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Code Issues Releases Activity

Merge branch 'revo-next' into revo

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This commit is contained in:
James Cotton 2012-05-28 15:23:14 -05:00
commit 1934752d50
6 changed files with 58 additions and 55 deletions
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3
flight/Modules/TxPID/txpid.c
View File

@ -275,6 +275,9 @@ static void updatePIDs(UAVObjEvent* ev)
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdate |= update(&stab.GyroTau, value);
break;
default:
PIOS_Assert(0);
}

89
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -50,15 +50,10 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
addUAVObject("ActuatorSettings");
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
addUAVObject("ActuatorSettings");
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
@ -73,25 +68,37 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
refreshWidgetsValues();
firstUpdate = true;
connect(m_config->spinningArmed, SIGNAL(toggled(bool)), this, SLOT(setSpinningArmed(bool)));
// Configure the task widget
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
// Add custom handling of displaying things
connect(this,SIGNAL(refreshWidgetsValuesRequested()), this, SLOT(refreshOutputWidgetsValues()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
// Associate the buttons with their UAVO fields
addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2);
addWidget(m_config->cb_outputRate1);
addWidget(m_config->spinningArmed);
disconnect(this, SLOT(refreshWidgetsValues(UAVObject*)));
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
refreshWidgetsValues();
}
void ConfigOutputWidget::enableControls(bool enable)
{
@ -196,24 +203,6 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
outputChannelForm->setAssignment(str);
}
/**
* Set the "Spin motors at neutral when armed" flag in ActuatorSettings
*/
void ConfigOutputWidget::setSpinningArmed(bool val)
{
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(val)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
@ -242,10 +231,8 @@ void ConfigOutputWidget::sendChannelTest(int index, int value)
/**
Request the current config from the board (RC Output)
*/
void ConfigOutputWidget::refreshWidgetsValues(UAVObject *)
void ConfigOutputWidget::refreshOutputWidgetsValues(UAVObject *)
{
bool dirty=isDirty();
// Reset all channel assignements:
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
@ -338,8 +325,6 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *)
int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
outputChannelForm->neutral(neutral);
}
setDirty(dirty);
}
/**
@ -347,26 +332,36 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *)
*/
void ConfigOutputWidget::updateObjectsFromWidgets()
{
emit updateObjectsFromWidgetsRequested();
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(actuatorSettings) {
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
if(m_config->spinningArmed->isChecked() == true)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
void ConfigOutputWidget::openHelp()

3
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -69,11 +69,10 @@ private:
private slots:
void stopTests();
void disableIfNotMe(UAVObject *obj);
virtual void refreshWidgetsValues(UAVObject * obj = NULL);
void refreshOutputWidgetsValues(UAVObject * obj = NULL);
void updateObjectsFromWidgets();
void runChannelTests(bool state);
void sendChannelTest(int index, int value);
void setSpinningArmed(bool val);
void openHelp();
protected:
void enableControls(bool enable);

14
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
View File

@ -32,7 +32,7 @@
/**
* Constructor
*/
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL)
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL),allowWidgetUpdates(true)
{
pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>();
@ -127,7 +127,7 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
Q_ASSERT(obj);
objectUpdates.insert(obj,true);
connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
}
if(!field.isEmpty() && obj)
_field = obj->getField(QString(field));
@ -258,6 +258,9 @@ void ConfigTaskWidget::populateWidgets()
*/
void ConfigTaskWidget::refreshWidgetsValues(UAVObject * obj)
{
if (!allowWidgetUpdates)
return;
bool dirtyBack=dirty;
emit refreshWidgetsValuesRequested();
foreach(objectToWidget * ow,objOfInterest)
@ -452,10 +455,10 @@ bool ConfigTaskWidget::isDirty()
*/
void ConfigTaskWidget::disableObjUpdates()
{
allowWidgetUpdates = false;
foreach(objectToWidget * obj,objOfInterest)
{
if(obj->object)
disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
if(obj->object)disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
}
}
/**
@ -463,10 +466,11 @@ void ConfigTaskWidget::disableObjUpdates()
*/
void ConfigTaskWidget::enableObjUpdates()
{
allowWidgetUpdates = true;
foreach(objectToWidget * obj,objOfInterest)
{
if(obj->object)
connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
}
}
/**

1
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
View File

@ -145,6 +145,7 @@ private slots:
void reloadButtonClicked();
private:
bool isConnected;
bool allowWidgetUpdates;
QStringList objectsList;
QList <objectToWidget*> objOfInterest;
ExtensionSystem::PluginManager *pm;

3
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -16,7 +16,8 @@
Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit,
GyroTau"
defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>