rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

Merge branch 'next' into cc3d

Browse Source 
Conflicts:
	Makefile
	ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
	shared/uavobjectdefinition/ahrscalibration.xml
	shared/uavobjectdefinition/ahrssettings.xml
	shared/uavobjectdefinition/attituderaw.xml
This commit is contained in:
James Cotton 2012-05-03 16:31:49 -05:00
commit 3155324384
82 changed files with 6950 additions and 3080 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
Makefile
View File

@ -173,10 +173,17 @@ qt_sdk_install : | $(DL_DIR) $(TOOLS_DIR)
qt_sdk_install: qt_sdk_clean
# download the source only if it's newer than what we already have
$(V1) wget -N --content-disposition -P "$(DL_DIR)" "$(QT_SDK_URL)"
# tell the user exactly which path they should select in the GUI
$(V1) echo "*** NOTE NOTE NOTE ***"
$(V1) echo "*"
$(V1) echo "* In the GUI, please use exactly this path as the installation path:"
$(V1) echo "* $(QT_SDK_DIR)"
$(V1) echo "*"
$(V1) echo "*** NOTE NOTE NOTE ***"
#installer is an executable, make it executable and run it
$(V1) chmod u+x "$(DL_DIR)/$(QT_SDK_FILE)"
"$(DL_DIR)/$(QT_SDK_FILE)" -style cleanlooks
$(V1) "$(DL_DIR)/$(QT_SDK_FILE)" -style cleanlooks
.PHONY: qt_sdk_clean
qt_sdk_clean:
@ -644,14 +651,6 @@ EF_BOARDS := $(ALL_BOARDS)
BL_BOARDS := $(filter-out ins, $(BL_BOARDS))
BU_BOARDS := $(filter-out ins, $(BU_BOARDS))
# FIXME: The CC bootloader updaters don't work anymore due to
# differences between CC and CC3D
BU_BOARDS := $(filter-out coptercontrol, $(BU_BOARDS))
# FIXME: PipXtreme bootloader updater doesn't work due to missing
# definitions for LEDs
BU_BOARDS := $(filter-out pipxtreme, $(BU_BOARDS))
# Generate the targets for whatever boards are left in each list
FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))

24
flight/Bootloaders/BootloaderUpdater/main.c
View File

@ -33,7 +33,7 @@
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
void error(int);
void error(void);
/* The ADDRESSES of the _binary_* symbols are the important
* data. This is non-intuitive for _binary_size where you
@ -50,14 +50,11 @@ int main() {
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(3000);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
/// Self overwrite check
uint32_t base_address = SCB->VTOR;
if ((0x08000000 + embedded_image_size) > base_address)
error(PIOS_LED_HEARTBEAT);
error();
///
FLASH_Unlock();
@ -82,7 +79,7 @@ int main() {
}
if (fail == true)
error(PIOS_LED_HEARTBEAT);
error();
///
@ -90,7 +87,6 @@ int main() {
/// Bootloader programing
for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
bool result = false;
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == false) {
result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
@ -98,15 +94,9 @@ int main() {
}
}
if (result == false)
error(PIOS_LED_HEARTBEAT);
error();
}
///
for (uint8_t x = 0; x < 3; ++x) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
}
/// Invalidate the bootloader updater so we won't run
/// the update again on the next power cycle.
@ -119,11 +109,7 @@ int main() {
}
void error(int led) {
void error(void) {
for (;;) {
PIOS_LED_On(led);
PIOS_DELAY_WaitmS(500);
PIOS_LED_Off(led);
PIOS_DELAY_WaitmS(500);
}
}

24
flight/Modules/ManualControl/manualcontrol.c
View File

@ -92,6 +92,7 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
static void applyDeadband(float *value, float deadband);
#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
@ -200,7 +201,7 @@ static void manualControlTask(void *parameters)
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
ManualControlCommandGetMetadata(&metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetAccess(&metadata, ACCESS_READWRITE);
ManualControlCommandSetMetadata(&metadata);
}
}
@ -321,6 +322,13 @@ static void manualControlTask(void *parameters)
cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
// Apply deadband for Roll/Pitch/Yaw stick inputs
if (settings.Deadband) {
applyDeadband(&cmd.Roll, settings.Deadband);
applyDeadband(&cmd.Pitch, settings.Deadband);
applyDeadband(&cmd.Yaw, settings.Deadband);
}
if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT)
@ -877,6 +885,20 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
}
/**
* @brief Apply deadband to Roll/Pitch/Yaw channels
*/
static void applyDeadband(float *value, float deadband)
{
if (fabs(*value) < deadband)
*value = 0.0f;
else
if (*value > 0.0f)
*value -= deadband;
else
*value += deadband;
}
/**
* @}
* @}

56
flight/Modules/Telemetry/telemetry.c
View File

@ -73,7 +73,7 @@ static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static void registerObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj, int32_t eventType);
static int32_t addObject(UAVObjHandle obj);
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
static void processObjEvent(UAVObjEvent * ev);
@ -158,32 +158,34 @@ static void registerObject(UAVObjHandle obj)
addObject(obj);
// Setup object for telemetry updates
updateObject(obj);
updateObject(obj, EV_NONE);
}
/**
* Update object's queue connections and timer, depending on object's settings
* \param[in] obj Object to updates
*/
static void updateObject(UAVObjHandle obj)
static void updateObject(UAVObjHandle obj, int32_t eventType)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object depending on update mode
if (metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC) {
if (updateMode == UPDATEMODE_PERIODIC) {
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE) {
} else if (updateMode == UPDATEMODE_ONCHANGE) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
@ -192,7 +194,22 @@ static void updateObject(UAVObjHandle obj)
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_MANUAL) {
} else if (updateMode == UPDATEMODE_THROTTLED) {
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// If we received a periodic update, we can change back to update on change
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
// Set update period on initialization and metadata change
if (eventType == EV_NONE)
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
} else {
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
}
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_MANUAL) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
@ -201,11 +218,6 @@ static void updateObject(UAVObjHandle obj)
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_NEVER) {
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect queue
UAVObjDisconnectQueue(obj, priorityQueue);
}
}
@ -215,6 +227,7 @@ static void updateObject(UAVObjHandle obj)
static void processObjEvent(UAVObjEvent * ev)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
FlightTelemetryStatsData flightStats;
int32_t retries;
int32_t success;
@ -226,16 +239,17 @@ static void processObjEvent(UAVObjEvent * ev)
} else {
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle()) {
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
// Act on event
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL) {
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
@ -257,9 +271,13 @@ static void processObjEvent(UAVObjEvent * ev)
}
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE); // linked object will be the actual object the metadata are for
}
}
if((updateMode == UPDATEMODE_THROTTLED) && !UAVObjIsMetaobject(ev->obj)) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(ev->obj, ev->event);
}
}
}
@ -376,7 +394,7 @@ static int32_t addObject(UAVObjHandle obj)
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_MANUAL;
ev.event = EV_UPDATED_PERIODIC;
return EventPeriodicQueueCreate(&ev, queue, 0);
}
@ -394,7 +412,7 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_MANUAL;
ev.event = EV_UPDATED_PERIODIC;
return EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
}

2
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -44,7 +44,7 @@ const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
#define PIOS_PPM_IN_MIN_NUM_CHANNELS 4
#define PIOS_PPM_IN_MAX_NUM_CHANNELS PIOS_PPM_NUM_INPUTS
#define PIOS_PPM_STABLE_CHANNEL_COUNT 25 // frames
#define PIOS_PPM_IN_MIN_SYNC_PULSE_US 3800 // microseconds
#define PIOS_PPM_IN_MIN_SYNC_PULSE_US 3000 // microseconds
#define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds
#define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds

14
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -55,20 +55,10 @@ void PIOS_SYS_Init(void)
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE |
RCC_APB2Periph_AFIO, ENABLE);
/* Activate pull-ups on all pins by default */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = 0xffff;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOD, &GPIO_InitStructure);
#if (PIOS_USB_ENABLED)
GPIO_InitStructure.GPIO_Pin = 0xffff & ~GPIO_Pin_11 & ~GPIO_Pin_12; /* Exclude USB pins */
#endif
GPIO_Init(GPIOA, &GPIO_InitStructure);
#if (PIOS_USB_ENABLED)
/* Ensure that pull-up is active on detect pin */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = PIOS_USB_DETECT_GPIO_PIN;
GPIO_Init(PIOS_USB_DETECT_GPIO_PORT, &GPIO_InitStructure);

24
flight/UAVObjects/eventdispatcher.c
View File

@ -59,7 +59,7 @@ typedef struct {
*/
struct PeriodicObjectListStruct {
EventCallbackInfo evInfo; /** Event callback information */
int32_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
uint16_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
int32_t timeToNextUpdateMs; /** Time delay to the next update */
struct PeriodicObjectListStruct* next; /** Needed by linked list library (utlist.h) */
};
@ -75,9 +75,9 @@ static EventStats stats;
// Private functions
static int32_t processPeriodicUpdates();
static void eventTask();
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
static uint32_t randomizePeriod(uint32_t periodMs);
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs);
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs);
static uint16_t randomizePeriod(uint16_t periodMs);
/**
@ -151,7 +151,7 @@ int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb)
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs)
{
return eventPeriodicCreate(ev, cb, 0, periodMs);
}
@ -163,7 +163,7 @@ int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs)
{
return eventPeriodicUpdate(ev, cb, 0, periodMs);
}
@ -175,7 +175,7 @@ int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs)
{
return eventPeriodicCreate(ev, 0, queue, periodMs);
}
@ -187,7 +187,7 @@ int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t pe
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs)
{
return eventPeriodicUpdate(ev, 0, queue, periodMs);
}
@ -200,7 +200,7 @@ int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t pe
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs)
{
PeriodicObjectList* objEntry;
// Get lock
@ -244,7 +244,7 @@ static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQue
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs)
{
PeriodicObjectList* objEntry;
// Get lock
@ -374,7 +374,7 @@ static int32_t processPeriodicUpdates()
* Based on the Park-Miller-Carta Pseudo-Random Number Generator
* http://www.firstpr.com.au/dsp/rand31/
*/
static uint32_t randomizePeriod(uint32_t periodMs)
static uint16_t randomizePeriod(uint16_t periodMs)
{
static uint32_t seed = 1;
uint32_t hi, lo;
@ -384,6 +384,6 @@ static uint32_t randomizePeriod(uint32_t periodMs)
lo += hi >> 15;
if (lo > 0x7FFFFFFF) lo -= 0x7FFFFFFF;
seed = lo;
return (uint32_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
return (uint16_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
}

8
flight/UAVObjects/inc/eventdispatcher.h
View File

@ -40,9 +40,9 @@ int32_t EventDispatcherInitialize();
void EventGetStats(EventStats* statsOut);
void EventClearStats();
int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb);
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs);
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs);
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs);
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs);
#endif // EVENTDISPATCHER_H

69
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -35,6 +35,17 @@
#define UAVOBJ_ALL_INSTANCES 0xFFFF
#define UAVOBJ_MAX_INSTANCES 1000
/*
* Shifts and masks used to read/write metadata flags.
*/
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
// FIXME: All this typedef for SDCARD needs to be abstracted away
#if !defined(PIOS_INCLUDE_SDCARD)
@ -50,42 +61,50 @@ typedef void* UAVObjHandle;
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_MANUAL = 2, /** Manually update object, by calling the updated() function */
UPDATEMODE_NEVER = 3 /** Object is never updated */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
} UAVObjUpdateMode;
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
uint8_t access; /** Defines the access level for the local transactions (readonly and readwrite) */
uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
uint32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
uint32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) UAVObjMetadata;
/**
* Event types generated by the objects.
*/
typedef enum {
EV_NONE = 0x00, /** No event */
EV_UNPACKED = 0x01, /** Object data updated by unpacking */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATE_REQ = 0x08 /** Request to update object data */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATED_PERIODIC = 0x08, /** Object update from periodic event */
EV_UPDATE_REQ = 0x10 /** Request to update object data */
} UAVObjEventType;
/**
* Helper macros for event masks
*/
#define EV_MASK_ALL 0
#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL)
#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATED_PERIODIC)
/**
* Access types
@ -165,10 +184,24 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut);
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn);
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut);
uint8_t UAVObjGetMetadataAccess(const UAVObjMetadata* dataOut);
void UAVObjMetadataInitialize(UAVObjMetadata* dataOut);
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* dataOut);
void UAVObjSetAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* dataOut);
void UAVObjSetGcsAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryAcked( UAVObjMetadata* dataOut, uint8_t val);
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* dataOut, uint8_t val);
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb);
void UAVObjRequestUpdate(UAVObjHandle obj);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId);

224
flight/UAVObjects/uavobjectmanager.c
View File

@ -37,13 +37,22 @@
// Private types
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
#define OLGetIsMetaobject(olp) ((olp)->flags & OL_IS_METAOBJECT)
#define OLSetIsMetaobject(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_METAOBJECT) : ((olp)->flags | OL_IS_METAOBJECT)))
#define OLGetIsSingleInstance(olp) ((olp)->flags & OL_IS_SINGLE_INSTANCE)
#define OLSetIsSingleInstance(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SINGLE_INSTANCE) : ((olp)->flags | OL_IS_SINGLE_INSTANCE)))
#define OLGetIsSettings(olp) ((olp)->flags & OL_IS_SETTINGS)
#define OLSetIsSettings(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SETTINGS) : ((olp)->flags | OL_IS_SETTINGS)))
/**
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
int32_t eventMask;
uint8_t eventMask;
struct ObjectEventListStruct *next;
};
typedef struct ObjectEventListStruct ObjectEventList;
@ -58,6 +67,12 @@ struct ObjectInstListStruct {
};
typedef struct ObjectInstListStruct ObjectInstList;
typedef enum {
OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */
} ObjectListFlags;
/**
* List of objects registered in the object manager
*/
@ -66,12 +81,8 @@ struct ObjectListStruct {
/** The object ID */
const char *name;
/** The object name */
int8_t isMetaobject;
/** Set to 1 if this is a metaobject */
int8_t isSingleInstance;
/** Set to 1 if this object has a single instance */
int8_t isSettings;
/** Set to 1 if this object is a settings object */
ObjectListFlags flags;
/** The object list mode flags */
uint16_t numBytes;
/** Number of data bytes contained in the object (for a single instance) */
uint16_t numInstances;
@ -93,7 +104,7 @@ static int32_t sendEvent(ObjectList * obj, uint16_t instId,
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask);
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb);
@ -125,16 +136,7 @@ int32_t UAVObjInitialize()
return -1;
// Initialize default metadata structure (metadata of metaobjects)
defMetadata.access = ACCESS_READWRITE;
defMetadata.gcsAccess = ACCESS_READWRITE;
defMetadata.telemetryAcked = 1;
defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.telemetryUpdatePeriod = 0;
defMetadata.gcsTelemetryAcked = 1;
defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.gcsTelemetryUpdatePeriod = 0;
defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.loggingUpdatePeriod = 0;
UAVObjMetadataInitialize(&defMetadata);
// Done
return 0;
@ -204,9 +206,9 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
}
objEntry->id = id;
objEntry->name = name;
objEntry->isMetaobject = (int8_t) isMetaobject;
objEntry->isSingleInstance = (int8_t) isSingleInstance;
objEntry->isSettings = (int8_t) isSettings;
OLSetIsMetaobject(objEntry, isMetaobject);
OLSetIsSingleInstance(objEntry, isSingleInstance);
OLSetIsSettings(objEntry, isSettings);
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
@ -243,11 +245,11 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
initCb((UAVObjHandle) objEntry, 0);
}
// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
}
// If this is a settings object, attempt to load from SD card
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
@ -403,7 +405,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSingleInstance;
return OLGetIsSingleInstance((ObjectList *) obj);
}
/**
@ -413,7 +415,7 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isMetaobject;
return OLGetIsMetaobject((ObjectList *) obj);
}
/**
@ -423,7 +425,7 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSettings;
return OLGetIsSettings((ObjectList *) obj);
}
/**
@ -539,7 +541,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
&bytesWritten);
// Write the instance ID
if (!objEntry->isSingleInstance) {
if (!OLGetIsSingleInstance(objEntry)) {
PIOS_FWRITE(file, &instEntry->instId,
sizeof(instEntry->instId), &bytesWritten);
}
@ -658,7 +660,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
// Get the instance ID
instId = 0;
if (!objEntry->isSingleInstance) {
if (!OLGetIsSingleInstance(objEntry)) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
@ -822,7 +824,7 @@ int32_t UAVObjSaveSettings()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
@ -851,7 +853,7 @@ int32_t UAVObjLoadSettings()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
@ -880,7 +882,7 @@ int32_t UAVObjDeleteSettings()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
@ -909,7 +911,7 @@ int32_t UAVObjSaveMetaobjects()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
@ -938,7 +940,7 @@ int32_t UAVObjLoadMetaobjects()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
@ -967,7 +969,7 @@ int32_t UAVObjDeleteMetaobjects()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
@ -1047,11 +1049,11 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
if (mdata->access == ACCESS_READONLY) {
if (UAVObjGetAccess(mdata) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
@ -1094,10 +1096,10 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
objEntry = (ObjectList*)obj;
// Check access level
if ( !objEntry->isMetaobject )
if ( !OLGetIsMetaobject(objEntry) )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
if ( mdata->access == ACCESS_READONLY )
if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
return -1;
@ -1223,7 +1225,7 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList *) obj;
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
dataIn);
} else {
@ -1250,7 +1252,7 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
// Get metadata
objEntry = (ObjectList *) obj;
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
@ -1262,6 +1264,136 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
return 0;
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
*/
void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
{
metadata->flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata->telemetryUpdatePeriod = 0;
metadata->gcsTelemetryUpdatePeriod = 0;
metadata->loggingUpdatePeriod = 0;
}
/**
* Get the UAVObject metadata access member
* \param[in] metadata The metadata object
* \return the access type
*/
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* metadata)
{
return (metadata->flags >> UAVOBJ_ACCESS_SHIFT) & 1;
}
/**
* Set the UAVObject metadata access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObjSetAccess(UAVObjMetadata* metadata, UAVObjAccessType mode)
{
SET_BITS(metadata->flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \return the GCS access type
*/
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* metadata)
{
return (metadata->flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObjSetGcsAccess(UAVObjMetadata* metadata, UAVObjAccessType mode) {
SET_BITS(metadata->flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The telemetry acked boolean
*/
void UAVObjSetTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata telemetry update mode
* \param[in] metadata The metadata object
* \return the telemetry update mode
*/
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
/**
* Set the UAVObject metadata telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The telemetry update mode
*/
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Get the UAVObject metadata GCS telemetry update mode
* \param[in] metadata The metadata object
* \return the GCS telemetry update mode
*/
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
/**
* Set the UAVObject metadata GCS telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry update mode
*/
void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Check if an object is read only
* \param[in] obj The object handle
@ -1279,11 +1411,11 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
return mdata->access == ACCESS_READONLY;
return UAVObjGetAccess(mdata) == ACCESS_READONLY;
}
return -1;
}
@ -1297,7 +1429,7 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
int32_t eventMask)
uint8_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1330,7 +1462,7 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
int32_t eventMask)
uint8_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1469,7 +1601,7 @@ static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
int32_t n;
// For single instance objects, only instance zero is allowed
if (obj->isSingleInstance && instId != 0) {
if (OLGetIsSingleInstance(obj) && instId != 0) {
return NULL;
}
// Make sure that the instance ID is within limits
@ -1543,7 +1675,7 @@ static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask)
UAVObjEventCallback cb, uint8_t eventMask)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;

14
flight/UAVObjects/uavobjecttemplate.c
View File

@ -85,15 +85,15 @@ $(INITFIELDS)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = $(FLIGHTACCESS);
metadata.gcsAccess = $(GCSACCESS);
metadata.telemetryAcked = $(FLIGHTTELEM_ACKED);
metadata.telemetryUpdateMode = $(FLIGHTTELEM_UPDATEMODE);
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.gcsTelemetryAcked = $(GCSTELEM_ACKED);
metadata.gcsTelemetryUpdateMode = $(GCSTELEM_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdateMode = $(LOGGING_UPDATEMODE);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
UAVObjSetMetadata(obj, &metadata);
}

