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Code Issues Releases Activity

LP-454 Add boat and differential boat to the ground tab

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This commit is contained in:
Laurent Lalanne 2016-12-19 14:23:06 +01:00
parent 479282137e
commit 1bff0f479c
8 changed files with 1248 additions and 426 deletions
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2
flight/libraries/sanitycheck.c
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@ -364,6 +364,8 @@ FrameType_t GetCurrentFrameType()
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLECAR:
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEBOAT:
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIALBOAT:
return FRAME_TYPE_GROUND;
case SYSTEMSETTINGS_AIRFRAMETYPE_VTOL:

88
ground/gcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
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@ -1,9 +1,9 @@
/**
******************************************************************************
*
* @file configgroundvehiclemwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @file configgroundvehiclewidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -81,7 +81,7 @@ ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(QWidget *parent) :
populateChannelComboBoxes();
QStringList groundVehicleTypes;
groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle";
groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle" << "Boat" << "Differential (boat)";
m_aircraft->groundVehicleType->addItems(groundVehicleTypes);
m_aircraft->groundShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@ -126,12 +126,58 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
initMixerCurves(frameType);
if (frameType == "GroundVehicleBoat" || frameType == "Boat") {
// Boat
m_vehicleImg->setElementId("boat");
setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Boat"));
m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvMotor1Label->setText("First motor");
m_aircraft->gvMotor2Label->setText("Second motor");
m_aircraft->gvSteering1ChannelBox->setEnabled(true);
m_aircraft->gvSteering2ChannelBox->setEnabled(true);
m_aircraft->gvSteering1Label->setText("First rudder");
m_aircraft->gvSteering2Label->setText("Second rudder");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve1");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
initMixerCurves(frameType);
// If new setup, set curves values
if (frameTypeSaved->getValue().toString() != "GroundVehicleBoat") {
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0, 0.0);
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0, 0.0);
}
} else if ((frameType == "GroundVehicleDifferential") || (frameType == "Differential (tank)") ||
(frameType == "GroundVehicleDifferentialBoat") || (frameType == "Differential (boat)")) {
bool is_Boat = frameType.contains("oat");
if (is_Boat) {
// Boat differential
m_vehicleImg->setElementId("boat_diff");
setComboCurrentIndex(m_aircraft->groundVehicleType,
m_aircraft->groundVehicleType->findText("Differential (boat)"));
m_aircraft->gvSteering1Label->setText("First rudder");
m_aircraft->gvSteering2Label->setText("Second rudder");
} else {
// Tank
m_vehicleImg->setElementId("tank");
setComboCurrentIndex(m_aircraft->groundVehicleType,
m_aircraft->groundVehicleType->findText("Differential (tank)"));
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Rear steering");
}
if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)") {
// Tank
m_vehicleImg->setElementId("tank");
setComboCurrentIndex(m_aircraft->groundVehicleType,
m_aircraft->groundVehicleType->findText("Differential (tank)"));
m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
@ -143,9 +189,6 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1ChannelBox->setEnabled(false);
m_aircraft->gvSteering2ChannelBox->setEnabled(false);
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Rear steering");
m_aircraft->differentialSteeringSlider1->setEnabled(true);
m_aircraft->differentialSteeringSlider2->setEnabled(true);
@ -158,7 +201,8 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
initMixerCurves(frameType);
// If new setup, set sliders to defaults and set curves values
if (frameTypeSaved->getValue().toString() != "GroundVehicleDifferential") {
if ((!is_Boat && (frameTypeSaved->getValue().toString() != "GroundVehicleDifferential")) ||
(is_Boat && (frameTypeSaved->getValue().toString() != "GroundVehicleDifferentialBoat"))) {
m_aircraft->differentialSteeringSlider1->setValue(100);
m_aircraft->differentialSteeringSlider2->setValue(100);
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0, 0.0);
@ -288,7 +332,7 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, config.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, config.ground.GroundVehicleSteering2);
if (frameType == "GroundVehicleDifferential") {
if (frameType.contains("GroundVehicleDifferential")) {
// Find the channel number for Motor1
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
if (channel > -1) {
@ -322,7 +366,7 @@ void ConfigGroundVehicleWidget::initMixerCurves(QString frameType)
m_aircraft->groundVehicleThrottle1->initCurve(&curveValues);
} else {
// no, init a straight curve
if (frameType == "GroundVehicleDifferential") {
if (frameType.contains("GroundVehicleDifferential")) {
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 0.8, 0.0);
} else if (frameType == "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0, 0.0);
@ -338,7 +382,7 @@ void ConfigGroundVehicleWidget::initMixerCurves(QString frameType)
m_aircraft->groundVehicleThrottle2->initCurve(&curveValues);
} else {
// no, init a straight curve
if (frameType == "GroundVehicleDifferential") {
if (frameType.contains("GroundVehicleDifferential")) {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 0.8, 0.0);
} else if (frameType == "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0, 0.0);
@ -363,7 +407,13 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve());
// All airframe types must start with "GroundVehicle"
if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)") {
if (m_aircraft->groundVehicleType->currentText() == "Differential (boat)") {
airframeType = "GroundVehicleDifferentialBoat";
setupGroundVehicleDifferential(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Boat") {
airframeType = "GroundVehicleBoat";
setupGroundVehicleCar(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)") {
airframeType = "GroundVehicleCar";
setupGroundVehicleCar(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") {
@ -539,7 +589,7 @@ bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
pixmap.fill(QColor("red"));
if (airframeType == "GroundVehicleCar") { // Car
if ((airframeType == "GroundVehicleCar") || (airframeType == "GroundVehicleBoat")) { // Car
if (m_aircraft->gvMotor1ChannelBox->currentText() == "None"
&& m_aircraft->gvMotor2ChannelBox->currentText() == "None") {
m_aircraft->gvMotor1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
@ -559,7 +609,7 @@ bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
m_aircraft->gvSteering1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
m_aircraft->gvSteering2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
} else if (airframeType == "GroundVehicleDifferential") { // Tank
} else if (airframeType.contains("GroundVehicleDifferential")) { // Tank and differential Boat
if (m_aircraft->gvMotor1ChannelBox->currentText() == "None"
|| m_aircraft->gvMotor2ChannelBox->currentText() == "None") {
m_aircraft->gvMotor1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes

