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Code Issues Releases Activity

Merge remote-tracking branch 'origin/os/features/advanced-camera-stabilization' into next

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This commit is contained in:
James Cotton 2012-01-02 11:38:27 -06:00
commit 1b6ff0e470
6 changed files with 951 additions and 420 deletions
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3
HISTORY.txt
View File

@ -1,5 +1,8 @@
Short summary of changes. For a complete list see the git log.
2012-01-02
Added new camera stabilization features: AxisLock mode and LPF.
2011-12-10
Merged a change that sorts the UAVO fields based on size. Because this changes
all of the objects, erase all existing flash files based on this.

93
flight/Modules/CameraStab/camerastab.c
View File

@ -61,10 +61,15 @@
// Private types
// Private variables
static struct CameraStab_data {
portTickType lastSysTime;
float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM];
float inputs_filtered[CAMERASTABSETTINGS_INPUT_NUMELEM];
} *csd;
// Private functions
static void attitudeUpdated(UAVObjEvent* ev);
static float bound(float val);
static float bound(float val, float limit);
/**
* Initialise the module, called on startup
@ -72,8 +77,6 @@ static float bound(float val);
*/
int32_t CameraStabInitialize(void)
{
static UAVObjEvent ev;
bool cameraStabEnabled;
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
@ -87,15 +90,24 @@ int32_t CameraStabInitialize(void)
if (cameraStabEnabled) {
// allocate and initialize the static data storage only if module is enabled
csd = (struct CameraStab_data *) pvPortMalloc(sizeof(struct CameraStab_data));
if (!csd)
return -1;
// make sure that all inputs[] and inputs_filtered[] are zeroed
memset(csd, 0, sizeof(struct CameraStab_data));
csd->lastSysTime = xTaskGetTickCount();
AttitudeActualInitialize();
ev.obj = AttitudeActualHandle();
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
UAVObjEvent ev = {
.obj = AttitudeActualHandle(),
.instId = 0,
.event = 0,
};
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
@ -117,47 +129,68 @@ static void attitudeUpdated(UAVObjEvent* ev)
if (ev->obj != AttitudeActualHandle())
return;
float attitude;
float output;
AccessoryDesiredData accessory;
CameraStabSettingsData cameraStab;
CameraStabSettingsGet(&cameraStab);
// Read any input channels
float inputs[3] = {0,0,0};
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[0] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_ROLL];
}
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[1] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_PITCH];
}
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[2] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_YAW];
// Check how long since last update, time delta between calls in ms
portTickType thisSysTime = xTaskGetTickCount();
float dT = (thisSysTime > csd->lastSysTime) ?
(thisSysTime - csd->lastSysTime) / portTICK_RATE_MS :
(float)SAMPLE_PERIOD_MS / 1000.0f;
csd->lastSysTime = thisSysTime;
// Read any input channels and apply LPF
for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
if (cameraStab.Input[i] != CAMERASTABSETTINGS_INPUT_NONE) {
if (AccessoryDesiredInstGet(cameraStab.Input[i] - CAMERASTABSETTINGS_INPUT_ACCESSORY0, &accessory) == 0) {
float input_rate;
switch (cameraStab.StabilizationMode[i]) {
case CAMERASTABSETTINGS_STABILIZATIONMODE_ATTITUDE:
csd->inputs[i] = accessory.AccessoryVal * cameraStab.InputRange[i];
break;
case CAMERASTABSETTINGS_STABILIZATIONMODE_AXISLOCK:
input_rate = accessory.AccessoryVal * cameraStab.InputRate[i];
if (fabs(input_rate) > cameraStab.MaxAxisLockRate)
csd->inputs[i] = bound(csd->inputs[i] + input_rate * dT / 1000.0f, cameraStab.InputRange[i]);
break;
default:
PIOS_Assert(0);
}
// bypass LPF calculation if ResponseTime is zero
float rt = (float)cameraStab.ResponseTime[i];
if (rt)
csd->inputs_filtered[i] = (rt / (rt + dT)) * csd->inputs_filtered[i]
+ (dT / (rt + dT)) * csd->inputs[i];
else
csd->inputs_filtered[i] = csd->inputs[i];
}
}
}
// Set output channels
float attitude;
float output;
AttitudeActualRollGet(&attitude);
output = bound((attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL]);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f);
CameraDesiredRollSet(&output);
AttitudeActualPitchGet(&attitude);
output = bound((attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH]);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f);
CameraDesiredPitchSet(&output);
AttitudeActualYawGet(&attitude);
output = bound((attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW]);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f);
CameraDesiredYawSet(&output);
}
float bound(float val)
float bound(float val, float limit)
{
return (val > 1) ? 1 :
(val < -1) ? -1 :
return (val > limit) ? limit :
(val < -limit) ? -limit :
val;
}
/**

