;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 100;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorNE = 2;
guiSettings.multi.VTOLMotorS = 3;
guiSettings.multi.TRIYaw = 4;
applyMixerConfiguration(mixer);
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_TRI, guiSettings);
}
@ -642,7 +642,7 @@ GUIConfigDataUnion VehicleConfigurationHelper::getGUIConfigData()
void VehicleConfigurationHelper::setupQuadCopter()
{
mixerSettings mixer;
mixerChannelSettings channels[10];
GUIConfigDataUnion guiSettings = getGUIConfigData();
SystemSettings::AirframeTypeOptions frame;
@ -650,33 +650,33 @@ void VehicleConfigurationHelper::setupQuadCopter()
{
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS: {
frame = SystemSettings::AIRFRAMETYPE_QUADP;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = 0;
mixer.channels[0].pitch = 100;
mixer.channels[0].yaw = -50;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 100;
channels[0].yaw = -50;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = -100;
mixer.channels[1].pitch = 0;
mixer.channels[1].yaw = 50;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -100;
channels[1].pitch = 0;
channels[1].yaw = 50;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = 0;
mixer.channels[2].pitch = -100;
mixer.channels[2].yaw = -50;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = -100;
channels[2].yaw = -50;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = 100;
mixer.channels[3].pitch = 0;
mixer.channels[3].yaw = 50;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 100;
channels[3].pitch = 0;
channels[3].yaw = 50;
guiSettings.multi.VTOLMotorN = 1;
guiSettings.multi.VTOLMotorE = 2;
@ -687,33 +687,33 @@ void VehicleConfigurationHelper::setupQuadCopter()
}
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X: {
frame = SystemSettings::AIRFRAMETYPE_QUADX;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = 50;
mixer.channels[0].pitch = 50;
mixer.channels[0].yaw = -50;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 50;
channels[0].pitch = 50;
channels[0].yaw = -50;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = -50;
mixer.channels[1].pitch = 50;
mixer.channels[1].yaw = 50;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -50;
channels[1].pitch = 50;
channels[1].yaw = 50;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = -50;
mixer.channels[2].pitch = -50;
mixer.channels[2].yaw = -50;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -50;
channels[2].pitch = -50;
channels[2].yaw = -50;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = 50;
mixer.channels[3].pitch = -50;
mixer.channels[3].yaw = 50;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 50;
channels[3].pitch = -50;
channels[3].yaw = 50;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorNE = 2;
@ -725,13 +725,13 @@ void VehicleConfigurationHelper::setupQuadCopter()
default:
break;
}
applyMixerConfiguration(mixer);
applyMixerConfiguration(channels);
applyMultiGUISettings(frame, guiSettings);
}
void VehicleConfigurationHelper::setupHexaCopter()
{
mixerSettings mixer;
mixerChannelSettings channels[10];
GUIConfigDataUnion guiSettings = getGUIConfigData();
SystemSettings::AirframeTypeOptions frame;
@ -740,47 +740,47 @@ void VehicleConfigurationHelper::setupHexaCopter()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA: {
frame = SystemSettings::AIRFRAMETYPE_HEXA;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = 0;
mixer.channels[0].pitch = 33;
mixer.channels[0].yaw = -33;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 33;
channels[0].yaw = -33;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = -50;
mixer.channels[1].pitch = 33;
mixer.channels[1].yaw = 33;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -50;
channels[1].pitch = 33;
channels[1].yaw = 33;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = -50;
mixer.channels[2].pitch = -33;
mixer.channels[2].yaw = -33;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -50;
channels[2].pitch = -33;
