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Code Issues Releases Activity

MixerCurve: integrated into all airframes.

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This commit is contained in:
Mike LaBranche 2012-07-05 12:58:00 -07:00
parent 0c9e5c5e66
commit 23aea6eac4
7 changed files with 373 additions and 1174 deletions
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548
ground/openpilotgcs/src/plugins/config/ccpm.ui
View File

@ -2770,537 +2770,13 @@ margin:1px;</string>
<number>3</number>
</property>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QComboBox" name="CurveType">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="toolTip">
<string>Select aircraft type here</string>
</property>
<item>
<property name="text">
<string>Linear</string>
</property>
</item>
<item>
<property name="text">
<string>Flat</string>
</property>
</item>
<item>
<property name="text">
<string>Step</string>
</property>
</item>
<item>
<property name="text">
<string>Exp</string>
</property>
</item>
<item>
<property name="text">
<string>Log</string>
</property>
</item>
<item>
<property name="text">
<string>Custom</string>
</property>
</item>
</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="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Number of points</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="NumCurvePoints">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimum">
<number>2</number>
</property>
<property name="maximum">
<number>10</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
</layout>
<layout class="QHBoxLayout" name="horizontalLayout_6"/>
</item>
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="CurveLabel1">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="CurveLabel2">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="CurveLabel3">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Step point</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="CurveValue1">
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="CurveValue2">
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="CurveValue3">
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="value">
<double>50.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<widget class="QComboBox" name="CurveToGenerate">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="toolTip">
<string>Select aircraft type here</string>
</property>
<item>
<property name="text">
<string>Throttle</string>
</property>
</item>
<item>
<property name="text">
<string>Pitch</string>
</property>
</item>
</widget>
</item>
<item>
<widget class="QPushButton" name="ccpmGenerateCurve">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Generate curves based on settings</string>
</property>
<property name="text">
<string>&lt;-- Generate Curve</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="spacing">
<number>3</number>
</property>
<item>
<widget class="QTableWidget" name="CurveSettings">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>250</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>273</height>
</size>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAsNeeded</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAsNeeded</enum>
</property>
<property name="autoScroll">
<bool>true</bool>
</property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<property name="cornerButtonEnabled">
<bool>true</bool>
</property>
<attribute name="horizontalHeaderCascadingSectionResizes">
<bool>true</bool>
</attribute>
<attribute name="horizontalHeaderStretchLastSection">
<bool>true</bool>
</attribute>
<attribute name="verticalHeaderDefaultSectionSize">
<number>25</number>
</attribute>
<attribute name="verticalHeaderMinimumSectionSize">
<number>25</number>
</attribute>
<row>
<property name="text">
<string>0%</string>
</property>
</row>
<row>
<property name="text">
<string>25%</string>
</property>
</row>
<row>
<property name="text">
<string>50%</string>
</property>
</row>
<row>
<property name="text">
<string>75%</string>
</property>
</row>
<row>
<property name="text">
<string>100%</string>
</property>
</row>
<row>
<property name="text">
<string>none</string>
</property>
</row>
<row>
<property name="text">
<string>none</string>
</property>
</row>
<row>
<property name="text">
<string>none</string>
</property>
</row>
<row>
<property name="text">
<string>none</string>
</property>
</row>
<row>
<property name="text">
<string>none</string>
</property>
</row>
<column>
<property name="text">
<string>Throttle Curve</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</column>
<column>
<property name="text">
<string>Blade Pitch Curve</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</column>