1068
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -1,328 +1,740 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CameraStabilizationWidget</class>
<widget class="QWidget" name="CameraStabilizationWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="enableCameraStabilization">
<property name="text">
<string>Enable CameraStabilization module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Channel Ranges (number of degrees full range)</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<layout class="QFormLayout" name="formLayout_2">
<item row="2" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollOutputRange">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="pitchOutputRange">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="yawOutputRange">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
</layout>
</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>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>212</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Channel Mapping (select output channel or none to disable)</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<layout class="QFormLayout" name="formLayout">
<item row="2" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollChannel">
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="yawChannel">
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="pitchChannel">
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_5">
<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>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>212</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</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="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<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="QPushButton" name="camerastabilizationHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="font">
<font>
<kerning>true</kerning>
</font>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="shortcut">
<string>Ctrl+S</string>
</property>
<property name="default">
<bool>false</bool>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveRAM">
<property name="toolTip">
<string>Save settings to the board (RAM only).
This does not save the calibration settings, this is done using the
specific calibration button on top of the screen.</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveSD">
<property name="toolTip">
<string>Send settings to the board, and save to the non-volatile memory.</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CameraStabilizationWidget</class>
<widget class="QWidget" name="CameraStabilizationWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>702</width>
<height>488</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="enableCameraStabilization">
<property name="text">
<string>Enable CameraStabilization module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Basic Settings (Stabilization)</string>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<item row="2" column="3">
<widget class="QSpinBox" name="yawOutputRange">
<property name="toolTip">
<string>Camera yaw angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="pitchOutputRange">
<property name="toolTip">
<string>Camera pitch angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="rollOutputRange">
<property name="toolTip">
<string>Camera roll angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="yawChannel">
<property name="toolTip">
<string>Yaw output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="pitchChannel">
<property name="toolTip">
<string>Pitch output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="rollChannel">
<property name="toolTip">
<string>Roll output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Output Channel</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>Output Range</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_44">
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_46">
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>204</height>
</size>
</property>
<property name="title">
<string>Advanced Settings (Control)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<item row="0" column="3">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_33">
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="yawInputChannel">
<property name="toolTip">
<string>Input channel to control camera yaw
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="pitchInputChannel">
<property name="toolTip">
<string>Input channel to control camera pitch
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="rollInputChannel">
<property name="toolTip">
<string>Input channel to control camera roll
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Input Channel</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="yawStabilizationMode">
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="yawInputRange">
<property name="toolTip">
<string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QSpinBox" name="yawInputRate">
<property name="toolTip">
<string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSpinBox" name="yawResponseTime">
<property name="toolTip">
<string>Input low-pass filter response time for yaw axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="pitchStabilizationMode">
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="pitchInputRange">
<property name="toolTip">
<string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="pitchInputRate">
<property name="toolTip">
<string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="pitchResponseTime">
<property name="toolTip">
<string>Input low-pass filter response time for pitch axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollStabilizationMode">
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="rollInputRange">
<property name="toolTip">
<string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="rollInputRate">
<property name="toolTip">
<string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="rollResponseTime">
<property name="toolTip">
<string>Input low-pass filter response time for roll axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>MaxAxisLockRate</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Response Time</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Input Rate</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Input Range</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Stabilization Mode</string>
</property>
</widget>
</item>
<item row="6" column="2" colspan="2">
<widget class="QLabel" name="label_41">
<property name="text">
<string>(the same value for Roll, Pitch, Yaw)</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="toolTip">
<string>Stick input deadband for all axes in AxisLock mode, deg/s.
When stick input is within the MaxAxisLockRate range, camera tracks
current attitude. Otherwise it starts moving according to input with
rate depending on input value.
If you have drift in your Tx controls, you may want to increase this
value.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</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>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<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="QPushButton" name="camerastabilizationHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="font">
<font>
<kerning>true</kerning>
</font>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="shortcut">
<string>Ctrl+S</string>
</property>
<property name="default">
<bool>false</bool>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationResetToDefaults">
<property name="toolTip">
<string>Load default CameraStabilization settings except output channels
Loaded settings are not applied automatically. You have to click the
Apply or Save button afterwards.</string>
</property>
<property name="text">
<string>Reset To Defaults</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveRAM">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveSD">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>enableCameraStabilization</tabstop>
<tabstop>rollChannel</tabstop>
<tabstop>pitchChannel</tabstop>
<tabstop>yawChannel</tabstop>
<tabstop>rollOutputRange</tabstop>
<tabstop>pitchOutputRange</tabstop>
<tabstop>yawOutputRange</tabstop>
<tabstop>rollInputChannel</tabstop>
<tabstop>pitchInputChannel</tabstop>
<tabstop>yawInputChannel</tabstop>
<tabstop>rollStabilizationMode</tabstop>
<tabstop>pitchStabilizationMode</tabstop>
<tabstop>yawStabilizationMode</tabstop>
<tabstop>rollInputRange</tabstop>
<tabstop>pitchInputRange</tabstop>
<tabstop>yawInputRange</tabstop>
<tabstop>rollInputRate</tabstop>
<tabstop>pitchInputRate</tabstop>
<tabstop>yawInputRate</tabstop>
<tabstop>rollResponseTime</tabstop>
<tabstop>pitchResponseTime</tabstop>
<tabstop>yawResponseTime</tabstop>
<tabstop>MaxAxisLockRate</tabstop>
<tabstop>camerastabilizationHelp</tabstop>
<tabstop>camerastabilizationResetToDefaults</tabstop>
<tabstop>camerastabilizationSaveRAM</tabstop>
<tabstop>camerastabilizationSaveSD</tabstop>
<tabstop>scrollArea</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

