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Code Issues Releases Activity

Merge branch 'next' into stac/use-malloc-failed-hook

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This commit is contained in:
James Cotton 2011-08-27 00:12:45 -05:00
commit 274333a9bf
9 changed files with 919 additions and 651 deletions
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6
flight/CopterControl/System/pios_board.c
View File

@ -923,6 +923,8 @@ void PIOS_Board_Init(void) {
TaskMonitorInitialize();
/* Configure the main IO port */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
uint8_t hwsettings_cc_mainport;
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
@ -991,7 +993,7 @@ void PIOS_Board_Init(void) {
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
PIOS_Assert(0);
}
}
@ -1053,7 +1055,7 @@ void PIOS_Board_Init(void) {
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
PIOS_Assert(0);
}
}

33
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -8,7 +8,6 @@
*
* @file pios_spektrum.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*
@ -59,7 +58,7 @@ uint8_t sync_of = 0;
uint16_t supv_timer=0;
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind);
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
@ -85,11 +84,11 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint
/**
* Bind and Initialise Spektrum satellite receiver
*/
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind)
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind)
{
// TODO: need setting flag for bind on next powerup
if (bind) {
PIOS_SPEKTRUM_Bind(cfg);
PIOS_SPEKTRUM_Bind(cfg,bind);
}
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
@ -121,9 +120,15 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
* \output true Successful bind
* \output false Bind failed
*/
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind)
{
#define BIND_PULSES 5
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
/* just to limit bind pulses */
bind=(bind<=10)?bind:10;
GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
/* RX line, set high */
@ -132,7 +137,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
PIOS_DELAY_WaitmS(60);
for (int i = 0; i < BIND_PULSES ; i++) {
for (int i = 0; i < bind ; i++) {
/* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
@ -141,6 +146,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
PIOS_DELAY_WaituS(120);
}
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure);
return true;
}
@ -172,9 +178,10 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
CaptureValue[7]=b;
}
#endif
/* Known sync bytes, 0x01, 0x02, 0x12 */
/* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */
/* 0xb2 DX8 3bind pulses only */
if (bytecount == 2) {
if (b == 0x01) {
if ((b == 0x01) || (b == 0xb2)) {
datalength=0; // 10bit
//frames=1;
sync = 1;
@ -234,17 +241,17 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
*@brief clears the channel values
*/
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
/* 125hz */
/* 625hz */
supv_timer++;
if(supv_timer > 5) {
if(supv_timer > 4) {
/* sync between frames */
sync = 0;
bytecount = 0;
prev_byte = 0xFF;
frame_error = 0;
sync_of++;
/* watchdog activated after 100ms silence */
if (sync_of > 12) {
/* watchdog activated after 200ms silence */
if (sync_of > 30) {
/* signal lost */
sync_of = 0;
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {

2
flight/PiOS/inc/pios_spektrum_priv.h
View File

@ -42,7 +42,7 @@ struct pios_spektrum_cfg {
extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind);
extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind);
#endif /* PIOS_PWM_PRIV_H */