<item row="0" column="0">
<property name="text">
<string>0.000</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="1">
<property name="text">
<string>0.000</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="0">
<property name="text">
<string>0.250</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="1">
<property name="text">
<string>0.250</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="0">
<property name="text">
<string>0.500</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="1">
<property name="text">
<string>0.500</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="0">
<property name="text">
<string>0.750</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="1">
<property name="text">
<string>0.750</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="0">
<property name="text">
<string>1.000</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="1">
<property name="text">
<string>1.000</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="6" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="6" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="7" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="7" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="8" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="8" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="9" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="9" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ThrottleCurveBox">
<property name="sizePolicy">
@ -3331,7 +2807,7 @@ margin:1px;</string>
<enum>Qt::LeftToRight</enum>
</property>
<property name="title">
<string>Throttle Curve</string>
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@ -3347,7 +2823,7 @@ margin:1px;</string>
<number>0</number>
</property>
<item row="0" column="0">
<widget class="MixerCurveWidget" name="ThrottleCurve" native="true">
<widget class="MixerCurve" name="ThrottleCurve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
@ -3410,7 +2886,7 @@ margin:1px;</string>
</size>
</property>
<property name="title">
<string>Pitch Curve</string>
<string/>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<property name="margin">
@ -3420,7 +2896,7 @@ margin:1px;</string>
<number>0</number>
</property>
<item row="0" column="0">
<widget class="MixerCurveWidget" name="PitchCurve" native="true">
<widget class="MixerCurve" name="PitchCurve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>1</horstretch>
@ -3458,7 +2934,7 @@ margin:1px;</string>
</item>
</layout>
</item>
<item row="4" column="0">
<item row="2" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -3910,9 +3386,9 @@ margin:1px;</string>
</widget>
<customwidgets>
<customwidget>
<class>MixerCurveWidget</class>
<class>MixerCurve</class>
<extends>QWidget</extends>
<header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
<header location="global">mixercurve.h</header>
<container>1</container>
</customwidget>
</customwidgets>
@ -3945,14 +3421,6 @@ margin:1px;</string>
<tabstop>SwashLvlPositionSlider</tabstop>
<tabstop>SwashLvlPositionSpinBox</tabstop>
<tabstop>SwashLvlSwashplateImage</tabstop>
<tabstop>CurveType</tabstop>
<tabstop>NumCurvePoints</tabstop>
<tabstop>CurveValue1</tabstop>
<tabstop>CurveValue2</tabstop>
<tabstop>CurveValue3</tabstop>
<tabstop>CurveToGenerate</tabstop>
<tabstop>ccpmGenerateCurve</tabstop>
<tabstop>CurveSettings</tabstop>
<tabstop>ccpmAdvancedSettingsTable</tabstop>
</tabstops>
<resources/>

319
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -133,9 +133,13 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
}
//initialize our two mixer curves
m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
m_ccpm->ThrottleCurve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0);
m_ccpm->PitchCurve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
//initialize channel names
m_ccpm->ccpmEngineChannel->addItems(channelNames);
m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
@ -158,22 +162,10 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
m_ccpm->ccpmType->addItems(Types);
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
UpdateCurveSettings();
//disable changing number of points in curves until UAVObjects have more than 5
m_ccpm->NumCurvePoints->setEnabled(0);
refreshWidgetsValues(QString("HeliCP"));
UpdateType();
//connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
//connect(m_ccpm->saveccpmToRAM, SIGNAL(clicked()), this, SLOT(sendccpmUpdate()));
//connect(m_ccpm->getccpmCurrent, SIGNAL(clicked()), this, SLOT(requestccpmUpdate()));
connect(m_ccpm->ccpmGenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
connect(m_ccpm->NumCurvePoints, SIGNAL(valueChanged(int)), this, SLOT(UpdateCurveSettings()));
