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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into brian/rfm22_FHSS

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This commit is contained in:
Brian Webb 2013-03-24 00:58:41 +01:00
commit 2b6345850b
24 changed files with 1841 additions and 338 deletions
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2
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -95,7 +95,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_LED_D4 7
#endif
#define PIOS_LED_HEARTBEAT PIOS_LED_USB
#define PIOS_LED_HEARTBEAT PIOS_LED_LINK
#define PIOS_LED_ALARM PIOS_LED_TX
#define USB_LED_ON PIOS_LED_On(PIOS_LED_USB)

34
flight/Project/OpenOCD/stm32f1x.stlink.cfg Normal file
View File

@ -0,0 +1,34 @@
# script for stm32
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32
}
# Work-area is a space in RAM used for flash programming
# By default use 16kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x4000
}
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
set _CPUTAPID 0x1ba01477
}
transport select stlink_swd
stlink newtap $_CHIPNAME cpu -expected-id $_CPUTAPID
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME stm32_stlink -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
# flash size will be probed
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME

86
flight/RevoMini/System/pios_board.c
View File

@ -299,6 +299,31 @@ static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm
pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id;
}
static void PIOS_Board_configure_pwm(const struct pios_pwm_cfg *pios_pwm_cfg)
{
/* Set up the receiver port. Later this should be optional */
uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, pios_pwm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *pios_ppm_cfg)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
@ -651,6 +676,13 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
const struct pios_servo_cfg *pios_servo_cfg;
// default to servo outputs only
pios_servo_cfg = &pios_servo_cfg_out;
#endif
/* Configure the receiver port*/
uint8_t hwsettings_rcvrport;
HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
@ -660,35 +692,33 @@ void PIOS_Board_Init(void) {
break;
case HWSETTINGS_RM_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
{
/* Set up the receiver port. Later this should be optional */
uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
PIOS_Board_configure_pwm(&pios_pwm_cfg);
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_RM_RCVRPORT_PPM:
case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_RM_RCVRPORT_PPMPWM:
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
if(hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS)
{
// configure servo outputs and the remaining 5 inputs as outputs
pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
PIOS_Board_configure_ppm(&pios_ppm_cfg);
// enable pwm on the remaining channels
if(hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM)
{
PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg);
}
break;
#endif /* PIOS_INCLUDE_PPM */
case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
// configure only the servo outputs
pios_servo_cfg = &pios_servo_cfg_out_in;
break;
}
@ -705,20 +735,8 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_GCSRCVR */
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
switch (hwsettings_rcvrport) {
case HWSETTINGS_RM_RCVRPORT_DISABLED:
case HWSETTINGS_RM_RCVRPORT_PWM:
case HWSETTINGS_RM_RCVRPORT_PPM:
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
//PIOS_Servo_Init(&pios_servo_rcvr_cfg);
//TODO: Prepare the configurations on board_hw_defs and handle here:
PIOS_Servo_Init(&pios_servo_cfg);
break;
}
// pios_servo_cfg points to the correct configuration based on input port settings
PIOS_Servo_Init(pios_servo_cfg);
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif

161
flight/board_hw_defs/revomini/board_hw_defs.c
View File

@ -1341,9 +1341,120 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
},
.remap = GPIO_AF_TIM5,
},
};
// PWM pins on FlexiIO(receiver) port
{
// * 6: PB15 = SPI2 MOSI, TIM12 CH2
const struct pios_servo_cfg pios_servo_cfg = {
.timer = TIM12,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource15,
},
.remap = GPIO_AF_TIM12,
},
{
// * 7: PC6 = TIM8 CH1, USART6 TX
.timer = TIM8,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource6,
},
.remap = GPIO_AF_TIM8,
},
{
// * 8: PC7 = TIM8 CH2, USART6 RX
.timer = TIM8,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource7,
},
.remap = GPIO_AF_TIM8,
},
{
// * 9: PC8 = TIM8 CH3
.timer = TIM8,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource8,
},
.remap = GPIO_AF_TIM8,
},
{
// * 10: PC9 = TIM8 CH4
.timer = TIM8,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource9,
},
.remap = GPIO_AF_TIM8,
},
{
// * 5: PB14 = SPI2 MISO, TIM12 CH1, USART3 RTS
.timer = TIM12,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource14,
},
.remap = GPIO_AF_TIM12,
},
};
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT 6
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM 11
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN 12
const struct pios_servo_cfg pios_servo_cfg_out = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
@ -1355,7 +1466,37 @@ const struct pios_servo_cfg pios_servo_cfg = {
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_servoport_all_pins,
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT,
};
// All servo outputs, servo input ch1 ppm, ch2-6 outputs
const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_servoport_all_pins,
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM,
};
// All servo outputs, servo inputs ch1-6 Outputs
const struct pios_servo_cfg pios_servo_cfg_out_in = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_servoport_all_pins,
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN,
};
@ -1474,6 +1615,18 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
.channels = pios_tim_rcvrport_all_channels,
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
};
// this configures outputs 2-6 as pwm inputs
const struct pios_pwm_cfg pios_pwm_ppm_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.channels = &pios_tim_rcvrport_all_channels[1],
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
};
#endif
/*
@ -1487,7 +1640,7 @@ static const struct pios_ppm_cfg pios_ppm_cfg = {
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
.TIM_Channel = TIM_Channel_2,
.TIM_Channel = TIM_Channel_1,
},
/* Use only the first channel for ppm */
.channels = &pios_tim_rcvrport_all_channels[0],