1043
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -38,7 +38,7 @@
</font>
</property>
<property name="text">
<string>Aircraft type:</string>
<string>Vehicle type:</string>
</property>
</widget>
</item>
@ -73,8 +73,25 @@
</item>
<item>
<widget class="QStackedWidget" name="airframesWidget">
<property name="styleSheet">
<string notr="true">#groupBox,#groupBox_2,#groupBox_3,#groupBox_6,#elevonMixBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="currentIndex">
<number>1</number>
<number>2</number>
</property>
<widget class="QWidget" name="fixedWing">
<property name="enabled">
@ -126,34 +143,7 @@
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_23">
<item>
<widget class="QLabel" name="label_7">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Channel Assignment</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
<layout class="QHBoxLayout" name="horizontalLayout_23"/>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
@ -167,29 +157,29 @@
</property>
<property name="minimumSize">
<size>
<width>0</width>
<width>230</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Output channel assignments</string>
<string>Output Channel Assignments</string>
</property>
<layout class="QFormLayout" name="formLayout_3">
<item row="0" column="0">
<item row="1" column="0">
<widget class="QLabel" name="fwEngineLabel">
<property name="text">
<string>Engine</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="fwEngineChannel">
<item row="1" column="1">
<widget class="QComboBox" name="fwEngineChannelBox">
<property name="toolTip">
<string>Select output channel for the engine</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="fwAileron1Label">
<property name="minimumSize">
<size>
@ -202,14 +192,14 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="fwAileron1Channel">
<item row="2" column="1">
<widget class="QComboBox" name="fwAileron1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first aileron (or elevon)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QLabel" name="fwAileron2Label">
<property name="enabled">
<bool>false</bool>
@ -225,8 +215,8 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="fwAileron2Channel">
<item row="3" column="1">
<widget class="QComboBox" name="fwAileron2ChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
@ -235,7 +225,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QLabel" name="fwElevator1Label">
<property name="minimumSize">
<size>
@ -248,14 +238,14 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="fwElevator1Channel">
<item row="4" column="1">
<widget class="QComboBox" name="fwElevator1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first elevator</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QLabel" name="fwElevator2Label">
<property name="enabled">
<bool>false</bool>
@ -271,44 +261,57 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="fwElevator2Channel">
<item row="5" column="1">
<widget class="QComboBox" name="fwElevator2ChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Select output channel for a secondry elevator</string>
<string>Select output channel for a secondary elevator</string>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLabel" name="fwRudder1Label">
<property name="text">
<string>Rudder 1</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="fwRudder1Channel">
<item row="6" column="1">
<widget class="QComboBox" name="fwRudder1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first rudder</string>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="fwRudder2Label">
<property name="text">
<string>Rudder 2</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QComboBox" name="fwRudder2Channel">
<item row="7" column="1">
<widget class="QComboBox" name="fwRudder2ChannelBox">
<property name="toolTip">
<string>Select output channel for a secondary rudder</string>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -324,6 +327,22 @@
<string>Elevon Mix</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<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>0</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
@ -336,13 +355,29 @@
<height>0</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Rudder %</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="elevonSlider1">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximum">
<number>100</number>
</property>
@ -355,10 +390,13 @@
</widget>
</item>
<item>
<widget class="QLabel" name="label_18">
<widget class="QLabel" name="elevonSliderLabel1">
<property name="text">
<string>50</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
@ -373,13 +411,29 @@
<height>0</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch %</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="elevonSlider2">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximum">
<number>100</number>
</property>
@ -392,10 +446,13 @@
</widget>
</item>
<item>
<widget class="QLabel" name="label_25">
<widget class="QLabel" name="elevonSliderLabel2">
<property name="text">
<string>50</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
@ -430,6 +487,22 @@
<string>Throttle Curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<spacer name="verticalSpacer_6">
<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>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="MixerCurveWidget" name="fixedWingThrottle" native="true">
<property name="sizePolicy">
@ -460,6 +533,12 @@
</item>
<item>
<widget class="QPushButton" name="fwThrottleReset">
<property name="maximumSize">
<size>
<width>200</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Reset</string>
</property>
@ -608,7 +687,13 @@
<item>
<layout class="QVBoxLayout" name="verticalLayout_22">
<item>
<widget class="QLabel" name="label_43">
<widget class="QLabel" name="mrRollMixValue">
<property name="minimumSize">
<size>
<width>30</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>100</string>
</property>
@ -619,6 +704,12 @@
</item>
<item>
<widget class="QSlider" name="mrRollMixLevel">
<property name="minimumSize">
<size>
<width>35</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Weight of Roll mixing in percent.
Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
@ -636,6 +727,13 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
</item>
<item>
<widget class="QLabel" name="label_42">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>R</string>
</property>
@ -649,7 +747,13 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
<item>
<layout class="QVBoxLayout" name="verticalLayout_23">
<item>
<widget class="QLabel" name="label_44">
<widget class="QLabel" name="mrYawPitchValue">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>100</string>
</property>
@ -660,6 +764,12 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
</item>
<item>
<widget class="QSlider" name="mrPitchMixLevel">
<property name="minimumSize">
<size>
<width>35</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Weight of Pitch mixing in percent.
Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
@ -677,6 +787,13 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
</item>
<item>
<widget class="QLabel" name="label_40">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>P</string>
</property>
@ -690,7 +807,13 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
<item>
<layout class="QVBoxLayout" name="verticalLayout_21">
<item>
<widget class="QLabel" name="label_45">
<widget class="QLabel" name="mrYawMixValue">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>50</string>
</property>
@ -701,6 +824,12 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
</item>
<item>
<widget class="QSlider" name="mrYawMixLevel">
<property name="minimumSize">
<size>
<width>40</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Weight of Yaw mixing in percent.
Typical value is 50% for + or X configuration on quads.</string>
@ -724,6 +853,13 @@ Typical value is 50% for + or X configuration on quads.</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Y</string>
</property>
@ -786,6 +922,22 @@ Typical value is 50% for + or X configuration on quads.</string>
<string>Throtte Curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<spacer name="verticalSpacer_7">
<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>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="MixerCurveWidget" name="multiThrottleCurve" native="true">
<property name="sizePolicy">
@ -813,6 +965,12 @@ Typical value is 50% for + or X configuration on quads.</string>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>200</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Reset</string>
</property>
@ -869,13 +1027,20 @@ Typical value is 50% for + or X configuration on quads.</string>
</item>
<item>
<widget class="QLabel" name="label_2">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>channel:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="triYawChannel">
<widget class="QComboBox" name="triYawChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
@ -928,62 +1093,106 @@ Typical value is 50% for + or X configuration on quads.</string>
<property name="verticalSpacing">
<number>3</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label_3">
<item row="1" column="0">
<widget class="QLabel" name="MotorOutputLabel1">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>1</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="multiMotor1">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>2</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="multiMotor2">
<widget class="QComboBox" name="multiMotorChannelBox1">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_9">
<widget class="QLabel" name="label_8">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>3</string>
<string>2</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="multiMotor3">
<widget class="QComboBox" name="multiMotorChannelBox2">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_9">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>3</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="multiMotorChannelBox3">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_10">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>4</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="multiMotor4">
<item row="4" column="1">
<widget class="QComboBox" name="multiMotorChannelBox4">
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
@ -994,15 +1203,22 @@ Typical value is 50% for + or X configuration on quads.</string>
<property name="verticalSpacing">
<number>3</number>
</property>
<item row="0" column="0">
<item row="1" column="0">
<widget class="QLabel" name="label_11">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>5</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="multiMotor5">
<item row="1" column="1">
<widget class="QComboBox" name="multiMotorChannelBox5">
<property name="enabled">
<bool>false</bool>
</property>
@ -1017,32 +1233,22 @@ Typical value is 50% for + or X configuration on quads.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="label_12">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>6</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="multiMotor6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>7</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="multiMotor7">
<widget class="QComboBox" name="multiMotorChannelBox6">
<property name="enabled">
<bool>false</bool>
</property>
@ -1052,14 +1258,21 @@ Typical value is 50% for + or X configuration on quads.</string>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_17">
<widget class="QLabel" name="label_16">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>8</string>
<string>7</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="multiMotor8">
<widget class="QComboBox" name="multiMotorChannelBox7">
<property name="enabled">
<bool>false</bool>
</property>
@ -1068,6 +1281,46 @@ Typical value is 50% for + or X configuration on quads.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_17">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>8</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="multiMotorChannelBox8">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer_9">
<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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
@ -1129,6 +1382,520 @@ Typical value is 50% for + or X configuration on quads.</string>
</item>
</layout>
</widget>
<widget class="QWidget" name="groundVehicle">
<property name="enabled">
<bool>true</bool>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3" stretch="0">
<item>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Vehicle type:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="groundVehicleType"/>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_23">
<item>
<widget class="QLabel" name="label_7">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Channel Assignment</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Output channel asignmets</string>
</property>
<layout class="QFormLayout" name="formLayout_3">
<item row="0" column="0">
<widget class="QLabel" name="gvEngineLabel">
<property name="minimumSize">
<size>
<width>77</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Engine</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="gvEngineChannelBox">
<property name="toolTip">
<string>Select output channel for the engine</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="gvAileron1Label">
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Aileron 1</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="gvAileron1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first aileron (or elevon)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="gvAileron2Label">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Aileron 2</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="gvAileron2ChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Select output channel for the second aileron (or elevon)</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="gvMotor1Label">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Motor</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="gvMotor1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first motor</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="gvMotor2Label">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>47</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Motor 2</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="gvMotor2ChannelBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Select output channel for a second motor</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="gvSteering1Label">
<property name="text">
<string>Front Steering</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="gvSteering1ChannelBox">
<property name="toolTip">
<string>Select output channel for the first steering actuator</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="gvSteering2Label">
<property name="text">
<string>Rear Steering</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QComboBox" name="gvSteering2ChannelBox">
<property name="toolTip">
<string>Select output channel for a second steering actuator</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="differentialSteeringMixBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Differential Steering Mix</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<widget class="QLabel" name="differentialSteeringLabel1">
<property name="minimumSize">
<size>
<width>65</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Left %</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="differentialSteeringSlider1">
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gvDiffSteering1Label">
<property name="text">
<string>50</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<widget class="QLabel" name="differentialSteeringLabel2">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Right %</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="differentialSteeringSlider2">
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gvDiffSteering2Label">
<property name="text">
<string>50</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="gvThrottleCurve1GroupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>100</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Front throttle curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<widget class="MixerCurveWidget" name="groundVehicleThrottle1" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="gvThrottleCurve1Reset">
<property name="maximumSize">
<size>
<width>200</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gvThrottleCurve1ItemValue">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
<property name="title">
<string>Rear throttle curve</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_17">
<item>
<widget class="MixerCurveWidget" name="groundVehicleThrottle2" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="gvThrottleCurve2Reset">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gvThrottleCurve2ItemValue">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</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_13">
<item>
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="gvStatusLabel">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Mixer OK</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="custom">
<layout class="QHBoxLayout" name="horizontalLayout_15">
<item>
@ -1785,7 +2552,7 @@ Typical value is 50% for + or X configuration on quads.</string>
</widget>
</item>
<item>
<widget class="QLabel" name="feedForwardValue">
<widget class="QLabel" name="feedForwardSliderValue">
<property name="minimumSize">
<size>
<width>30</width>
@ -1890,7 +2657,7 @@ Do it after accel time is setup.</string>
</widget>
</item>
<item>
<widget class="QLabel" name="label_33">
<widget class="QLabel" name="maxAccelSliderValue">
<property name="text">
<string>1000</string>
</property>
@ -2013,12 +2780,12 @@ 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:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; 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 IS DANGEROUS&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;/p&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-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&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;&quot;&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>
@ -2124,7 +2891,7 @@ p, li { white-space: pre-wrap; }
<customwidget>
<class>ConfigccpmWidget</class>
<extends>QWidget</extends>
<header>configccpmwidget.h</header>
<header>cfg_vehicletypes/configccpmwidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
@ -2135,7 +2902,7 @@ p, li { white-space: pre-wrap; }
<connection>
<sender>feedForwardSlider</sender>
<signal>valueChanged(int)</signal>
<receiver>feedForwardValue</receiver>
<receiver>feedForwardSliderValue</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
@ -2151,7 +2918,7 @@ p, li { white-space: pre-wrap; }
<connection>
<sender>maxAccelSlider</sender>
<signal>valueChanged(int)</signal>
<receiver>label_33</receiver>
<receiver>maxAccelSliderValue</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
@ -2167,7 +2934,7 @@ p, li { white-space: pre-wrap; }
<connection>
<sender>elevonSlider1</sender>
<signal>valueChanged(int)</signal>
<receiver>label_18</receiver>
<receiver>elevonSliderLabel1</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
@ -2183,12 +2950,12 @@ p, li { white-space: pre-wrap; }
<connection>
<sender>elevonSlider2</sender>
<signal>valueChanged(int)</signal>
<receiver>label_25</receiver>
<receiver>elevonSliderLabel2</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>124</x>
<y>126</y>
<x>362</x>
<y>299</y>
</hint>
<hint type="destinationlabel">
<x>124</x>
@ -2196,10 +2963,42 @@ p, li { white-space: pre-wrap; }
</hint>
</hints>
</connection>
<connection>
<sender>differentialSteeringSlider1</sender>
<signal>valueChanged(int)</signal>
<receiver>gvDiffSteering1Label</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>124</x>
<y>126</y>
</hint>
<hint type="destinationlabel">
<x>315</x>
<y>391</y>
</hint>
</hints>
</connection>
<connection>
<sender>differentialSteeringSlider2</sender>
<signal>valueChanged(int)</signal>
<receiver>gvDiffSteering2Label</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>124</x>
<y>126</y>
</hint>
<hint type="destinationlabel">
<x>390</x>
<y>391</y>
</hint>
</hints>
</connection>
<connection>
<sender>mrPitchMixLevel</sender>
<signal>valueChanged(int)</signal>
<receiver>label_44</receiver>
<receiver>mrPitchMixValue</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
@ -2215,7 +3014,7 @@ p, li { white-space: pre-wrap; }
<connection>
<sender>mrRollMixLevel</sender>
<signal>valueChanged(int)</signal>
<receiver>label_43</receiver>
<receiver>mrRollMixValue</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
@ -2231,7 +3030,7 @@ p, li { white-space: pre-wrap; }
<connection>
<sender>mrYawMixLevel</sender>
<signal>valueChanged(int)</signal>
<receiver>label_45</receiver>
<receiver>mrYawMixValue</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">

161
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -16,6 +16,23 @@
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="styleSheet">
<string notr="true">#groupBox_5,#groupBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
@ -28,7 +45,7 @@
<x>0</x>
<y>0</y>
<width>702</width>
<height>488</height>
<height>484</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
@ -87,7 +104,7 @@
<string>Basic Settings (Stabilization)</string>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<item row="2" column="3">
<item row="3" column="3">
<widget class="QSpinBox" name="yawOutputRange">
<property name="toolTip">
<string>Camera yaw angle for 100% output value, deg.
@ -103,7 +120,7 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="2" column="2">
<item row="3" column="2">
<widget class="QSpinBox" name="pitchOutputRange">
<property name="toolTip">
<string>Camera pitch angle for 100% output value, deg.
@ -119,7 +136,7 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QSpinBox" name="rollOutputRange">
<property name="toolTip">
<string>Camera roll angle for 100% output value, deg.
@ -135,7 +152,7 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="1" column="3">
<item row="2" column="3">
<widget class="QComboBox" name="yawChannel">
<property name="toolTip">
<string>Yaw output channel for camera gimbal</string>
@ -147,7 +164,7 @@ have to define channel output range using Output configuration tab.</string>
</item>
</widget>
</item>
<item row="1" column="2">
<item row="2" column="2">
<widget class="QComboBox" name="pitchChannel">
<property name="toolTip">
<string>Pitch output channel for camera gimbal</string>
@ -159,7 +176,7 @@ have to define channel output range using Output configuration tab.</string>
</item>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QComboBox" name="rollChannel">
<property name="toolTip">
<string>Roll output channel for camera gimbal</string>
@ -171,22 +188,29 @@ have to define channel output range using Output configuration tab.</string>
</item>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Output Channel</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>Output Range</string>
</property>
</widget>
</item>
<item row="0" column="3">
<item row="1" column="3">
<widget class="QLabel" name="label_44">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
@ -195,8 +219,15 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="0" column="2">
<item row="1" column="2">
<widget class="QLabel" name="label_45">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
@ -205,8 +236,15 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="0" column="1">
<item row="1" column="1">
<widget class="QLabel" name="label_46">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
@ -215,6 +253,19 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -252,8 +303,15 @@ have to define channel output range using Output configuration tab.</string>
<string>Advanced Settings (Control)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<item row="0" column="3">
<item row="1" column="3">
<widget class="QLabel" name="label_32">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
@ -262,8 +320,15 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="0" column="2">
<item row="1" column="2">
<widget class="QLabel" name="label_33">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
@ -272,8 +337,15 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="0" column="1">
<item row="1" column="1">
<widget class="QLabel" name="label_34">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
@ -282,7 +354,7 @@ have to define channel output range using Output configuration tab.</string>
</property>
</widget>
</item>
<item row="1" column="3">
<item row="2" column="3">
<widget class="QComboBox" name="yawInputChannel">
<property name="toolTip">
<string>Input channel to control camera yaw
@ -296,7 +368,7 @@ Don't forget to map this channel using Input configuration tab.</string>
</item>
</widget>
</item>
<item row="1" column="2">
<item row="2" column="2">
<widget class="QComboBox" name="pitchInputChannel">
<property name="toolTip">
<string>Input channel to control camera pitch
@ -310,7 +382,7 @@ Don't forget to map this channel using Input configuration tab.</string>
</item>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QComboBox" name="rollInputChannel">
<property name="toolTip">
<string>Input channel to control camera roll
@ -324,14 +396,14 @@ Don't forget to map this channel using Input configuration tab.</string>
</item>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Input Channel</string>
</property>
</widget>
</item>
<item row="2" column="3">
<item row="3" column="3">
<widget class="QComboBox" name="yawStabilizationMode">
<property name="toolTip">
<string>Axis stabilization mode
@ -346,7 +418,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</item>
</widget>
</item>
<item row="3" column="3">
<item row="4" column="3">
<widget class="QSpinBox" name="yawInputRange">
<property name="toolTip">
<string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
@ -359,7 +431,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="4" column="3">
<item row="5" column="3">
<widget class="QSpinBox" name="yawInputRate">
<property name="toolTip">
<string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
@ -372,7 +444,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="5" column="3">
<item row="6" column="3">
<widget class="QSpinBox" name="yawResponseTime">
<property name="toolTip">
<string>Input low-pass filter response time for yaw axis, ms.
@ -387,7 +459,7 @@ This option smoothes the stick input. Zero value disables LPF.</string>
</property>
</widget>
</item>
<item row="2" column="2">
<item row="3" column="2">
<widget class="QComboBox" name="pitchStabilizationMode">
<property name="toolTip">
<string>Axis stabilization mode
@ -402,7 +474,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</item>
</widget>
</item>
<item row="3" column="2">
<item row="4" column="2">
<widget class="QSpinBox" name="pitchInputRange">
<property name="toolTip">
<string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
@ -415,7 +487,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="4" column="2">
<item row="5" column="2">
<widget class="QSpinBox" name="pitchInputRate">
<property name="toolTip">
<string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
@ -428,7 +500,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="5" column="2">
<item row="6" column="2">
<widget class="QSpinBox" name="pitchResponseTime">
<property name="toolTip">
<string>Input low-pass filter response time for pitch axis, ms.
@ -443,7 +515,7 @@ This option smoothes the stick input. Zero value disables LPF.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QComboBox" name="rollStabilizationMode">
<property name="toolTip">
<string>Axis stabilization mode
@ -458,7 +530,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</item>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QSpinBox" name="rollInputRange">
<property name="toolTip">
<string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
@ -471,7 +543,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QSpinBox" name="rollInputRate">
<property name="toolTip">
<string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
@ -484,7 +556,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QSpinBox" name="rollResponseTime">
<property name="toolTip">
<string>Input low-pass filter response time for roll axis, ms.
@ -499,49 +571,49 @@ This option smoothes the stick input. Zero value disables LPF.</string>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>MaxAxisLockRate</string>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Response Time</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Input Rate</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Input Range</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Stabilization Mode</string>
</property>
</widget>
</item>
<item row="6" column="2" colspan="2">
<item row="7" column="2" colspan="2">
<widget class="QLabel" name="label_41">
<property name="text">
<string>(the same value for Roll, Pitch, Yaw)</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="toolTip">
<string>Stick input deadband for all axes in AxisLock mode, deg/s.
@ -564,6 +636,19 @@ value.</string>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>

444
ground/openpilotgcs/src/plugins/config/ccpm.ui
View File

@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>660</width>
<width>850</width>
<height>572</height>
</rect>
</property>
@ -69,6 +69,23 @@
<height>300</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">#SwashplateBox,#SwashplateBox_2,#SwashplateBox_3,#SwashplateBox_4,#ccpmSwashImageBox,#SwashLvlInstructionsBox,#SwashLvlccpmSwashImageBox,#SwashLvlccpmSliderBox,#SwashLvlStatusBox,#ThrottleCurveBox,#PitchCurveBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="currentIndex">
<number>0</number>
</property>
@ -215,6 +232,22 @@
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_5">
<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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -245,7 +278,7 @@
<property name="margin">
<number>3</number>
</property>
<item row="0" column="0">
<item row="1" column="0">
<widget class="QLabel" name="ccpmServoWLabel">
<property name="enabled">
<bool>true</bool>
@ -273,7 +306,7 @@
</property>
</widget>
</item>
<item row="0" column="1">
<item row="1" column="1">
<widget class="QComboBox" name="ccpmServoWChannel">
<property name="enabled">
<bool>true</bool>
@ -298,7 +331,7 @@
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QComboBox" name="ccpmServoXChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -320,7 +353,7 @@
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QComboBox" name="ccpmServoYChannel">
<property name="enabled">
<bool>true</bool>
@ -345,7 +378,7 @@
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="ccpmServoXLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -370,7 +403,7 @@
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QComboBox" name="ccpmSingleServo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@ -412,7 +445,7 @@
</item>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLabel" name="ccpmServoZLabel_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -437,7 +470,7 @@
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QComboBox" name="ccpmServoZChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -459,7 +492,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QLabel" name="ccpmServoZLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -484,7 +517,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QLabel" name="ccpmServoYLabel">
<property name="enabled">
<bool>true</bool>
@ -512,6 +545,22 @@
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_6">
<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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -548,7 +597,7 @@
<property name="margin">
<number>3</number>
</property>
<item row="0" column="1">
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleW">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -579,7 +628,7 @@
</property>
</widget>
</item>
<item row="0" column="0">
<item row="1" column="0">
<widget class="QLabel" name="ccpmServoWLabel_2">
<property name="enabled">
<bool>true</bool>
@ -607,7 +656,7 @@
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="ccpmServoXLabel_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -632,7 +681,7 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QLabel" name="ccpmServoYLabel_2">
<property name="enabled">
<bool>true</bool>
@ -660,7 +709,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QLabel" name="ccpmServoZLabel_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -685,7 +734,7 @@
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLabel" name="label_10">
<property name="enabled">
<bool>true</bool>
@ -716,7 +765,7 @@
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleX">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -747,7 +796,7 @@
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="ccpmCorrectionAngle">
<property name="enabled">
<bool>true</bool>
@ -781,7 +830,7 @@
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleZ">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -812,7 +861,7 @@
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleY">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -843,6 +892,22 @@
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_7">
<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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -873,14 +938,14 @@
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="ccpmCollectivePassthrough">
<property name="text">
<string>Collective Pass through</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="ccpmLinkRoll">
<property name="text">
<string>Link Roll/Pitch</string>
@ -890,7 +955,7 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="ccpmLinkCyclic">
<property name="text">
<string>Link Cyclic/Collective</string>
@ -900,6 +965,22 @@
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_8">
<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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -960,7 +1041,9 @@
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="title">
@ -982,7 +1065,7 @@
<property name="margin">
<number>3</number>
</property>
<item row="0" column="0">
<item row="1" column="0">
<widget class="QSplitter" name="splitter_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -1068,6 +1151,22 @@
</widget>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_9">
<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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -1107,6 +1206,21 @@
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
}</string>
</property>
<property name="title">
<string>REVO</string>
</property>
@ -1117,6 +1231,22 @@
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_10">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_14">
<property name="enabled">
@ -1230,7 +1360,7 @@
</property>
<property name="minimumSize">
<size>
<width>50</width>
<width>60</width>
<height>100</height>
</size>
</property>
@ -1240,6 +1370,21 @@
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
}</string>
</property>
<property name="title">
<string>CCPM</string>
</property>
@ -1253,6 +1398,22 @@
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_11">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_15">
<property name="enabled">
@ -1382,7 +1543,7 @@
</property>
<property name="minimumSize">
<size>
<width>50</width>
<width>70</width>
<height>100</height>
</size>
</property>
@ -1392,6 +1553,21 @@
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
}</string>
</property>
<property name="title">
<string>Collective</string>
</property>
@ -1405,6 +1581,22 @@
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_12">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
@ -1505,6 +1697,21 @@
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
}</string>
</property>
<property name="title">
<string>Cyclic</string>
</property>
@ -1521,6 +1728,22 @@
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_13">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
@ -1621,6 +1844,21 @@
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
}</string>
</property>
<property name="title">
<string>Pitch</string>
</property>
@ -1634,6 +1872,22 @@
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_14">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
@ -1734,6 +1988,21 @@
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
}</string>
</property>
<property name="title">
<string>Roll</string>
</property>
@ -1747,6 +2016,22 @@
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_15">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
@ -1865,6 +2150,22 @@
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_16">
<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>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_9">
<property name="spacing">
@ -2087,6 +2388,22 @@
</item>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_19">
<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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -2121,7 +2438,7 @@
</property>
<property name="minimumSize">
<size>
<width>50</width>
<width>70</width>
<height>100</height>
</size>
</property>
@ -2144,11 +2461,34 @@
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_18">
<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>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_17">
<property name="enabled">
<bool>true</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
@ -2226,6 +2566,13 @@
<property name="enabled">
<bool>true</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
@ -2301,7 +2648,7 @@
<property name="margin">
<number>3</number>
</property>
<item row="0" column="0">
<item row="1" column="0">
<widget class="QSplitter" name="splitter_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -2390,6 +2737,22 @@
</widget>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_17">
<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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -2507,6 +2870,13 @@
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="CurveLabel1">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
@ -2514,6 +2884,13 @@
</item>
<item row="0" column="1">
<widget class="QLabel" name="CurveLabel2">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
@ -2521,6 +2898,13 @@
</item>
<item row="0" column="2">
<widget class="QLabel" name="CurveLabel3">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Step point</string>
</property>

