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Code Issues Releases Activity

GCS-Make flight mode switch and accessory channels move acording

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to user command.
This commit is contained in:
PT_Dreamer 2012-07-20 12:47:03 +01:00
parent 205e71e06e
commit 2464fe9a2e
2 changed files with 46 additions and 1 deletions
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37
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -50,6 +50,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
flightStatusObj = FlightStatus::GetInstance(getObjectManager());
receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
m_config = new Ui_InputWidget();
m_config->setupUi(this);
@ -458,6 +459,9 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
break;
case wizardIdentifyLimits:
{
accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(),0);
accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
setTxMovement(nothing);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
fastMdata();
@ -476,6 +480,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
}
break;
case wizardIdentifyInverted:
@ -503,8 +509,10 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
fastMdata();
break;
case wizardFinish:
dimOtherControls(true);
dimOtherControls(false);
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
"This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
fastMdata();
@ -572,6 +580,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
manualSettingsObj->setData(manualSettingsData);
restoreMdata();
setTxMovement(nothing);
@ -595,6 +605,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
dimOtherControls(false);
setTxMovement(nothing);
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
default:
@ -1060,6 +1072,11 @@ void ConfigInputWidget::moveSticks()
{
QTransform trans;
manualCommandData=manualCommandObj->getData();
flightStatusData=flightStatusObj->getData();
accessoryDesiredData0=accessoryDesiredObj0->getData();
accessoryDesiredData1=accessoryDesiredObj1->getData();
accessoryDesiredData2=accessoryDesiredObj2->getData();
if(transmitterMode==mode2)
{
trans=m_txLeftStickOrig;
@ -1074,6 +1091,24 @@ void ConfigInputWidget::moveSticks()
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
}
if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
{
m_txFlightMode->setElementId("flightModeLeft");
m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
}
else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[1])
{
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[2])
{
m_txFlightMode->setElementId("flightModeRight");
m_txFlightMode->setTransform(m_txFlightModeROrig,false);
}
m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(accessoryDesiredData0.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(accessoryDesiredData1.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(accessoryDesiredData2.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
}
void ConfigInputWidget::dimOtherControls(bool value)

10
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -43,6 +43,8 @@
#include <QGraphicsView>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include "flightstatus.h"
#include "accessorydesired.h"
class Ui_InputWidget;
@ -91,6 +93,14 @@ private:
ManualControlCommand * manualCommandObj;
ManualControlCommand::DataFields manualCommandData;
FlightStatus * flightStatusObj;
FlightStatus::DataFields flightStatusData;
AccessoryDesired * accessoryDesiredObj0;
AccessoryDesired * accessoryDesiredObj1;
AccessoryDesired * accessoryDesiredObj2;
AccessoryDesired::DataFields accessoryDesiredData0;
AccessoryDesired::DataFields accessoryDesiredData1;
AccessoryDesired::DataFields accessoryDesiredData2;
UAVObject::Metadata manualControlMdata;
ManualControlSettings * manualSettingsObj;
ManualControlSettings::DataFields manualSettingsData;