channels[2].yaw = -33;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = 0;
mixer.channels[3].pitch = -33;
mixer.channels[3].yaw = 33;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = -33;
channels[3].yaw = 33;
mixer.channels[4].type = MIXER_TYPE_MOTOR;
mixer.channels[4].throttle1 = 100;
mixer.channels[4].throttle2 = 0;
mixer.channels[4].roll = 50;
mixer.channels[4].pitch = -33;
mixer.channels[4].yaw = -33;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 50;
channels[4].pitch = -33;
channels[4].yaw = -33;
mixer.channels[5].type = MIXER_TYPE_MOTOR;
mixer.channels[5].throttle1 = 100;
mixer.channels[5].throttle2 = 0;
mixer.channels[5].roll = 50;
mixer.channels[5].pitch = 33;
mixer.channels[5].yaw = 33;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 50;
channels[5].pitch = 33;
channels[5].yaw = 33;
guiSettings.multi.VTOLMotorN = 1;
guiSettings.multi.VTOLMotorNE = 2;
@ -794,47 +794,47 @@ void VehicleConfigurationHelper::setupHexaCopter()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y: {
frame = SystemSettings::AIRFRAMETYPE_HEXACOAX;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = 100;
mixer.channels[0].pitch = 25;
mixer.channels[0].yaw = -66;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 100;
channels[0].pitch = 25;
channels[0].yaw = -66;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = 100;
mixer.channels[1].pitch = 25;
mixer.channels[1].yaw = 66;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 100;
channels[1].pitch = 25;
channels[1].yaw = 66;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = -100;
mixer.channels[2].pitch = 25;
mixer.channels[2].yaw = -66;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -100;
channels[2].pitch = 25;
channels[2].yaw = -66;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = -100;
mixer.channels[3].pitch = 25;
mixer.channels[3].yaw = 66;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -100;
channels[3].pitch = 25;
channels[3].yaw = 66;
mixer.channels[4].type = MIXER_TYPE_MOTOR;
mixer.channels[4].throttle1 = 100;
mixer.channels[4].throttle2 = 0;
mixer.channels[4].roll = 0;
mixer.channels[4].pitch = -50;
mixer.channels[4].yaw = -66;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 0;
channels[4].pitch = -50;
channels[4].yaw = -66;
mixer.channels[5].type = MIXER_TYPE_MOTOR;
mixer.channels[5].throttle1 = 100;
mixer.channels[5].throttle2 = 0;
mixer.channels[5].roll = 0;
mixer.channels[5].pitch = -50;
mixer.channels[5].yaw = 66;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 0;
channels[5].pitch = -50;
channels[5].yaw = 66;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorW = 2;
@ -848,47 +848,47 @@ void VehicleConfigurationHelper::setupHexaCopter()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H: {
frame = SystemSettings::AIRFRAMETYPE_HEXAX;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = -33;
mixer.channels[0].pitch = 50;
mixer.channels[0].yaw = -33;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = -33;
channels[0].pitch = 50;
channels[0].yaw = -33;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = -33;
mixer.channels[1].pitch = 0;
mixer.channels[1].yaw = 33;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -33;
channels[1].pitch = 0;
channels[1].yaw = 33;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = -33;
mixer.channels[2].pitch = -50;
mixer.channels[2].yaw = -33;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -33;
channels[2].pitch = -50;
channels[2].yaw = -33;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = -33;
mixer.channels[3].pitch = -50;
mixer.channels[3].yaw = 33;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -33;
channels[3].pitch = -50;
channels[3].yaw = 33;
mixer.channels[4].type = MIXER_TYPE_MOTOR;
mixer.channels[4].throttle1 = 100;
mixer.channels[4].throttle2 = 0;
mixer.channels[4].roll = 33;
mixer.channels[4].pitch = 0;
mixer.channels[4].yaw = -33;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 33;
channels[4].pitch = 0;
channels[4].yaw = -33;
mixer.channels[5].type = MIXER_TYPE_MOTOR;