connect(m_ccpm->CurveToGenerate, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
connect(m_ccpm->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
@ -191,12 +183,8 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
connect(m_ccpm->CurveSettings, SIGNAL(cellChanged (int, int)), this, SLOT(UpdateCurveWidgets()));
connect(m_ccpm->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType()));
connect(m_ccpm->PitchCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updatePitchCurveValue(QList<double>,double)));
connect(m_ccpm->ThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateThrottleCurveValue(QList<double>,double)));
connect(m_ccpm->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed()));
connect(m_ccpm->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed()));
connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
@ -332,8 +320,6 @@ void ConfigCcpmWidget::UpdateType()
AdjustmentAngle=SingleServoIndex*90;
m_ccpm->CurveToGenerate->setEnabled(1);
m_ccpm->CurveSettings->setColumnHidden(1,0);
m_ccpm->PitchCurve->setVisible(1);
//m_ccpm->customThrottleCurve2Value->setVisible(1);
//m_ccpm->label_41->setVisible(1);
@ -425,9 +411,6 @@ void ConfigCcpmWidget::UpdateType()
m_ccpm->ccpmCollectiveSlider->setEnabled(0);
m_ccpm->ccpmCollectivespinBox->setValue(0);
m_ccpm->ccpmCollectiveSlider->setValue(0);
m_ccpm->CurveToGenerate->setCurrentIndex(0);
m_ccpm->CurveToGenerate->setEnabled(0);
m_ccpm->CurveSettings->setColumnHidden(1,1);
m_ccpm->PitchCurve->setVisible(0);
//m_ccpm->customThrottleCurve2Value->setVisible(0);
//m_ccpm->label_41->setVisible(0);
@ -469,271 +452,7 @@ void ConfigCcpmWidget::UpdateType()
}
void ConfigCcpmWidget::UpdateCurveWidgets()
{
int NumCurvePoints,i,Changed;
QList<double> curveValues;
QList<double> OldCurveValues;
double ThisValue;
//get the user settings
NumCurvePoints=m_ccpm->NumCurvePoints->value();
curveValues.clear();
Changed=0;
OldCurveValues=m_ccpm->ThrottleCurve->getCurve();
for (i=0; i<NumCurvePoints; i++)
{
ThisValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
curveValues.append(ThisValue);
if (ThisValue!=OldCurveValues.at(i))Changed=1;
}
// Setup all Throttle1 curves for all types of airframes
if (Changed==1)
m_ccpm->ThrottleCurve->setCurve(&curveValues);
curveValues.clear();
Changed=0;
OldCurveValues=m_ccpm->PitchCurve->getCurve();
for (i=0; i<NumCurvePoints; i++)
{
ThisValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
curveValues.append(ThisValue);
if (ThisValue!=OldCurveValues.at(i))Changed=1;
}
// Setup all Throttle1 curves for all types of airframes
if (Changed==1)
m_ccpm->PitchCurve->setCurve(&curveValues);
}
void ConfigCcpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
{
Q_UNUSED(curveValues0);
Q_UNUSED(Value0);
int NumCurvePoints,i;
double CurrentValue;
QList<double> internalCurveValues;
//get the user settings
NumCurvePoints=m_ccpm->NumCurvePoints->value();
internalCurveValues=m_ccpm->PitchCurve->getCurve();
for (i=0; i<internalCurveValues.length(); i++)
{
CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
if (CurrentValue!=internalCurveValues[i])
{
m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
}
}
}
void ConfigCcpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
{
Q_UNUSED(curveValues0);
Q_UNUSED(Value0);
int NumCurvePoints,i;
double CurrentValue;
QList<double> internalCurveValues;
//get the user settings
NumCurvePoints=m_ccpm->NumCurvePoints->value();
internalCurveValues=m_ccpm->ThrottleCurve->getCurve();
for (i=0; i<internalCurveValues.length(); i++)
{
CurrentValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
if (CurrentValue!=internalCurveValues[i])
{
m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
}
}
}
void ConfigCcpmWidget::UpdateCurveSettings()
{
int NumCurvePoints,i;
double scale;
QString CurveType;
QStringList vertHeaders;
//get the user settings
NumCurvePoints=m_ccpm->NumCurvePoints->value();
CurveType=m_ccpm->CurveType->currentText();
vertHeaders << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" ;
for (i=0;i<NumCurvePoints;i++)
{
scale =((double)i/(double)(NumCurvePoints-1));
vertHeaders[i] = tr( "%1%" ).arg(100.00*scale, 0, 'f', 1);
}
m_ccpm->CurveSettings->setVerticalHeaderLabels( vertHeaders );
if (m_ccpm->CurveToGenerate->currentIndex()==0)
{
m_ccpm->CurveValue1->setMinimum(0.0);
m_ccpm->CurveValue2->setMinimum(0.0);
m_ccpm->CurveValue3->setMinimum(0.0);
}
else
{
m_ccpm->CurveValue1->setMinimum(-1.0);
m_ccpm->CurveValue2->setMinimum(-1.0);
m_ccpm->CurveValue3->setMinimum(0.0);
}
m_ccpm->CurveValue1->setMaximum(1.0);
m_ccpm->CurveValue2->setMaximum(1.0);
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue1->setSingleStep(0.1);