8
ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp → ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -1703,10 +1703,10 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
if (state)
{
SwashLvlaccInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
SwashLvlConfigurationInProgress=1;
m_ccpm->TabObject->setTabEnabled(0,0);

2
ground/openpilotgcs/src/plugins/config/configccpmwidget.h → ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -81,7 +81,7 @@ public:
ConfigccpmWidget(QWidget *parent = 0);
~ConfigccpmWidget();
friend class ConfigAirframeWidget;
friend class ConfigVehicleTypeWidget;
private:
Ui_ccpmWidget *m_ccpm;

699
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp Normal file
View File

@ -0,0 +1,699 @@
/**
******************************************************************************
*
* @file configfixedwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief ccpm configuration panel
*****************************************************************************/
/*
* 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 "configfixedwingwidget.h"
#include "configvehicletypewidget.h"
#include "mixersettings.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QBrush>
#include <math.h>
#include <QMessageBox>
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
/**
Helper function to setup the UI
*/
void ConfigVehicleTypeWidget::setupFixedWingUI(QString frameType)
{
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
// Setup the UI
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
m_aircraft->fwElevator1ChannelBox->setEnabled(true);
m_aircraft->fwElevator1Label->setEnabled(true);
m_aircraft->fwElevator2ChannelBox->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
m_aircraft->fwAileron1ChannelBox->setEnabled(true);
m_aircraft->fwAileron1Label->setEnabled(true);
m_aircraft->fwAileron2ChannelBox->setEnabled(true);
m_aircraft->fwAileron2Label->setEnabled(true);
m_aircraft->fwAileron1Label->setText("Aileron 1");
m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonMixBox->setHidden(true);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevon"));
m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2");
m_aircraft->fwElevator1ChannelBox->setEnabled(false);
m_aircraft->fwElevator1Label->setEnabled(false);
m_aircraft->fwElevator2ChannelBox->setEnabled(false);
m_aircraft->fwElevator2Label->setEnabled(false);
m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonMixBox->setHidden(false);
m_aircraft->elevonLabel1->setText("Roll");
m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Vtail"));
m_aircraft->fwRudder1ChannelBox->setEnabled(false);
m_aircraft->fwRudder1Label->setEnabled(false);
m_aircraft->fwRudder2ChannelBox->setEnabled(false);
m_aircraft->fwRudder2Label->setEnabled(false);
m_aircraft->fwElevator1ChannelBox->setEnabled(true);
m_aircraft->fwElevator1Label->setEnabled(true);
m_aircraft->fwElevator1Label->setText("Vtail 1");
m_aircraft->fwElevator2Label->setText("Vtail 2");
m_aircraft->elevonMixBox->setHidden(false);
m_aircraft->fwElevator2ChannelBox->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
m_aircraft->fwAileron1Label->setText("Aileron 1");
m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->elevonLabel1->setText("Rudder");
m_aircraft->elevonLabel2->setText("Pitch");
}
}
/**
Helper function to update the UI widget objects
*/
QString ConfigVehicleTypeWidget::updateFixedWingObjectsFromWidgets()
{
QString airframeType = "FixedWing";
// Save the curve (common to all Fixed wing frames)
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Remove Feed Forward, it is pointless on a plane:
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble(0);
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
//All airframe types must start with "FixedWing"
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
airframeType = "FixedWing";
setupFrameFixedWing( airframeType );
} else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon( airframeType );
} else { // "Vtail"
airframeType = "FixedWingVtail";
setupFrameVtail( airframeType );
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
return airframeType;
}
/**
Helper function to refresh the UI widget values
*/
void ConfigVehicleTypeWidget::refreshFixedWingWidgetsValues(QString frameType)
{
UAVDataObject* obj;
UAVObjectField *field;
// Then retrieve how channels are setup
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
m_aircraft->fwEngineChannelBox->setCurrentIndex(m_aircraft->fwEngineChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll1"));
Q_ASSERT(field);
m_aircraft->fwAileron1ChannelBox->setCurrentIndex(m_aircraft->fwAileron1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll2"));
Q_ASSERT(field);
m_aircraft->fwAileron2ChannelBox->setCurrentIndex(m_aircraft->fwAileron2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch1"));
Q_ASSERT(field);
m_aircraft->fwElevator1ChannelBox->setCurrentIndex(m_aircraft->fwElevator1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch2"));
Q_ASSERT(field);
m_aircraft->fwElevator2ChannelBox->setCurrentIndex(m_aircraft->fwElevator2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->fwRudder1ChannelBox->setCurrentIndex(m_aircraft->fwRudder1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw2"));
Q_ASSERT(field);
m_aircraft->fwRudder2ChannelBox->setCurrentIndex(m_aircraft->fwRudder2ChannelBox->findText(field->getValue().toString()));
if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Roll");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
}
}
if (frameType == "FixedWingVtail") {
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
if (chMixerNumber >=0) {
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Yaw");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
}
}
}
/**
Setup Elevator/Aileron/Rudder airframe.
If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
Returns False if impossible to create the mixer.
*/
bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType);
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
((m_aircraft->fwAileron1ChannelBox->currentText() == "None") &&
(m_aircraft->fwRudder1ChannelBox->currentText() == "None"))) {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevator
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1ChannelBox->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2ChannelBox->currentText());
// Aileron
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Rudder
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(tmpVal));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
// Rudder
tmpVal = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
// tmpVal will be -1 if rudder is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no rudder, only ailerons, we're fine with it.
// Ailerons
tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127, ti);
// Only set Aileron 2 if Aileron 1 is defined
tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127, ti);
}
} // Else we have no ailerons. Our consistency check guarantees we have
// rudder in this case, so we're fine with it too.
// Elevator
tmpVal = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(127, ti);
// Only set Elevator 2 if it is defined
tmpVal = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(127, ti);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup Elevon
*/
bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType);
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwAileron1ChannelBox->currentText() == "None" ||
m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Rudder 1 (can be None)
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
// Rudder 2 (can be None)
field = obj->getField("FixedWingYaw2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder2ChannelBox->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
obj->updated();
// Save the curve:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(tmpVal));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
// Rudder 1
tmpVal = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
// tmpVal will be -1 if rudder 1 is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
// Rudder 2
tmpVal = m_aircraft->fwRudder2ChannelBox->currentIndex()-1;
// tmpVal will be -1 if rudder 2 is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup VTail
*/
bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType);
// - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
m_aircraft->fwElevator2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1ChannelBox->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2ChannelBox->currentText());
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(tmpVal));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127,ti);
}
tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-127,ti);
}
// Now compute the VTail
tmpVal = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
tmpVal = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigVehicleTypeWidget::throwFixedWingChannelConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
//Create a red block. All combo boxes are the same size, so any one should do as a model
int size = m_aircraft->fwEngineChannelBox->style()->pixelMetric(QStyle::PM_SmallIconSize);
QPixmap pixmap(size,size);
pixmap.fill(QColor("red"));
if (airframeType == "FixedWing" ) {
if (m_aircraft->fwEngineChannelBox->currentText() == "None"){
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
if (m_aircraft->fwElevator1ChannelBox->currentText() == "None"){
m_aircraft->fwElevator1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwElevator1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
if ((m_aircraft->fwAileron1ChannelBox->currentText() == "None") && (m_aircraft->fwRudder1ChannelBox->currentText() == "None")) {
pixmap.fill(QColor("green"));
m_aircraft->fwAileron1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
m_aircraft->fwRudder1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
m_aircraft->fwRudder1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
} else if (airframeType == "FixedWingElevon"){
if (m_aircraft->fwEngineChannelBox->currentText() == "None"){
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
if(m_aircraft->fwAileron1ChannelBox->currentText() == "None"){
m_aircraft->fwAileron1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
if (m_aircraft->fwAileron2ChannelBox->currentText() == "None"){
m_aircraft->fwAileron2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwAileron2ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
} else if ( airframeType == "FixedWingVtail"){
if (m_aircraft->fwEngineChannelBox->currentText() == "None"){
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
if(m_aircraft->fwElevator1ChannelBox->currentText() == "None"){
m_aircraft->fwElevator1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwElevator1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
if(m_aircraft->fwElevator2ChannelBox->currentText() == "None"){
m_aircraft->fwElevator2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->fwElevator2ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
}
if (error){
m_aircraft->fwStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
}

751
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp Normal file
View File

@ -0,0 +1,751 @@
/**
******************************************************************************
*
* @file configgroundvehiclemwidget.cpp
* @author K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief ccpm configuration panel
*****************************************************************************/
/*
* 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 "configgroundvehiclewidget.h"
#include "configvehicletypewidget.h"
#include "mixersettings.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QBrush>
#include <math.h>
#include <QMessageBox>
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
/**
Helper function to setup the UI
*/
void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType)
{
m_aircraft->differentialSteeringMixBox->setHidden(true);
//STILL NEEDS WORK
// Setup the UI
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Ground"));
m_aircraft->gvEngineChannelBox->setEnabled(false);
m_aircraft->gvEngineLabel->setEnabled(false);
m_aircraft->gvAileron1ChannelBox->setEnabled(false);
m_aircraft->gvAileron1Label->setEnabled(false);
m_aircraft->gvAileron2ChannelBox->setEnabled(false);
m_aircraft->gvAileron2Label->setEnabled(false);
if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"){ //Tank
m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Differential (tank)"));
m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor1Label->setEnabled(true);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvMotor2Label->setEnabled(true);
m_aircraft->gvMotor1Label->setText("Left motor");
m_aircraft->gvMotor2Label->setText("Right motor");
m_aircraft->gvSteering1ChannelBox->setEnabled(false);
m_aircraft->gvSteering1Label->setEnabled(false);
m_aircraft->gvSteering2ChannelBox->setEnabled(false);
m_aircraft->gvSteering2Label->setEnabled(false);
m_aircraft->gvSteering2Label->setText("Rear steering");
m_aircraft->differentialSteeringMixBox->setHidden(false);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Left throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Right throttle curve");
}
else if (frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle"){ //Motorcycle
m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Motorcycle"));
m_aircraft->gvMotor1ChannelBox->setEnabled(false);
m_aircraft->gvMotor1Label->setEnabled(false);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvMotor2Label->setEnabled(true);
m_aircraft->gvMotor1Label->setText("Front motor");
m_aircraft->gvMotor2Label->setText("Rear motor");
m_aircraft->gvSteering1ChannelBox->setEnabled(true);
m_aircraft->gvSteering1Label->setEnabled(true);
m_aircraft->gvSteering2ChannelBox->setEnabled(true);
m_aircraft->gvSteering2Label->setEnabled(true);
m_aircraft->gvSteering2Label->setText("Balancing");
m_aircraft->differentialSteeringMixBox->setHidden(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Front throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
}
else {//Car
m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Turnable (car)"));
m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor1Label->setEnabled(true);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvMotor2Label->setEnabled(true);
m_aircraft->gvMotor1Label->setText("Front motor");
m_aircraft->gvMotor2Label->setText("Rear motor");
m_aircraft->gvSteering1ChannelBox->setEnabled(true);
m_aircraft->gvSteering1Label->setEnabled(true);
m_aircraft->gvSteering2ChannelBox->setEnabled(true);
m_aircraft->gvSteering2Label->setEnabled(true);
m_aircraft->differentialSteeringMixBox->setHidden(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Front throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
}
}
/**
Helper function to update the UI widget objects
*/
QString ConfigVehicleTypeWidget::updateGroundVehicleObjectsFromWidgets()
{
QString airframeType = "GroundVehicleCar";
// Save the curve (common to all ground vehicle frames)
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Remove Feed Forward, it is pointless on a ground vehicle:
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble(0);
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->groundVehicleThrottle1->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
field = obj->getField("ThrottleCurve2");
curve = m_aircraft->groundVehicleThrottle2->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
//All airframe types must start with "GroundVehicle"
if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)" ) {
airframeType = "GroundVehicleCar";
setupGroundVehicleCar(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") {
airframeType = "GroundVehicleDifferential";
setupGroundVehicleDifferential(airframeType);
} else { // "Motorcycle"
airframeType = "GroundVehicleMotorcycle";
setupGroundVehicleMotorcycle(airframeType);
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
return airframeType;
}
/**
Helper function to refresh the UI widget values
*/
void ConfigVehicleTypeWidget::refreshGroundVehicleWidgetsValues(QString frameType)
{
UAVDataObject* obj;
UAVObjectField *field;
//THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE
// Retrieve channel setup values
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
m_aircraft->gvEngineChannelBox->setCurrentIndex(m_aircraft->gvEngineChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll1"));
Q_ASSERT(field);
m_aircraft->gvAileron1ChannelBox->setCurrentIndex(m_aircraft->gvAileron1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll2"));
Q_ASSERT(field);
m_aircraft->gvAileron2ChannelBox->setCurrentIndex(m_aircraft->gvAileron2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleThrottle1"));
Q_ASSERT(field);
m_aircraft->gvMotor1ChannelBox->setCurrentIndex(m_aircraft->gvMotor1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleThrottle2"));
Q_ASSERT(field);
m_aircraft->gvMotor2ChannelBox->setCurrentIndex(m_aircraft->gvMotor2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleSteering1"));
Q_ASSERT(field);
m_aircraft->gvSteering1ChannelBox->setCurrentIndex(m_aircraft->gvSteering1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleSteering2"));
Q_ASSERT(field);
m_aircraft->gvSteering2ChannelBox->setCurrentIndex(m_aircraft->gvSteering2ChannelBox->findText(field->getValue().toString()));
if (frameType == "GroundVehicleDifferential") {
//CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE
// If the vehicle type is "differential", restore the slider setting
// Find the channel number for Motor1
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Roll");
m_aircraft->differentialSteeringSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->differentialSteeringSlider2->setValue(field->getDouble(ti)*100);
}
}
if (frameType == "GroundVehicleMotorcycle") {
//CURRENTLY BROKEN UNTIL WE DECIDE HOW MOTORCYCLE SHOULD BEHAVE
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int chMixerNumber = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
// if (chMixerNumber >=0) {
// field = obj->getField(mixerVectors.at(chMixerNumber));
// int ti = field->getElementNames().indexOf("Yaw");
// m_aircraft->differentialSteeringSlider1->setValue(field->getDouble(ti)*100);
//
// ti = field->getElementNames().indexOf("Pitch");
// m_aircraft->differentialSteeringSlider2->setValue(field->getDouble(ti)*100);
// }
}
}
/**
Setup balancing ground vehicle.
Returns False if impossible to create the mixer.
*/
bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType);
// - Motor, steering, and balance
if (m_aircraft->gvMotor1ChannelBox->currentText() == "None" ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering2ChannelBox->currentText() == "None") )
{
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Left motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Right motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int tmpVal, ti;
// Disable all output channels
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
//Disable output channel
field->setValue("Disabled");
}
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(0, ti);
}
// Motor
// Setup motor
tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1"); //Set motor to full forward
field->setValue(127, ti);
//Steering
// Setup steering
tmpVal = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw"); //Set steering response to roll
field->setValue(-127, ti);
ti = field->getElementNames().indexOf("Roll"); //Set steering response to roll
field->setValue(-127, ti);
//Balancing
// Setup balancing servo
tmpVal = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw"); //Set balance response to yaw
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Roll"); //Set balance response to roll
field->setValue(127, ti);
obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup differentially steered ground vehicle.
Returns False if impossible to create the mixer.
*/
bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType);
// - Left and right steering
if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering1ChannelBox->currentText() == "None")
{
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Left motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Right motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int tmpVal, ti;
// Disable all output channels
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
//Disable output channel
field->setValue("Disabled");
}
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(0, ti);
}
// Motor
// Setup left motor
tmpVal = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1"); //Set motor to full forward
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Yaw"); //Set motor to turn right with increasing throttle
field->setValue(127, ti);
// Setup right motor
tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve2"); //Set motor to full forward
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Yaw"); //Set motor to turn left with increasing throttle
field->setValue(-127, ti);
obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup steerable ground vehicle.
Returns False if impossible to create the mixer.
*/
bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType);
// - At least one motor and one steering servo
if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
m_aircraft->gvMotor2ChannelBox->currentText() == "None") ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" &&
m_aircraft->gvSteering2ChannelBox->currentText() == "None"))
{
return false;
}
// else{
// // m_aircraft->gvStatusLabel->setText("Mixer generated");
// QTextEdit* htmlText=new QTextEdit(m_aircraft->gvSteering1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvSteering2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering2Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor2Label->setText(htmlText->toPlainText());
// }
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Front motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Rear motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
// // Aileron
// field = obj->getField("FixedWingRoll1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
//
// field = obj->getField("FixedWingRoll2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Front steering
field = obj->getField("GroundVehicleSteering1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvSteering1ChannelBox->currentText());
// Rear steering
field = obj->getField("GroundVehicleSteering2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvSteering2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int tmpVal, ti;
// Disable all output channels
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
//Disable output channel
field->setValue("Disabled");
}
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(0, ti);
}
// Steering
// Only set front steering if it is defined
tmpVal = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
// tmpVal will be -1 if steering is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no front steering. We're fine with it as long as we have rear steering
// Only set rear steering if it is defined
tmpVal = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
// tmpVal will be -1 if steering is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-127, ti);
} // Else: we have no rear steering. We're fine with it as long as we have front steering
// Motor
// Only set front motor if it is defined
tmpVal = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
}
// Only set rear motor if it is defined
tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(127, ti);
}
obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
}
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigVehicleTypeWidget::throwGroundVehicleChannelConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
//Create a red block. All combo boxes are the same size, so any one should do as a model
int size = m_aircraft->gvEngineChannelBox->style()->pixelMetric(QStyle::PM_SmallIconSize);
QPixmap pixmap(size,size);
pixmap.fill(QColor("red"));
if (airframeType == "GroundVehicleCar" ) { //Car
if(m_aircraft->gvMotor1ChannelBox->currentText() == "None" && m_aircraft->gvMotor2ChannelBox->currentText() == "None"){
pixmap.fill(QColor("green"));
m_aircraft->gvMotor1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
m_aircraft->gvMotor2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
// m_aircraft->gvMotor1Label->setText("<font color='red'>" + m_aircraft->gvMotor1Label->text() + "</font>");
// m_aircraft->gvMotor2Label->setText("<font color='red'>" + m_aircraft->gvMotor2Label->text() + "</font>");
error=true;
}
else{
m_aircraft->gvMotor1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
m_aircraft->gvMotor2ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
// QTextEdit* htmlText=new QTextEdit(m_aircraft->gvMotor1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor2Label->setText(htmlText->toPlainText());
}
if (m_aircraft->gvSteering1ChannelBox->currentText() == "None" && m_aircraft->gvSteering2ChannelBox->currentText() == "None") {
m_aircraft->gvSteering1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
m_aircraft->gvSteering2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
// m_aircraft->gvStatusLabel->setText("<font color='red'>ERROR: check steering channel assignment</font>");
// m_aircraft->gvSteering1Label->setText("<font color='red'>" + m_aircraft->gvSteering1Label->text() + "</font>");
// m_aircraft->gvSteering2Label->setText("<font color='red'>" + m_aircraft->gvSteering2Label->text() + "</font>");
error=true;
}
else{
m_aircraft->gvSteering1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
m_aircraft->gvSteering2ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
// QTextEdit* htmlText=new QTextEdit(m_aircraft->gvSteering1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvSteering2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering2Label->setText(htmlText->toPlainText());
}
} else if (airframeType == "GroundVehicleDifferential"){ //Tank
if(m_aircraft->gvMotor1ChannelBox->currentText() == "None" || m_aircraft->gvMotor2ChannelBox->currentText() == "None"){
m_aircraft->gvMotor1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
m_aircraft->gvMotor2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->gvMotor1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
m_aircraft->gvMotor2ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
//Always reset
m_aircraft->gvSteering1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
m_aircraft->gvSteering2ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
} else if ( airframeType == "GroundVehicleMotorcycle"){ //Motorcycle
if(m_aircraft->gvMotor1ChannelBox->currentText() == "None" && m_aircraft->gvMotor2ChannelBox->currentText() == "None"){
m_aircraft->gvMotor2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->gvMotor2ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
if (m_aircraft->gvSteering1ChannelBox->currentText() == "None" && m_aircraft->gvSteering2ChannelBox->currentText() == "None") {
m_aircraft->gvSteering1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
error=true;
}
else{
m_aircraft->gvSteering1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
//Always reset
m_aircraft->gvMotor1ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
m_aircraft->gvSteering2ChannelBox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
}
if (error){
m_aircraft->gvStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
}

1146
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp Normal file
View File