183
ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configcamerastabilizationwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -25,47 +25,69 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configcamerastabilizationwidget.h"
#include <QDebug>
#include <QTimer>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QThread>
#include <iostream>
#include <QUrl>
#include <QDesktopServices>
#include "camerastabsettings.h"
#include "hwsettings.h"
#include "mixersettings.h"
#include "actuatorcommand.h"
#include <QDebug>
#include <QDesktopServices>
#include <QUrl>
ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
// TODO: this widget should use the addUAVObjectToWidgetRelation()
m_camerastabilization = new Ui_CameraStabilizationWidget();
m_camerastabilization->setupUi(this);
QComboBox * selectors[3] = {
QComboBox *outputs[3] = {
m_camerastabilization->rollChannel,
m_camerastabilization->pitchChannel,
m_camerastabilization->yawChannel
m_camerastabilization->yawChannel,
};
QComboBox *inputs[3] = {
m_camerastabilization->rollInputChannel,
m_camerastabilization->pitchInputChannel,
m_camerastabilization->yawInputChannel,
};
QComboBox *stabilizationMode[3] = {
m_camerastabilization->rollStabilizationMode,
m_camerastabilization->pitchStabilizationMode,
m_camerastabilization->yawStabilizationMode,
};
CameraStabSettings *cameraStab = CameraStabSettings::GetInstance(getObjectManager());
CameraStabSettings::DataFields cameraStabData = cameraStab->getData();
for (int i = 0; i < 3; i++) {
selectors[i]->clear();
selectors[i]->addItem("None");
for (int j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++)
selectors[i]->addItem(QString("Channel %1").arg(j+1));
outputs[i]->clear();
outputs[i]->addItem("None");
for (quint32 j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++)
outputs[i]->addItem(QString("Channel %1").arg(j+1));
UAVObjectField *field;
field = cameraStab->getField("Input");
Q_ASSERT(field);
inputs[i]->clear();
inputs[i]->addItems(field->getOptions());
inputs[i]->setCurrentIndex(cameraStabData.Input[i]);
field = cameraStab->getField("StabilizationMode");
Q_ASSERT(field);
stabilizationMode[i]->clear();
stabilizationMode[i]->addItems(field->getOptions());
stabilizationMode[i]->setCurrentIndex(cameraStabData.StabilizationMode[i]);
}
connectUpdates();
// Connect buttons
connect(m_camerastabilization->camerastabilizationSaveRAM,SIGNAL(clicked()),this,SLOT(applySettings()));
connect(m_camerastabilization->camerastabilizationSaveSD,SIGNAL(clicked()),this,SLOT(saveSettings()));
connect(m_camerastabilization->camerastabilizationResetToDefaults, SIGNAL(clicked()), this, SLOT(resetToDefaults()));
connect(m_camerastabilization->camerastabilizationSaveRAM, SIGNAL(clicked()), this, SLOT(applySettings()));
connect(m_camerastabilization->camerastabilizationSaveSD, SIGNAL(clicked()), this, SLOT(saveSettings()));
connect(m_camerastabilization->camerastabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
}
@ -77,19 +99,19 @@ ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget()
void ConfigCameraStabilizationWidget::connectUpdates()
{
// Now connect the widget to the StabilizationSettings object
connect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
connect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
connect(MixerSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
connect(CameraStabSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
// TODO: This will need to support both CC and OP later
connect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
connect(HwSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
}
void ConfigCameraStabilizationWidget::disconnectUpdates()
{
// Now connect the widget to the StabilizationSettings object
disconnect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
disconnect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
disconnect(MixerSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
disconnect(CameraStabSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
// TODO: This will need to support both CC and OP later
disconnect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
disconnect(HwSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
}
/**
@ -99,7 +121,7 @@ void ConfigCameraStabilizationWidget::disconnectUpdates()
void ConfigCameraStabilizationWidget::applySettings()
{
// Enable or disable the settings
HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] =
m_camerastabilization->enableCameraStabilization->isChecked() ?