146
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -128,8 +128,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>850</width>
<height>508</height>
<width>852</width>
<height>518</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
@ -215,7 +215,7 @@
<enum>QFrame::NoFrame</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>4</number>
</property>
<widget class="QWidget" name="fixedWing">
<property name="enabled">
@ -703,7 +703,7 @@ margin:1px;</string>
<number>0</number>
</property>
<property name="verticalSpacing">
<number>-1</number>
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_10">
@ -1555,8 +1555,8 @@ margin:1px;</string>
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>386</height>
<width>808</width>
<height>397</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_11">
@ -2158,6 +2158,9 @@ margin:1px;</string>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<property name="columnCount">
<number>12</number>
</property>
<attribute name="horizontalHeaderDefaultSectionSize">
<number>50</number>
</attribute>
@ -2244,6 +2247,16 @@ margin:1px;</string>
<string>Ch 10</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 11</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 12</string>
</property>
</column>
<item row="0" column="0">
<property name="text">
<string>-</string>
@ -2324,6 +2337,24 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="0">
<property name="text">
<string>-</string>
@ -2404,6 +2435,23 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="0">
<property name="text">
<string>-</string>
@ -2484,6 +2532,23 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="0">
<property name="text">
<string>-</string>
@ -2564,6 +2629,24 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="0">
<property name="text">
<string>-</string>
@ -2644,6 +2727,23 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="0">
<property name="text">
<string>-</string>
@ -2724,6 +2824,24 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
</widget>
</item>
</layout>
@ -2832,8 +2950,8 @@ margin:1px;</string>
<rect>
<x>0</x>
<y>0</y>
<width>287</width>
<height>326</height>
<width>852</width>
<height>518</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_18">
@ -3216,15 +3334,15 @@ p, li { white-space: pre-wrap; }
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
&lt;tr&gt;
&lt;td style=&quot;border: none;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>

3
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -31,6 +31,7 @@
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "actuatorcommand.h"
typedef struct {
@ -144,7 +145,7 @@ class VehicleConfig: public ConfigTaskWidget
QStringList mixerVectors;
QStringList mixerTypeDescriptions;
static const quint32 CHANNEL_NUMELEM = 10;
static const quint32 CHANNEL_NUMELEM = ActuatorCommand::CHANNEL_NUMELEM;
private:

185
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -54,26 +54,21 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
m_config = new Ui_OutputWidget();
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode())
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode()) {
m_config->saveRCOutputToRAM->setVisible(false);
}
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
{
OutputChannelForm *form = new OutputChannelForm(i, this, i==0);
connect(m_config->channelOutTest, SIGNAL(toggled(bool)),
form, SLOT(enableChannelTest(bool)));
connect(form, SIGNAL(channelChanged(int,int)),
this, SLOT(sendChannelTest(int,int)));
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
OutputChannelForm *form = new OutputChannelForm(i, this, i == 0);
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
connect(form, SIGNAL(channelChanged(int,int)), this, SLOT(sendChannelTest(int,int)));
m_config->channelLayout->addWidget(form);
}
@ -89,6 +84,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
addUAVObject("ActuatorSettings");
// Associate the buttons with their UAVO fields
addWidget(m_config->cb_outputRate6);
addWidget(m_config->cb_outputRate5);
addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2);
@ -99,17 +96,20 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
}
connect(obj,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(disableIfNotMe(UAVObject*)));
refreshWidgetsValues();
}
void ConfigOutputWidget::enableControls(bool enable)
{
ConfigTaskWidget::enableControls(enable);
if(!enable)
if(!enable) {
m_config->channelOutTest->setChecked(false);
}
m_config->channelOutTest->setEnabled(enable);
}
@ -118,9 +118,6 @@ ConfigOutputWidget::~ConfigOutputWidget()
// Do nothing
}
// ************************************
/**
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
@ -132,7 +129,7 @@ void ConfigOutputWidget::runChannelTests(bool state)
if(state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
QMessageBox mbox;
mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. Please fix these before testing outputs.")));
mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. Please fix these before testing outputs.")));
mbox.setStandardButtons(QMessageBox::Ok);
mbox.exec();
@ -146,7 +143,7 @@ void ConfigOutputWidget::runChannelTests(bool state)
// Confirm this is definitely what they want
if(state) {
QMessageBox mbox;
mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter. It is recommended to remove any blades from motors. Are you sure you want to do this?")));
mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter. It is recommended to remove any blades from motors. Are you sure you want to do this?")));
mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
int retval = mbox.exec();
if(retval != QMessageBox::Yes) {
@ -159,9 +156,8 @@ void ConfigOutputWidget::runChannelTests(bool state)
ActuatorCommand * obj = ActuatorCommand::GetInstance(getObjectManager());
UAVObject::Metadata mdata = obj->getMetadata();
if (state)
{
wasItMe=true;
if (state) {
wasItMe = true;
accInitialData = mdata;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
@ -169,9 +165,8 @@ void ConfigOutputWidget::runChannelTests(bool state)
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
}
else
{
wasItMe=false;
else {
wasItMe = false;
mdata = accInitialData; // Restore metadata
}
obj->setMetadata(mdata);
@ -182,10 +177,10 @@ void ConfigOutputWidget::runChannelTests(bool state)
OutputChannelForm* ConfigOutputWidget::getOutputChannelForm(const int index) const
{
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if( outputChannelForm->index() == index)
foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
if(outputChannelForm->index() == index) {
return outputChannelForm;
}
}
// no OutputChannelForm found with given index
@ -203,8 +198,9 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
int index = options.indexOf(field->getValue().toString());
OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
if(outputChannelForm)
if(outputChannelForm) {
outputChannelForm->setAssignment(str);
}
}
/**
@ -213,11 +209,13 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
*/
void ConfigOutputWidget::sendChannelTest(int index, int value)
{
if (!m_config->channelOutTest->isChecked())
if (!m_config->channelOutTest->isChecked()) {
return;
}
if(index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM)
if(index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
return;
}
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
Q_ASSERT(actuatorCommand);
@ -244,13 +242,12 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// get channel descriptions
// Get channel descriptions
QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
// Initialize output forms
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
outputChannelForm->setAssignment(ChannelDesc[outputChannelForm->index()]);
// init min,max,neutral
@ -265,25 +262,57 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
// Get the SpinWhileArmed setting
m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
// Get Output rates for both banks
if(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]))==-1)
{
// Setup output rates for all banks
if(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])) == -1) {
m_config->cb_outputRate1->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]));
}
if(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]))==-1)
{
if(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])) == -1) {
m_config->cb_outputRate2->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]));
}
if(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]) )== -1) {
m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
}
if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])) == -1) {
m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
}
if(m_config->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])) == -1) {
m_config->cb_outputRate5->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[4]));
}
if(m_config->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])) == -1) {
m_config->cb_outputRate6->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[5]));
}
m_config->cb_outputRate1->setCurrentIndex(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])));
m_config->cb_outputRate2->setCurrentIndex(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])));
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])));
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])));
// Reset to all disabled
m_config->chBank1->setText("-");
m_config->chBank2->setText("-");
m_config->chBank3->setText("-");
m_config->chBank4->setText("-");
m_config->chBank5->setText("-");
m_config->chBank6->setText("-");
m_config->cb_outputRate1->setEnabled(false);
m_config->cb_outputRate2->setEnabled(false);
m_config->cb_outputRate3->setEnabled(false);
m_config->cb_outputRate4->setEnabled(false);
m_config->cb_outputRate5->setEnabled(false);
m_config->cb_outputRate6->setEnabled(false);
// Get connected board model
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
if (utilMngr) {
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
Q_ASSERT(utilMngr);
if(utilMngr) {
int board = utilMngr->getBoardModel();
if ((board & 0xff00) == 1024) {
// CopterControl family
// Setup labels and combos for banks according to board type
if ((board & 0xff00) == 0x0400) {
// Coptercontrol family of boards 4 timer banks
m_config->chBank1->setText("1-3");
m_config->chBank2->setText("4");
m_config->chBank3->setText("5,7-8");
@ -292,37 +321,27 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
m_config->cb_outputRate2->setEnabled(true);
m_config->cb_outputRate3->setEnabled(true);
m_config->cb_outputRate4->setEnabled(true);
if(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]))==-1)
{
m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
}
if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]))==-1)
{
m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
}
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
} else if ((board & 0xff00) == 256 ) {
// Mainboard family
}
else if((board & 0xff00) == 0x0900) {
// Revolution family of boards 6 timer banks
m_config->chBank1->setText("1-2");
m_config->chBank2->setText("3");
m_config->chBank3->setText("4");
m_config->chBank4->setText("5-6");
m_config->chBank5->setText("7-8");
m_config->chBank6->setText("9-10");
m_config->cb_outputRate1->setEnabled(true);
m_config->cb_outputRate2->setEnabled(true);
m_config->cb_outputRate3->setEnabled(false);
m_config->cb_outputRate4->setEnabled(false);
m_config->chBank1->setText("1-4");
m_config->chBank2->setText("5-8");
m_config->chBank3->setText("-");
m_config->chBank4->setText("-");
m_config->cb_outputRate3->addItem("0");
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText("0"));
m_config->cb_outputRate4->addItem("0");
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText("0"));
m_config->cb_outputRate3->setEnabled(true);
m_config->cb_outputRate4->setEnabled(true);
m_config->cb_outputRate5->setEnabled(true);
m_config->cb_outputRate6->setEnabled(true);
}
}
// Get Channel ranges:
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
outputChannelForm->minmax(minValue, maxValue);
@ -345,8 +364,7 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
@ -357,11 +375,12 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[4] = m_config->cb_outputRate5->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[5] = m_config->cb_outputRate6->currentText().toUInt();
if(m_config->spinningArmed->isChecked() == true)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
actuatorSettingsData.MotorsSpinWhileArmed = m_config->spinningArmed->isChecked() ?
ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
@ -370,7 +389,6 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
void ConfigOutputWidget::openHelp()
{
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/WIGf", QUrl::StrictMode) );
}
@ -381,11 +399,12 @@ void ConfigOutputWidget::stopTests()
void ConfigOutputWidget::disableIfNotMe(UAVObject* obj)
{
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
{
if(!wasItMe)
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
if(!wasItMe) {
this->setEnabled(false);
}
}
else
else {
this->setEnabled(true);
}
}

4
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -648,8 +648,8 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin());
}
// Update the mixer table:
for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) {
// Update the mixer table:
for (int channel=0; channel < m_aircraft->customMixerTable->columnCount(); channel++) {
UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
if (field)
{