@ -0,0 +1,1146 @@
/**
******************************************************************************
*
* @file configmultirotorwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief ccpm configuration panel
*****************************************************************************/
/*
* 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 "configmultirotorwidget.h"
#include "configvehicletypewidget.h"
#include "mixersettings.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QBrush>
#include <math.h>
#include <QMessageBox>
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
//#define Pi 3.14159265358979323846
/**
Helper function to setup the UI
*/
void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
{
if (frameType == "Tri" || frameType == "Tricopter Y") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Tricopter Y"));
quad->setElementId("tri");
//Enable all necessary motor channel boxes...
for (int i=1; i <=3; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
//and grey out all unused motor channel boxes
for (int i=4; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(true);
} else if (frameType == "QuadX" || frameType == "Quad X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-X");
//Enable all necessary motor channel boxes...
for (int i=1; i <=4; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
//and grey out all unused motor channel boxes
for (int i=5; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "QuadP" || frameType == "Quad +") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad +"));
quad->setElementId("quad-plus");
//Enable all necessary motor channel boxes...
for (int i=1; i <=4; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
//and grey out all unused motor channel boxes
for (int i=5; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter"));
quad->setElementId("quad-hexa");
//Enable all necessary motor channel boxes...
for (int i=1; i <=6; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter X"));
quad->setElementId("quad-hexa-H");
//Enable all necessary motor channel boxes...
for (int i=1; i <=6; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
quad->setElementId("hexa-coax");
//Enable all necessary motor channel boxes...
for (int i=1; i <=6; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(66);
} else if (frameType == "Octo" || frameType == "Octocopter") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter"));
quad->setElementId("quad-octo");
//Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoV" || frameType == "Octocopter V") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter V"));
quad->setElementId("quad-octo-v");
//Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax +"));
quad->setElementId("octo-coax-P");
//Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax X"));
quad->setElementId("octo-coax-X");
//Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(true);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
}
}
/**
Helper function to update the UI widget objects
*/
QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
{
QString airframeType;
QList<QString> motorList;
// We can already setup the feedforward here, as it is common to all platforms
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->multiThrottleCurve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
setupQuad(true);
} else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
airframeType = "QuadX";
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
airframeType = "Hexa";
setupHexa(true);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
airframeType = "HexaX";
setupHexa(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
airframeType = "HexaCoax";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(6);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorS" << "VTOLMotorSE";
setupMotors(motorList);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, -1},
{ 0.5, 1, 1},
{ 0.5, -1, -1},
{ 0.5, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
airframeType = "Octo";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{ 0, -1, -1},
{ -1, -1, 1},
{ -1, 0, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
airframeType = "OctoV";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// IMPORTANT: Assumes evenly spaced engines
// pitch roll yaw
double mixer [8][3] = {
{ 0.33, -1, -1},
{ 1 , -1, 1},
{ -1 , -1, -1},
{ -0.33, -1, 1},
{ -0.33, 1, -1},
{ -1 , 1, 1},
{ 1 , 1, -1},
{ 0.33, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
airframeType = "OctoCoaxP";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, 0, 1},
{ 0, -1, -1},
{ 0, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 1, -1},
{ 0, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
airframeType = "OctoCoaxX";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 1, -1},
{ 1, 1, 1},
{ 1, -1, -1},
{ 1, -1, 1},
{ -1, -1, -1},
{ -1, -1, 1},
{ -1, 1, -1},
{ -1, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
airframeType = "Tri";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(3);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ) {
return airframeType;
}
if (m_aircraft->triYawChannelBox->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField("FixedWingYaw1");
field->setValue(m_aircraft->triYawChannelBox->currentText());
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, 0},
{ 0.5, -1, 0},
{ -1, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMultiRotorMixer(mixer);
int tmpVal = m_aircraft->triYawChannelBox->currentIndex()-1;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
int ti = field->getElementNames().indexOf("Yaw");
field->setValue(127,ti);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
return airframeType;
}
/**
Helper function to refresh the UI widget values
*/
void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
{
//////////////////////////////////////////////////////////////////
// Retrieve settings
//////////////////////////////////////////////////////////////////
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
if (frameType == "QuadP") {
// Motors 1/2/3/4 are: N / E / S / W
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = field->getDouble(i)/1.27;
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = (1-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = -field->getDouble(i)/1.27;
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = field->getDouble(i)/1.27;
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = 1-field->getDouble(i)/1.27;
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = field->getDouble(i)/1.27;
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
field = obj->getField(QString("VTOLMotorN"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
if(tmpVal>-1)
{
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
} else if (frameType == "HexaX") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox7->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox8->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
if (frameType == "Octo") {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
} else if (frameType == "OctoV") {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Yaw");
double val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Pitch");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
} else if (frameType == "OctoCoaxP") {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox3->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
} else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox7->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox8->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->triYawChannelBox->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
}
/**
Helper function: setupQuadMotor
*/
void ConfigVehicleTypeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
{
qDebug()<<QString("Setup quad motor channel=%0 pitch=%1 roll=%2 yaw=%3").arg(channel).arg(pitch).arg(roll).arg(yaw);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(mixerTypes.at(channel));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(channel));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(roll*127,ti);
qDebug()<<"Set roll="<<roll*127;
ti = field->getElementNames().indexOf("Pitch");
field->setValue(pitch*127,ti);
qDebug()<<"Set pitch="<<pitch*127;
ti = field->getElementNames().indexOf("Yaw");
field->setValue(yaw*127,ti);
qDebug()<<"Set yaw="<<yaw*127;
}
/**
Helper function: setup motors. Takes a list of channel names in input.
*/
void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList)
{
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
foreach (QString motor, motorList) {
field = obj->getField(motor);
field->setValue(mmList.takeFirst()->currentText());
}
//obj->updated(); // Save...
}
/**
Set up a Quad-X or Quad-P mixer
*/
bool ConfigVehicleTypeWidget::setupQuad(bool pLayout)
{
// Check coherence:
//Show any config errors in GUI
throwMultiRotorChannelConfigError(4);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None") {
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorE" << "VTOLMotorS"
<< "VTOLMotorW";
} else {
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorSE"
<< "VTOLMotorSW";
}
setupMotors(motorList);
// Now, setup the mixer:
// Motor 1 to 4, X Layout:
// pitch roll yaw
// {0.5 ,0.5 ,-0.5 //Front left motor (CW)
// {0.5 ,-0.5 ,0.5 //Front right motor(CCW)
// {-0.5 ,-0.5 ,-0.5 //rear right motor (CW)
// {-0.5 ,0.5 ,0.5 //Rear left motor (CCW)
double xMixer [8][3] = {
{ 1, 1, -1},
{ 1, -1, 1},
{-1, -1, -1},
{-1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
//
// Motor 1 to 4, P Layout:
// pitch roll yaw
// {1 ,0 ,-0.5 //Front motor (CW)
// {0 ,-1 ,0.5 //Right motor(CCW)
// {-1 ,0 ,-0.5 //Rear motor (CW)
// {0 ,1 ,0.5 //Left motor (CCW)
double pMixer [8][3] = {
{ 1, 0, -1},
{ 0, -1, 1},
{-1, 0, -1},
{ 0, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
if (pLayout) {
setupMultiRotorMixer(pMixer);
} else {
setupMultiRotorMixer(xMixer);
}
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
return true;
}
/**
Set up a Hexa-X or Hexa-P mixer
*/
bool ConfigVehicleTypeWidget::setupHexa(bool pLayout)
{
// Check coherence:
//Show any config errors in GUI
throwMultiRotorChannelConfigError(6);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None") {
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorNW";
} else {
motorList << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
}
setupMotors(motorList);
// and set only the relevant channels:
// Motor 1 to 6, P Layout:
// pitch roll yaw
// 1 { 0.3 , 0 ,-0.3 // N CW
// 2 { 0.3 ,-0.5 , 0.3 // NE CCW
// 3 {-0.3 ,-0.5 ,-0.3 // SE CW
// 4 {-0.3 , 0 , 0.3 // S CCW
// 5 {-0.3 , 0.5 ,-0.3 // SW CW
// 6 { 0.3 , 0.5 , 0.3 // NW CCW
double pMixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{-1, -1, -1},
{-1, 0, 1},
{-1, 1, -1},
{ 1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
//
// Motor 1 to 6, X Layout:
// 1 [ 0.5, -0.3, -0.3 ] NE
// 2 [ 0 , -0.3, 0.3 ] E
// 3 [ -0.5, -0.3, -0.3 ] SE
// 4 [ -0.5, 0.3, 0.3 ] SW
// 5 [ 0 , 0.3, -0.3 ] W
// 6 [ 0.5, 0.3, 0.3 ] NW
double xMixer [8][3] = {
{ 1, -1, -1},
{ 0, -1, 1},
{ -1, -1, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
if (pLayout) {
setupMultiRotorMixer(pMixer);
} else {
setupMultiRotorMixer(xMixer);
}
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
return true;
}
/**
This function sets up the multirotor mixer values.
*/
bool ConfigVehicleTypeWidget::setupMultiRotorMixer(double mixerFactors[8][3])
{
qDebug()<<"Mixer factors";
qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
qDebug()<<mixerFactors[1][0]<<" "<<mixerFactors[1][1]<<" "<<mixerFactors[1][2];
qDebug()<<mixerFactors[2][0]<<" "<<mixerFactors[2][1]<<" "<<mixerFactors[2][2];
qDebug()<<mixerFactors[3][0]<<" "<<mixerFactors[3][1]<<" "<<mixerFactors[3][2];
qDebug()<<mixerFactors[4][0]<<" "<<mixerFactors[4][1]<<" "<<mixerFactors[4][2];
qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
qDebug()<<QString("pFactor=%0 rFactor=%1 yFactor=%2").arg(pFactor).arg(rFactor).arg(yFactor);
for (int i=0 ; i<8; i++) {
if(mmList.at(i)->isEnabled())
{
int channel = mmList.at(i)->currentIndex()-1;
if (channel > -1)
setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
}
}
// obj->updated();
return true;
}
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors)
{
//Initialize configuration error flag
bool error=false;
//Iterate through all instances of multiMotorChannelBox
for (int i=0; i<numMotors; i++) {
//Fine widgets with text "multiMotorChannelBox.x", where x is an integer
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i+1));
if (combobox){ //if QLabel exists
QLabel *label = qFindChild<QLabel*>(this, "MotorOutputLabel" + QString::number(i+1));
if (combobox->currentText() == "None") {
// label->setText("<font color='red'>" + label->text() + "</font>");
int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
QPixmap pixmap(size,size);
pixmap.fill(QColor("red"));
combobox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
// combobox->setStyleSheet("QComboBox { color: red}");
error=true;
}
else {
combobox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
// combobox->setStyleSheet("color: black;");
// QTextEdit* htmlText=new QTextEdit(label->text()); // htmlText is any QString with html tags.
// label->setText(htmlText->toPlainText());
}
}
}
if (error){
m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
}
}

13
ground/openpilotgcs/src/plugins/config/config.pro
View File

@ -4,7 +4,9 @@ DEFINES += CONFIG_LIBRARY
QT += svg
include(config_dependencies.pri)
INCLUDEPATH += ../../libs/eigen
OTHER_FILES += Config.pluginspec
HEADERS += configplugin.h \
configgadgetconfiguration.h \
configgadgetwidget.h \
@ -14,11 +16,11 @@ HEADERS += configplugin.h \
fancytabwidget.h \
configinputwidget.h \
configoutputwidget.h \
configairframewidget.h \
configvehicletypewidget.h \
config_pro_hw_widget.h \
config_cc_hw_widget.h \
configccattitudewidget.h \
configccpmwidget.h \
cfg_vehicletypes/configccpmwidget.h \
configstabilizationwidget.h \
assertions.h \
calibration.h \
@ -39,11 +41,10 @@ SOURCES += configplugin.cpp \
fancytabwidget.cpp \
configinputwidget.cpp \
configoutputwidget.cpp \
configairframewidget.cpp \
configvehicletypewidget.cpp \
config_pro_hw_widget.cpp \
config_cc_hw_widget.cpp \
configccattitudewidget.cpp \
configccpmwidget.cpp \
configstabilizationwidget.cpp \
twostep.cpp \
legacy-calibration.cpp \
@ -55,6 +56,10 @@ SOURCES += configplugin.cpp \
configcamerastabilizationwidget.cpp \
configrevowidget.cpp \
configtxpidwidget.cpp \
cfg_vehicletypes/configmultirotorwidget.cpp \
cfg_vehicletypes/configgroundvehiclewidget.cpp \
cfg_vehicletypes/configfixedwingwidget.cpp \
cfg_vehicletypes/configccpmwidget.cpp \
outputchannelform.cpp
FORMS += airframe.ui \
cc_hw_settings.ui \