m_ccpm->CurveValue2->setSingleStep(0.1);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue1->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
//set default visible
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
if ( CurveType.compare("Flat")==0)
{
m_ccpm->CurveLabel1->setText("Value");
}
if ( CurveType.compare("Linear")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
}
if ( CurveType.compare("Step")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setText("Step at");
m_ccpm->CurveLabel3->setVisible(true);
m_ccpm->CurveValue3->setVisible(true);
}
if ( CurveType.compare("Exp")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setText("Strength");
m_ccpm->CurveLabel3->setVisible(true);
m_ccpm->CurveValue3->setVisible(true);
m_ccpm->CurveValue3->setMinimum(1.0);
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
}
if ( CurveType.compare("Log")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setText("Strength");
m_ccpm->CurveLabel3->setVisible(true);
m_ccpm->CurveValue3->setVisible(true);
m_ccpm->CurveValue3->setMinimum(1.0);
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
}
if ( CurveType.compare("Custom")==0)
{
m_ccpm->CurveLabel1->setVisible(false);
m_ccpm->CurveValue1->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(false);
m_ccpm->CurveToGenerate->setVisible(false);
}
UpdateCurveWidgets();
}
void ConfigCcpmWidget::GenerateCurve()
{
int NumCurvePoints,CurveToGenerate,i;
double value1, value2, value3, scale;
QString CurveType;
QTableWidgetItem *item;
double newValue;
//get the user settings
NumCurvePoints=m_ccpm->NumCurvePoints->value();
value1=m_ccpm->CurveValue1->value();
value2=m_ccpm->CurveValue2->value();
value3=m_ccpm->CurveValue3->value();
CurveToGenerate=m_ccpm->CurveToGenerate->currentIndex();
CurveType=m_ccpm->CurveType->currentText();
for (i=0;i<NumCurvePoints;i++)
{
scale =((double)i/(double)(NumCurvePoints-1));
item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
if ( CurveType.compare("Flat")==0)
{
//item->setText( tr( "%1" ).arg( value1 ) );
item->setText(QString().sprintf("%.3f",value1));
}
if ( CurveType.compare("Linear")==0)
{
newValue =value1 +(scale*(value2-value1));
//item->setText( tr( "%1" ).arg(value1 +(scale*(value2-value1))) );
item->setText(QString().sprintf("%.3f",newValue));
}
if ( CurveType.compare("Step")==0)
{
if (scale*100<value3)
{
//item->setText( tr( "%1" ).arg(value1) );
item->setText(QString().sprintf("%.3f",value1));
}
else
{
//item->setText( tr( "%1" ).arg(value2) );
item->setText(QString().sprintf("%.3f",value2));
}
}
if ( CurveType.compare("Exp")==0)
{
newValue =value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1));
//item->setText( tr( "%1" ).arg(value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1))) );
item->setText(QString().sprintf("%.3f",newValue));
}
if ( CurveType.compare("Log")==0)
{
newValue = value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1));
//item->setText( tr( "%1" ).arg(value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1))) );
item->setText(QString().sprintf("%.3f",newValue));
}
}
for (i=NumCurvePoints;i<10;i++)
{
item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
item->setText( tr( "" ) );
}
UpdateCurveWidgets();
}
void ConfigCcpmWidget::ccpmSwashplateRedraw()
{
@ -1111,22 +830,20 @@ void ConfigCcpmWidget::getMixer()
{
if (SwashLvlConfigurationInProgress)return;
if (updatingToHardware)return;
updatingFromHardware=TRUE;
int i;
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Get existing mixer settings
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
QPointer<VehicleConfig> vconfig = new VehicleConfig();
//get the settings for the curve from the mixer settings
for (i=0;i<5;i++)
{
m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",
mixerSettingsData.ThrottleCurve1[i]));
m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",
mixerSettingsData.ThrottleCurve2[i]));
}
QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
m_ccpm->ThrottleCurve->setCurve(&curveValues);
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
m_ccpm->PitchCurve->setCurve(&curveValues);
updatingFromHardware=FALSE;
@ -1195,9 +912,11 @@ void ConfigCcpmWidget::setMixer()
}
//get the user data for the curve into the mixer settings
QList<double> curve1 = m_ccpm->ThrottleCurve->getCurve();
QList<double> curve2 = m_ccpm->PitchCurve->getCurve();
for (i=0;i<5;i++) {
mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble();
mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble();
mixerSettingsData.ThrottleCurve1[i] = curve1.at(i);
mixerSettingsData.ThrottleCurve2[i] = curve2.at(i);
}
//mapping of collective input to curve 2...