159
ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp Normal file
View File

@ -0,0 +1,159 @@
/**
******************************************************************************
*
* @file cachedsvgitem.h
* @author Dmytro Poplavskiy Copyright (C) 2011.
* @{
* @brief OpenGL texture cached SVG item
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "cachedsvgitem.h"
#include <QGLContext>
#include <QDebug>
#ifndef GL_CLAMP_TO_EDGE
#define GL_CLAMP_TO_EDGE 0x812F
#endif
CachedSvgItem::CachedSvgItem(QGraphicsItem * parent) :
QGraphicsSvgItem(parent),
m_context(0),
m_texture(0),
m_scale(1.0)
{
setCacheMode(NoCache);
}
CachedSvgItem::CachedSvgItem(const QString & fileName, QGraphicsItem * parent):
QGraphicsSvgItem(fileName, parent),
m_context(0),
m_texture(0),
m_scale(1.0)
{
setCacheMode(NoCache);
}
CachedSvgItem::~CachedSvgItem()
{
if (m_context && m_texture) {
m_context->makeCurrent();
glDeleteTextures(1, &m_texture);
}
}
void CachedSvgItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
if (painter->paintEngine()->type() != QPaintEngine::OpenGL &&
painter->paintEngine()->type() != QPaintEngine::OpenGL2) {
//Fallback to direct painting
QGraphicsSvgItem::paint(painter, option, widget);
return;
}
QRectF br = boundingRect();
QTransform transform = painter->worldTransform();
qreal sceneScale = transform.map(QLineF(0,0,1,0)).length();
bool stencilTestEnabled = glIsEnabled(GL_STENCIL_TEST);
bool scissorTestEnabled = glIsEnabled(GL_SCISSOR_TEST);
painter->beginNativePainting();
if (stencilTestEnabled)
glEnable(GL_STENCIL_TEST);
if (scissorTestEnabled)
glEnable(GL_SCISSOR_TEST);
bool dirty = false;
if (!m_texture) {
glGenTextures(1, &m_texture);
m_context = const_cast<QGLContext*>(QGLContext::currentContext());
dirty = true;
}
if (!qFuzzyCompare(sceneScale, m_scale)) {
m_scale = sceneScale;
dirty = true;
}
int textureWidth = (int(br.width()*m_scale) + 3) & ~3;
int textureHeight = (int(br.height()*m_scale) + 3) & ~3;
if (dirty) {
//qDebug() << "re-render image";
QImage img(textureWidth, textureHeight, QImage::Format_ARGB32);
{
img.fill(Qt::transparent);
QPainter p;
p.begin(&img);
p.setRenderHints(painter->renderHints());
p.translate(br.topLeft());
p.scale(m_scale, m_scale);
QGraphicsSvgItem::paint(&p, option, 0);
p.end();
img = img.rgbSwapped();
}
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, m_texture);
glTexImage2D(
GL_TEXTURE_2D,
0,
GL_RGBA,
textureWidth,
textureHeight,
0,
GL_RGBA,
GL_UNSIGNED_BYTE,
img.bits());
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glDisable(GL_TEXTURE_2D);
dirty = false;
}
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, m_texture);
//texture may be slightly large than svn image, ensure only used area is rendered
qreal tw = br.width()*m_scale/textureWidth;
qreal th = br.height()*m_scale/textureHeight;
glBegin(GL_QUADS);
glTexCoord2d(0, 0 ); glVertex3d(br.left(), br.top(), -1);
glTexCoord2d(tw, 0 ); glVertex3d(br.right(), br.top(), -1);
glTexCoord2d(tw, th); glVertex3d(br.right(), br.bottom(), -1);
glTexCoord2d(0, th); glVertex3d(br.left(), br.bottom(), -1);
glEnd();
glDisable(GL_TEXTURE_2D);
painter->endNativePainting();
}

54
ground/openpilotgcs/src/libs/utils/cachedsvgitem.h Normal file
View File

@ -0,0 +1,54 @@
/**
******************************************************************************
*
* @file cachedsvgitem.h
* @author Dmytro Poplavskiy Copyright (C) 2011.
* @{
* @brief OpenGL texture cached SVG item
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CACHEDSVGITEM_H
#define CACHEDSVGITEM_H
#include <QGraphicsSvgItem>
#include <QGLContext>
#include "utils_global.h"
class QGLContext;
//Cache Svg item as GL Texture.
//Texture is regenerated each time item is scaled
//but it's reused during rotation, unlike DeviceCoordinateCache mode
class QTCREATOR_UTILS_EXPORT CachedSvgItem: public QGraphicsSvgItem
{
Q_OBJECT
public:
CachedSvgItem(QGraphicsItem * parent = 0);
CachedSvgItem(const QString & fileName, QGraphicsItem * parent = 0);
~CachedSvgItem();
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
private:
QGLContext *m_context;
GLuint m_texture;
qreal m_scale;
};
#endif

10
ground/openpilotgcs/src/libs/utils/utils.pro
View File

@ -3,7 +3,9 @@ TARGET = Utils
QT += gui \
network \
xml
xml \
svg \
opengl
DEFINES += QTCREATOR_UTILS_LIB
@ -48,7 +50,8 @@ SOURCES += reloadpromptutils.cpp \
homelocationutil.cpp \
mytabbedstackwidget.cpp \
mytabwidget.cpp \
mylistwidget.cpp
mylistwidget.cpp \
cachedsvgitem.cpp
SOURCES += xmlconfig.cpp
win32 {
@ -102,7 +105,8 @@ HEADERS += utils_global.h \
homelocationutil.h \
mytabbedstackwidget.h \
mytabwidget.h \
mylistwidget.h
mylistwidget.h \
cachedsvgitem.h
HEADERS += xmlconfig.h
FORMS += filewizardpage.ui \