2221
ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
View File

@ -1,2221 +0,0 @@
/**
******************************************************************************
*
* @file configairframewidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Airframe configuration panel
*****************************************************************************/
/*
* 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 "configairframewidget.h"
#include <QDebug>
#include <QStringList>
#include <QTimer>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <math.h>
#include <QDesktopServices>
#include <QUrl>
#include "systemsettings.h"
#include "mixersettings.h"
#include "actuatorsettings.h"
#include <QEventLoop>
/**
Helper delegate for the custom mixer editor table.
Taken straight from Qt examples, thanks!
*/
SpinBoxDelegate::SpinBoxDelegate(QObject *parent)
: QItemDelegate(parent)
{
}
QWidget *SpinBoxDelegate::createEditor(QWidget *parent,
const QStyleOptionViewItem &/* option */,
const QModelIndex &/* index */) const
{
QSpinBox *editor = new QSpinBox(parent);
editor->setMinimum(-127);
editor->setMaximum(127);
return editor;
}
void SpinBoxDelegate::setEditorData(QWidget *editor,
const QModelIndex &index) const
{
int value = index.model()->data(index, Qt::EditRole).toInt();
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->setValue(value);
}
void SpinBoxDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
const QModelIndex &index) const
{
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->interpretText();
int value = spinBox->value();
model->setData(index, value, Qt::EditRole);
}
void SpinBoxDelegate::updateEditorGeometry(QWidget *editor,
const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
{
editor->setGeometry(option.rect);
}
/**********************************************************************************/
ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_aircraft = new Ui_AircraftWidget();
m_aircraft->setupUi(this);
addApplySaveButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD);
addUAVObject("SystemSettings");
addUAVObject("MixerSettings");
addUAVObject("ActuatorSettings");
ffTuningInProgress = false;
ffTuningPhase = false;
QStringList channels;
channels << "None";
for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
channels << QString("Channel%1").arg(i+1);
}
QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(1);
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
m_aircraft->fixedWingType->addItems(fixedWingTypes);
QStringList multiRotorTypes;
multiRotorTypes << "Quad +" << "Quad X" << "Hexacopter" << "Octocopter" << "Hexacopter X" << "Octocopter V" << "Octo Coax +"
<< "Octo Coax X" << "Hexacopter Y6" << "Tricopter Y";
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
// Now load all the channel assignements for fixed wing
m_aircraft->fwElevator1Channel->addItems(channels);
m_aircraft->fwElevator2Channel->addItems(channels);
m_aircraft->fwEngineChannel->addItems(channels);
m_aircraft->fwRudder1Channel->addItems(channels);
m_aircraft->fwRudder2Channel->addItems(channels);
m_aircraft->fwAileron1Channel->addItems(channels);
m_aircraft->fwAileron2Channel->addItems(channels);
m_aircraft->multiMotor1->addItems(channels);
m_aircraft->multiMotor2->addItems(channels);
m_aircraft->multiMotor3->addItems(channels);
m_aircraft->multiMotor4->addItems(channels);
m_aircraft->multiMotor5->addItems(channels);
m_aircraft->multiMotor6->addItems(channels);
m_aircraft->multiMotor7->addItems(channels);
m_aircraft->multiMotor8->addItems(channels);
m_aircraft->triYawChannel->addItems(channels);
// Setup the Multirotor picture in the Quad settings interface
m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/quad-shapes.svg"));
quad = new QGraphicsSvgItem();
quad->setSharedRenderer(renderer);
quad->setElementId("quad-plus");
QGraphicsScene *scene = new QGraphicsScene(this);
scene->addItem(quad);
scene->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->setScene(scene);
// Put combo boxes in line one of the custom mixer table:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("Mixer1Type"));
QStringList list = field->getOptions();
for (int i=0;i<8;i++) {
QComboBox* qb = new QComboBox(m_aircraft->customMixerTable);
qb->addItems(list);
m_aircraft->customMixerTable->setCellWidget(0,i,qb);
}
SpinBoxDelegate *sbd = new SpinBoxDelegate();
for (int i=1;i<8; i++) {
m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
}
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
connect(m_aircraft->customReset1, SIGNAL(clicked()), this, SLOT(resetCt1Mixer()));
connect(m_aircraft->customReset2, SIGNAL(clicked()), this, SLOT(resetCt2Mixer()));
connect(m_aircraft->fixedWingThrottle, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateFwThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->multiThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateMrThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->customThrottle1Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle1CurveValue(QList<double>,double)));
connect(m_aircraft->customThrottle2Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle2CurveValue(QList<double>,double)));
// connect(m_aircraft->fwAileron1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleAileron2(int)));
// connect(m_aircraft->fwElevator1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleElevator2(int)));
// Now connect the three feed forward test checkboxes
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
enableControls(false);
refreshWidgetsValues();
// Connect the help button
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addToDirtyMonitor();
}
ConfigAirframeWidget::~ConfigAirframeWidget()
{
// Do nothing
}
/**
Slot for switching the airframe type. We do it explicitely
rather than a signal in the UI, because we want to force a fitInView of the quad shapes.
This is because this method (fitinview) only works when the widget is shown.
*/
void ConfigAirframeWidget::switchAirframeType(int index){
m_aircraft->airframesWidget->setCurrentIndex(index);
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
if (m_aircraft->aircraftType->findText("Custom")) {
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
}
void ConfigAirframeWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
void ConfigAirframeWidget::resizeEvent(QResizeEvent* event)
{
Q_UNUSED(event);
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
// Make the custom table columns autostretch:
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
void ConfigAirframeWidget::toggleAileron2(int index)
{
if (index) {
m_aircraft->fwAileron2Channel->setEnabled(true);
m_aircraft->fwAileron2Label->setEnabled(true);
} else {
m_aircraft->fwAileron2Channel->setEnabled(false);
m_aircraft->fwAileron2Label->setEnabled(false);
}
}
void ConfigAirframeWidget::toggleElevator2(int index)
{
if (index) {
m_aircraft->fwElevator2Channel->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
} else {
m_aircraft->fwElevator2Channel->setEnabled(false);
m_aircraft->fwElevator2Label->setEnabled(false);
}
}
void ConfigAirframeWidget::toggleRudder2(int index)
{
if (index) {
m_aircraft->fwRudder2Channel->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
} else {
m_aircraft->fwRudder2Channel->setEnabled(false);
m_aircraft->fwRudder2Label->setEnabled(false);
}
}
/////////////////////////////////////////////////////////
/// Feed Forward Testing
/////////////////////////////////////////////////////////
/**
Enables and runs feed forward testing
*/
void ConfigAirframeWidget::enableFFTest()
{
// Role:
// - Check if all three checkboxes are checked
// - Every other timer event: toggle engine from 45% to 55%
// - Every other time event: send FF settings to flight FW
if (m_aircraft->ffTestBox1->isChecked() &&
m_aircraft->ffTestBox2->isChecked() &&
m_aircraft->ffTestBox3->isChecked()) {
if (!ffTuningInProgress)
{
// Initiate tuning:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
obj->setMetadata(mdata);
}
// Depending on phase, either move actuator or send FF settings:
if (ffTuningPhase) {
// Send FF settings to the board
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
obj->updated();
} else {
// Toggle motor state
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
double value = obj->getField("Throttle")->getDouble();
double target = (value < 0.5) ? 0.55 : 0.45;
obj->getField("Throttle")->setValue(target);
obj->updated();
}
ffTuningPhase = !ffTuningPhase;
ffTuningInProgress = true;
QTimer::singleShot(1000, this, SLOT(enableFFTest()));
} else {
// - If no: disarm timer, restore actuatorcommand metadata
// Disarm!
if (ffTuningInProgress) {
ffTuningInProgress = false;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
mdata = accInitialData; // Restore metadata
obj->setMetadata(mdata);
}
}
}
/**
Resets Fixed wing throttle mixer
*/
void ConfigAirframeWidget::resetFwMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
}
/**
Resets Multirotor throttle mixer
*/
void ConfigAirframeWidget::resetMrMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
}
/**
Resets Custom throttle 1 mixer
*/
void ConfigAirframeWidget::resetCt1Mixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements(),1);
}
/**
Resets Custom throttle 2 mixer
*/
void ConfigAirframeWidget::resetCt2Mixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
}
/**
Resets a mixer curve
*/
void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements, double maxvalue)
{
// Setup all Throttle1 curves for all types of airframes
mixer->initLinearCurve((quint32)numElements,maxvalue);
}
/**
Updates the currently moved throttle curve item value
*/
void ConfigAirframeWidget::updateFwThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->fwThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved throttle curve item value
*/
void ConfigAirframeWidget::updateMrThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->mrThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved throttle curve item value (Custom throttle 1)
*/
void ConfigAirframeWidget::updateCustomThrottle1CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->customThrottleCurve1Value->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved throttle curve item value (Custom throttle 2)
*/
void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->customThrottleCurve2Value->setText(QString().sprintf("Val: %.2f",value));
}
/**************************
* Aircraft settings
**************************/
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
*/
void ConfigAirframeWidget::refreshWidgetsValues()
{
if(!allObjectsUpdated())
return;
bool dirty=isDirty();
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but here you go.
QString frameType = field->getValue().toString();
setupAirframeUI(frameType);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve1"));
Q_ASSERT(field);
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);;
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->multiThrottleCurve->initCurve(curveValues);
m_aircraft->fixedWingThrottle->initCurve(curveValues);
}
}
// Setup all Throttle1 curves for all types of airframes
// Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) {
// Then retrieve how channels are setup
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
m_aircraft->fwEngineChannel->setCurrentIndex(m_aircraft->fwEngineChannel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll1"));
Q_ASSERT(field);
m_aircraft->fwAileron1Channel->setCurrentIndex(m_aircraft->fwAileron1Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll2"));
Q_ASSERT(field);
m_aircraft->fwAileron2Channel->setCurrentIndex(m_aircraft->fwAileron2Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch1"));
Q_ASSERT(field);
m_aircraft->fwElevator1Channel->setCurrentIndex(m_aircraft->fwElevator1Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch2"));
Q_ASSERT(field);
m_aircraft->fwElevator2Channel->setCurrentIndex(m_aircraft->fwElevator2Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->fwRudder1Channel->setCurrentIndex(m_aircraft->fwRudder1Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw2"));
Q_ASSERT(field);
m_aircraft->fwRudder2Channel->setCurrentIndex(m_aircraft->fwRudder2Channel->findText(field->getValue().toString()));
if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Roll");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
}
}
if (frameType == "FixedWingVtail") {
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwElevator1Channel->currentIndex()-1;
if (chMixerNumber >=0) {
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Yaw");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
}
}
} else if (frameType == "QuadX" || frameType == "QuadP" ||
frameType == "Hexa" || frameType == "Octo" ||
frameType == "HexaCoax" || frameType == "OctoV" ||
frameType == "HexaX" || frameType == "OctoCoaxP" ||
frameType == "OctoCoaxX" || frameType == "Tri") {
//////////////////////////////////////////////////////////////////
// Retrieve Multirotor settings
//////////////////////////////////////////////////////////////////
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
if (frameType == "QuadP") {
// Motors 1/2/3/4 are: N / E / S / W
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = field->getDouble(i)/1.27;
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = (1-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = -field->getDouble(i)/1.27;
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = field->getDouble(i)/1.27;
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = 1-field->getDouble(i)/1.27;
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = field->getDouble(i)/1.27;
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
field = obj->getField(QString("VTOLMotorN"));
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
if(eng>-1)
{
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
} else if (frameType == "HexaX") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotor7->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
if (frameType == "Octo") {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
} else if (frameType == "OctoV") {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Yaw");
double val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Pitch");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
} else if (frameType == "OctoCoaxP") {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor3->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
} else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotor7->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->triYawChannel->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// Now, retrieve the Feedforward values:
field = obj->getField(QString("FeedForward"));
Q_ASSERT(field);
m_aircraft->feedForwardSlider->setValue(field->getDouble()*100);
field = obj->getField(QString("AccelTime"));
Q_ASSERT(field);
m_aircraft->accelTime->setValue(field->getDouble());
field = obj->getField(QString("DecelTime"));
Q_ASSERT(field);
m_aircraft->decelTime->setValue(field->getDouble());
field = obj->getField(QString("MaxAccel"));
Q_ASSERT(field);
m_aircraft->maxAccelSlider->setValue(field->getDouble());
} else if (frameType == "HeliCP") {
m_aircraft->widget_3->requestccpmUpdate();
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Helicopter"));//"Helicopter"
} else if (frameType == "Custom") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Custom"));
}
updateCustomAirframeUI();
setDirty(dirty);
}
/**
\brief Sets up the mixer depending on Airframe type. Accepts either system settings or
combo box entry from airframe type, as those do not overlap.
*/
void ConfigAirframeWidget::setupAirframeUI(QString frameType)
{
bool dirty=isDirty();
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
// Setup the UI
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
m_aircraft->fwRudder1Channel->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true);
m_aircraft->fwRudder2Channel->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
m_aircraft->fwElevator1Channel->setEnabled(true);
m_aircraft->fwElevator1Label->setEnabled(true);
m_aircraft->fwElevator2Channel->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
m_aircraft->fwAileron1Channel->setEnabled(true);
m_aircraft->fwAileron1Label->setEnabled(true);
m_aircraft->fwAileron2Channel->setEnabled(true);
m_aircraft->fwAileron2Label->setEnabled(true);
m_aircraft->fwAileron1Label->setText("Aileron 1");
m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonMixBox->setHidden(true);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevon"));
m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2");
m_aircraft->fwElevator1Channel->setEnabled(false);
m_aircraft->fwElevator1Label->setEnabled(false);
m_aircraft->fwElevator2Channel->setEnabled(false);
m_aircraft->fwElevator2Label->setEnabled(false);
m_aircraft->fwRudder1Channel->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true);
m_aircraft->fwRudder2Channel->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonMixBox->setHidden(false);
m_aircraft->elevonLabel1->setText("Roll");
m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Vtail"));
m_aircraft->fwRudder1Channel->setEnabled(false);
m_aircraft->fwRudder1Label->setEnabled(false);
m_aircraft->fwRudder2Channel->setEnabled(false);
m_aircraft->fwRudder2Label->setEnabled(false);
m_aircraft->fwElevator1Channel->setEnabled(true);
m_aircraft->fwElevator1Label->setEnabled(true);
m_aircraft->fwElevator1Label->setText("Vtail 1");
m_aircraft->fwElevator2Label->setText("Vtail 2");
m_aircraft->elevonMixBox->setHidden(false);
m_aircraft->fwElevator2Channel->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
m_aircraft->fwAileron1Label->setText("Aileron 1");
m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->elevonLabel1->setText("Rudder");
m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "QuadX" || frameType == "Quad X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-X");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(false);
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "QuadP" || frameType == "Quad +") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad +"));
quad->setElementId("quad-plus");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(false);
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter"));
quad->setElementId("quad-hexa");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "Octo" || frameType == "Octocopter") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter"));
quad->setElementId("quad-octo");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter X"));
quad->setElementId("quad-hexa-H");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "OctoV" || frameType == "Octocopter V") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter V"));
quad->setElementId("quad-octo-v");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax +"));
quad->setElementId("octo-coax-P");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax X"));
quad->setElementId("octo-coax-X");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
quad->setElementId("hexa-coax");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(66);
} else if (frameType == "Tri" || frameType == "Tricopter Y") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Tricopter Y"));
quad->setElementId("tri");
m_aircraft->multiMotor4->setEnabled(false);
m_aircraft->multiMotor5->setEnabled(false);
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(true);
}
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
setDirty(dirty);
}
/**
Reset the contents of a field
*/
void ConfigAirframeWidget::resetField(UAVObjectField * field)
{
for (unsigned int i=0;i<field->getNumElements();i++) {
field->setValue(0,i);
}
}
/**
Reset actuator values
*/
void ConfigAirframeWidget::resetActuators()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
QList<UAVObjectField*> fieldList = obj->getFields();
// Reset all assignements first:
foreach (UAVObjectField* field, fieldList) {
// NOTE: we assume that all options in ActuatorSettings are a channel assignement
// except for the options called "ChannelXXX"
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
}
/**
Setup Elevator/Aileron/Rudder airframe.
If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
Returns False if impossible to create the mixer.
*/
bool ConfigAirframeWidget::setupFrameFixedWing()
{
// Check coherence:
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannel->currentText() == "None" ||
m_aircraft->fwElevator1Channel->currentText() == "None" ||
((m_aircraft->fwAileron1Channel->currentText() == "None") &&
(m_aircraft->fwRudder1Channel->currentText() == "None"))) {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevator
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1Channel->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2Channel->currentText());
// Aileron
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1Channel->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2Channel->currentText());
// Rudder
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1Channel->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannel->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int eng = m_aircraft->fwEngineChannel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(eng));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
// Rudder
eng = m_aircraft->fwRudder1Channel->currentIndex()-1;
// eng will be -1 if rudder is set to "None"
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no rudder, only ailerons, we're fine with it.
// Ailerons
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127, ti);
// Only set Aileron 2 if Aileron 1 is defined
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127, ti);
}
} // Else we have no ailerons. Our consistency check guarantees we have
// rudder in this case, so we're fine with it too.
// Elevator
eng = m_aircraft->fwElevator1Channel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(127, ti);
// Only set Elevator 2 if it is defined
eng = m_aircraft->fwElevator2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(127, ti);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup Elevon
*/
bool ConfigAirframeWidget::setupFrameElevon()
{
// Check coherence:
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannel->currentText() == "None" ||
m_aircraft->fwAileron1Channel->currentText() == "None" ||
m_aircraft->fwAileron2Channel->currentText() == "None") {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1Channel->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2Channel->currentText());
// Rudder 1 (can be None)
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1Channel->currentText());
// Rudder 2 (can be None)
field = obj->getField("FixedWingYaw2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder2Channel->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannel->currentText());
obj->updated();
// Save the curve:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int eng = m_aircraft->fwEngineChannel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(eng));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
// Rudder 1
eng = m_aircraft->fwRudder1Channel->currentIndex()-1;
// eng will be -1 if rudder 1 is set to "None"
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
// Rudder 2
eng = m_aircraft->fwRudder2Channel->currentIndex()-1;
// eng will be -1 if rudder 2 is set to "None"
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup VTail
*/
bool ConfigAirframeWidget::setupFrameVtail()
{
// Check coherence:
// - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannel->currentText() == "None" ||
m_aircraft->fwElevator1Channel->currentText() == "None" ||
m_aircraft->fwElevator2Channel->currentText() == "None") {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1Channel->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2Channel->currentText());
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1Channel->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2Channel->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannel->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int eng = m_aircraft->fwEngineChannel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(eng));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127,ti);
}
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-127,ti);
}
// Now compute the VTail
eng = m_aircraft->fwElevator1Channel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
eng = m_aircraft->fwElevator2Channel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Set up a complete mixer, taking a table of factors. The factors
shoudl mainly be +/- 1 factors, since they will be weighted by the
value of the Pitch/Roll/Yaw sliders.
Example:
double xMixer [8][3] = {
P R Y
{ 1, 1, -1}, Motor 1
{ 1, -1, 1}, Motor 2
{-1, -1, -1}, Motor 3
{-1, 1, 1}, ...
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
*/
bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
{
qDebug()<<"Mixer factors";
qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
qDebug()<<mixerFactors[1][0]<<" "<<mixerFactors[1][1]<<" "<<mixerFactors[1][2];
qDebug()<<mixerFactors[2][0]<<" "<<mixerFactors[2][1]<<" "<<mixerFactors[2][2];
qDebug()<<mixerFactors[3][0]<<" "<<mixerFactors[3][1]<<" "<<mixerFactors[3][2];
qDebug()<<mixerFactors[4][0]<<" "<<mixerFactors[4][1]<<" "<<mixerFactors[4][2];
qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
<< m_aircraft->multiMotor4 << m_aircraft->multiMotor5 << m_aircraft->multiMotor6
<< m_aircraft->multiMotor7 << m_aircraft->multiMotor8;
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
qDebug()<<QString("pFactor=%0 rFactor=%1 yFactor=%2").arg(pFactor).arg(rFactor).arg(yFactor);
for (int i=0 ; i<8; i++) {
if(mmList.at(i)->isEnabled())
{
int channel = mmList.at(i)->currentIndex()-1;
if (channel > -1)
setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
}
}
// obj->updated();
return true;
}
/**
Help function: setupQuadMotor
*/
void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
{
qDebug()<<QString("Setup quad motor channel=%0 pitch=%1 roll=%2 yaw=%3").arg(channel).arg(pitch).arg(roll).arg(yaw);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(mixerTypes.at(channel));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(channel));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(roll*127,ti);
qDebug()<<"Set roll="<<roll*127;
ti = field->getElementNames().indexOf("Pitch");
field->setValue(pitch*127,ti);
qDebug()<<"Set pitch="<<pitch*127;
ti = field->getElementNames().indexOf("Yaw");
field->setValue(yaw*127,ti);
qDebug()<<"Set yaw="<<yaw*127;
}
/**
Helper function: setup motors. Takes a list of channel names in input.
*/
void ConfigAirframeWidget::setupMotors(QList<QString> motorList)
{
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
<< m_aircraft->multiMotor4 << m_aircraft->multiMotor5 << m_aircraft->multiMotor6
<< m_aircraft->multiMotor7 << m_aircraft->multiMotor8;
foreach (QString motor, motorList) {
field = obj->getField(motor);
field->setValue(mmList.takeFirst()->currentText());
}
//obj->updated(); // Save...
}
/**
Set up a Quad-X or Quad-P
*/
bool ConfigAirframeWidget::setupQuad(bool pLayout)
{
// Check coherence:
// - Four engines have to be defined
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 4 motor channels");
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorE" << "VTOLMotorS"
<< "VTOLMotorW";
} else {
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorSE"
<< "VTOLMotorSW";
}
setupMotors(motorList);
// Now, setup the mixer:
// Motor 1 to 4, X Layout:
// pitch roll yaw
// {0.5 ,0.5 ,-0.5 //Front left motor (CW)
// {0.5 ,-0.5 ,0.5 //Front right motor(CCW)
// {-0.5 ,-0.5 ,-0.5 //rear right motor (CW)
// {-0.5 ,0.5 ,0.5 //Rear left motor (CCW)
double xMixer [8][3] = {
{ 1, 1, -1},
{ 1, -1, 1},
{-1, -1, -1},
{-1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
//
// Motor 1 to 4, P Layout:
// pitch roll yaw
// {1 ,0 ,-0.5 //Front motor (CW)
// {0 ,-1 ,0.5 //Right motor(CCW)
// {-1 ,0 ,-0.5 //Rear motor (CW)
// {0 ,1 ,0.5 //Left motor (CCW)
double pMixer [8][3] = {
{ 1, 0, -1},
{ 0, -1, 1},
{-1, 0, -1},
{ 0, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
if (pLayout) {
setupMixer(pMixer);
} else {
setupMixer(xMixer);
}
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
return true;
}
/**
Set up a Hexa-X or Hexa-P
*/
bool ConfigAirframeWidget::setupHexa(bool pLayout)
{
// Check coherence:
// - Four engines have to be defined
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 6 motor channels");
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorNW";
} else {
motorList << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
}
setupMotors(motorList);
// and set only the relevant channels:
// Motor 1 to 6, P Layout:
// pitch roll yaw
// 1 { 0.3 , 0 ,-0.3 // N CW
// 2 { 0.3 ,-0.5 , 0.3 // NE CCW
// 3 {-0.3 ,-0.5 ,-0.3 // SE CW
// 4 {-0.3 , 0 , 0.3 // S CCW
// 5 {-0.3 , 0.5 ,-0.3 // SW CW
// 6 { 0.3 , 0.5 , 0.3 // NW CCW
double pMixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{-1, -1, -1},
{-1, 0, 1},
{-1, 1, -1},
{ 1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
//
// Motor 1 to 6, X Layout:
// 1 [ 0.5, -0.3, -0.3 ] NE
// 2 [ 0 , -0.3, 0.3 ] E
// 3 [ -0.5, -0.3, -0.3 ] SE
// 4 [ -0.5, 0.3, 0.3 ] SW
// 5 [ 0 , 0.3, -0.3 ] W
// 6 [ 0.5, 0.3, 0.3 ] NW
double xMixer [8][3] = {
{ 1, -1, -1},
{ 0, -1, 1},
{ -1, -1, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
if (pLayout) {
setupMixer(pMixer);
} else {
setupMixer(xMixer);
}
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
return true;
}
/**
Updates the custom airframe settings based on the current airframe.
Note: does NOT ask for an object refresh itself!
*/
void ConfigAirframeWidget::updateCustomAirframeUI()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
} else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
else
m_aircraft->customThrottle1Curve->initCurve(curveValues);
}
field = obj->getField(QString("ThrottleCurve2"));
curveValues.clear();;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1);
} else {
for (unsigned int i=0; i < field->getNumElements(); i++) {
curveValues.append(field->getValue(i).toDouble());
}
m_aircraft->customThrottle2Curve->initCurve(curveValues);
}
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
QString s = field->getValue().toString();
q->setCurrentIndex(q->findText(s));
//bool en = (s != "Disabled");
field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1");
m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("ThrottleCurve2");
m_aircraft->customMixerTable->item(2,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Roll");
m_aircraft->customMixerTable->item(3,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->customMixerTable->item(4,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Yaw");
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
}
}
/**
Sends the config to the board (airframe type)
We do all the tasks common to all airframes, or family of airframes, and
we call additional methods for specific frames, so that we do not have a code
that is too heavy.
*/
void ConfigAirframeWidget::updateObjectsFromWidgets()
{
qDebug()<<"updateObjectsFromWidgets";
QString airframeType = "Custom";
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
// Save the curve (common to all Fixed wing frames)
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Remove Feed Forward, it is pointless on a plane:
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble(0);
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
airframeType = "FixedWing";
setupFrameFixedWing();
} else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon();
} else { // "Vtail"
airframeType = "FixedWingVtail";
setupFrameVtail();
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
} else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
QList<QString> motorList;
// We can already setup the feedforward here, as it is common to all platforms
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->multiThrottleCurve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
setupQuad(true);
} else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
airframeType = "QuadX";
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
airframeType = "Hexa";
setupHexa(true);
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
airframeType = "Octo";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ||
m_aircraft->multiMotor7->currentText() == "None" ||
m_aircraft->multiMotor8->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
return;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{ 0, -1, -1},
{ -1, -1, 1},
{ -1, 0, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
airframeType = "HexaX";
setupHexa(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
airframeType = "OctoV";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ||
m_aircraft->multiMotor7->currentText() == "None" ||
m_aircraft->multiMotor8->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
return;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// IMPORTANT: Assumes evenly spaced engines
// pitch roll yaw
double mixer [8][3] = {
{ 0.33, -1, -1},
{ 1 , -1, 1},
{ -1 , -1, -1},
{ -0.33, -1, 1},
{ -0.33, 1, -1},
{ -1 , 1, 1},
{ 1 , 1, -1},
{ 0.33, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
airframeType = "OctoCoaxP";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ||
m_aircraft->multiMotor7->currentText() == "None" ||
m_aircraft->multiMotor8->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
return;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, 0, 1},
{ 0, -1, -1},
{ 0, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 1, -1},
{ 0, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
airframeType = "OctoCoaxX";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ||
m_aircraft->multiMotor7->currentText() == "None" ||
m_aircraft->multiMotor8->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
return;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 1, -1},
{ 1, 1, 1},
{ 1, -1, -1},
{ 1, -1, 1},
{ -1, -1, -1},
{ -1, -1, 1},
{ -1, 1, -1},
{ -1, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
airframeType = "HexaCoax";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ) {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 6 motor channels");
return;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorS" << "VTOLMotorSE";
setupMotors(motorList);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, -1},
{ 0.5, 1, 1},
{ 0.5, -1, -1},
{ 0.5, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
airframeType = "Tri";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ) {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 3 motor channels");
return;
}
if (m_aircraft->triYawChannel->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("Error: Assign a Yaw channel");
return;
}
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField("FixedWingYaw1");
field->setValue(m_aircraft->triYawChannel->currentText());
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, 0},
{ 0.5, -1, 0},
{ -1, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMixer(mixer);
int eng = m_aircraft->triYawChannel->currentIndex()-1;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
int ti = field->getElementNames().indexOf("Yaw");
field->setValue(127,ti);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
} else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
airframeType = "HeliCP";
m_aircraft->widget_3->sendccpmUpdate();
} else {
airframeType = "Custom";
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->customThrottle1Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
field = obj->getField("ThrottleCurve2");
curve.clear();
curve = m_aircraft->customThrottle2Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
field->setValue(q->currentText());
field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(m_aircraft->customMixerTable->item(1,i)->text(),ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(m_aircraft->customMixerTable->item(2,i)->text(),ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(m_aircraft->customMixerTable->item(3,i)->text(),ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(m_aircraft->customMixerTable->item(4,i)->text(),ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
}
}
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
UAVObjectField* field = obj->getField(QString("AirframeType"));
field->setValue(airframeType);
}
void ConfigAirframeWidget::openHelp()
{
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) );
}
void ConfigAirframeWidget::addToDirtyMonitor()
{
addWidget(m_aircraft->customMixerTable);
addWidget(m_aircraft->customThrottle2Curve);
addWidget(m_aircraft->customThrottle1Curve);
addWidget(m_aircraft->multiThrottleCurve);
addWidget(m_aircraft->fixedWingThrottle);
addWidget(m_aircraft->fixedWingType);
addWidget(m_aircraft->feedForwardSlider);
addWidget(m_aircraft->accelTime);
addWidget(m_aircraft->decelTime);
addWidget(m_aircraft->maxAccelSlider);
addWidget(m_aircraft->multirotorFrameType);
addWidget(m_aircraft->multiMotor1);
addWidget(m_aircraft->multiMotor2);
addWidget(m_aircraft->multiMotor3);
addWidget(m_aircraft->multiMotor4);
addWidget(m_aircraft->multiMotor5);
addWidget(m_aircraft->multiMotor6);
addWidget(m_aircraft->multiMotor7);
addWidget(m_aircraft->multiMotor8);
addWidget(m_aircraft->triYawChannel);
addWidget(m_aircraft->aircraftType);
addWidget(m_aircraft->fwEngineChannel);
addWidget(m_aircraft->fwAileron1Channel);
addWidget(m_aircraft->fwAileron2Channel);
addWidget(m_aircraft->fwElevator1Channel);
addWidget(m_aircraft->fwElevator2Channel);
addWidget(m_aircraft->fwRudder1Channel);
addWidget(m_aircraft->fwRudder2Channel);
addWidget(m_aircraft->elevonSlider1);
addWidget(m_aircraft->elevonSlider2);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmType);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmTailChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmEngineChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoWChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoXChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoYChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmSingleServo);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoZChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleW);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleX);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCorrectionAngle);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleZ);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleY);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivePassthrough);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkRoll);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkCyclic);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRevoSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmREVOspinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivespinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCyclicScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSlider);
addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSpinBox);
addWidget(m_aircraft->widget_3->m_ccpm->CurveType);
addWidget(m_aircraft->widget_3->m_ccpm->NumCurvePoints);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue1);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue2);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue3);
addWidget(m_aircraft->widget_3->m_ccpm->CurveToGenerate);
addWidget(m_aircraft->widget_3->m_ccpm->CurveSettings);
addWidget(m_aircraft->widget_3->m_ccpm->ThrottleCurve);
addWidget(m_aircraft->widget_3->m_ccpm->PitchCurve);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAdvancedSettingsTable);
}

3
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -55,6 +55,7 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->pitchBias,AttitudeSettings::BOARDROTATION_PITCH);
addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->yawBias,AttitudeSettings::BOARDROTATION_YAW);
addWidget(ui->zeroBias);
refreshWidgetsValues();
}
ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
@ -154,7 +155,7 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
// Speed up updates
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);

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

@ -27,7 +27,7 @@
#include "configgadgetwidget.h"
#include "configairframewidget.h"
#include "configvehicletypewidget.h"
#include "configccattitudewidget.h"
#include "configinputwidget.h"
#include "configoutputwidget.h"
@ -68,7 +68,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
qwd = new DefaultHwSettingsWidget(this);
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
qwd = new ConfigAirframeWidget(this);
qwd = new ConfigVehicleTypeWidget(this);
ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, QIcon(":/configgadget/images/Airframe.png"), QString("Aircraft"));
qwd = new ConfigInputWidget(this);

25
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -56,21 +56,24 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
//Generate the rows of buttons in the input channel form GUI
unsigned int index=0;
foreach(QString name,manualSettingsObj->getField("ChannelNumber")->getElementNames())
foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
{
Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
inputChannelForm * inp=new inputChannelForm(this,index==0);
m_config->channelSettings->layout()->addWidget(inp);
inp->setName(name);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inp->ui->channelGroup,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inp->ui->channelNumber,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inp->ui->channelMin,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inp->ui->channelNeutral,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index);
inputChannelForm * inpForm=new inputChannelForm(this,index==0);
m_config->channelSettings->layout()->addWidget(inpForm); //Add the row to the UI
inpForm->setName(name);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inpForm->ui->channelGroup,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inpForm->ui->channelNumber,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
++index;
}
addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
@ -601,7 +604,7 @@ void ConfigInputWidget::fastMdata()
{
manualControlMdata = manualCommandObj->getMetadata();
UAVObject::Metadata mdata = manualControlMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
}
@ -1097,7 +1100,7 @@ void ConfigInputWidget::invertControls()
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
int index=manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
int index = manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
(!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
{