@ -107,14 +129,14 @@ void ConfigCameraStabilizationWidget::applySettings()
HwSettings::OPTIONALMODULES_DISABLED;
// Update the mixer settings
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
const int NUM_MIXERS = 10;
QComboBox * selectors[3] = {
QComboBox *outputs[3] = {
m_camerastabilization->rollChannel,
m_camerastabilization->pitchChannel,
m_camerastabilization->yawChannel
m_camerastabilization->yawChannel,
};
// TODO: Need to reformat object so types are an
@ -136,14 +158,14 @@ void ConfigCameraStabilizationWidget::applySettings()
for (int i = 0; i < 3; i++)
{
// Channel 1 is second entry, so becomes zero
int mixerNum = selectors[i]->currentIndex() - 1;
int mixerNum = outputs[i]->currentIndex() - 1;
if ( mixerNum >= 0 && // Short circuit in case of none
*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED &&
(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i) ) {
// If the mixer channel already to something that isn't what we are
// about to set it to reset to none
selectors[i]->setCurrentIndex(0);
outputs[i]->setCurrentIndex(0);
m_camerastabilization->message->setText("One of the channels is already assigned, reverted to none");
} else {
// Make sure no other channels have this output set
@ -158,13 +180,36 @@ void ConfigCameraStabilizationWidget::applySettings()
}
}
// Update the ranges
CameraStabSettings * cameraStab = CameraStabSettings::GetInstance(getObjectManager());
// Update the settings
CameraStabSettings *cameraStab = CameraStabSettings::GetInstance(getObjectManager());
CameraStabSettings::DataFields cameraStabData = cameraStab->getData();
cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL] = m_camerastabilization->rollOutputRange->value();
cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH] = m_camerastabilization->pitchOutputRange->value();
cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW] = m_camerastabilization->yawOutputRange->value();
cameraStabData.Input[CameraStabSettings::INPUT_ROLL] = m_camerastabilization->rollInputChannel->currentIndex();
cameraStabData.Input[CameraStabSettings::INPUT_PITCH] = m_camerastabilization->pitchInputChannel->currentIndex();
cameraStabData.Input[CameraStabSettings::INPUT_YAW] = m_camerastabilization->yawInputChannel->currentIndex();
cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL] = m_camerastabilization->rollStabilizationMode->currentIndex();
cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH] = m_camerastabilization->pitchStabilizationMode->currentIndex();
cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_YAW] = m_camerastabilization->yawStabilizationMode->currentIndex();
cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_ROLL] = m_camerastabilization->rollInputRange->value();
cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_PITCH] = m_camerastabilization->pitchInputRange->value();
cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_YAW] = m_camerastabilization->yawInputRange->value();
cameraStabData.InputRate[CameraStabSettings::INPUTRATE_ROLL] = m_camerastabilization->rollInputRate->value();
cameraStabData.InputRate[CameraStabSettings::INPUTRATE_PITCH] = m_camerastabilization->pitchInputRate->value();
cameraStabData.InputRate[CameraStabSettings::INPUTRATE_YAW] = m_camerastabilization->yawInputRate->value();
cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_ROLL] = m_camerastabilization->rollResponseTime->value();
cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_PITCH] = m_camerastabilization->pitchResponseTime->value();
cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_YAW] = m_camerastabilization->yawResponseTime->value();
cameraStabData.MaxAxisLockRate = m_camerastabilization->MaxAxisLockRate->value();
// Because multiple objects are updated, and all of them trigger the callback
// they must be done together (if update one then load settings from second
// the first update would wipe the UI controls). However to be extra cautious
@ -182,7 +227,7 @@ void ConfigCameraStabilizationWidget::applySettings()
void ConfigCameraStabilizationWidget::saveSettings()
{
applySettings();
UAVObject * obj = HwSettings::GetInstance(getObjectManager());
UAVObject *obj = HwSettings::GetInstance(getObjectManager());
saveObjectToSD(obj);
obj = MixerSettings::GetInstance(getObjectManager());
saveObjectToSD(obj);
@ -190,24 +235,56 @@ void ConfigCameraStabilizationWidget::saveSettings()
saveObjectToSD(obj);
}
/**
* Refresh UI with new settings of CameraStabSettings object
* (either from active configuration or just loaded defaults
