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Code Issues Releases Activity

OP-299 Swashplate Levelling UI

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More levelling UI basic functions implemented.
Not tested for Flight use at own risk

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2746 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew 2011-02-07 03:05:30 +00:00 committed by andrew
parent b2eb141c10
commit 2496c41ea2
2 changed files with 76 additions and 5 deletions
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80
ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
View File

@ -45,6 +45,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ccpm->setupUi(this);
SwashLvlConfigurationInProgress=0;
SwashLvlState=0;
SwashLvlServoInterlock=0;
// Now connect the widget to the ManualControlCommand / Channel UAVObject
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@ -1288,7 +1290,7 @@ void ConfigccpmWidget::SwashLvlStartButtonPressed()
QMessageBox msgBox;
int i;
msgBox.setText("Swashplate Leveling Routine");
msgBox.setInformativeText("You are about to start the Swashplate levelling routine. \nThis process will start by downloading the current configuration from the GCS to the OP hardware and will adjust your configuration at various stages.\nThe final state of your system should match the current configuration in the GCS config gadget.\nPlease ensure all ccpm settings in the GCS are correct before continuing.\nIf this process is interrupted, then the state of your OP board may not match the GCS configuration.\nAfter completing this process, please check all settings before attempting to fly.\n\nPlease disconnect your motor to ensure it will not spin up.\n\n\n Do you wish to proceed?");
msgBox.setInformativeText("You are about to start the Swashplate levelling routine. \n\nThis process will start by downloading the current configuration from the GCS to the OP hardware and will adjust your configuration at various stages.\n\nThe final state of your system should match the current configuration in the GCS config gadget.\nPlease ensure all ccpm settings in the GCS are correct before continuing.\nIf this process is interrupted, then the state of your OP board may not match the GCS configuration.\nAfter completing this process, please check all settings before attempting to fly.\n\nPlease disconnect your motor to ensure it will not spin up.\n\n\n Do you wish to proceed?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
msgBox.setDefaultButton(QMessageBox::Cancel);
msgBox.setIcon(QMessageBox::Information);
@ -1385,7 +1387,7 @@ void ConfigccpmWidget::SwashLvlNextButtonPressed()
{
ShowDisclaimer(2);
SwashLvlState++;
//int i;
int i;
@ -1404,6 +1406,12 @@ void ConfigccpmWidget::SwashLvlNextButtonPressed()
//set position slider to 50%
m_ccpm->SwashLvlPositionSlider->setValue(50);
m_ccpm->SwashLvlPositionSpinBox->setValue(50);
//connect spinbox signals to slots and ebnable them
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
connect(SwashLvlSpinBoxes[i], SIGNAL(valueChanged(int)), this, SLOT(SwashLvlSpinBoxChanged(int)));
SwashLvlSpinBoxes[i]->setEnabled(true);
}
//issue user instructions
m_ccpm->SwashLvlStepInstruction->setText("Neutral levelling");
break;
@ -1440,7 +1448,11 @@ void ConfigccpmWidget::SwashLvlNextButtonPressed()
m_ccpm->SwashLvlPositionSpinBox->setEnabled(true);
//make heli respond to slider movement
connect(m_ccpm->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int)));
//connect(m_ccpm->SwashLvlPositionSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int)));
//disable spin boxes
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
SwashLvlSpinBoxes[i]->setEnabled(false);
}
//issue user instructions
m_ccpm->SwashLvlStepInstruction->setText("levelling verification");
@ -1453,8 +1465,12 @@ void ConfigccpmWidget::SwashLvlNextButtonPressed()
//disable position slider
m_ccpm->SwashLvlPositionSlider->setEnabled(false);
m_ccpm->SwashLvlPositionSpinBox->setEnabled(false);
//disconnect levelling slots from signals
disconnect(m_ccpm->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int)));
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
disconnect(SwashLvlSpinBoxes[i], SIGNAL(valueChanged(int)), this, SLOT(SwashLvlSpinBoxChanged(int)));
}
m_ccpm->SwashLvlStartButton->setEnabled(false);
m_ccpm->SwashLvlNextButton->setEnabled(false);
@ -1487,14 +1503,40 @@ void ConfigccpmWidget::SwashLvlCancelButtonPressed()
void ConfigccpmWidget::SwashLvlFinishButtonPressed()
{
int i;
ShowDisclaimer(0);
ShowDisclaimer(2);
UAVObjectField* MinField;
UAVObjectField* NeutralField;
UAVObjectField* MaxField;
m_ccpm->SwashLvlStartButton->setEnabled(true);
m_ccpm->SwashLvlNextButton->setEnabled(false);
m_ccpm->SwashLvlCancelButton->setEnabled(false);
m_ccpm->SwashLvlFinishButton->setEnabled(false);
//save new Actuator Settings
//save new Actuator Settings to memory and SD card
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
//update settings to match our changes.
MinField = obj->getField(QString("ChannelMin"));
NeutralField = obj->getField(QString("ChannelNeutral"));
MaxField = obj->getField(QString("ChannelMax"));
//min,neutral,max values for the servos
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
MinField->setValue(newSwashLvlConfiguration.Min[i],newSwashLvlConfiguration.ServoChannels[i]);
NeutralField->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]);
MaxField->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]);
}
obj->updated();
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
//restore Flight control of ActuatorCommand
enableSwashplateLevellingControl(false);
@ -1588,6 +1630,8 @@ void ConfigccpmWidget::setSwashplateLevel(int percent)
double value;
double level = ((double)percent /50.00) - 1.00;
SwashLvlServoInterlock=1;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
UAVObjectField * channel = obj->getField("Channel");
@ -1623,21 +1667,46 @@ void ConfigccpmWidget::setSwashplateLevel(int percent)
}
obj->updated();
SwashLvlServoInterlock=0;
return;
}
void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
{
int i;
if (SwashLvlServoInterlock==1)return;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
UAVObjectField * channel = obj->getField("Channel");
switch (SwashLvlState)
{
case 0:
break;
case 1: //Neutral levelling
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
newSwashLvlConfiguration.Neutral[i]=SwashLvlSpinBoxes[i]->value();
channel->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]);
}
obj->updated();
break;
case 2: //Max levelling
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
newSwashLvlConfiguration.Max[i]=SwashLvlSpinBoxes[i]->value();
channel->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]);
}
obj->updated();
break;
case 3: //Min levelling
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
newSwashLvlConfiguration.Min[i]=SwashLvlSpinBoxes[i]->value();
channel->setValue(newSwashLvlConfiguration.Min[i],newSwashLvlConfiguration.ServoChannels[i]);
}
obj->updated();
break;
case 4: //levelling verification
break;
@ -1646,4 +1715,5 @@ void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
default:
break;
}
return;
}

1
ground/openpilotgcs/src/plugins/config/configccpmwidget.h
View File

@ -77,6 +77,7 @@ private:
bool SwashLvlConfigurationInProgress;
UAVObject::Metadata SwashLvlaccInitialData;
int SwashLvlState;
int SwashLvlServoInterlock;
SwashplateServoSettingsStruct oldSwashLvlConfiguration;
SwashplateServoSettingsStruct newSwashLvlConfiguration;