12
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -89,7 +89,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
}
@ -152,10 +152,10 @@ void ConfigOutputWidget::runChannelTests(bool state)
{
wasItMe=true;
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
}
else
@ -382,7 +382,7 @@ void ConfigOutputWidget::stopTests()
void ConfigOutputWidget::disableIfNotMe(UAVObject* obj)
{
if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
{
if(!wasItMe)
this->setEnabled(false);

926
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp Normal file
View File

@ -0,0 +1,926 @@
/**
******************************************************************************
*
* @file configvehicletypewidget.cpp
* @author E. Lafargue, K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Airframe configuration panel
*****************************************************************************/
/*
* 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 "configvehicletypewidget.h"
#include <QDebug>
#include <QStringList>
#include <QTimer>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <math.h>
#include <QDesktopServices>
#include <QUrl>
#include "systemsettings.h"
#include "mixersettings.h"
#include "actuatorsettings.h"
#include <QEventLoop>
/**
Helper delegate for the custom mixer editor table.
Taken straight from Qt examples, thanks!
*/
SpinBoxDelegate::SpinBoxDelegate(QObject *parent)
: QItemDelegate(parent)
{
}
QWidget *SpinBoxDelegate::createEditor(QWidget *parent,
const QStyleOptionViewItem &/* option */,
const QModelIndex &/* index */) const
{
QSpinBox *editor = new QSpinBox(parent);
editor->setMinimum(-127);
editor->setMaximum(127);
return editor;
}
void SpinBoxDelegate::setEditorData(QWidget *editor,
const QModelIndex &index) const
{
int value = index.model()->data(index, Qt::EditRole).toInt();
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->setValue(value);
}
void SpinBoxDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
const QModelIndex &index) const
{
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->interpretText();
int value = spinBox->value();
model->setData(index, value, Qt::EditRole);
}
void SpinBoxDelegate::updateEditorGeometry(QWidget *editor,
const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
{
editor->setGeometry(option.rect);
}
/**********************************************************************************/
/**
Constructor
*/
ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_aircraft = new Ui_AircraftWidget();
m_aircraft->setupUi(this);
addApplySaveButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD);
addUAVObject("SystemSettings");
addUAVObject("MixerSettings");
addUAVObject("ActuatorSettings");
ffTuningInProgress = false;
ffTuningPhase = false;
//Generate list of channels
QStringList channels;
channels << "None";
for (unsigned int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
channels << QString("Channel%1").arg(i+1);
}
QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(1);
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
m_aircraft->fixedWingType->addItems(fixedWingTypes);
m_aircraft->fixedWingType->setCurrentIndex(0); //Set default model to "Elevator aileron rudder"
QStringList groundVehicleTypes;
groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle";
m_aircraft->groundVehicleType->addItems(groundVehicleTypes);
m_aircraft->groundVehicleType->setCurrentIndex(0); //Set default model to "Turnable (car)"
QStringList multiRotorTypes;
multiRotorTypes << "Tricopter Y"<< "Quad +" << "Quad X" <<
"Hexacopter" << "Hexacopter X" << "Hexacopter Y6" <<
"Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ;
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
m_aircraft->multirotorFrameType->setCurrentIndex(1); //Set default model to "Quad +"
// Now load all the channel assignements
//OLD STYLE: DO IT MANUALLY
// m_aircraft->triYawChannelBox->addItems(channels);
// m_aircraft->gvMotor1ChannelBox->addItems(channels);
// m_aircraft->gvMotor2ChannelBox->addItems(channels);
// m_aircraft->gvSteering1ChannelBox->addItems(channels);
// m_aircraft->gvSteering2ChannelBox->addItems(channels);
// m_aircraft->fwElevator1ChannelBox->addItems(channels);
// m_aircraft->fwElevator2ChannelBox->addItems(channels);
// m_aircraft->fwEngineChannelBox->addItems(channels);
// m_aircraft->fwRudder1ChannelBox->addItems(channels);
// m_aircraft->fwRudder2ChannelBox->addItems(channels);
// m_aircraft->fwAileron1ChannelBox->addItems(channels);
// m_aircraft->fwAileron2ChannelBox->addItems(channels);
//NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name
// The upshot of this is that ALL new ComboBox widgets for selecting the output channel must have "ChannelBox" in their name
foreach(QComboBox *combobox, this->findChildren<QComboBox*>(QRegExp("\\S+ChannelBo\\S+")))//FOR WHATEVER REASON, THIS DOES NOT WORK WITH ChannelBox. ChannelBo is sufficiently accurate
{
combobox->addItems(channels);
}
// Setup the Multirotor picture in the Quad settings interface
m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/quad-shapes.svg"));
quad = new QGraphicsSvgItem();
quad->setSharedRenderer(renderer);
quad->setElementId("quad-plus");
QGraphicsScene *scene = new QGraphicsScene(this);
scene->addItem(quad);
scene->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->setScene(scene);
// Put combo boxes in line one of the custom mixer table:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("Mixer1Type"));
QStringList list = field->getOptions();
for (int i=0;i<8;i++) {
QComboBox* qb = new QComboBox(m_aircraft->customMixerTable);
qb->addItems(list);
m_aircraft->customMixerTable->setCellWidget(0,i,qb);
}
SpinBoxDelegate *sbd = new SpinBoxDelegate();
for (int i=1;i<8; i++) {
m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
}
//Connect aircraft type selection dropbox to callback function
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
//Connect airframe selection dropbox to callback functions
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
//Connect throttle curve reset pushbuttons to reset functions
connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
connect(m_aircraft->gvThrottleCurve1Reset, SIGNAL(clicked()), this, SLOT(resetGvFrontMixer()));
connect(m_aircraft->gvThrottleCurve2Reset, SIGNAL(clicked()), this, SLOT(resetGvRearMixer()));
connect(m_aircraft->customReset1, SIGNAL(clicked()), this, SLOT(resetCt1Mixer()));
connect(m_aircraft->customReset2, SIGNAL(clicked()), this, SLOT(resetCt2Mixer()));
//Connect throttle curve manipulation points to output text
connect(m_aircraft->fixedWingThrottle, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateFwThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->multiThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateMrThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->groundVehicleThrottle1, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateGvThrottle1CurveValue(QList<double>,double)));
connect(m_aircraft->groundVehicleThrottle2, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateGvThrottle2CurveValue(QList<double>,double)));
connect(m_aircraft->customThrottle1Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle1CurveValue(QList<double>,double)));
connect(m_aircraft->customThrottle2Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle2CurveValue(QList<double>,double)));
// connect(m_aircraft->fwAileron1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleAileron2(int)));
// connect(m_aircraft->fwElevator1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleElevator2(int)));
//Connect the three feed forward test checkboxes
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
//WHAT DOES THIS DO?
enableControls(false);
refreshWidgetsValues();
// Connect the help pushbutton
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addToDirtyMonitor();
//Initialize GUI tabs //MOVING THIS FROM THE END OF THIS FUNCTION CAN CAUSE RUNTIME ERRORS DUE TO setupMultiRotorUI. WHY?
setupMultiRotorUI( m_aircraft->multirotorFrameType->currentText() );
setupGroundVehicleUI( m_aircraft->groundVehicleType->currentText() );
setupFixedWingUI( m_aircraft->fixedWingType->currentText() );
}
/**
Destructor
*/
ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
{
// Do nothing
}
/**
Slot for switching the airframe type. We do it explicitely
rather than a signal in the UI, because we want to force a fitInView of the quad shapes.
This is because this method (fitinview) only works when the widget is shown.
*/
void ConfigVehicleTypeWidget::switchAirframeType(int index){
m_aircraft->airframesWidget->setCurrentIndex(index);
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
if (m_aircraft->aircraftType->findText("Custom")) {
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
}
/**
WHAT DOES THIS DO???
*/
void ConfigVehicleTypeWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
/**
Resize the GUI contents when the user changes the window size
*/
void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent* event)
{
Q_UNUSED(event);
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
// Make the custom table columns autostretch:
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
void ConfigVehicleTypeWidget::toggleAileron2(int index)
{
if (index) {
m_aircraft->fwAileron2ChannelBox->setEnabled(true);
m_aircraft->fwAileron2Label->setEnabled(true);
} else {
m_aircraft->fwAileron2ChannelBox->setEnabled(false);
m_aircraft->fwAileron2Label->setEnabled(false);
}
}
void ConfigVehicleTypeWidget::toggleElevator2(int index)
{
if (index) {
m_aircraft->fwElevator2ChannelBox->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
} else {
m_aircraft->fwElevator2ChannelBox->setEnabled(false);
m_aircraft->fwElevator2Label->setEnabled(false);
}
}
void ConfigVehicleTypeWidget::toggleRudder2(int index)
{
if (index) {
m_aircraft->fwRudder2ChannelBox->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
} else {
m_aircraft->fwRudder2ChannelBox->setEnabled(false);
m_aircraft->fwRudder2Label->setEnabled(false);
}
}
/////////////////////////////////////////////////////////
/// Feed Forward Testing
/////////////////////////////////////////////////////////
/**
Enables and runs feed forward testing
*/
void ConfigVehicleTypeWidget::enableFFTest()
{
// Role:
// - Check if all three checkboxes are checked
// - Every other timer event: toggle engine from 45% to 55%
// - Every other time event: send FF settings to flight FW
if (m_aircraft->ffTestBox1->isChecked() &&
m_aircraft->ffTestBox2->isChecked() &&
m_aircraft->ffTestBox3->isChecked()) {
if (!ffTuningInProgress)
{
// Initiate tuning:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
accInitialData = mdata;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
obj->setMetadata(mdata);
}
// Depending on phase, either move actuator or send FF settings:
if (ffTuningPhase) {
// Send FF settings to the board
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
obj->updated();
} else {
// Toggle motor state
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
double value = obj->getField("Throttle")->getDouble();
double target = (value < 0.5) ? 0.55 : 0.45;
obj->getField("Throttle")->setValue(target);
obj->updated();
}
ffTuningPhase = !ffTuningPhase;
ffTuningInProgress = true;
QTimer::singleShot(1000, this, SLOT(enableFFTest()));
} else {
// - If no: disarm timer, restore actuatorcommand metadata
// Disarm!
if (ffTuningInProgress) {
ffTuningInProgress = false;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
mdata = accInitialData; // Restore metadata
obj->setMetadata(mdata);
}
}
}
/**
Resets Fixed wing throttle mixer
*/
void ConfigVehicleTypeWidget::resetFwMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
}
/**
Resets Multirotor throttle mixer
*/
void ConfigVehicleTypeWidget::resetMrMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
}
/**
Resets Ground vehicle front throttle mixer
*/
void ConfigVehicleTypeWidget::resetGvFrontMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->groundVehicleThrottle1, field->getNumElements(),1);
}
/**
Resets Ground vehicle rear throttle mixer
*/
void ConfigVehicleTypeWidget::resetGvRearMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
resetMixer(m_aircraft->groundVehicleThrottle2, field->getNumElements(),1);
}
/**
Resets Custom throttle 1 mixer
*/
void ConfigVehicleTypeWidget::resetCt1Mixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements(),1);
}
/**
Resets Custom throttle 2 mixer
*/
void ConfigVehicleTypeWidget::resetCt2Mixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
}
/**
Resets a mixer curve
*/
void ConfigVehicleTypeWidget::resetMixer(MixerCurveWidget *mixer, int numElements, double maxvalue)
{
// Setup all Throttle1 curves for all types of airframes
mixer->initLinearCurve((quint32)numElements,maxvalue);
}
/**
Updates the currently moved fixed wing throttle curve item value
*/
void ConfigVehicleTypeWidget::updateFwThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->fwThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved multi-rotor throttle curve item value
*/
void ConfigVehicleTypeWidget::updateMrThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->mrThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the moved ground vehicle front throttle curve item value
*/
void ConfigVehicleTypeWidget::updateGvThrottle1CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->gvThrottleCurve1ItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the moved ground vehicle rear throttle curve item value
*/
void ConfigVehicleTypeWidget::updateGvThrottle2CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->gvThrottleCurve2ItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved custom throttle curve item value (Custom throttle 1)
*/
void ConfigVehicleTypeWidget::updateCustomThrottle1CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->customThrottleCurve1Value->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved custom throttle curve item value (Custom throttle 2)
*/
void ConfigVehicleTypeWidget::updateCustomThrottle2CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->customThrottleCurve2Value->setText(QString().sprintf("Val: %.2f",value));
}
/**************************
* Aircraft settings
**************************/
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues()
{
if(!allObjectsUpdated())
return;
//WHAT DOES THIS DO?
bool dirty=isDirty(); //WHY IS THIS CALLED HERE AND THEN AGAIN SEVERAL LINES LATER IN setupAirframeUI()
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but here you go.
QString frameType = field->getValue().toString();
setupAirframeUI(frameType);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve1"));
Q_ASSERT(field);
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->multiThrottleCurve->initCurve(curveValues);
m_aircraft->fixedWingThrottle->initCurve(curveValues);
m_aircraft->groundVehicleThrottle1->initCurve(curveValues);
}
}
// Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve2"));
Q_ASSERT(field);
curveValues.clear();
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->groundVehicleThrottle2->initCurve(curveValues);
}
}
// Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) {
// Retrieve fixed wing settings
refreshFixedWingWidgetsValues(frameType);
} else if (frameType == "Tri" ||
frameType == "QuadX" || frameType == "QuadP" ||
frameType == "Hexa" || frameType == "HexaCoax" || frameType == "HexaX" ||
frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP" || frameType == "OctoCoaxX" ) {
// Retrieve multirotor settings
refreshMultiRotorWidgetsValues(frameType);
} else if (frameType == "HeliCP") {
m_aircraft->widget_3->requestccpmUpdate();
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Helicopter"));//"Helicopter"
} else if (frameType.startsWith("GroundVehicle")) {
// Retrieve ground vehicle settings
refreshGroundVehicleWidgetsValues(frameType);
} else if (frameType == "Custom") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Custom"));
}
updateCustomAirframeUI();
setDirty(dirty);
}
/**
\brief Sets up the mixer depending on Airframe type. Accepts either system settings or
combo box entry from airframe type, as those do not overlap.
*/
void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
{
bool dirty=isDirty();
if(frameType == "FixedWing" || frameType == "Elevator aileron rudder" ||
frameType == "FixedWingElevon" || frameType == "Elevon" ||
frameType == "FixedWingVtail" || frameType == "Vtail"){
setupFixedWingUI(frameType);
} else if (frameType == "Tri" || frameType == "Tricopter Y" ||
frameType == "QuadX" || frameType == "Quad X" ||
frameType == "QuadP" || frameType == "Quad +" ||
frameType == "Hexa" || frameType == "Hexacopter" ||
frameType == "HexaX" || frameType == "Hexacopter X" ||
frameType == "HexaCoax" || frameType == "Hexacopter Y6" ||
frameType == "Octo" || frameType == "Octocopter" ||
frameType == "OctoV" || frameType == "Octocopter V" ||
frameType == "OctoCoaxP" || frameType == "Octo Coax +" ) {
//Call multi-rotor setup UI
setupMultiRotorUI(frameType);
}
else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)" ||
frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)" ||
frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
setupGroundVehicleUI(frameType);
}
//SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST???
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
setDirty(dirty);
}
/**
Reset the contents of a field
*/
void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
{
for (unsigned int i=0;i<field->getNumElements();i++) {
field->setValue(0,i);
}
}
/**
Reset actuator values
*/
void ConfigVehicleTypeWidget::resetActuators()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
QList<UAVObjectField*> fieldList = obj->getFields();
// Reset all assignements first:
foreach (UAVObjectField* field, fieldList) {
// NOTE: we assume that all options in ActuatorSettings are a channel assignement
// except for the options called "ChannelBoxXXX"
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
}
/**
Updates the custom airframe settings based on the current airframe.
Note: does NOT ask for an object refresh itself!
*/
void ConfigVehicleTypeWidget::updateCustomAirframeUI()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
} else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
else
m_aircraft->customThrottle1Curve->initCurve(curveValues);
}
field = obj->getField(QString("ThrottleCurve2"));
curveValues.clear();
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1);
} else {
for (unsigned int i=0; i < field->getNumElements(); i++) {
curveValues.append(field->getValue(i).toDouble());
}
m_aircraft->customThrottle2Curve->initCurve(curveValues);
}
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
QString s = field->getValue().toString();
q->setCurrentIndex(q->findText(s));
//bool en = (s != "Disabled");
field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1");
m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("ThrottleCurve2");
m_aircraft->customMixerTable->item(2,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Roll");
m_aircraft->customMixerTable->item(3,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->customMixerTable->item(4,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Yaw");
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
}
}
/**
Sends the config to the board (airframe type)
We do all the tasks common to all airframes, or family of airframes, and
we call additional methods for specific frames, so that we do not have a code
that is too heavy.
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
qDebug()<<"updateObjectsFromWidgets";
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = updateFixedWingObjectsFromWidgets();
} else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
//update the mixer
airframeType = updateMultiRotorObjectsFromWidgets();
} else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
airframeType = "HeliCP";
m_aircraft->widget_3->sendccpmUpdate();
} else if (m_aircraft->aircraftType->currentText() == "Ground") {
airframeType = updateGroundVehicleObjectsFromWidgets();
} else {
airframeType = "Custom";
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->customThrottle1Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
field = obj->getField("ThrottleCurve2");
curve.clear();
curve = m_aircraft->customThrottle2Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
field->setValue(q->currentText());
field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(m_aircraft->customMixerTable->item(1,i)->text(),ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(m_aircraft->customMixerTable->item(2,i)->text(),ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(m_aircraft->customMixerTable->item(3,i)->text(),ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(m_aircraft->customMixerTable->item(4,i)->text(),ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
}
}
//WHAT DOES THIS DO?
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
UAVObjectField* field = obj->getField(QString("AirframeType"));
field->setValue(airframeType);
}
/**
Opens the wiki from the user's default browser
*/
void ConfigVehicleTypeWidget::openHelp()
{
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) );
}
/**
WHAT DOES THIS DO???
*/
void ConfigVehicleTypeWidget::addToDirtyMonitor()
{
addWidget(m_aircraft->customMixerTable);
addWidget(m_aircraft->customThrottle1Curve);
addWidget(m_aircraft->customThrottle2Curve);
addWidget(m_aircraft->multiThrottleCurve);
addWidget(m_aircraft->fixedWingThrottle);
addWidget(m_aircraft->fixedWingType);
addWidget(m_aircraft->groundVehicleThrottle1);
addWidget(m_aircraft->groundVehicleThrottle2);
addWidget(m_aircraft->groundVehicleType);
addWidget(m_aircraft->feedForwardSlider);
addWidget(m_aircraft->accelTime);
addWidget(m_aircraft->decelTime);
addWidget(m_aircraft->maxAccelSlider);
addWidget(m_aircraft->multirotorFrameType);
addWidget(m_aircraft->multiMotorChannelBox1);
addWidget(m_aircraft->multiMotorChannelBox2);
addWidget(m_aircraft->multiMotorChannelBox3);
addWidget(m_aircraft->multiMotorChannelBox4);
addWidget(m_aircraft->multiMotorChannelBox5);
addWidget(m_aircraft->multiMotorChannelBox6);
addWidget(m_aircraft->multiMotorChannelBox7);
addWidget(m_aircraft->multiMotorChannelBox8);
addWidget(m_aircraft->triYawChannelBox);
addWidget(m_aircraft->aircraftType);
addWidget(m_aircraft->fwEngineChannelBox);
addWidget(m_aircraft->fwAileron1ChannelBox);
addWidget(m_aircraft->fwAileron2ChannelBox);
addWidget(m_aircraft->fwElevator1ChannelBox);
addWidget(m_aircraft->fwElevator2ChannelBox);
addWidget(m_aircraft->fwRudder1ChannelBox);
addWidget(m_aircraft->fwRudder2ChannelBox);
addWidget(m_aircraft->elevonSlider1);
addWidget(m_aircraft->elevonSlider2);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmType);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmTailChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmEngineChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoWChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoXChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoYChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmSingleServo);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoZChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleW);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleX);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCorrectionAngle);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleZ);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleY);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivePassthrough);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkRoll);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkCyclic);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRevoSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmREVOspinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivespinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCyclicScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSlider);
addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSpinBox);
addWidget(m_aircraft->widget_3->m_ccpm->CurveType);
addWidget(m_aircraft->widget_3->m_ccpm->NumCurvePoints);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue1);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue2);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue3);
addWidget(m_aircraft->widget_3->m_ccpm->CurveToGenerate);
addWidget(m_aircraft->widget_3->m_ccpm->CurveSettings);
addWidget(m_aircraft->widget_3->m_ccpm->ThrottleCurve);
addWidget(m_aircraft->widget_3->m_ccpm->PitchCurve);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAdvancedSettingsTable);
}

