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Code Issues Releases Activity

OP-39 Added condition for multirotor type. If PWM input option is enable only up to Hex is selectable, otherwise Octo is selectable to.

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Added initial configuration code that applies the users choices in the UAVOs.
Changed order of pages so that Input page comes before vehicle page.
This commit is contained in:
Fredrik Arvidsson 2012-08-15 01:04:54 +02:00
parent 25d13e4c35
commit 2b541219bf
6 changed files with 264 additions and 9 deletions
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1
ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.cpp
View File

@ -35,6 +35,7 @@ FlashPage::FlashPage(SetupWizard *wizard, QWidget *parent) :
ui(new Ui::FlashPage)
{
ui->setupUi(this);
connect(ui->applyButton, SIGNAL(clicked()), wizard, SLOT(writeConfiguration()));
}
FlashPage::~FlashPage()

17
ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.ui
View File

@ -45,9 +45,9 @@ p, li { white-space: pre-wrap; }
<property name="geometry">
<rect>
<x>20</x>
<y>240</y>
<y>230</y>
<width>561</width>
<height>141</height>
<height>151</height>
</rect>
</property>
<property name="sizePolicy">
@ -62,6 +62,19 @@ p, li { white-space: pre-wrap; }
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<widget class="QPushButton" name="applyButton">
<property name="geometry">
<rect>
<x>440</x>
<y>30</y>
<width>100</width>
<height>100</height>
</rect>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</widget>
</widget>
<resources/>

20
ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
View File

@ -57,16 +57,23 @@ MultiPage::~MultiPage()
void MultiPage::initializePage()
{
updateAvailableTypes();
updateImageAndDescription();
}
bool MultiPage::validatePage()
{
SetupWizard::VEHICLE_SUB_TYPE type = (SetupWizard::VEHICLE_SUB_TYPE) ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
getWizard()->setVehicleSubType(type);
}
void MultiPage::setupMultiTypesCombo()
{
ui->typeCombo->addItem("Tricopter", SetupWizard::MULTI_ROTOR_TRI_Y);
ui->typeCombo->addItem("Quadcopter X", SetupWizard::MULTI_ROTOR_QUAD_X);
ui->typeCombo->addItem("Quadcopter +", SetupWizard::MULTI_ROTOR_QUAD_PLUS);
ui->typeCombo->addItem("Hexacopter", SetupWizard::MULTI_ROTOR_HEXA);
ui->typeCombo->addItem("Hexacopter Coax", SetupWizard::MULTI_ROTOR_HEXA_COAX_Y);
ui->typeCombo->addItem("Hexacopter Coax (Y6)", SetupWizard::MULTI_ROTOR_HEXA_COAX_Y);
ui->typeCombo->addItem("Hexacopter H", SetupWizard::MULTI_ROTOR_HEXA_H);
ui->typeCombo->addItem("Octocopter", SetupWizard::MULTI_ROTOR_OCTO);
ui->typeCombo->addItem("Octocopter Coax X", SetupWizard::MULTI_ROTOR_OCTO_COAX_X);
@ -74,9 +81,18 @@ void MultiPage::setupMultiTypesCombo()
ui->typeCombo->addItem("Octocopter V", SetupWizard::MULTI_ROTOR_OCTO_V);
}
void MultiPage::updateAvailableTypes()
{
QVariant enable = (getWizard()->getInputType() == SetupWizard::INPUT_PWM) ? QVariant(0) : QVariant(1 | 32);
ui->typeCombo->model()->setData(ui->typeCombo->model()->index(6, 0), enable, Qt::UserRole - 1);
ui->typeCombo->model()->setData(ui->typeCombo->model()->index(7, 0), enable, Qt::UserRole - 1);
ui->typeCombo->model()->setData(ui->typeCombo->model()->index(8, 0), enable, Qt::UserRole - 1);
ui->typeCombo->model()->setData(ui->typeCombo->model()->index(9, 0), enable, Qt::UserRole - 1);
}
void MultiPage::updateImageAndDescription()
{
SetupWizard::MULTI_ROTOR_SUB_TYPE type = (SetupWizard::MULTI_ROTOR_SUB_TYPE) ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
SetupWizard::VEHICLE_SUB_TYPE type = (SetupWizard::VEHICLE_SUB_TYPE) ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
QString elementId = "";
QString description = "Descriptive text with information about ";
description.append(ui->typeCombo->currentText());