1264
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -6,649 +6,689 @@
<rect>
<x>0</x>
<y>0</y>
<width>639</width>
<height>611</height>
<width>683</width>
<height>685</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QGroupBox" name="groupBox">
<widget class="QScrollArea" name="scrollArea">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="title">
<string>Rate Stabilization Coefficients (Inner Loop)</string>
<property name="widgetResizable">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Kp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Ki</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_14">
<property name="text">
<string>ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="rateRollKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>665</width>
<height>627</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
</property>
<property name="title">
<string>Rate Stabilization Coefficients (Inner Loop)</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Kp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Ki</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_14">
<property name="text">
<string>ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="rateRollKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="rateRollKi">
<property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QDoubleSpinBox" name="rateRollILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="linkRateRP">
<property name="toolTip">
<string>If checked, the Roll and Pitch factors will be identical.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="rateRollKi">
<property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QDoubleSpinBox" name="rateRollILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="linkRateRP">
<property name="toolTip">
<string>If checked, the Roll and Pitch factors will be identical.
When you change one, the other is updated.</string>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="ratePitchKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="ratePitchKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="ratePitchKi">
<property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="ratePitchILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="rateYawKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="ratePitchKi">
<property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="ratePitchILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="rateYawKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="rateYawKi">
<property name="toolTip">
<string>As a rule of thumb, you can set YawRate Ki at roughly the same
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="rateYawKi">
<property name="toolTip">
<string>As a rule of thumb, you can set YawRate Ki at roughly the same
value as YawRate Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="rateYawILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
</property>
<property name="title">
<string>Attitude Stabization Coefficients (Outer Loop)</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="rollKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="rateYawILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
</property>
<property name="title">
<string>Attitude Stabization Coefficients (Outer Loop)</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="rollKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="rollKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="rollILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="rollKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="rollILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Kp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Ki</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="label_21">
<property name="text">
<string>ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="4">
<widget class="QDoubleSpinBox" name="yawILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Kp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Ki</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="label_21">
<property name="text">
<string>ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="4">
<widget class="QDoubleSpinBox" name="yawILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QDoubleSpinBox" name="yawKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="yawKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QDoubleSpinBox" name="yawKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="yawKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QDoubleSpinBox" name="pitchKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QDoubleSpinBox" name="pitchKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QDoubleSpinBox" name="pitchKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QDoubleSpinBox" name="pitchILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QDoubleSpinBox" name="pitchKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QDoubleSpinBox" name="pitchILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="linkAttitudeRP">
<property name="toolTip">
<string>If checked, the Roll and Pitch factors will be identical.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="linkAttitudeRP">
<property name="toolTip">
<string>If checked, the Roll and Pitch factors will be identical.
When you change one, the other is updated.</string>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
</layout>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Stick range and limits</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
<property name="sizeConstraint">
<enum>QLayout::SetMinAndMaxSize</enum>
</property>
<item row="0" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="pitchMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="yawMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Full stick angle (deg)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_6">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Full stick rate (deg/s)</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="manualRoll">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="manualPitch">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QSpinBox" name="manualYaw">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_24">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="toolTip">
<string notr="true"/>
</property>
<property name="text">
<string>Maximum rate in attitude mode (deg/s)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="maximumRoll">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="maximumPitch">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="maximumYaw">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="lowThrottleZeroIntegral">
<property name="text">
<string>Zero the integral when throttle is low</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>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Stick range and limits</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
<property name="sizeConstraint">
<enum>QLayout::SetMinAndMaxSize</enum>
</property>
<item row="0" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="pitchMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="yawMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Full stick angle (deg)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_6">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Full stick rate (deg/s)</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="manualRoll">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="manualPitch">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QSpinBox" name="manualYaw">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_24">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="toolTip">
<string notr="true"/>
</property>
<property name="text">
<string>Maximum rate in attitude mode (deg/s)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="maximumRoll">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="maximumPitch">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="maximumYaw">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="lowThrottleZeroIntegral">
<property name="text">
<string>Zero the integral when throttle is low</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="horizontalLayout_2">
<item>