45
ground/openpilotgcs/src/plugins/config/configairframewidget.h → ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configairframetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -24,8 +24,8 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CONFIGAIRFRAMEWIDGET_H
#define CONFIGAIRFRAMEWIDGET_H
#ifndef CONFIGVEHICLETYPEWIDGET_H
#define CONFIGVEHICLETYPEWIDGET_H
#include "ui_airframe.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
@ -39,24 +39,27 @@
class Ui_Widget;
class ConfigAirframeWidget: public ConfigTaskWidget
class ConfigVehicleTypeWidget: public ConfigTaskWidget
{
Q_OBJECT
public:
ConfigAirframeWidget(QWidget *parent = 0);
~ConfigAirframeWidget();
ConfigVehicleTypeWidget(QWidget *parent = 0);
~ConfigVehicleTypeWidget();
private:
Ui_AircraftWidget *m_aircraft;
bool setupFrameFixedWing();
bool setupFrameElevon();
bool setupFrameVtail();
bool setupFrameFixedWing(QString airframeType);
bool setupFrameElevon(QString airframeType);
bool setupFrameVtail(QString airframeType);
bool setupQuad(bool pLayout);
bool setupHexa(bool pLayout);
bool setupOcto();
bool setupGroundVehicleCar(QString airframeType);
bool setupGroundVehicleDifferential(QString airframeType);
bool setupGroundVehicleMotorcycle(QString airframeType);
void updateCustomAirframeUI();
bool setupMixer(double mixerFactors[8][3]);
bool setupMultiRotorMixer(double mixerFactors[8][3]);
void setupMotors(QList<QString> motorList);
void addToDirtyMonitor();
void resetField(UAVObjectField * field);
@ -74,19 +77,39 @@ private:
private slots:
virtual void refreshWidgetsValues();
void refreshFixedWingWidgetsValues(QString frameType);
void refreshMultiRotorWidgetsValues(QString frameType);
void refreshGroundVehicleWidgetsValues(QString frameType);
void updateObjectsFromWidgets();
QString updateFixedWingObjectsFromWidgets();
QString updateMultiRotorObjectsFromWidgets();
QString updateGroundVehicleObjectsFromWidgets();
// void saveAircraftUpdate();
void setupAirframeUI(QString type);
void setupFixedWingUI(QString frameType);
void setupMultiRotorUI(QString frameType);
void setupGroundVehicleUI(QString frameType);
void throwMultiRotorChannelConfigError(int numMotors);
void throwFixedWingChannelConfigError(QString airframeType);
void throwGroundVehicleChannelConfigError(QString airframeType);
void toggleAileron2(int index);
void toggleElevator2(int index);
void toggleRudder2(int index);
void switchAirframeType(int index);
void resetFwMixer();
void resetMrMixer();
void resetGvFrontMixer();
void resetGvRearMixer();
void resetCt1Mixer();
void resetCt2Mixer();
void updateFwThrottleCurveValue(QList<double> list, double value);
void updateMrThrottleCurveValue(QList<double> list, double value);
void updateGvThrottle1CurveValue(QList<double> list, double value);
void updateGvThrottle2CurveValue(QList<double> list, double value);
void updateCustomThrottle1CurveValue(QList<double> list, double value);
void updateCustomThrottle2CurveValue(QList<double> list, double value);
void enableFFTest();
@ -117,4 +140,4 @@ public:
const QStyleOptionViewItem &option, const QModelIndex &index) const;
};
#endif // CONFIGAIRFRAMEWIDGET_H
#endif // CONFIGVEHICLETYPEWIDGET_H

277
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -16,6 +16,23 @@
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="styleSheet">
<string notr="true">#groupBox_2,#groupBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="currentIndex">
<number>0</number>
</property>
@ -27,13 +44,85 @@
<item row="0" column="0">
<widget class="QStackedWidget" name="stackedWidget">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="advancedPage">
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<layout class="QVBoxLayout" name="channelSettings"/>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QLabel" name="labelDeadband">
<property name="text">
<string>Roll/Pitch/Yaw stick deadband</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="deadband">
<property name="toolTip">
<string>Stick deadband in percents of full range (0-10), zero to disable</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="3">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="configurationWizard">
<property name="text">
@ -132,25 +221,6 @@
<attribute name="title">
<string>Flight Mode Switch Settings</string>
</attribute>
<widget class="QLabel" name="label_15">
<property name="geometry">
<rect>
<x>310</x>
<y>10</y>
<width>201</width>
<height>17</height>
</rect>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Warning: avoid &quot;Manual&quot;</string>
</property>
</widget>
<widget class="QLabel" name="label_16">
<property name="geometry">
<rect>
@ -174,46 +244,36 @@
<property name="geometry">
<rect>
<x>30</x>
<y>130</y>
<width>445</width>
<height>155</height>
<y>160</y>
<width>451</width>
<height>141</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="title">
<string>Configure each stabilization mode for each axis</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<item row="1" column="3">
<widget class="QLabel" name="label_10">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Stabilized1</string>
@ -223,16 +283,37 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="fmsSsPos1Roll"/>
<item row="2" column="1">
<widget class="QComboBox" name="fmsSsPos1Roll">
<property name="minimumSize">
<size>
<width>102</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="fmsSsPos1Pitch"/>
<item row="2" column="2">
<widget class="QComboBox" name="fmsSsPos1Pitch">
<property name="minimumSize">
<size>
<width>102</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="fmsSsPos1Yaw"/>
<item row="2" column="3">
<widget class="QComboBox" name="fmsSsPos1Yaw">
<property name="minimumSize">
<size>
<width>102</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Stabilized2</string>
@ -242,16 +323,16 @@
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QComboBox" name="fmsSsPos2Roll"/>
</item>
<item row="2" column="2">
<item row="3" column="2">
<widget class="QComboBox" name="fmsSsPos2Pitch"/>
</item>
<item row="2" column="3">
<item row="3" column="3">
<widget class="QComboBox" name="fmsSsPos2Yaw"/>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Stabilized3</string>
@ -261,26 +342,76 @@
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QComboBox" name="fmsSsPos3Roll"/>
</item>
<item row="3" column="2">
<item row="4" column="2">
<widget class="QComboBox" name="fmsSsPos3Pitch"/>
</item>
<item row="3" column="3">
<item row="4" column="3">
<widget class="QComboBox" name="fmsSsPos3Yaw"/>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_8">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_9">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBox_2">
<property name="geometry">
<rect>
<x>30</x>
<y>0</y>
<width>261</width>
<y>30</y>
<width>451</width>
<height>121</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="title">
<string>FlightMode Switch Positions</string>
</property>
@ -395,6 +526,28 @@ if you have not done so already.</string>
<number>100</number>
</property>
</widget>
<widget class="QLabel" name="label_15">
<property name="geometry">
<rect>
<x>270</x>
<y>30</y>
<width>141</width>
<height>31</height>
</rect>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Warning: avoid &quot;Manual&quot;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</widget>
</widget>
<widget class="QWidget" name="tab_4">

3
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
View File

@ -8,6 +8,8 @@ inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
ui(new Ui::inputChannelForm)
{
ui->setupUi(this);
//The first time through the loop, keep the legend. All other times, delete it.
if(!showlegend)
{
layout()->removeWidget(ui->legend0);
@ -23,6 +25,7 @@ inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
delete ui->legend4;
delete ui->legend5;
}
connect(ui->channelMin,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
connect(ui->channelMax,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
connect(ui->channelGroup,SIGNAL(currentIndexChanged(int)),this,SLOT(groupUpdated()));

256
ground/openpilotgcs/src/plugins/config/inputchannelform.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>543</width>
<height>49</height>
<width>767</width>
<height>58</height>
</rect>
</property>
<property name="windowTitle">
@ -36,8 +36,8 @@
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>0</height>
<width>80</width>
<height>25</height>
</size>
</property>
<property name="text">
@ -53,6 +53,12 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
@ -63,6 +69,12 @@
</item>
<item row="2" column="4">
<widget class="QSpinBox" name="channelMin">
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
@ -76,6 +88,12 @@
</item>
<item row="2" column="8">
<widget class="QSpinBox" name="channelMax">
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
@ -92,28 +110,37 @@
<property name="enabled">
<bool>true</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>26</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:5px;
font:bold;</string>
</property>
<property name="text">
<string>Function</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="legend2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Number</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="legend1">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Type</string>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
@ -122,9 +149,38 @@
<property name="enabled">
<bool>true</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>26</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:5px;
font:bold;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
@ -132,9 +188,38 @@
<property name="enabled">
<bool>true</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>26</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:5px;
font:bold;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="6">
@ -143,14 +228,37 @@
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>26</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:5px;
font:bold;</string>
</property>
<property name="text">
<string>Neutral</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="6">
@ -161,6 +269,12 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>22</height>
</size>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
@ -174,6 +288,12 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
@ -203,6 +323,12 @@
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="text">
<string>Rev</string>
</property>
@ -211,14 +337,14 @@
<item row="2" column="9">
<widget class="QLabel" name="neutral">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>30</width>
<width>35</width>
<height>0</height>
</size>
</property>
@ -265,6 +391,84 @@
</property>
</spacer>
</item>
<item row="0" column="2">
<widget class="QLabel" name="legend1">
<property name="enabled">
<bool>true</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>26</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:5px;
font:bold;</string>
</property>
<property name="text">
<string>Type</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="legend2">
<property name="enabled">
<bool>true</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>26</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:5px;
font:bold;</string>
</property>
<property name="text">
<string>Number</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>

462
ground/openpilotgcs/src/plugins/config/outputchannelform.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>605</width>
<height>56</height>
<width>813</width>
<height>58</height>
</rect>
</property>
<property name="windowTitle">
@ -20,6 +20,110 @@
<property name="bottomMargin">
<number>1</number>
</property>
<item row="1" column="5">
<widget class="QLabel" name="actuatorValue">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Current value of slider.</string>
</property>
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="0" column="10">
<widget class="QLabel" name="legend5">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font:bold;
margin:1px;</string>
</property>
<property name="text">
<string>Link</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="actuatorName">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>110</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="legend6">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font:bold;
margin:1px;</string>
</property>
<property name="text">
<string>#</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="margin">
<number>0</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="actuatorNumber">
<property name="sizePolicy">
@ -48,35 +152,98 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="actuatorName">
<item row="1" column="2">
<widget class="QSpinBox" name="actuatorMin">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PWM value, beware of not overdriving your servo.</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="1" column="9">
<widget class="QCheckBox" name="actuatorRev">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>90</width>
<width>40</width>
<height>0</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Check to invert the channel.</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="legend2">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font:bold;
margin:1px;</string>
</property>
<property name="text">
<string>TextLabel</string>
<string>Neutral (slowest for motor)</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="actuatorMin">
<property name="toolTip">
<string>Minimum PWM value, beware of not overdriving your servo.</string>
<item row="0" column="1">
<widget class="QLabel" name="legend0">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximum">
<number>9999</number>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font:bold;
margin:1px;</string>
</property>
<property name="text">
<string>Assignment</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
@ -96,25 +263,85 @@
</property>
</spacer>
</item>
<item row="1" column="4">
<widget class="QSlider" name="actuatorNeutral">
<item row="0" column="2">
<widget class="QLabel" name="legend1">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font:bold;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="8">
<widget class="QLabel" name="legend3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font:bold;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="10">
<widget class="QCheckBox" name="actuatorLink">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<width>40</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<number>9999</number>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
<property name="toolTip">
<string>Output mode</string>
</property>
</widget>
</item>
@ -134,46 +361,66 @@
</property>
</spacer>
</item>
<item row="1" column="9">
<widget class="QCheckBox" name="actuatorRev">
<item row="0" column="9">
<widget class="QLabel" name="legend4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>40</width>
<height>0</height>
</size>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>Check to invert the channel.</string>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font:bold;
margin:1px;</string>
</property>
<property name="text">
<string>Rev.</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="10">
<widget class="QCheckBox" name="actuatorLink">
<item row="1" column="4">
<widget class="QSlider" name="actuatorNeutral">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>40</width>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Output mode</string>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="8">
<widget class="QSpinBox" name="actuatorMax">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PWM value, beware of not overdriving your servo.</string>
</property>
@ -182,142 +429,15 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="legend0">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Assignment</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="legend1">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="legend2">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Neutral (slowest for motor)</string>
</property>
</widget>
</item>
<item row="0" column="8">
<widget class="QLabel" name="legend3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item row="0" column="9">
<widget class="QLabel" name="legend4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Rev.</string>
</property>
</widget>
</item>
<item row="0" column="10">
<widget class="QLabel" name="legend5">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QLabel" name="actuatorValue">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Current value of slider.</string>
</property>
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="legend6">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>#</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="margin">
<number>0</number>
</property>
</widget>
</item>
</layout>
</widget>
<tabstops>
<tabstop>actuatorMin</tabstop>
<tabstop>actuatorNeutral</tabstop>
<tabstop>actuatorMax</tabstop>
<tabstop>actuatorRev</tabstop>
<tabstop>actuatorLink</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>

403
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>683</width>
<height>685</height>
<width>738</width>
<height>748</height>
</rect>
</property>
<property name="palette">
@ -496,8 +496,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>626</width>
<height>834</height>
<width>673</width>
<height>880</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_23">
@ -1128,6 +1128,9 @@ border-radius: 3;
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -3377,6 +3380,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -3424,6 +3430,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -3472,6 +3481,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -3516,6 +3528,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -3564,6 +3579,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -3608,6 +3626,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -3659,6 +3680,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -3703,6 +3727,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -3735,6 +3762,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -3779,6 +3809,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -3811,6 +3844,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -3855,6 +3891,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -4506,6 +4545,9 @@ border-radius: 3;
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -6697,6 +6739,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -6741,6 +6786,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -6789,6 +6837,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -6833,6 +6884,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -6881,6 +6935,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -6925,6 +6982,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -6992,6 +7052,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -7036,6 +7099,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -7068,6 +7134,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -7112,6 +7181,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -7144,6 +7216,9 @@ border-radius: 5;</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -7188,6 +7263,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10141,6 +10219,9 @@ Angle</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10184,6 +10265,9 @@ Angle</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10231,6 +10315,9 @@ Angle</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10274,6 +10361,9 @@ Angle</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10321,6 +10411,9 @@ Angle</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10364,6 +10457,9 @@ Angle</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10415,6 +10511,9 @@ Rate</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10459,6 +10558,9 @@ Rate</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10491,6 +10593,9 @@ Rate</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10535,6 +10640,9 @@ Rate</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10567,6 +10675,9 @@ Rate</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10611,6 +10722,9 @@ Rate</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10663,6 +10777,9 @@ Attitude</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10707,6 +10824,9 @@ Attitude</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10739,6 +10859,9 @@ Attitude</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10783,6 +10906,9 @@ Attitude</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -10815,6 +10941,9 @@ Attitude</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -10859,6 +10988,9 @@ Attitude</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="maximum">
<number>200</number>
</property>
@ -11753,9 +11885,9 @@ border-radius: 4;
<property name="geometry">
<rect>
<x>0</x>
<y>-402</y>
<width>626</width>
<height>1026</height>
<y>-403</y>
<width>673</width>
<height>1079</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_15">
@ -14600,6 +14732,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<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>
@ -14645,6 +14780,9 @@ Then lower the value by 20% or so.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<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>
@ -14690,6 +14828,9 @@ Then lower the value by 20% or so.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.
@ -14772,6 +14913,9 @@ You can usually go for higher values for Yaw factors.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>As a rule of thumb, you can set the Ki at roughly the same
value as the Kp.</string>
@ -14833,6 +14977,9 @@ value as the Kp.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>As a rule of thumb, you can set the Ki at roughly the same
value as the Kp.</string>
@ -14894,6 +15041,9 @@ value as the Kp.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>As a rule of thumb, you can set the Ki at roughly the same
value as the Kp.</string>
@ -14970,6 +15120,9 @@ value as the Kp.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -14980,7 +15133,7 @@ value as the Kp.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
<double>0.000001000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -15014,6 +15167,9 @@ value as the Kp.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -15021,7 +15177,7 @@ value as the Kp.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
<double>0.000001000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -15055,6 +15211,9 @@ value as the Kp.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -15065,7 +15224,7 @@ value as the Kp.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
<double>0.000001000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -15103,7 +15262,7 @@ value as the Kp.</string>
<string notr="true"/>
</property>
<property name="text">
<string>ILimit</string>
<string>K_i*ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -15130,6 +15289,9 @@ value as the Kp.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -15139,9 +15301,12 @@ value as the Kp.</string>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
@ -15174,15 +15339,21 @@ value as the Kp.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
@ -15215,6 +15386,9 @@ value as the Kp.</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -15224,9 +15398,12 @@ value as the Kp.</string>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
@ -18115,6 +18292,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -18159,6 +18339,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -18200,6 +18383,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -18279,6 +18465,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -18339,6 +18528,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -18396,6 +18588,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -18444,7 +18639,7 @@ border-radius: 5;</string>
<string notr="true"/>
</property>
<property name="text">
<string>ILimit</string>
<string>K_i*ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -18471,6 +18666,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -18515,6 +18713,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -18556,6 +18757,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -21412,6 +21616,9 @@ angle(deg)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -21458,6 +21665,9 @@ angle(deg)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -21537,6 +21747,9 @@ rate(deg/s)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -21544,13 +21757,13 @@ rate(deg/s)</string>
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -21600,17 +21813,20 @@ rate(deg/s)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -21660,6 +21876,9 @@ rate(deg/s)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -21667,13 +21886,13 @@ rate(deg/s)</string>
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -21739,6 +21958,9 @@ rate(deg/s)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -21746,13 +21968,13 @@ rate(deg/s)</string>
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -21786,17 +22008,20 @@ rate(deg/s)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -21830,6 +22055,9 @@ rate(deg/s)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -21837,13 +22065,13 @@ rate(deg/s)</string>
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -21877,6 +22105,9 @@ rate(deg/s)</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string/>
</property>
@ -24702,6 +24933,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros</string>
</property>
@ -24715,7 +24949,7 @@ border-radius: 5;</string>
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
<double>0.001000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -24748,6 +24982,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>The proportional term for the accelerometer, the higher this term the more weight the accel is given</string>
</property>
@ -24761,7 +24998,7 @@ border-radius: 5;</string>
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
<double>0.010000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -24794,6 +25031,9 @@ border-radius: 5;</string>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>The intergral term for the accelerometer within the filter </string>
</property>
@ -24807,7 +25047,7 @@ border-radius: 5;</string>
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
<double>0.000100000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
@ -25598,6 +25838,109 @@ border-radius: 4;
</layout>
</widget>
<layoutdefault spacing="6" margin="11"/>
<tabstops>
<tabstop>tabWidget</tabstop>
<tabstop>scrollArea</tabstop>
<tabstop>checkBox_7</tabstop>
<tabstop>pushButton_19</tabstop>
<tabstop>pushButton_20</tabstop>
<tabstop>horizontalSlider_76</tabstop>
<tabstop>spinBox_7</tabstop>
<tabstop>PitchPSlider</tabstop>
<tabstop>spinBox_PitchRateP</tabstop>
<tabstop>horizontalSlider_78</tabstop>
<tabstop>spinBox_12</tabstop>
<tabstop>horizontalSlider_79</tabstop>
<tabstop>spinBox_8</tabstop>
<tabstop>horizontalSlider_80</tabstop>
<tabstop>spinBox_9</tabstop>
<tabstop>horizontalSlider_81</tabstop>
<tabstop>spinBox_10</tabstop>
<tabstop>checkBox_8</tabstop>
<tabstop>pushButton_21</tabstop>
<tabstop>pushButton_22</tabstop>
<tabstop>horizontalSlider_82</tabstop>
<tabstop>spinBox_13</tabstop>
<tabstop>horizontalSlider_83</tabstop>
<tabstop>spinBox_14</tabstop>
<tabstop>horizontalSlider_84</tabstop>
<tabstop>spinBox_15</tabstop>
<tabstop>horizontalSlider_85</tabstop>
<tabstop>spinBox_18</tabstop>
<tabstop>horizontalSlider_86</tabstop>
<tabstop>spinBox_19</tabstop>
<tabstop>horizontalSlider_87</tabstop>
<tabstop>spinBox_20</tabstop>
<tabstop>pushButton_23</tabstop>
<tabstop>pushButton_24</tabstop>
<tabstop>horizontalSlider_88</tabstop>
<tabstop>spinBox_16</tabstop>
<tabstop>horizontalSlider_89</tabstop>
<tabstop>spinBox_17</tabstop>
<tabstop>horizontalSlider_90</tabstop>
<tabstop>spinBox_21</tabstop>
<tabstop>horizontalSlider_91</tabstop>
<tabstop>spinBox_22</tabstop>
<tabstop>horizontalSlider_92</tabstop>
<tabstop>spinBox_23</tabstop>
<tabstop>horizontalSlider_93</tabstop>
<tabstop>spinBox_24</tabstop>
<tabstop>horizontalSlider_94</tabstop>
<tabstop>spinBox_25</tabstop>
<tabstop>horizontalSlider_95</tabstop>
<tabstop>spinBox_26</tabstop>
<tabstop>horizontalSlider_96</tabstop>
<tabstop>spinBox_27</tabstop>
<tabstop>lowThrottleZeroIntegral_8</tabstop>
<tabstop>realTimeUpdates_6</tabstop>
<tabstop>stabilizationReloadBoardData_6</tabstop>
<tabstop>saveStabilizationToRAM_6</tabstop>
<tabstop>saveStabilizationToSD_6</tabstop>
<tabstop>scrollArea_2</tabstop>
<tabstop>checkBox_3</tabstop>
<tabstop>pushButton_4</tabstop>
<tabstop>RateRollKp_2</tabstop>
<tabstop>RatePitchKp</tabstop>
<tabstop>RateYawKp</tabstop>
<tabstop>RateRollKi_2</tabstop>
<tabstop>RatePitchKi</tabstop>
<tabstop>RateYawKi</tabstop>
<tabstop>RollRateKd</tabstop>
<tabstop>PitchRateKd</tabstop>
<tabstop>YawRateKd</tabstop>
<tabstop>RateRollILimit_2</tabstop>
<tabstop>RatePitchILimit</tabstop>
<tabstop>RateYawILimit</tabstop>
<tabstop>checkBox_2</tabstop>
<tabstop>pushButton_2</tabstop>
<tabstop>AttitudeRollKp</tabstop>
<tabstop>AttitudePitchKp_2</tabstop>
<tabstop>AttitudeYawKp</tabstop>
<tabstop>AttitudeRollKi</tabstop>
<tabstop>AttitudePitchKi_2</tabstop>
<tabstop>AttitudeYawKi</tabstop>
<tabstop>AttitudeRollILimit</tabstop>
<tabstop>AttitudePitchILimit_2</tabstop>
<tabstop>AttitudeYawILimit</tabstop>
<tabstop>pushButton_3</tabstop>
<tabstop>rateRollKp_3</tabstop>
<tabstop>ratePitchKp_4</tabstop>
<tabstop>rateYawKp_3</tabstop>
<tabstop>rateRollKi_3</tabstop>
<tabstop>ratePitchKi_4</tabstop>
<tabstop>rateYawKi_3</tabstop>
<tabstop>rateRollILimit_3</tabstop>
<tabstop>ratePitchILimit_4</tabstop>
<tabstop>rateYawILimit_3</tabstop>
<tabstop>pushButton_5</tabstop>
<tabstop>GyroTau</tabstop>
<tabstop>AccelKp</tabstop>
<tabstop>AccelKi</tabstop>
<tabstop>lowThrottleZeroIntegral_9</tabstop>
<tabstop>realTimeUpdates_7</tabstop>
<tabstop>saveStabilizationToRAM_7</tabstop>
<tabstop>saveStabilizationToSD_7</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>