* to be applied or saved)
*/
void ConfigCameraStabilizationWidget::refreshUIValues(CameraStabSettings::DataFields &cameraStabData)
{
m_camerastabilization->rollOutputRange->setValue(cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]);
m_camerastabilization->pitchOutputRange->setValue(cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]);
m_camerastabilization->yawOutputRange->setValue(cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]);
m_camerastabilization->rollInputChannel->setCurrentIndex(cameraStabData.Input[CameraStabSettings::INPUT_ROLL]);
m_camerastabilization->pitchInputChannel->setCurrentIndex(cameraStabData.Input[CameraStabSettings::INPUT_PITCH]);
m_camerastabilization->yawInputChannel->setCurrentIndex(cameraStabData.Input[CameraStabSettings::INPUT_YAW]);
m_camerastabilization->rollStabilizationMode->setCurrentIndex(cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL]);
m_camerastabilization->pitchStabilizationMode->setCurrentIndex(cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH]);
m_camerastabilization->yawStabilizationMode->setCurrentIndex(cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_YAW]);
m_camerastabilization->rollInputRange->setValue(cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_ROLL]);
m_camerastabilization->pitchInputRange->setValue(cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_PITCH]);
m_camerastabilization->yawInputRange->setValue(cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_YAW]);
m_camerastabilization->rollInputRate->setValue(cameraStabData.InputRate[CameraStabSettings::INPUTRATE_ROLL]);
m_camerastabilization->pitchInputRate->setValue(cameraStabData.InputRate[CameraStabSettings::INPUTRATE_PITCH]);
m_camerastabilization->yawInputRate->setValue(cameraStabData.InputRate[CameraStabSettings::INPUTRATE_YAW]);
m_camerastabilization->rollResponseTime->setValue(cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_ROLL]);
m_camerastabilization->pitchResponseTime->setValue(cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_PITCH]);
m_camerastabilization->yawResponseTime->setValue(cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_YAW]);
m_camerastabilization->MaxAxisLockRate->setValue(cameraStabData.MaxAxisLockRate);
}
void ConfigCameraStabilizationWidget::refreshValues()
{
HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
m_camerastabilization->enableCameraStabilization->setChecked(
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] ==
HwSettings::OPTIONALMODULES_ENABLED);
CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());
CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData();
m_camerastabilization->rollOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]);
m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]);
m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]);
CameraStabSettings *cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());
CameraStabSettings::DataFields cameraStabData = cameraStabSettings->getData();
refreshUIValues(cameraStabData);
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
const int NUM_MIXERS = 10;
QComboBox * selectors[3] = {
QComboBox *outputs[3] = {
m_camerastabilization->rollChannel,
m_camerastabilization->pitchChannel,
m_camerastabilization->yawChannel
@ -232,21 +309,29 @@ void ConfigCameraStabilizationWidget::refreshValues()
{
// Default to none if not found. Then search for any mixer channels set to
// this
selectors[i]->setCurrentIndex(0);
outputs[i]->setCurrentIndex(0);
for (int j = 0; j < NUM_MIXERS; j++)
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i) &&
selectors[i]->currentIndex() != (j + 1))
selectors[i]->setCurrentIndex(j + 1);
outputs[i]->currentIndex() != (j + 1))
outputs[i]->setCurrentIndex(j + 1);
}
}
void ConfigCameraStabilizationWidget::resetToDefaults()
{
CameraStabSettings cameraStabDefaults;
CameraStabSettings::DataFields defaults = cameraStabDefaults.getData();
refreshUIValues(defaults);
}
void ConfigCameraStabilizationWidget::openHelp()
{
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Camera+Stabilization", QUrl::StrictMode) );
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration", QUrl::StrictMode) );
}
void ConfigCameraStabilizationWidget::enableControls(bool enable)
{
m_camerastabilization->camerastabilizationResetToDefaults->setEnabled(enable);
m_camerastabilization->camerastabilizationSaveSD->setEnabled(enable);
m_camerastabilization->camerastabilizationSaveRAM->setEnabled(enable);
}