mixer.channels[5].throttle1 = 100;
mixer.channels[5].throttle2 = 0;
mixer.channels[5].roll = 33;
mixer.channels[5].pitch = 50;
mixer.channels[5].yaw = -33;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 33;
channels[5].pitch = 50;
channels[5].yaw = -33;
guiSettings.multi.VTOLMotorNE = 1;
guiSettings.multi.VTOLMotorE = 2;
@ -902,13 +902,13 @@ void VehicleConfigurationHelper::setupHexaCopter()
default:
break;
}
applyMixerConfiguration(mixer);
applyMixerConfiguration(channels);
applyMultiGUISettings(frame, guiSettings);
}
void VehicleConfigurationHelper::setupOctoCopter()
{
mixerSettings mixer;
mixerChannelSettings channels[10];
GUIConfigDataUnion guiSettings = getGUIConfigData();
SystemSettings::AirframeTypeOptions frame;
@ -917,61 +917,61 @@ void VehicleConfigurationHelper::setupOctoCopter()
case VehicleConfigurationSource::MULTI_ROTOR_OCTO: {
frame = SystemSettings::AIRFRAMETYPE_OCTO;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = 0;
mixer.channels[0].pitch = 33;
mixer.channels[0].yaw = -25;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 33;
channels[0].yaw = -25;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = -33;
mixer.channels[1].pitch = 33;
mixer.channels[1].yaw = 25;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -33;
channels[1].pitch = 33;
channels[1].yaw = 25;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = -33;
mixer.channels[2].pitch = 0;
mixer.channels[2].yaw = -25;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -33;
channels[2].pitch = 0;
channels[2].yaw = -25;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = -33;
mixer.channels[3].pitch = -33;
mixer.channels[3].yaw = 25;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -33;
channels[3].pitch = -33;
channels[3].yaw = 25;
mixer.channels[4].type = MIXER_TYPE_MOTOR;
mixer.channels[4].throttle1 = 100;
mixer.channels[4].throttle2 = 0;
mixer.channels[4].roll = 0;
mixer.channels[4].pitch = -33;
mixer.channels[4].yaw = -25;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 0;
channels[4].pitch = -33;
channels[4].yaw = -25;
mixer.channels[5].type = MIXER_TYPE_MOTOR;
mixer.channels[5].throttle1 = 100;
mixer.channels[5].throttle2 = 0;
mixer.channels[5].roll = 33;
mixer.channels[5].pitch = -33;
mixer.channels[5].yaw = 25;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 33;
channels[5].pitch = -33;
channels[5].yaw = 25;
mixer.channels[6].type = MIXER_TYPE_MOTOR;
mixer.channels[6].throttle1 = 100;
mixer.channels[6].throttle2 = 0;
mixer.channels[6].roll = 33;
mixer.channels[6].pitch = 0;
mixer.channels[6].yaw = -25;
channels[6].type = MIXER_TYPE_MOTOR;
channels[6].throttle1 = 100;
channels[6].throttle2 = 0;
channels[6].roll = 33;
channels[6].pitch = 0;
channels[6].yaw = -25;
mixer.channels[7].type = MIXER_TYPE_MOTOR;
mixer.channels[7].throttle1 = 100;
mixer.channels[7].throttle2 = 0;
mixer.channels[7].roll = 33;
mixer.channels[7].pitch = 33;
mixer.channels[7].yaw = 25;
channels[7].type = MIXER_TYPE_MOTOR;
channels[7].throttle1 = 100;
channels[7].throttle2 = 0;
channels[7].roll = 33;
channels[7].pitch = 33;
channels[7].yaw = 25;
guiSettings.multi.VTOLMotorN = 1;
guiSettings.multi.VTOLMotorNE = 2;
@ -987,61 +987,61 @@ void VehicleConfigurationHelper::setupOctoCopter()
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X: {
frame = SystemSettings::AIRFRAMETYPE_OCTOCOAXX;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = 50;
mixer.channels[0].pitch = 50;
mixer.channels[0].yaw = -50;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 50;
channels[0].pitch = 50;
channels[0].yaw = -50;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = 50;
mixer.channels[1].pitch = 50;
mixer.channels[1].yaw = 50;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 50;
channels[1].pitch = 50;
channels[1].yaw = 50;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = -50;
mixer.channels[2].pitch = 50;
mixer.channels[2].yaw = -50;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -50;
channels[2].pitch = 50;
channels[2].yaw = -50;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = -50;