3
ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
View File

@ -46,11 +46,14 @@ public:
~MultiPage();
void initializePage();
bool validatePage();
private:
Ui::MultiPage *ui;
void setupMultiTypesCombo();
QGraphicsSvgItem *multiPic;
void updateAvailableTypes();
private slots:
void updateImageAndDescription();

203
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
View File

@ -40,6 +40,11 @@
#include "pages/summarypage.h"
#include "pages/flashpage.h"
#include "pages/notyetimplementedpage.h"
#include "extensionsystem/pluginmanager.h"
#include "hwsettings.h"
#include "actuatorsettings.h"
#include "attitudesettings.h"
SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent),
m_controllerSelectionMode(CONTROLLER_SELECTION_UNKNOWN), m_controllerType(CONTROLLER_UNKNOWN),
@ -47,6 +52,7 @@ SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent),
m_levellingPerformed(false), m_connectionManager(0)
{
setWindowTitle("OpenPilot Setup Wizard");
setOption(QWizard::IndependentPages, false);
createPages();
}
@ -60,7 +66,7 @@ int SetupWizard::nextId() const
{
case CONTROLLER_CC:
case CONTROLLER_CC3D:
return PAGE_VEHICLES;
return PAGE_INPUT;
case CONTROLLER_REVO:
case CONTROLLER_PIPX:
default:
@ -83,9 +89,9 @@ int SetupWizard::nextId() const
}
}
case PAGE_MULTI:
return PAGE_INPUT;
case PAGE_INPUT:
return PAGE_OUTPUT;
case PAGE_INPUT:
return PAGE_VEHICLES;
case PAGE_OUTPUT:
{
if(getControllerSelectionMode() == CONTROLLER_SELECTION_AUTOMATIC) {
@ -196,6 +202,197 @@ QString SetupWizard::getSummaryText()
return summary;
}
void SetupWizard::applyConfiguration()
{
UAVObjectManager* uavoMgr = getUAVObjectManager();
applyHardwareConfiguration(uavoMgr);
applyVehicleConfiguration(uavoMgr);
applyOutputConfiguration(uavoMgr);
applyLevellingConfiguration(uavoMgr);
}
UAVObjectManager* SetupWizard::getUAVObjectManager()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
return uavObjectManager;
}
void SetupWizard::applyHardwareConfiguration(UAVObjectManager* uavoMgr)
{
HwSettings* hwSettings = HwSettings::GetInstance(uavoMgr);
switch(getControllerType())
{
case CONTROLLER_CC:
case CONTROLLER_CC3D:
// Reset all ports
hwSettings->setCC_RcvrPort(HwSettings::CC_RCVRPORT_DISABLED);
hwSettings->setCC_FlexiPort(HwSettings::CC_FLEXIPORT_DISABLED);
hwSettings->setCC_MainPort(HwSettings::CC_MAINPORT_DISABLED);
switch(getInputType())
{
case INPUT_PWM:
hwSettings->setCC_RcvrPort(HwSettings::CC_RCVRPORT_PWM);
break;
case INPUT_PPM:
hwSettings->setCC_RcvrPort(HwSettings::CC_RCVRPORT_PPM);
break;
case INPUT_SBUS:
hwSettings->setCC_MainPort(HwSettings::CC_MAINPORT_SBUS);
break;
case INPUT_DSM:
// TODO: Handle all of the DSM types ?? Which is most common?
hwSettings->setCC_MainPort(HwSettings::CC_MAINPORT_DSM2);
break;
}
break;
case CONTROLLER_REVO:
// TODO: Implement Revo settings
break;
}
}
void SetupWizard::applyVehicleConfiguration(UAVObjectManager *uavoMgr)
{
switch(getVehicleType())
{
case VEHICLE_MULTI:
{
switch(getVehicleSubType())
{
case SetupWizard::MULTI_ROTOR_TRI_Y:
setupTriCopter(uavoMgr);
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
setupQuadCopter(uavoMgr);
break;
case SetupWizard::MULTI_ROTOR_HEXA:
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
case SetupWizard::MULTI_ROTOR_HEXA_H:
setupHexaCopter(uavoMgr);
break;
case SetupWizard::MULTI_ROTOR_OCTO:
case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
case SetupWizard::MULTI_ROTOR_OCTO_V:
setupOctoCopter(uavoMgr);
break;
}
break;
}
case VEHICLE_FIXEDWING:
case VEHICLE_HELI:
case VEHICLE_SURFACE:
// TODO: Implement settings for other vehicle types?
break;
}
}
void SetupWizard::applyOutputConfiguration(UAVObjectManager *uavoMgr)
{
ActuatorSettings* actSettings = ActuatorSettings::GetInstance(uavoMgr);
switch(getVehicleType())
{
case VEHICLE_MULTI:
{
actSettings->setChannelUpdateFreq(0, DEFAULT_ESC_FREQUENCE);
actSettings->setChannelUpdateFreq(1, DEFAULT_ESC_FREQUENCE);
actSettings->setChannelUpdateFreq(2, DEFAULT_ESC_FREQUENCE);
actSettings->setChannelUpdateFreq(3, DEFAULT_ESC_FREQUENCE);
qint16 updateFrequence = DEFAULT_ESC_FREQUENCE;
switch(getESCType())
{
case ESC_DEFAULT:
updateFrequence = DEFAULT_ESC_FREQUENCE;
break;
case ESC_RAPID:
updateFrequence = RAPID_ESC_FREQUENCE;
break;
}
switch(getVehicleSubType())
{
case SetupWizard::MULTI_ROTOR_TRI_Y:
actSettings->setChannelUpdateFreq(0, updateFrequence);
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
actSettings->setChannelUpdateFreq(0, updateFrequence);
actSettings->setChannelUpdateFreq(1, updateFrequence);
break;
case SetupWizard::MULTI_ROTOR_HEXA:
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
case SetupWizard::MULTI_ROTOR_HEXA_H:
case SetupWizard::MULTI_ROTOR_OCTO:
case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
case SetupWizard::MULTI_ROTOR_OCTO_V:
actSettings->setChannelUpdateFreq(0, updateFrequence);
actSettings->setChannelUpdateFreq(1, updateFrequence);
actSettings->setChannelUpdateFreq(2, updateFrequence);
actSettings->setChannelUpdateFreq(3, updateFrequence);
break;
}
break;
}
case VEHICLE_FIXEDWING:
case VEHICLE_HELI:
case VEHICLE_SURFACE:
// TODO: Implement settings for other vehicle types?
break;
}
}
void SetupWizard::applyLevellingConfiguration(UAVObjectManager *uavoMgr)
{
if(isLevellingPerformed())
{
accelGyroBias bias = getLevellingBias();
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavoMgr)->getData();
attitudeSettingsData.AccelBias[0] += bias.m_accelerometerXBias;
attitudeSettingsData.AccelBias[1] += bias.m_accelerometerYBias;
attitudeSettingsData.AccelBias[2] += bias.m_accelerometerZBias;
attitudeSettingsData.GyroBias[0] = -bias.m_gyroXBias;
attitudeSettingsData.GyroBias[1] = -bias.m_gyroYBias;
attitudeSettingsData.GyroBias[2] = -bias.m_gyroZBias;
AttitudeSettings::GetInstance(uavoMgr)->setData(attitudeSettingsData);
}
}
void SetupWizard::setupTriCopter(UAVObjectManager *uavoMgr)
{
}
void SetupWizard::setupQuadCopter(UAVObjectManager *uavoMgr)
{
}
void SetupWizard::setupHexaCopter(UAVObjectManager *uavoMgr)
{
}
void SetupWizard::setupOctoCopter(UAVObjectManager *uavoMgr)
{
}
void SetupWizard::exportConfiguration()
{
applyConfiguration();
// Call export configuration function...
}
void SetupWizard::writeConfiguration()
{
applyConfiguration();
// Call Save UAVOs to controller
}
void SetupWizard::createPages()
{
setPage(PAGE_START, new StartPage(this));