5
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -99,13 +99,8 @@ private:
void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw();
void UpdateCurveSettings();
void GenerateCurve();
void UpdateMixer();
void UpdateType();
void UpdateCurveWidgets();
void updatePitchCurveValue(QList<double>,double);
void updateThrottleCurveValue(QList<double>,double);
void SwashLvlStartButtonPressed();
void SwashLvlNextButtonPressed();

7
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -841,13 +841,6 @@ void ConfigVehicleTypeWidget::addToDirtyMonitor()
addWidget(m_heli->m_ccpm->ccpmRollScaleBox);
addWidget(m_heli->m_ccpm->SwashLvlPositionSlider);
addWidget(m_heli->m_ccpm->SwashLvlPositionSpinBox);
addWidget(m_heli->m_ccpm->CurveType);
addWidget(m_heli->m_ccpm->NumCurvePoints);
addWidget(m_heli->m_ccpm->CurveValue1);
addWidget(m_heli->m_ccpm->CurveValue2);
addWidget(m_heli->m_ccpm->CurveValue3);
addWidget(m_heli->m_ccpm->CurveToGenerate);
addWidget(m_heli->m_ccpm->CurveSettings);
addWidget(m_heli->m_ccpm->ThrottleCurve);
addWidget(m_heli->m_ccpm->PitchCurve);
addWidget(m_heli->m_ccpm->ccpmAdvancedSettingsTable);

10
ground/openpilotgcs/src/plugins/config/mixercurve.cpp
View File

@ -64,6 +64,7 @@ MixerCurve::~MixerCurve()
void MixerCurve::setMixerType(MixerCurveType curveType)
{
m_curveType = curveType;
m_mixerUI->CurveGroup->setTitle( (m_curveType == MixerCurve::MIXERCURVE_THROTTLE) ? "Throttle Curve" : "Pitch Curve");
}
void MixerCurve::ResetCurve()
@ -87,19 +88,19 @@ void MixerCurve::UpdateCurveUI()
{
m_mixerUI->CurveMin->setMinimum(0.0);
m_mixerUI->CurveMax->setMinimum(0.0);
m_mixerUI->CurveStep->setMinimum(0.0);
break;
}
case MixerCurve::MIXERCURVE_PITCH:
{
m_mixerUI->CurveMin->setMinimum(-1.0);
m_mixerUI->CurveMax->setMinimum(-1.0);
m_mixerUI->CurveStep->setMinimum(0.0);
break;
}
}
m_mixerUI->CurveMin->setMaximum(m_curve->getMax());
m_mixerUI->CurveMax->setMaximum(m_curve->getMax());
m_mixerUI->CurveStep->setMinimum(0.0);
m_mixerUI->CurveStep->setMaximum(100.0);
//set default visible
@ -135,6 +136,8 @@ void MixerCurve::UpdateCurveUI()
m_mixerUI->stepLabel->setText("Strength");
m_mixerUI->stepLabel->setVisible(true);
m_mixerUI->CurveStep->setVisible(true);
m_mixerUI->CurveStep->setMinimum(1.0);
}
if ( curveType.compare("Log")==0)
{
@ -142,7 +145,8 @@ void MixerCurve::UpdateCurveUI()
m_mixerUI->CurveMax->setVisible(true);
m_mixerUI->stepLabel->setText("Strength");
m_mixerUI->stepLabel->setVisible(true);
m_mixerUI->CurveStep->setVisible(true);
m_mixerUI->CurveStep->setVisible(true);
m_mixerUI->CurveStep->setMinimum(1.0);
}
GenerateCurve();

654
ground/openpilotgcs/src/plugins/config/mixercurve.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>355</width>
<height>272</height>
<width>447</width>
<height>321</height>
</rect>
</property>
<property name="sizePolicy">
@ -24,8 +24,8 @@
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>500</height>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="baseSize">
@ -43,327 +43,349 @@
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<widget class="QGroupBox" name="verticalGroupBox">
<widget class="QWidget" name="horizontalLayoutWidget">
<property name="geometry">
<rect>
<x>90</x>
<y>0</y>
<width>261</width>
<height>231</height>
<x>10</x>
<y>10</y>
<width>422</width>
<height>301</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="sizeConstraint">
<enum>QLayout::SetMinAndMaxSize</enum>
</property>
<item row="1" column="0">
<widget class="MixerCurveWidget" name="CurveWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
<layout class="QHBoxLayout" name="MainLayout">
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>50</height>
</size>
<item>
<widget class="QGroupBox" name="CurveGroup">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Throttle Curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QTableWidget" name="CurveSettings">