4
ground/gcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
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@ -2,7 +2,8 @@
******************************************************************************
*
* @file configgroundvehiclewidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -67,6 +68,7 @@ private:
bool setupGroundVehicleCar(QString airframeType);
bool setupGroundVehicleDifferential(QString airframeType);
bool setupGroundVehicleMotorcycle(QString airframeType);
bool setupGroundVehicleBoat(QString airframeType);
private slots:
virtual void setupUI(QString airframeType);

20
ground/gcs/src/plugins/config/configinputwidget.cpp
View File

@ -882,10 +882,18 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
transmitterType = acro;
} else if (wizardUi->typeGround->isChecked()) {
transmitterType = ground;
/* Make sure to tell controller, this is really a ground vehicle. */
systemSettingsData = systemSettingsObj->getData();
systemSettingsData.AirframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR;
systemSettingsObj->setData(systemSettingsData);
/* Make sure to tell controller, this is really a ground vehicle. */
if ((systemSettingsData.AirframeType != SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR) ||
(systemSettingsData.AirframeType != SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL) ||
(systemSettingsData.AirframeType != SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE) ||
(systemSettingsData.AirframeType != SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEBOAT) ||
(systemSettingsData.AirframeType != SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIALBOAT)) {
// Apply default ground vehicle airframe
systemSettingsData.AirframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR;
systemSettingsObj->setData(systemSettingsData);
}
} else {
transmitterType = heli;
}
@ -1990,7 +1998,11 @@ void ConfigInputWidget::simpleCalibration(bool enable)
manualSettingsData = manualSettingsObj->getData();
systemSettingsData = systemSettingsObj->getData();
if (systemSettingsData.AirframeType == SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR) {
if ((systemSettingsData.AirframeType == SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR) ||
(systemSettingsData.AirframeType == SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL) ||
(systemSettingsData.AirframeType == SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE) ||
(systemSettingsData.AirframeType == SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEBOAT) ||
(systemSettingsData.AirframeType == SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIALBOAT)) {
QMessageBox::warning(this, tr("Ground Vehicle"),
tr("<p>Please <b>center</b> throttle control and press OK when ready.</p>"));

8
ground/gcs/src/plugins/config/configvehicletypewidget.cpp
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@ -2,7 +2,7 @@
******************************************************************************
*
* @file configvehicletypewidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* E. Lafargue, K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012
* @addtogroup GCSPlugins GCS Plugins
* @{
@ -99,6 +99,8 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEBOAT:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIALBOAT:
// ground
channelDesc = ConfigGroundVehicleWidget::getChannelDescriptions();
break;
@ -284,7 +286,9 @@ int ConfigVehicleTypeWidget::frameCategory(QString frameType)
return ConfigVehicleTypeWidget::HELICOPTER;
} else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)"
|| frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"
|| frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle") {
|| frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle"
|| frameType == "GroundVehicleBoat" || frameType == "Boat"
|| frameType == "GroundVehicleDifferentialBoat" || frameType == "Differential (boat)") {
return ConfigVehicleTypeWidget::GROUND;
} else {
return ConfigVehicleTypeWidget::CUSTOM;

1548
ground/gcs/src/plugins/config/images/ground-shapes.svg
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2
ground/gcs/src/share/qml/js/uav.js
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@ -155,7 +155,7 @@ function isCC3D() {
function frameType() {
var frameTypeText = ["FixedWing", "FixedWingElevon", "FixedWingVtail", "VTOL", "HeliCP", "QuadX", "QuadP",
"Hexa+", "Octo+", "Custom", "HexaX", "HexaH", "OctoV", "OctoCoaxP", "OctoCoaxX", "OctoX", "HexaCoax",
"Tricopter", "GroundVehicleCar", "GroundVehicleDiff", "GroundVehicleMoto"];
"Tricopter", "GroundCar", "GroundDiff", "GroundMoto", "GroundBoat", "GroundDiffBoat"];
if (frameTypeText.length != SystemSettings.SystemSettingsConstants.AirframeTypeCount) {
console.log("uav.js: frameType() do not match systemSettings.airframeType uavo");

2
shared/uavobjectdefinition/systemsettings.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="SystemSettings" singleinstance="true" settings="true" category="System">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle,GroundVehicleBoat,GroundVehicleDifferentialBoat" defaultvalue="QuadX"/>
<field name="VehicleName" units="char" type="uint8" elements="20" defaultvalue="0"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" />
<!-- Which way the vehicle controls its thrust. Can be through