18
ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h
View File

@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file configahrstwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configcamerastabilizationtwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -32,13 +32,6 @@
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include <QtGui/QWidget>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include <QList>
#include <QTimer>
#include <QMutex>
#include "camerastabsettings.h"
class ConfigCameraStabilizationWidget: public ConfigTaskWidget
@ -50,12 +43,13 @@ public:
~ConfigCameraStabilizationWidget();
private:
virtual void enableControls(bool enable);
Ui_CameraStabilizationWidget *m_camerastabilization;
virtual void enableControls(bool enable);
void refreshUIValues(CameraStabSettings::DataFields &cameraStabData);
private slots:
void openHelp();
void resetToDefaults();
void applySettings();
void saveSettings();
void refreshValues();
@ -65,4 +59,4 @@ protected:
void disconnectUpdates();
};
#endif // ConfigCameraStabilization_H
#endif // CONFIGCAMERASTABILIZATIONWIDGET_H

6
shared/uavobjectdefinition/camerastabsettings.xml
View File

@ -1,8 +1,12 @@
<xml>
<object name="CameraStabSettings" singleinstance="true" settings="true">
<description>Settings for the @ref CameraStab mmodule</description>
<field name="Inputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
<field name="Input" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,None" defaultvalue="None"/>
<field name="InputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
<field name="InputRate" units="deg/s" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="50"/>
<field name="ResponseTime" units="ms" type="uint16" elementnames="Roll,Pitch,Yaw" defaultvalue="150"/>
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="Attitude,AxisLock" defaultvalue="Attitude"/>
<field name="MaxAxisLockRate" units="deg/s" type="float" elements="1" defaultvalue="1"/>
<field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>