<property name="maximumSize">
<size>
<width>71</width>
<height>200</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="autoScroll">
<bool>false</bool>
</property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<property name="rowCount">
<number>5</number>
</property>
<property name="columnCount">
<number>1</number>
</property>
<row>
<property name="text">
<string>5</string>
</property>
</row>
<row>
<property name="text">
<string>4</string>
</property>
</row>
<row>
<property name="text">
<string>3</string>
</property>
</row>
<row>
<property name="text">
<string>2</string>
</property>
</row>
<row>
<property name="text">
<string>1</string>
</property>
</row>
<column>
<property name="text">
<string>Value</string>
</property>
<property name="textAlignment">
<set>AlignJustify|AlignVCenter</set>
</property>
</column>
<item row="0" column="0">
<property name="text">
<string>1.0</string>
</property>
</item>
<item row="1" column="0">
<property name="text">
<string>.75</string>
</property>
</item>
<item row="2" column="0">
<property name="text">
<string>.50</string>
</property>
</item>
<item row="3" column="0">
<property name="text">
<string>.25</string>
</property>
</item>
<item row="4" column="0">
<property name="text">
<string>.00</string>
</property>
</item>
</widget>
</item>
<item>
<widget class="QComboBox" name="CurveType">
<item>
<property name="text">
<string>Linear</string>
</property>
</item>
<item>
<property name="text">
<string>Log</string>
</property>
</item>
<item>
<property name="text">
<string>Exp</string>
</property>
</item>
<item>
<property name="text">
<string>Flat</string>
</property>
</item>
<item>
<property name="text">
<string>Step</string>
</property>
</item>
</widget>
</item>
<item>
<widget class="QPushButton" name="GenerateCurve">
<property name="text">
<string>Generate</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>
<widget class="QPushButton" name="ResetCurve">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
</layout>
<zorder>GenerateCurve</zorder>
<zorder>CurveSettings</zorder>
<zorder>ResetCurve</zorder>
<zorder>CurveType</zorder>
<zorder>verticalSpacer</zorder>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
</widget>
<item>
<widget class="QGroupBox" name="verticalGroupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="sizeConstraint">
<enum>QLayout::SetMinAndMaxSize</enum>
</property>
<item row="1" column="0">
<widget class="MixerCurveWidget" name="CurveWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>5</horstretch>
<verstretch>5</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<zorder>CurveGroup</zorder>
</widget>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string/>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="minLabel">
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="CurveMin">
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="maxLabel">
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="CurveMax">
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="stepLabel">
<property name="text">
<string>Step</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="CurveStep">
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="value">
<double>50.000000000000000</double>
</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>
</layout>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBox">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>91</width>
<height>271</height>
</rect>
</property>
<widget class="QTableWidget" name="CurveSettings">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>87</width>
<height>171</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="autoScroll">
<bool>false</bool>