mixer.channels[3].pitch = 50;
mixer.channels[3].yaw = 50;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -50;
channels[3].pitch = 50;
channels[3].yaw = 50;
mixer.channels[4].type = MIXER_TYPE_MOTOR;
mixer.channels[4].throttle1 = 100;
mixer.channels[4].throttle2 = 0;
mixer.channels[4].roll = -50;
mixer.channels[4].pitch = -50;
mixer.channels[4].yaw = -50;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = -50;
channels[4].pitch = -50;
channels[4].yaw = -50;
mixer.channels[5].type = MIXER_TYPE_MOTOR;
mixer.channels[5].throttle1 = 100;
mixer.channels[5].throttle2 = 0;
mixer.channels[5].roll = -50;
mixer.channels[5].pitch = -50;
mixer.channels[5].yaw = 50;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = -50;
channels[5].pitch = -50;
channels[5].yaw = 50;
mixer.channels[6].type = MIXER_TYPE_MOTOR;
mixer.channels[6].throttle1 = 100;
mixer.channels[6].throttle2 = 0;
mixer.channels[6].roll = 50;
mixer.channels[6].pitch = -50;
mixer.channels[6].yaw = -50;
channels[6].type = MIXER_TYPE_MOTOR;
channels[6].throttle1 = 100;
channels[6].throttle2 = 0;
channels[6].roll = 50;
channels[6].pitch = -50;
channels[6].yaw = -50;
mixer.channels[7].type = MIXER_TYPE_MOTOR;
mixer.channels[7].throttle1 = 100;
mixer.channels[7].throttle2 = 0;
mixer.channels[7].roll = 50;
mixer.channels[7].pitch = -50;
mixer.channels[7].yaw = 50;
channels[7].type = MIXER_TYPE_MOTOR;
channels[7].throttle1 = 100;
channels[7].throttle2 = 0;
channels[7].roll = 50;
channels[7].pitch = -50;
channels[7].yaw = 50;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorN = 2;
@ -1057,61 +1057,61 @@ void VehicleConfigurationHelper::setupOctoCopter()
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS: {
frame = SystemSettings::AIRFRAMETYPE_OCTOCOAXP;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = 0;
mixer.channels[0].pitch = 100;
mixer.channels[0].yaw = -50;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 100;
channels[0].yaw = -50;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = 0;
mixer.channels[1].pitch = 100;
mixer.channels[1].yaw = 50;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 100;
channels[1].yaw = 50;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = -100;
mixer.channels[2].pitch = 0;
mixer.channels[2].yaw = -50;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -100;
channels[2].pitch = 0;
channels[2].yaw = -50;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = -100;
mixer.channels[3].pitch = 0;
mixer.channels[3].yaw = 50;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -100;
channels[3].pitch = 0;
channels[3].yaw = 50;
mixer.channels[4].type = MIXER_TYPE_MOTOR;
mixer.channels[4].throttle1 = 100;
mixer.channels[4].throttle2 = 0;
mixer.channels[4].roll = 0;
mixer.channels[4].pitch = -100;
mixer.channels[4].yaw = -50;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 0;
channels[4].pitch = -100;
channels[4].yaw = -50;
mixer.channels[5].type = MIXER_TYPE_MOTOR;
mixer.channels[5].throttle1 = 100;
mixer.channels[5].throttle2 = 0;
mixer.channels[5].roll = 0;
mixer.channels[5].pitch = -100;
mixer.channels[5].yaw = 50;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 0;
channels[5].pitch = -100;
channels[5].yaw = 50;
mixer.channels[6].type = MIXER_TYPE_MOTOR;
mixer.channels[6].throttle1 = 100;
mixer.channels[6].throttle2 = 0;
mixer.channels[6].roll = 100;
mixer.channels[6].pitch = 0;
mixer.channels[6].yaw = -50;
channels[6].type = MIXER_TYPE_MOTOR;
channels[6].throttle1 = 100;
channels[6].throttle2 = 0;
channels[6].roll = 100;
channels[6].pitch = 0;
channels[6].yaw = -50;
mixer.channels[7].type = MIXER_TYPE_MOTOR;
mixer.channels[7].throttle1 = 100;
mixer.channels[7].throttle2 = 0;
mixer.channels[7].roll = 100;
mixer.channels[7].pitch = 0;
mixer.channels[7].yaw = 50;
channels[7].type = MIXER_TYPE_MOTOR;
channels[7].throttle1 = 100;
channels[7].throttle2 = 0;
channels[7].roll = 100;
channels[7].pitch = 0;
channels[7].yaw = 50;
guiSettings.multi.VTOLMotorN = 1;
guiSettings.multi.VTOLMotorNE = 2;