286
ground/openpilotgcs/src/plugins/config/output.ui
View File

@ -117,12 +117,12 @@
<x>0</x>
<y>0</y>
<width>668</width>
<height>654</height>
<height>671</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="spacing">
<number>-1</number>
<number>6</number>
</property>
<property name="margin">
<number>12</number>
@ -145,27 +145,31 @@
<string>Output Update Speed</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="horizontalSpacing">
<number>6</number>
</property>
<property name="margin">
<number>12</number>
</property>
<item row="0" column="0">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<property name="horizontalSpacing">
<number>6</number>
</property>
<item row="0" column="6">
<widget class="QLabel" name="chBank5">
<property name="text">
<string>-</string>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="chBank1">
<property name="text">
<string>-</string>
</property>
</spacer>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_9">
@ -183,45 +187,21 @@
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="chBank1">
<property name="text">
<string>-</string>
<item row="0" column="0">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="chBank2">
<property name="text">
<string>-</string>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</spacer>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer_4">
@ -251,31 +231,33 @@
</property>
</spacer>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<item row="0" column="3">
<widget class="QLabel" name="chBank2">
<property name="text">
<string>Update rate:</string>
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
@ -395,6 +377,34 @@ Leave at 50Hz for fixed wing.</string>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Update rate:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QComboBox" name="cb_outputRate3">
<property name="enabled">
@ -472,6 +482,132 @@ Leave at 50Hz for fixed wing.</string>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="chBank6">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QComboBox" name="cb_outputRate5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="1" column="7">
<widget class="QComboBox" name="cb_outputRate6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>

12
ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html
View File

@ -1,8 +1,12 @@
<html>
<p>This is a credits file of people that are or have been key contributors to the OpenPilot project.
Without the work of the people in this file OpenPilot would not be what it is today.</p>
<style type="text/css" media="screen">
body { background: #e3e3e3; font-family: Helvetica, Arial, "MS Trebuchet", sans-serif; font-size: 12px; line-height:1.5em; }
pre { font-family: Helvetica, Arial, "MS Trebuchet", sans-serif; }
</style>
<body>
<h3>This is a credits file of people that are or have been key contributors to the OpenPilot project. Without the work of the people in this list, OpenPilot would not be what it is today.</h3>
<p>It is sorted alphabetically by name</p>
<p>This list is sorted alphabetically by name</p>
<pre>Connor Abbott
David Ankers
@ -77,5 +81,5 @@ Mat Wellington
Kendal Wells
Dmitriy Zaitsev
</pre>
</body>
</html>

105
ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp
View File

@ -28,6 +28,8 @@
#include "authorsdialog.h"
// autogenerated version info string
#include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
#include "coreconstants.h"
#include "icore.h"
@ -42,6 +44,11 @@
#include <QtGui/QLabel>
#include <QtGui/QPushButton>
#include <QtGui/QTextBrowser>
#include <QtDeclarative/qdeclarative.h>
#include <QtDeclarative/qdeclarativeview.h>
#include <QtDeclarative/qdeclarativeengine.h>
#include <QtDeclarative/qdeclarativecontext.h>
using namespace Core;
using namespace Core::Internal;
@ -52,45 +59,75 @@ AuthorsDialog::AuthorsDialog(QWidget *parent)
{
// We need to set the window icon explicitly here since for some reason the
// application icon isn't used when the size of the dialog is fixed (at least not on X11/GNOME)
setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png"));
setWindowTitle(tr("About OpenPilot Authors"));
setWindowTitle(tr("About OpenPilot"));
setWindowFlags(windowFlags() & ~Qt::WindowContextHelpButtonHint);
QGridLayout *layout = new QGridLayout(this);
layout->setSizeConstraint(QLayout::SetFixedSize);
// This loads a QML doc containing a Tabbed view
QDeclarativeView *view = new QDeclarativeView(this);
view->setSource(QUrl("qrc:/core/qml/AboutDialog.qml"));
QString version = QLatin1String(GCS_VERSION_LONG);
version += QDate(2007, 25, 10).toString(Qt::SystemLocaleDate);
QString ideRev;
QString version = QLatin1String(GCS_VERSION_LONG);
version += QDate(2007, 25, 10).toString(Qt::SystemLocaleDate);
QString ideRev;
#ifdef GCS_REVISION
//: This gets conditionally inserted as argument %8 into the description string.
ideRev = tr("From revision %1<br/>").arg(QString::fromLatin1(GCS_REVISION_STR).left(10));
//: This gets conditionally inserted as argument %8 into the description string.
ideRev = tr("From revision %1<br/>").arg(QString::fromLatin1(GCS_REVISION_STR).left(10));
#endif
const QString description = tr(
"<h3>The OpenPilot Project</h3>"
"Proudly brought to you by this fine team:<br/>"
);
QLabel *copyRightLabel = new QLabel(description);
copyRightLabel->setWordWrap(true);
copyRightLabel->setOpenExternalLinks(true);
copyRightLabel->setTextInteractionFlags(Qt::TextBrowserInteraction);
QTextBrowser *creditsArea = new QTextBrowser(this);
creditsArea->setSource(QUrl("qrc:core/CREDITS.html"));
QDialogButtonBox *buttonBox = new QDialogButtonBox(QDialogButtonBox::Close);
QPushButton *closeButton = buttonBox->button(QDialogButtonBox::Close);
QTC_ASSERT(closeButton, /**/);
buttonBox->addButton(closeButton, QDialogButtonBox::ButtonRole(QDialogButtonBox::RejectRole | QDialogButtonBox::AcceptRole));
connect(buttonBox , SIGNAL(rejected()), this, SLOT(reject()));
QLabel *logoLabel = new QLabel;
logoLabel->setPixmap(QPixmap(QLatin1String(":/core/images/openpilot_logo_128.png")));
layout->addWidget(logoLabel , 0, 0, 1, 1);
layout->addWidget(copyRightLabel, 0, 1, 2, 4);
layout->addWidget(creditsArea, 3, 0, 2, 5);
layout->addWidget(buttonBox, 6, 0, 1, 5);
#ifdef UAVO_HASH
//: This gets conditionally inserted as argument %11 into the description string.
QByteArray uavoHashArray;
QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
uavoHash.chop(2);
uavoHash.remove(0, 2);
uavoHash = uavoHash.trimmed();
bool ok;
foreach(QString str, uavoHash.split(",")) {
uavoHashArray.append(str.toInt(&ok, 16));
}
QString gcsUavoHashStr;
foreach(char i, uavoHashArray) {
gcsUavoHashStr.append(QString::number(i, 16).right(2));
}
QString uavoHashStr = gcsUavoHashStr;
#else
QString uavoHashStr = "N/A";
#endif
const QString description = tr(
"<h3>OpenPilot Ground Control Station</h3>"
"GCS Revision: <b>%1</b><br/>"
"UAVO Hash: %2<br/>"
"<br/>"
"Built from %3<br/>"
"Built on %4 at %5<br/>"
"Based on Qt %6 (%7 bit)<br/>"
"<br/>"
"&copy; %8, 2010-%9. All rights reserved.<br/>"
"<br/>"
"<small>This program is free software; you can redistribute it and/or modify<br/>"
"it under the terms of the GNU General Public License as published by<br/>"
"the Free Software Foundation; either version 3 of the License, or<br/>"
"(at your option) any later version.<br/>"
"<br/>"
"The program is provided AS IS with NO WARRANTY OF ANY KIND, "
"INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A "
"PARTICULAR PURPOSE.</small>"
).arg(
QString::fromLatin1(GCS_REVISION_STR).left(60), // %1
uavoHashStr, // %2
QLatin1String(GCS_ORIGIN_STR), // $3
QLatin1String(__DATE__), // %4
QLatin1String(__TIME__), // %5
QLatin1String(QT_VERSION_STR), // %6
QString::number(QSysInfo::WordSize), // %7
QLatin1String(GCS_AUTHOR), // %8
QLatin1String(GCS_YEAR_STR) // %9
);
// Expose the version description to the QML doc
view->rootContext()->setContextProperty("version", description);
}