</property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<property name="rowCount">
<number>5</number>
</property>
<property name="columnCount">
<number>1</number>
</property>
<row>
<property name="text">
<string>5</string>
</property>
</row>
<row>
<property name="text">
<string>4</string>
</property>
</row>
<row>
<property name="text">
<string>3</string>
</property>
</row>
<row>
<property name="text">
<string>2</string>
</property>
</row>
<row>
<property name="text">
<string>1</string>
</property>
</row>
<column>
<property name="text">
<string>Value</string>
</property>
</column>
<item row="0" column="0">
<property name="text">
<string>1.0</string>
</property>
</item>
<item row="1" column="0">
<property name="text">
<string>.75</string>
</property>
</item>
<item row="2" column="0">
<property name="text">
<string>.50</string>
</property>
</item>
<item row="3" column="0">
<property name="text">
<string>.25</string>
</property>
</item>
<item row="4" column="0">
<property name="text">
<string>.00</string>
</property>
</item>
</widget>
<widget class="QComboBox" name="CurveType">
<property name="geometry">
<rect>
<x>0</x>
<y>180</y>
<width>87</width>
<height>20</height>
</rect>
</property>
<item>
<property name="text">
<string>Linear</string>
</property>
</item>
<item>
<property name="text">
<string>Log</string>
</property>
</item>
<item>
<property name="text">
<string>Exp</string>
</property>
</item>
<item>
<property name="text">
<string>Flat</string>
</property>
</item>
<item>
<property name="text">
<string>Step</string>
</property>
</item>
</widget>
<widget class="QPushButton" name="GenerateCurve">
<property name="geometry">
<rect>
<x>0</x>
<y>200</y>
<width>87</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>Generate</string>
</property>
</widget>
<widget class="QPushButton" name="ResetCurve">
<property name="geometry">
<rect>
<x>0</x>
<y>240</y>
<width>87</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</widget>
<widget class="QLabel" name="minLabel">
<property name="geometry">
<rect>
<x>100</x>
<y>230</y>
<width>61</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Min</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="CurveMin">
<property name="geometry">
<rect>
<x>100</x>
<y>250</y>
<width>61</width>
<height>20</height>
</rect>
</property>
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
<widget class="QLabel" name="stepLabel">
<property name="geometry">
<rect>
<x>240</x>
<y>230</y>
<width>87</width>
<height>13</height>
</rect>
</property>
<property name="text">
<string>Step</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="CurveStep">
<property name="geometry">
<rect>
<x>240</x>
<y>250</y>
<width>61</width>
<height>20</height>
</rect>
</property>
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="value">
<double>50.000000000000000</double>
</property>
</widget>
<widget class="QLabel" name="maxLabel">
<property name="geometry">
<rect>
<x>170</x>
<y>230</y>
<width>51</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Max</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="CurveMax">
<property name="geometry">
<rect>
<x>170</x>
<y>250</y>
<width>61</width>
<height>20</height>
</rect>
</property>
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
<zorder>groupBox</zorder>
<zorder>verticalGroupBox</zorder>
<zorder>minLabel</zorder>
<zorder>CurveMin</zorder>
<zorder>stepLabel</zorder>
<zorder>CurveStep</zorder>
<zorder>maxLabel</zorder>
<zorder>CurveMax</zorder>
</widget>
<customwidgets>
<customwidget>

4
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
View File

@ -59,9 +59,7 @@ QList<Edge *> Node::edges() const
QRectF Node::boundingRect() const
{
qreal adjust = 2;
return QRectF(-12 - adjust, -12 - adjust,
28 + adjust, 28 + adjust);
return QRectF(-12, -12, 25, 25);
}
QPainterPath Node::shape() const