41
ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp
View File

@ -27,6 +27,7 @@
#include "pfdgadgetwidget.h"
#include <utils/stylehelper.h>
#include <utils/cachedsvgitem.h>
#include <iostream>
#include <QDebug>
#include <QPainter>
@ -383,7 +384,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
- Battery stats: battery-txt
*/
l_scene->clear(); // Deletes all items contained in the scene as well.
m_background = new QGraphicsSvgItem();
m_background = new CachedSvgItem();
// All other items will be clipped to the shape of the background
m_background->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
QGraphicsItem::ItemClipsToShape);
@ -391,28 +392,28 @@ void PFDGadgetWidget::setDialFile(QString dfn)
m_background->setElementId("background");
l_scene->addItem(m_background);
m_world = new QGraphicsSvgItem();
m_world = new CachedSvgItem();
m_world->setParentItem(m_background);
m_world->setSharedRenderer(m_renderer);
m_world->setElementId("world");
l_scene->addItem(m_world);
// red Roll scale: rollscale
m_rollscale = new QGraphicsSvgItem();
m_rollscale = new CachedSvgItem();
m_rollscale->setSharedRenderer(m_renderer);
m_rollscale->setElementId("rollscale");
l_scene->addItem(m_rollscale);
// Home point:
m_homewaypoint = new QGraphicsSvgItem();
m_homewaypoint = new CachedSvgItem();
// Next point:
m_nextwaypoint = new QGraphicsSvgItem();
m_nextwaypoint = new CachedSvgItem();
// Home point bearing:
m_homepointbearing = new QGraphicsSvgItem();
m_homepointbearing = new CachedSvgItem();
// Next point bearing:
m_nextpointbearing = new QGraphicsSvgItem();
m_nextpointbearing = new CachedSvgItem();
QGraphicsSvgItem *m_foreground = new QGraphicsSvgItem();
QGraphicsSvgItem *m_foreground = new CachedSvgItem();
m_foreground->setParentItem(m_background);
m_foreground->setSharedRenderer(m_renderer);
m_foreground->setElementId("foreground");
@ -429,7 +430,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
// into a QGraphicsSvgItem which we will display at the same
// place: we do this so that the heading scale can be clipped to
// the compass dial region.
m_compass = new QGraphicsSvgItem();
m_compass = new CachedSvgItem();
m_compass->setSharedRenderer(m_renderer);
m_compass->setElementId("compass");
m_compass->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -440,7 +441,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
m_compass->setTransform(matrix,false);
// Now place the compass scale inside:
m_compassband = new QGraphicsSvgItem();
m_compassband = new CachedSvgItem();
m_compassband->setSharedRenderer(m_renderer);
m_compassband->setElementId("compass-band");
m_compassband->setParentItem(m_compass);
@ -462,7 +463,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("speed-bg");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).y();
QGraphicsSvgItem *verticalbg = new QGraphicsSvgItem();
QGraphicsSvgItem *verticalbg = new CachedSvgItem();
verticalbg->setSharedRenderer(m_renderer);
verticalbg->setElementId("speed-bg");
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -477,7 +478,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
m_speedscale = new QGraphicsItemGroup();
m_speedscale->setParentItem(verticalbg);
QGraphicsSvgItem *speedscalelines = new QGraphicsSvgItem();
QGraphicsSvgItem *speedscalelines = new CachedSvgItem();
speedscalelines->setSharedRenderer(m_renderer);
speedscalelines->setElementId("speed-scale");
speedScaleHeight = m_renderer->matrixForElement("speed-scale").mapRect(
@ -523,7 +524,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).y();
qreal speedWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).height();
QGraphicsSvgItem *speedwindow = new QGraphicsSvgItem();
QGraphicsSvgItem *speedwindow = new CachedSvgItem();
speedwindow->setSharedRenderer(m_renderer);
speedwindow->setElementId("speed-window");
speedwindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -548,7 +549,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("altitude-bg");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).y();
verticalbg = new QGraphicsSvgItem();
verticalbg = new CachedSvgItem();
verticalbg->setSharedRenderer(m_renderer);
verticalbg->setElementId("altitude-bg");
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -563,7 +564,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
m_altitudescale = new QGraphicsItemGroup();
m_altitudescale->setParentItem(verticalbg);
QGraphicsSvgItem *altitudescalelines = new QGraphicsSvgItem();
QGraphicsSvgItem *altitudescalelines = new CachedSvgItem();
altitudescalelines->setSharedRenderer(m_renderer);
altitudescalelines->setElementId("altitude-scale");
altitudeScaleHeight = m_renderer->matrixForElement("altitude-scale").mapRect(
@ -604,7 +605,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).y();
qreal altitudeWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).height();
QGraphicsSvgItem *altitudewindow = new QGraphicsSvgItem();
QGraphicsSvgItem *altitudewindow = new CachedSvgItem();
altitudewindow->setSharedRenderer(m_renderer);
altitudewindow->setElementId("altitude-window");
altitudewindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -633,7 +634,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
gcsTelemetryArrow = new QGraphicsSvgItem();
gcsTelemetryArrow = new CachedSvgItem();
gcsTelemetryArrow->setSharedRenderer(m_renderer);
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
l_scene->addItem(gcsTelemetryArrow);
@ -669,7 +670,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
gcsTelemetryArrow = new QGraphicsSvgItem();
gcsTelemetryArrow = new CachedSvgItem();
gcsTelemetryArrow->setSharedRenderer(m_renderer);
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
l_scene->addItem(gcsTelemetryArrow);
@ -702,7 +703,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
gcsTelemetryArrow = new QGraphicsSvgItem();
gcsTelemetryArrow = new CachedSvgItem();
gcsTelemetryArrow->setSharedRenderer(m_renderer);
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
l_scene->addItem(gcsTelemetryArrow);
@ -771,7 +772,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
{ qDebug()<<"Error on PFD artwork file.";
m_renderer->load(QString(":/pfd/images/pfd-default.svg"));
l_scene->clear(); // This also deletes all items contained in the scene.
m_background = new QGraphicsSvgItem();
m_background = new CachedSvgItem();
m_background->setSharedRenderer(m_renderer);
l_scene->addItem(m_background);
pfdError = true;

1
shared/uavobjectdefinition/hwsettings.xml
View File

@ -4,6 +4,7 @@
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStabilization,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>