128
ground/openpilotgcs/src/plugins/coreplugin/core.qrc
View File

@ -1,66 +1,70 @@
<RCC>
<qresource prefix="/core">
<file>images/openpilot_logo_256.png</file>
<file>images/openpilot_logo_128.png</file>
<file>images/openpilot_logo_64.png</file>
<file>images/openpilot_logo_32.png</file>
<file>images/clean_pane_small.png</file>
<file>images/clear.png</file>
<file>images/closebutton.png</file>
<file>images/dir.png</file>
<file>images/editcopy.png</file>
<file>images/editcut.png</file>
<file>images/editpaste.png</file>
<file>images/empty14.png</file>
<file>images/filenew.png</file>
<file>images/fileopen.png</file>
<file>images/filesave.png</file>
<file>images/find.png</file>
<file>images/findnext.png</file>
<file>images/inputfield.png</file>
<file>images/inputfield_disabled.png</file>
<file>images/linkicon.png</file>
<file>images/locked.png</file>
<file>images/magnifier.png</file>
<file>images/minus.png</file>
<file>images/next.png</file>
<file>images/panel_button.png</file>
<file>images/panel_button_checked.png</file>
<file>images/panel_button_checked_hover.png</file>
<file>images/panel_button_hover.png</file>
<file>images/panel_button_pressed.png</file>
<file>images/plus.png</file>
<file>images/prev.png</file>
<file>images/pushbutton.png</file>
<file>images/pushbutton_hover.png</file>
<file>images/pushbutton_pressed.png</file>
<file>images/redo.png</file>
<file>images/replace.png</file>
<file>images/reset.png</file>
<file>images/sidebaricon.png</file>
<file>images/splitbutton_horizontal.png</file>
<file>images/statusbar.png</file>
<file>images/undo.png</file>
<file>images/unknownfile.png</file>
<file>images/unlocked.png</file>
<file>images/extension.png</file>
<file>images/darkclosebutton.png</file>
<file>images/pluginicon.png</file>
<file>images/exiticon.png</file>
<file>images/optionsicon.png</file>
<file>images/helpicon.png</file>
<file>images/openpiloticon.png</file>
<file>CREDITS.html</file>
<file>images/ah.png</file>
<file>images/config.png</file>
<file>images/flight.png</file>
<file>images/home.png</file>
<file>images/joystick.png</file>
<file>images/scopes.png</file>
<file>images/world.png</file>
<file>images/cog.png</file>
<file>images/helpicon.svg</file>
<file>images/cpu.png</file>
<file>images/tx-rx.svg</file>
<file>images/openpilot_logo_256.png</file>
<file>images/openpilot_logo_128.png</file>
<file>images/openpilot_logo_64.png</file>
<file>images/openpilot_logo_32.png</file>
<file>images/clean_pane_small.png</file>
<file>images/clear.png</file>
<file>images/closebutton.png</file>
<file>images/dir.png</file>
<file>images/editcopy.png</file>
<file>images/editcut.png</file>
<file>images/editpaste.png</file>
<file>images/empty14.png</file>
<file>images/filenew.png</file>
<file>images/fileopen.png</file>
<file>images/filesave.png</file>
<file>images/find.png</file>
<file>images/findnext.png</file>
<file>images/inputfield.png</file>
<file>images/inputfield_disabled.png</file>
<file>images/linkicon.png</file>
<file>images/locked.png</file>
<file>images/magnifier.png</file>
<file>images/minus.png</file>
<file>images/next.png</file>
<file>images/panel_button.png</file>
<file>images/panel_button_checked.png</file>
<file>images/panel_button_checked_hover.png</file>
<file>images/panel_button_hover.png</file>
<file>images/panel_button_pressed.png</file>
<file>images/plus.png</file>
<file>images/prev.png</file>
<file>images/pushbutton.png</file>
<file>images/pushbutton_hover.png</file>
<file>images/pushbutton_pressed.png</file>
<file>images/redo.png</file>
<file>images/replace.png</file>
<file>images/reset.png</file>
<file>images/sidebaricon.png</file>
<file>images/splitbutton_horizontal.png</file>
<file>images/statusbar.png</file>
<file>images/undo.png</file>
<file>images/unknownfile.png</file>
<file>images/unlocked.png</file>
<file>images/extension.png</file>
<file>images/darkclosebutton.png</file>
<file>images/pluginicon.png</file>
<file>images/exiticon.png</file>
<file>images/optionsicon.png</file>
<file>images/helpicon.png</file>
<file>images/openpiloticon.png</file>
<file>CREDITS.html</file>
<file>images/ah.png</file>
<file>images/config.png</file>
<file>images/flight.png</file>
<file>images/home.png</file>
<file>images/joystick.png</file>
<file>images/scopes.png</file>
<file>images/world.png</file>
<file>images/cog.png</file>
<file>images/helpicon.svg</file>
<file>images/cpu.png</file>
<file>images/tx-rx.svg</file>
<file>qml/images/tab.png</file>
<file>qml/AboutDialog.qml</file>
<file>qml/FlickableWebView.qml</file>
<file>qml/TabWidget.qml</file>
</qresource>
</RCC>