29
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
View File

@ -32,6 +32,8 @@
#include "levellingutil.h"
#include <coreplugin/icore.h>
#include <coreplugin/connectionmanager.h>
#include "uavobjectmanager.h"
class SetupWizard : public QWizard
{
@ -43,9 +45,10 @@ public:
enum CONTROLLER_SELECTION_MODE {CONTROLLER_SELECTION_AUTOMATIC, CONTROLLER_SELECTION_MANUAL, CONTROLLER_SELECTION_UNKNOWN};
enum CONTROLLER_TYPE {CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_PIPX};
enum VEHICLE_TYPE {VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE};
enum MULTI_ROTOR_SUB_TYPE {MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
enum VEHICLE_SUB_TYPE {MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS};
MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS, FIXED_WING_AILERON,
FIXED_WING_VTAIL, HELI_CCPM};
enum ESC_TYPE {ESC_DEFAULT, ESC_RAPID, ESC_UNKNOWN};
enum INPUT_TYPE {INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_UNKNOWN};
@ -58,6 +61,9 @@ public:
void setVehicleType(SetupWizard::VEHICLE_TYPE type) { m_vehicleType = type; }
SetupWizard::VEHICLE_TYPE getVehicleType() const { return m_vehicleType; }
void setVehicleSubType(SetupWizard::VEHICLE_SUB_TYPE type) { m_vehicleSubType = type; }
SetupWizard::VEHICLE_SUB_TYPE getVehicleSubType() const { return m_vehicleSubType; }
void setInputType(SetupWizard::INPUT_TYPE type) { m_inputType = type; }
SetupWizard::INPUT_TYPE getInputType() const { return m_inputType; }
@ -78,8 +84,14 @@ public:
}
return m_connectionManager;
}
public slots:
void exportConfiguration();
void writeConfiguration();
private:
static const qint16 DEFAULT_ESC_FREQUENCE = 50;
static const qint16 RAPID_ESC_FREQUENCE = 50;
enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_LEVELLING,
PAGE_FLASH, PAGE_SUMMARY, PAGE_NOTYETIMPLEMENTED, PAGE_END};
@ -88,6 +100,7 @@ private:
CONTROLLER_SELECTION_MODE m_controllerSelectionMode;
CONTROLLER_TYPE m_controllerType;
VEHICLE_TYPE m_vehicleType;
VEHICLE_SUB_TYPE m_vehicleSubType;
INPUT_TYPE m_inputType;
ESC_TYPE m_escType;
bool m_levellingPerformed;
@ -95,6 +108,18 @@ private:
Core::ConnectionManager *m_connectionManager;
UAVObjectManager *getUAVObjectManager();
void applyConfiguration();
void applyHardwareConfiguration(UAVObjectManager *uavoMgr);
void applyVehicleConfiguration(UAVObjectManager *uavoMgr);
void applyOutputConfiguration(UAVObjectManager *uavoMgr);
void applyLevellingConfiguration(UAVObjectManager *uavoMgr);
void setupTriCopter(UAVObjectManager *uavoMgr);
void setupQuadCopter(UAVObjectManager *uavoMgr);
void setupHexaCopter(UAVObjectManager *uavoMgr);
void setupOctoCopter(UAVObjectManager *uavoMgr);
};
#endif // SETUPWIZARD_H