@ -1126,61 +1126,61 @@ void VehicleConfigurationHelper::setupOctoCopter()
}
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V: {
frame = SystemSettings::AIRFRAMETYPE_OCTOV;
mixer.channels[0].type = MIXER_TYPE_MOTOR;
mixer.channels[0].throttle1 = 100;
mixer.channels[0].throttle2 = 0;
mixer.channels[0].roll = -25;
mixer.channels[0].pitch = 8;
mixer.channels[0].yaw = -25;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = -25;
channels[0].pitch = 8;
channels[0].yaw = -25;
mixer.channels[1].type = MIXER_TYPE_MOTOR;
mixer.channels[1].throttle1 = 100;
mixer.channels[1].throttle2 = 0;
mixer.channels[1].roll = -25;
mixer.channels[1].pitch = 25;
mixer.channels[1].yaw = 25;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -25;
channels[1].pitch = 25;
channels[1].yaw = 25;
mixer.channels[2].type = MIXER_TYPE_MOTOR;
mixer.channels[2].throttle1 = 100;
mixer.channels[2].throttle2 = 0;
mixer.channels[2].roll = -25;
mixer.channels[2].pitch = -25;
mixer.channels[2].yaw = -25;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -25;
channels[2].pitch = -25;
channels[2].yaw = -25;
mixer.channels[3].type = MIXER_TYPE_MOTOR;
mixer.channels[3].throttle1 = 100;
mixer.channels[3].throttle2 = 0;
mixer.channels[3].roll = -25;
mixer.channels[3].pitch = -8;
mixer.channels[3].yaw = 25;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -25;
channels[3].pitch = -8;
channels[3].yaw = 25;
mixer.channels[4].type = MIXER_TYPE_MOTOR;
mixer.channels[4].throttle1 = 100;
mixer.channels[4].throttle2 = 0;
mixer.channels[4].roll = 25;
mixer.channels[4].pitch = -8;
mixer.channels[4].yaw = -25;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 25;
channels[4].pitch = -8;
channels[4].yaw = -25;
mixer.channels[5].type = MIXER_TYPE_MOTOR;
mixer.channels[5].throttle1 = 100;
mixer.channels[5].throttle2 = 0;
mixer.channels[5].roll = 25;
mixer.channels[5].pitch = -25;
mixer.channels[5].yaw = 25;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 25;
channels[5].pitch = -25;
channels[5].yaw = 25;
mixer.channels[6].type = MIXER_TYPE_MOTOR;
mixer.channels[6].throttle1 = 100;
mixer.channels[6].throttle2 = 0;
mixer.channels[6].roll = 25;
mixer.channels[6].pitch = 25;
mixer.channels[6].yaw = -25;
channels[6].type = MIXER_TYPE_MOTOR;
channels[6].throttle1 = 100;
channels[6].throttle2 = 0;
channels[6].roll = 25;
channels[6].pitch = 25;
channels[6].yaw = -25;
mixer.channels[7].type = MIXER_TYPE_MOTOR;
mixer.channels[7].throttle1 = 100;
mixer.channels[7].throttle2 = 0;
mixer.channels[7].roll = 25;
mixer.channels[7].pitch = 8;
mixer.channels[7].yaw = 25;
channels[7].type = MIXER_TYPE_MOTOR;
channels[7].throttle1 = 100;
channels[7].throttle2 = 0;
channels[7].roll = 25;
channels[7].pitch = 8;
channels[7].yaw = 25;
guiSettings.multi.VTOLMotorN = 1;
guiSettings.multi.VTOLMotorNE = 2;
@ -1197,6 +1197,6 @@ void VehicleConfigurationHelper::setupOctoCopter()
break;
}
applyMixerConfiguration(mixer);
applyMixerConfiguration(channels);
applyMultiGUISettings(frame, guiSettings);
}

6
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
View File

@ -50,10 +50,6 @@ struct mixerChannelSettings {
: type(t), throttle1(th1), throttle2(th2), roll(r), pitch(p), yaw(y) {}
};
struct mixerSettings {
mixerChannelSettings channels[10];
};
class VehicleConfigurationHelper : public QObject
{
Q_OBJECT
@ -88,7 +84,7 @@ private:
void applyStabilizationConfiguration();
void applyManualControlDefaults();
void applyMixerConfiguration(mixerSettings mixer);
void applyMixerConfiguration(mixerChannelSettings channels[]);
GUIConfigDataUnion getGUIConfigData();
void applyMultiGUISettings(SystemSettings::AirframeTypeOptions airframe, GUIConfigDataUnion guiConfig);

5
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -71,8 +71,6 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
onAutopilotConnect();
versionMatchCheck();
}
}
@ -687,7 +685,8 @@ void UploaderGadgetWidget::versionMatchCheck()
"GCS version: %1 Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
msg->showMessage(warning);
}
}
}
void UploaderGadgetWidget::openHelp()
{