5
ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
View File

@ -1,11 +1,12 @@
TEMPLATE = lib
TARGET = Core
DEFINES += CORE_LIBRARY
QT += xml \
QT += declarative \
xml \
network \
script \
svg \
sql
sql
include(../../openpilotgcsplugin.pri)
include(../../libs/utils/utils.pri)
include(../../shared/scriptwrapper/scriptwrapper.pri)

564
ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro.user Normal file
View File

@ -0,0 +1,564 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by Qt Creator 2.4.1, 2013-01-19T21:15:30. -->
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</valuemap>
</valuemap>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
<value type="QString" key="language">QmlJS</value>
<valuemap type="QVariantMap" key="value">
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</valuemap>
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<value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">0</value>
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12
ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
View File

@ -798,15 +798,13 @@ void MainWindow::registerDefaultActions()
// About GCS Action
#ifdef Q_WS_MAC
tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS"), this); // it's convention not to add dots to the about menu
#else
tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS..."), this);
#endif
cmd = am->registerAction(tmpaction, Constants::ABOUT_OPENPILOTGCS, m_globalContext);
mhelp->addAction(cmd, Constants::G_HELP_ABOUT);
tmpaction->setEnabled(true);
#ifdef Q_WS_MAC
cmd->action()->setMenuRole(QAction::ApplicationSpecificRole);
#endif
connect(tmpaction, SIGNAL(triggered()), this, SLOT(aboutOpenPilotGCS()));
@ -821,7 +819,7 @@ void MainWindow::registerDefaultActions()
connect(tmpaction, SIGNAL(triggered()), this, SLOT(aboutPlugins()));
//Credits Action
tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &Authors..."), this);
tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &OpenPilot..."), this);
cmd = am->registerAction(tmpaction, Constants::ABOUT_AUTHORS, m_globalContext);
mhelp->addAction(cmd, Constants::G_HELP_ABOUT);
tmpaction->setEnabled(true);

110
ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml Normal file
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@ -0,0 +1,110 @@
/****************************************************************************
**
** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies).
** All rights reserved.
** Contact: Nokia Corporation (qt-info@nokia.com)
**
** This file is part of the examples of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:BSD$
** You may use this file under the terms of the BSD license as follows:
**
** "Redistribution and use in source and binary forms, with or without
** modification, are permitted provided that the following conditions are
** met:
** * Redistributions of source code must retain the above copyright
** notice, this list of conditions and the following disclaimer.
** * Redistributions in binary form must reproduce the above copyright
** notice, this list of conditions and the following disclaimer in
** the documentation and/or other materials provided with the
** distribution.
** * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor
** the names of its contributors may be used to endorse or promote
** products derived from this software without specific prior written
** permission.
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
** $QT_END_LICENSE$
**
****************************************************************************/
import QtQuick 1.1
import QtWebKit 1.0
// This is a tabbed pane element. Add a nested Rectangle to add a tab.
TabWidget {
id: tabs
width: 640; height: 480
// This tab is for the GCS version information
Rectangle {
property string title: "OpenPilot GCS"
anchors.fill: parent
color: "#e3e3e3"
Rectangle {
anchors.fill: parent; anchors.margins: 20
color: "#e3e3e3"
Image {
source: "../images/openpilot_logo_128.png"
x: 0; y: 0; z: 100
fillMode: Image.PreserveAspectFit
}
Flickable {
anchors.fill: parent
anchors.centerIn: parent
Text {
id: versionLabel
x: 156; y: 0
width: 430; height: 379
horizontalAlignment: Qt.AlignLeft
font.pixelSize: 12
wrapMode: Text.WordWrap
// @var version exposed in authorsdialog.cpp
text: version
}
}
}
}
// This is a stub for the Plugins.
// Rectangle {
// property string title: "Plugins"
// anchors.fill: parent
// color: "#e3e3e3"
//
// Rectangle {
// anchors.fill: parent; anchors.margins: 20
// color: "#7fff7f"
// Text {
// width: parent.width - 20
// anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter
// font.pixelSize: 20
// wrapMode: Text.WordWrap
// }
// }
// }
// This tab is for the authors/contributors/credits
Rectangle {
property string title: "Authors"
anchors.fill: parent; color: "#e3e3e3"
Rectangle {
anchors.fill: parent; anchors.margins: 20
color: "#e3e3e3"
FlickableWebView {
id: webView
z: 0
url: "../CREDITS.html"
anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom }
}
}
}
}

196
ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml Normal file
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@ -0,0 +1,196 @@
/****************************************************************************
**
** Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies).
** Contact: http://www.qt-project.org/
**
** This file is part of the QtDeclarative module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL$
** GNU Lesser General Public License Usage
** This file may be used under the terms of the GNU Lesser General Public
** License version 2.1 as published by the Free Software Foundation and
** appearing in the file LICENSE.LGPL included in the packaging of this
** file. Please review the following information to ensure the GNU Lesser
** General Public License version 2.1 requirements will be met:
** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
**
** In addition, as a special exception, Nokia gives you certain additional
** rights. These rights are described in the Nokia Qt LGPL Exception
** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU General
** Public License version 3.0 as published by the Free Software Foundation
** and appearing in the file LICENSE.GPL included in the packaging of this
** file. Please review the following information to ensure the GNU General
** Public License version 3.0 requirements will be met:
** http://www.gnu.org/copyleft/gpl.html.
**
** Other Usage
** Alternatively, this file may be used in accordance with the terms and
** conditions contained in a signed written agreement between you and Nokia.
**
**
**
**
**
**
** $QT_END_LICENSE$
**
****************************************************************************/
import QtQuick 1.0
import QtWebKit 1.0
Flickable {
property alias title: webView.title
property alias icon: webView.icon
property alias progress: webView.progress
property alias url: webView.url
property alias back: webView.back
property alias stop: webView.stop
property alias reload: webView.reload
property alias forward: webView.forward
id: flickable
width: parent.width
contentWidth: Math.max(parent.width,webView.width)
contentHeight: Math.max(parent.height,webView.height)
// anchors.top: headerSpace.bottom
anchors.bottom: parent.top
anchors.left: parent.left
anchors.right: parent.right
pressDelay: 200
clip: true
onWidthChanged : {
// Expand (but not above 1:1) if otherwise would be smaller that available width.
if (width > webView.width*webView.contentsScale && webView.contentsScale < 1.0)
webView.contentsScale = width / webView.width * webView.contentsScale;
}
WebView {
id: webView
transformOrigin: Item.TopLeft
function fixUrl(url)
{
if (url == "") return url
if (url[0] == "/") return "file://"+url
if (url.indexOf(":")<0) {
if (url.indexOf(".")<0 || url.indexOf(" ")>=0) {
// Fall back to a search engine; hard-code Wikipedia
return "http://en.wikipedia.org/w/index.php?search="+url
} else {
return "http://"+url
}
}
return url
}
url: fixUrl(webBrowser.urlString)
smooth: false // We don't want smooth scaling, since we only scale during (fast) transitions
focus: true
onAlert: console.log(message)
function doZoom(zoom,centerX,centerY)
{
if (centerX) {
var sc = zoom*contentsScale;
scaleAnim.to = sc;
flickVX.from = flickable.contentX
flickVX.to = Math.max(0,Math.min(centerX-flickable.width/2,webView.width*sc-flickable.width))
finalX.value = flickVX.to
flickVY.from = flickable.contentY
flickVY.to = Math.max(0,Math.min(centerY-flickable.height/2,webView.height*sc-flickable.height))
finalY.value = flickVY.to
quickZoom.start()
}
}
Keys.onLeftPressed: webView.contentsScale -= 0.1
Keys.onRightPressed: webView.contentsScale += 0.1
preferredWidth: flickable.width
preferredHeight: flickable.height
contentsScale: 1
onContentsSizeChanged: {
// zoom out
contentsScale = Math.min(1,flickable.width / contentsSize.width)
}
onUrlChanged: {
// got to topleft
flickable.contentX = 0
flickable.contentY = 0
// if (url != null) { header.editUrl = url.toString(); }
}
onDoubleClick: {
if (!heuristicZoom(clickX,clickY,2.5)) {
var zf = flickable.width / contentsSize.width
if (zf >= contentsScale)
zf = 2.0*contentsScale // zoom in (else zooming out)
doZoom(zf,clickX*zf,clickY*zf)
}
}
SequentialAnimation {
id: quickZoom
PropertyAction {
target: webView
property: "renderingEnabled"
value: false
}
ParallelAnimation {
NumberAnimation {
id: scaleAnim
target: webView
property: "contentsScale"
// the to property is set before calling
easing.type: Easing.Linear
duration: 200
}
NumberAnimation {
id: flickVX
target: flickable
property: "contentX"
easing.type: Easing.Linear
duration: 200
from: 0 // set before calling
to: 0 // set before calling
}
NumberAnimation {
id: flickVY
target: flickable
property: "contentY"
easing.type: Easing.Linear
duration: 200
from: 0 // set before calling
to: 0 // set before calling
}
}
// Have to set the contentXY, since the above 2
// size changes may have started a correction if
// contentsScale < 1.0.
PropertyAction {
id: finalX
target: flickable
property: "contentX"
value: 0 // set before calling
}
PropertyAction {
id: finalY
target: flickable
property: "contentY"
value: 0 // set before calling
}
PropertyAction {
target: webView
property: "renderingEnabled"
value: true
}
}
onZoomTo: doZoom(zoom,centerX,centerY)
}
}

102
ground/openpilotgcs/src/plugins/coreplugin/qml/TabWidget.qml Normal file
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@ -0,0 +1,102 @@
/****************************************************************************
**
** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies).
** All rights reserved.
** Contact: Nokia Corporation (qt-info@nokia.com)
**
** This file is part of the examples of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:BSD$
** You may use this file under the terms of the BSD license as follows:
**
** "Redistribution and use in source and binary forms, with or without
** modification, are permitted provided that the following conditions are
** met:
** * Redistributions of source code must retain the above copyright
** notice, this list of conditions and the following disclaimer.
** * Redistributions in binary form must reproduce the above copyright
** notice, this list of conditions and the following disclaimer in
** the documentation and/or other materials provided with the
** distribution.
** * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor
** the names of its contributors may be used to endorse or promote
** products derived from this software without specific prior written
** permission.
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
** $QT_END_LICENSE$
**
****************************************************************************/
import QtQuick 1.1
Item {
id: tabWidget
// Setting the default property to stack.children means any child items
// of the TabWidget are actually added to the 'stack' item's children.
// See the "Property Binding"
// documentation for details on default properties.
default property alias content: stack.children
property int current: 0
onCurrentChanged: setOpacities()
Component.onCompleted: setOpacities()
function setOpacities() {
for (var i = 0; i < stack.children.length; ++i) {
stack.children[i].opacity = (i == current ? 1 : 0)
}
}
Row {
id: header
Repeater {
model: stack.children.length
delegate: Rectangle {
width: tabWidget.width / stack.children.length; height: 36
Rectangle {
width: parent.width; height: 1
anchors { bottom: parent.bottom; bottomMargin: 1 }
color: "#acb2c2"
}
BorderImage {
anchors { fill: parent; leftMargin: 2; topMargin: 5; rightMargin: 1 }
border { left: 7; right: 7 }
source: "images/tab.png"
visible: tabWidget.current == index
}
Text {
horizontalAlignment: Qt.AlignHCenter; verticalAlignment: Qt.AlignVCenter
anchors.fill: parent
text: stack.children[index].title
elide: Text.ElideRight
font.bold: tabWidget.current == index
}
MouseArea {
anchors.fill: parent
onClicked: tabWidget.current = index
}
}
}
}
Item {
id: stack
width: tabWidget.width
anchors.top: header.bottom; anchors.bottom: tabWidget.bottom
}
}

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ground/openpilotgcs/src/plugins/coreplugin/qml/images/tab.png Normal file
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2
shared/uavobjectdefinition/actuatorcommand.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="ActuatorCommand" singleinstance="true" settings="false">
<description>Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule</description>
<field name="Channel" units="us" type="int16" elements="10"/>
<field name="Channel" units="us" type="int16" elements="12"/>
<field name="UpdateTime" units="ms" type="uint16" elements="1"/>
<field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/>
<field name="NumFailedUpdates" units="" type="uint8" elements="1"/>

10
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -2,11 +2,11 @@
<object name="ActuatorSettings" singleinstance="true" settings="true">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="ChannelUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="ChannelMax" units="us" type="int16" elements="10" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="10" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="10" defaultvalue="1000"/>
<field name="ChannelType" units="" type="enum" elements="10" options="PWM,MK,ASTEC4,PWM Alarm Buzzer,Arming led,Info led" defaultvalue="PWM"/>
<field name="ChannelAddr" units="" type="uint8" elements="10" defaultvalue="0,1,2,3,4,5,6,7,8,9"/>
<field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelType" units="" type="enum" elements="12" options="PWM,MK,ASTEC4,PWM Alarm Buzzer,Arming led,Info led" defaultvalue="PWM"/>
<field name="ChannelAddr" units="" type="uint8" elements="12" defaultvalue="0,1,2,3,4,5,6,7,8,9,10,11"/>
<field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

6
shared/uavobjectdefinition/mixersettings.xml
View File

@ -75,6 +75,12 @@
<field name="Mixer10Type" cloneof="Mixer1Type"/>
<field name="Mixer10Vector" cloneof="Mixer1Vector"/>
<field name="Mixer11Type" cloneof="Mixer1Type"/>
<field name="Mixer11Vector" cloneof="Mixer1Vector"/>
<field name="Mixer12Type" cloneof="Mixer1Type"/>
<field name="Mixer12Vector" cloneof="Mixer1Vector"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

2
shared/uavobjectdefinition/mixerstatus.xml
View File

@ -11,6 +11,8 @@
<field name="Mixer8" units="" type="float" elements="1"/>
<field name="Mixer9" units="" type="float" elements="1"/>
<field name="Mixer10" units="" type="float" elements="1"/>
<field name="Mixer11" units="" type="float" elements="1"/>
<field name="Mixer12" units="" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

18
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -1,19 +1,19 @@
<xml>
<object name="StabilizationSettings" singleinstance="true" settings="true">
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>