130
ground/openpilotgcs/src/plugins/config/txpid.ui
View File

@ -28,7 +28,7 @@
<x>0</x>
<y>0</y>
<width>702</width>
<height>497</height>
<height>489</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
@ -93,12 +93,36 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
<height>100</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">#groupBox_6{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="title">
<string>Module Settings</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<item row="1" column="1">
<widget class="QLabel" name="label_51">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>PID option</string>
</property>
@ -107,8 +131,15 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
</property>
</widget>
</item>
<item row="0" column="2">
<item row="1" column="2">
<widget class="QLabel" name="label_50">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Control Source</string>
</property>
@ -117,8 +148,15 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
</property>
</widget>
</item>
<item row="0" column="3">
<item row="1" column="3">
<widget class="QLabel" name="label_49">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
@ -127,8 +165,15 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
</property>
</widget>
</item>
<item row="0" column="4">
<item row="1" column="4">
<widget class="QLabel" name="label">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
@ -137,14 +182,14 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Instance 1</string>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QComboBox" name="PID1">
<property name="toolTip">
<string>Select PID option or option pair to update.
@ -152,7 +197,7 @@ Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="1" column="2">
<item row="2" column="2">
<widget class="QComboBox" name="Input1">
<property name="toolTip">
<string>Select input used as a control source for this instance.
@ -172,7 +217,7 @@ used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="1" column="3">
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="MinPID1">
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
@ -186,7 +231,7 @@ Throttle channel lesser or equal to Throttle Min value.</string>
</property>
</widget>
</item>
<item row="1" column="4">
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="MaxPID1">
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
@ -200,14 +245,14 @@ Throttle channel greater or equal to Throttle Max value.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Instance 2</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QComboBox" name="PID2">
<property name="toolTip">
<string>Select PID option or option pair to update.
@ -215,7 +260,7 @@ Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="2" column="2">
<item row="3" column="2">
<widget class="QComboBox" name="Input2">
<property name="toolTip">
<string>Select input used as a control source for this instance.
@ -235,7 +280,7 @@ used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="2" column="3">
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="MinPID2">
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
@ -249,7 +294,7 @@ Throttle channel lesser or equal to Throttle Min value.</string>
</property>
</widget>
</item>
<item row="2" column="4">
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="MaxPID2">
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
@ -263,14 +308,14 @@ Throttle channel greater or equal to Throttle Max value.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Instance 3</string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QComboBox" name="PID3">
<property name="toolTip">
<string>Select PID option or option pair to update.
@ -278,7 +323,7 @@ Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="3" column="2">
<item row="4" column="2">
<widget class="QComboBox" name="Input3">
<property name="toolTip">
<string>Select input used as a control source for this instance.
@ -298,7 +343,7 @@ used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="3" column="3">
<item row="4" column="3">
<widget class="QDoubleSpinBox" name="MinPID3">
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
@ -312,7 +357,7 @@ Throttle channel lesser or equal to Throttle Min value.</string>
</property>
</widget>
</item>
<item row="3" column="4">
<item row="4" column="4">
<widget class="QDoubleSpinBox" name="MaxPID3">
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
@ -326,14 +371,14 @@ Throttle channel greater or equal to Throttle Max value.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Update Mode</string>
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QComboBox" name="UpdateMode">
<property name="toolTip">
<string>PID values update mode which can be set to:
@ -349,14 +394,14 @@ only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Throttle Range</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="ThrottleMin">
<property name="toolTip">
<string>Throttle channel lower bound mapped to PID Min value</string>
@ -369,7 +414,7 @@ only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="6" column="2">
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="ThrottleMax">
<property name="toolTip">
<string>Throttle channel upper bound mapped to PID Max value</string>
@ -382,8 +427,15 @@ only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_4">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
@ -392,8 +444,15 @@ only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="5" column="2">
<item row="6" column="2">
<widget class="QLabel" name="label_5">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
@ -402,7 +461,20 @@ only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="0" column="2">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -413,7 +485,7 @@ only when system is armed without disabling the module.</string>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
<height>20</height>
</size>
</property>
</spacer>

10
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -49,7 +49,7 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
UAVObject::Metadata mdata = obj->getMetadata();
m_gcscontrol->checkBoxGcsControl->setChecked(mdata.flightAccess == UAVObject::ACCESS_READONLY);
m_gcscontrol->checkBoxGcsControl->setChecked(UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READONLY);
// Set up the drop down box for the flightmode
UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
@ -117,10 +117,10 @@ void GCSControlGadgetWidget::toggleControl(int state)
if (state)
{
mccInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
}

20
ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp
View File

@ -236,12 +236,12 @@ void Simulator::setupInputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READWRITE;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryAcked = false;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetFlightTelemetryAcked(mdata, false);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = updatePeriod;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
obj->setMetadata(mdata);
}
@ -249,11 +249,11 @@ void Simulator::setupOutputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetFlightTelemetryUpdateMode(mdata,UAVObject::UPDATEMODE_MANUAL);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.gcsTelemetryUpdatePeriod = updatePeriod;
obj->setMetadata(mdata);
}

1
ground/openpilotgcs/src/plugins/uavobjects/tests/uavobjectstest.h
View File

@ -18,6 +18,7 @@ private slots:
void objectUpdated(UAVObject* obj);
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void runTest();

25
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -36,16 +36,7 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
{
this->parent = parent;
// Setup default metadata of metaobject (can not be changed)
ownMetadata.flightAccess = ACCESS_READWRITE;
ownMetadata.gcsAccess = ACCESS_READWRITE;
ownMetadata.flightTelemetryAcked = 1;
ownMetadata.flightTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.flightTelemetryUpdatePeriod = 0;
ownMetadata.gcsTelemetryAcked = 1;
ownMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.loggingUpdatePeriod = 0;
UAVObject::MetadataInitialize(ownMetadata);
// Setup fields
QStringList boolEnum;
boolEnum << tr("False") << tr("True");
@ -54,16 +45,10 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
QStringList accessModeEnum;
accessModeEnum << tr("Read/Write") << tr("Read Only");
QList<UAVObjectField*> fields;
fields.append( new UAVObjectField(tr("Flight Access Mode"), tr(""), UAVObjectField::ENUM, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("GCS Access Mode"), tr(""), UAVObjectField::ENUM, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Acked"), tr(""), UAVObjectField::ENUM, 1, boolEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Acked"), tr(""), UAVObjectField::ENUM, 1, boolEnum) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Modes"), tr(""), UAVObjectField::UINT8, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
// Initialize parent
UAVObject::initialize(0);
UAVObject::initializeFields(fields, (quint8*)&parentMetadata, sizeof(Metadata));

141
ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
View File

@ -29,6 +29,18 @@
#include <QtEndian>
#include <QDebug>
// Constants
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/**
* Constructor
* @param objID The object ID
@ -456,3 +468,132 @@ void UAVObject::emitTransactionCompleted(bool success)
{
emit transactionCompleted(this, success);
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
*/
void UAVObject::MetadataInitialize(UAVObject::Metadata& metadata)
{
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
}
/**
* Get the UAVObject metadata access member
* \param[in] metadata The metadata object
* \return the access type
*/
UAVObject::AccessMode UAVObject::GetFlightAccess(const UAVObject::Metadata& metadata)
{
return UAVObject::AccessMode((metadata.flags >> UAVOBJ_ACCESS_SHIFT) & 1);
}
/**
* Set the UAVObject metadata access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObject::SetFlightAccess(UAVObject::Metadata& metadata, UAVObject::AccessMode mode)
{
SET_BITS(metadata.flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \return the GCS access type
*/
UAVObject::AccessMode UAVObject::GetGcsAccess(const UAVObject::Metadata& metadata)
{
return UAVObject::AccessMode((metadata.flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1);
}
/**
* Set the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObject::SetGcsAccess(UAVObject::Metadata& metadata, UAVObject::AccessMode mode) {
SET_BITS(metadata.flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObject::GetFlightTelemetryAcked(const UAVObject::Metadata& metadata) {
return (metadata.flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The telemetry acked boolean
*/
void UAVObject::SetFlightTelemetryAcked(UAVObject::Metadata& metadata, uint8_t val) {
SET_BITS(metadata.flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObject::GetGcsTelemetryAcked(const UAVObject::Metadata& metadata) {
return (metadata.flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObject::SetGcsTelemetryAcked(UAVObject::Metadata& metadata, uint8_t val) {
SET_BITS(metadata.flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata telemetry update mode
* \param[in] metadata The metadata object
* \return the telemetry update mode
*/
UAVObject::UpdateMode UAVObject::GetFlightTelemetryUpdateMode(const UAVObject::Metadata& metadata) {
return UAVObject::UpdateMode((metadata.flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Set the UAVObject metadata telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The telemetry update mode
*/
void UAVObject::SetFlightTelemetryUpdateMode(UAVObject::Metadata& metadata, UAVObject::UpdateMode val) {
SET_BITS(metadata.flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Get the UAVObject metadata GCS telemetry update mode
* \param[in] metadata The metadata object
* \return the GCS telemetry update mode
*/
UAVObject::UpdateMode UAVObject::GetGcsTelemetryUpdateMode(const UAVObject::Metadata& metadata) {
return UAVObject::UpdateMode((metadata.flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Set the UAVObject metadata GCS telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry update mode
*/
void UAVObject::SetGcsTelemetryUpdateMode(UAVObject::Metadata& metadata, UAVObject::UpdateMode val) {
SET_BITS(metadata.flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}

58
ground/openpilotgcs/src/plugins/uavobjects/uavobject.h
View File

@ -38,6 +38,14 @@
#include <QFile>
#include "uavobjectfield.h"
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
class UAVObjectField;
class UAVOBJECTS_EXPORT UAVObject: public QObject
@ -52,8 +60,8 @@ public:
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_MANUAL = 2, /** Manually update object, by calling the updated() function */
UPDATEMODE_NEVER = 3 /** Object is never updated */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
} UpdateMode;
/**
@ -67,19 +75,25 @@ public:
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
quint8 flightAccess; /** Defines the access level for the local flight transactions (readonly and readwrite) */
quint8 gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite) */
quint8 flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
quint8 flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
qint32 flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
quint8 gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
quint8 gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
quint8 loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
qint32 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
typedef struct {
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t flightTelemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
UAVObject(quint32 objID, bool isSingleInst, const QString& name);
@ -111,6 +125,21 @@ public:
QString toStringData();
void emitTransactionCompleted(bool success);
// Metadata accessors
static void MetadataInitialize(Metadata& meta);
static AccessMode GetFlightAccess(const Metadata& meta);
static void SetFlightAccess(Metadata& meta, AccessMode mode);
static AccessMode GetGcsAccess(const Metadata& meta);
static void SetGcsAccess(Metadata& meta, AccessMode mode);
static uint8_t GetFlightTelemetryAcked(const Metadata& meta);
static void SetFlightTelemetryAcked(Metadata& meta, uint8_t val);
static uint8_t GetGcsTelemetryAcked(const Metadata& meta);
static void SetGcsTelemetryAcked(Metadata& meta, uint8_t val);
static UpdateMode GetFlightTelemetryUpdateMode(const Metadata& meta);
static void SetFlightTelemetryUpdateMode(Metadata& meta, UpdateMode val);
static UpdateMode GetGcsTelemetryUpdateMode(const Metadata& meta);
static void SetGcsTelemetryUpdateMode(Metadata& meta, UpdateMode val);
public slots:
void requestUpdate();
void updated();
@ -119,6 +148,7 @@ signals:
void objectUpdated(UAVObject* obj);
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void transactionCompleted(UAVObject* obj, bool success);

4
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -833,7 +833,7 @@ bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
if ( UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READWRITE )
{
switch (type)
{
@ -873,7 +873,7 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
if ( UAVObject::GetGcsAccess(mdata) == UAVObject::ACCESS_READWRITE )
{
switch (type)
{

18
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.cpp
View File

@ -61,15 +61,15 @@ $(FIELDSINIT)
UAVObject::Metadata $(NAME)::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = $(FLIGHTACCESS);
metadata.gcsAccess = $(GCSACCESS);
metadata.gcsTelemetryAcked = $(GCSTELEM_ACKED);
metadata.gcsTelemetryUpdateMode = UAVObject::$(GCSTELEM_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.flightTelemetryAcked = $(FLIGHTTELEM_ACKED);
metadata.flightTelemetryUpdateMode = UAVObject::$(FLIGHTTELEM_UPDATEMODE);
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.loggingUpdateMode = UAVObject::$(LOGGING_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
return metadata;
}
@ -102,7 +102,7 @@ void $(NAME)::setData(const DataFields& data)
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
if ( UAVObject::GetGcsAccess(mdata) == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event

2
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
View File

@ -77,7 +77,7 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
foreach(UAVDataObject * obj,objects)
{
UAVObject::Metadata mdata= obj->getMetadata();
if(mdata.gcsAccess==UAVObject::ACCESS_READONLY)
if(UAVObject::GetGcsAccess(mdata)==UAVObject::ACCESS_READONLY)
continue;
up_result=false;
current_object=obj;

69
ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
View File

@ -77,7 +77,7 @@ void Telemetry::registerObject(UAVObject* obj)
addObject(obj);
// Setup object for telemetry updates
updateObject(obj);
updateObject(obj, EV_NONE);
}
/**
@ -142,6 +142,10 @@ void Telemetry::connectToObjectInstances(UAVObject* obj, quint32 eventMask)
{
connect(objs[n], SIGNAL(objectUpdatedManual(UAVObject*)), this, SLOT(objectUpdatedManual(UAVObject*)));
}
if ( (eventMask&EV_UPDATED_PERIODIC) != 0)
{
connect(objs[n], SIGNAL(objectUpdatedPeriodic(UAVObject*)), this, SLOT(objectUpdatedPeriodic(UAVObject*)));
}
if ( (eventMask&EV_UPDATE_REQ) != 0)
{
connect(objs[n], SIGNAL(updateRequested(UAVObject*)), this, SLOT(updateRequested(UAVObject*)));
@ -152,26 +156,27 @@ void Telemetry::connectToObjectInstances(UAVObject* obj, quint32 eventMask)
/**
* Update an object based on its metadata properties
*/
void Telemetry::updateObject(UAVObject* obj)
void Telemetry::updateObject(UAVObject* obj, quint32 eventType)
{
// Get metadata
UAVObject::Metadata metadata = obj->getMetadata();
UAVObject::UpdateMode updateMode = UAVObject::GetGcsTelemetryUpdateMode(metadata);
// Setup object depending on update mode
qint32 eventMask;
if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_PERIODIC )
if ( updateMode == UAVObject::UPDATEMODE_PERIODIC )
{
// Set update period
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
// Connect signals for all instances
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ | EV_UPDATED_PERIODIC;
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE )
else if ( updateMode == UAVObject::UPDATEMODE_ONCHANGE )
{
// Set update period
setUpdatePeriod(obj, 0);
@ -183,7 +188,29 @@ void Telemetry::updateObject(UAVObject* obj)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_MANUAL )
else if ( updateMode == UAVObject::UPDATEMODE_THROTTLED )
{
// If we received a periodic update, we can change back to update on change
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// Set update period
if (eventType == EV_NONE)
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
// Connect signals for all instances
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ | EV_UPDATED_PERIODIC;
}
else
{
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
// Connect signals for all instances
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
}
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( updateMode == UAVObject::UPDATEMODE_MANUAL )
{
// Set update period
setUpdatePeriod(obj, 0);
@ -195,13 +222,6 @@ void Telemetry::updateObject(UAVObject* obj)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_NEVER )
{
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect from object
connectToObjectInstances(obj, 0);
}
}
/**
@ -381,14 +401,16 @@ void Telemetry::processObjectQueue()
}
// Setup transaction (skip if unpack event)
if ( objInfo.event != EV_UNPACKED )
UAVObject::Metadata metadata = objInfo.obj->getMetadata();
UAVObject::UpdateMode updateMode = UAVObject::GetGcsTelemetryUpdateMode(metadata);
if ( ( objInfo.event != EV_UNPACKED ) && ( ( objInfo.event != EV_UPDATED_PERIODIC ) || ( updateMode != UAVObject::UPDATEMODE_THROTTLED ) ) )
{
UAVObject::Metadata metadata = objInfo.obj->getMetadata();
transInfo.obj = objInfo.obj;
transInfo.allInstances = objInfo.allInstances;
transInfo.retriesRemaining = MAX_RETRIES;
transInfo.acked = metadata.gcsTelemetryAcked;
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
transInfo.acked = UAVObject::GetGcsTelemetryAcked(metadata);
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL || objInfo.event == EV_UPDATED_PERIODIC )
{
transInfo.objRequest = false;
}
@ -408,7 +430,11 @@ void Telemetry::processObjectQueue()
UAVMetaObject* metaobj = dynamic_cast<UAVMetaObject*>(objInfo.obj);
if ( metaobj != NULL )
{
updateObject( metaobj->getParentObject() );
updateObject( metaobj->getParentObject(), EV_NONE );
}
else if ( updateMode != UAVObject::UPDATEMODE_THROTTLED )
{
updateObject( objInfo.obj, objInfo.event );
}
// The fact we received an unpacked event does not mean that
@ -417,7 +443,6 @@ void Telemetry::processObjectQueue()
// stuck:
if ( objInfo.event == EV_UNPACKED )
processObjectQueue();
}
/**
@ -453,7 +478,7 @@ void Telemetry::processPeriodicUpdates()
objinfo->timeToNextUpdateMs = objinfo->updatePeriodMs - offset;
// Send object
time.start();
processObjectUpdates(objinfo->obj, EV_UPDATED_MANUAL, true, false);
processObjectUpdates(objinfo->obj, EV_UPDATED_PERIODIC, true, false);
elapsedMs = time.elapsed();
// Update timeToNextUpdateMs with the elapsed delay of sending the object;
timeToNextUpdateMs += elapsedMs;
@ -522,6 +547,12 @@ void Telemetry::objectUpdatedManual(UAVObject* obj)
processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
}
void Telemetry::objectUpdatedPeriodic(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UPDATED_PERIODIC, false, true);
}
void Telemetry::objectUnpacked(UAVObject* obj)
{
QMutexLocker locker(mutex);

7
ground/openpilotgcs/src/plugins/uavtalk/telemetry.h
View File

@ -63,6 +63,7 @@ signals:
private slots:
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void newObject(UAVObject* obj);
@ -84,10 +85,12 @@ private:
* Events generated by objects
*/
typedef enum {
EV_NONE = 0x00, /** No event */
EV_UNPACKED = 0x01, /** Object data updated by unpacking */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATE_REQ = 0x08 /** Request to update object data */
EV_UPDATED_PERIODIC = 0x8, /** Object update event generated by timer */
EV_UPDATE_REQ = 0x010 /** Request to update object data */
} EventMask;
typedef struct {
@ -132,7 +135,7 @@ private:
void addObject(UAVObject* obj);
void setUpdatePeriod(UAVObject* obj, qint32 periodMs);
void connectToObjectInstances(UAVObject* obj, quint32 eventMask);
void updateObject(UAVObject* obj);
void updateObject(UAVObject* obj, quint32 eventMask);
void processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority);
void processObjectTransaction();
void processObjectQueue();

19
ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
View File

@ -77,25 +77,22 @@ void TelemetryMonitor::startRetrievingObjects()
UAVMetaObject* mobj = dynamic_cast<UAVMetaObject*>(obj);
UAVDataObject* dobj = dynamic_cast<UAVDataObject*>(obj);
UAVObject::Metadata mdata = obj->getMetadata();
if ( mdata.gcsTelemetryUpdateMode != UAVObject::UPDATEMODE_NEVER )
if ( mobj != NULL )
{
if ( mobj != NULL )
queue.enqueue(obj);
}
else if ( dobj != NULL )
{
if ( dobj->isSettings() )
{
queue.enqueue(obj);
}
else if ( dobj != NULL )
else
{
if ( dobj->isSettings() )
if ( UAVObject::GetFlightTelemetryUpdateMode(mdata) == UAVObject::UPDATEMODE_ONCHANGE )
{
queue.enqueue(obj);
}
else
{
if ( mdata.flightTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE )
{
queue.enqueue(obj);
}
}
}
}
}

2
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -643,8 +643,8 @@ void UploaderGadgetWidget::versionMatchCheck()
QString gcsDescription = QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
QString gcsGitHash = gcsDescription.mid(gcsDescription.indexOf(":")+1, 8);
gcsGitHash.remove( QRegExp("^[0]*") );
QString gcsGitDate = gcsDescription.mid(gcsDescription.indexOf(" ")+1, 14);
QString gcsVersion = gcsGitDate + " (" + gcsGitHash + ")";
QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + ")";

2
ground/uavobjgenerator/generators/generator_common.cpp
View File

@ -38,7 +38,7 @@ void replaceCommonTags(QString& out, ObjectInfo* info)
QStringList updateModeStr,accessModeStr;
updateModeStr << "UPDATEMODE_PERIODIC" << "UPDATEMODE_ONCHANGE"
<< "UPDATEMODE_MANUAL" << "UPDATEMODE_NEVER";
<< "UPDATEMODE_THROTTLED" << "UPDATEMODE_MANUAL";
accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";

2
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -34,7 +34,7 @@ UAVObjectParser::UAVObjectParser()
fieldTypeStrXML << "int8" << "int16" << "int32" << "uint8"
<< "uint16" << "uint32" <<"float" << "enum";
updateModeStrXML << "periodic" << "onchange" << "manual" << "never";
updateModeStrXML << "periodic" << "onchange" << "throttled" << "manual";
accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";

4
ground/uavobjgenerator/uavobjectparser.h
View File

@ -66,8 +66,8 @@ typedef struct {
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
UPDATEMODE_MANUAL, /** Manually update object, by calling the updated() function */
UPDATEMODE_NEVER /** Object is never updated */
UPDATEMODE_THROTTLED, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL /** Manually update object, by calling the updated() function */
} UpdateMode;

2
shared/uavobjectdefinition/accessorydesired.xml
View File

@ -5,6 +5,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/actuatorcommand.xml
View File

@ -8,6 +8,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/actuatordesired.xml
View File

@ -10,6 +10,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

6
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -16,6 +16,10 @@
<field name="VTOLMotorSW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorNW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="GroundVehicleThrottle1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="GroundVehicleThrottle2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="GroundVehicleSteering1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="GroundVehicleSteering2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="ChannelUpdateFreq" units="Hz" type="uint16" elements="4" defaultvalue="50"/>
<field name="ChannelMax" units="us" type="int16" elements="10" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="10" defaultvalue="1000"/>
@ -26,6 +30,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/attitudeactual.xml
View File

@ -11,6 +11,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="100"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/attitudesettings.xml
View File

@ -14,6 +14,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/baroaltitude.xml
View File

@ -7,6 +7,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/cameradesired.xml
View File

@ -7,6 +7,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/camerastabsettings.xml
View File

@ -11,6 +11,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/faultsettings.xml
View File

@ -7,6 +7,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/firmwareiapobj.xml
View File

@ -11,7 +11,7 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightbatterysettings.xml
View File

@ -14,6 +14,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightbatterystate.xml
View File

@ -10,6 +10,6 @@
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightplancontrol.xml
View File

@ -5,6 +5,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightplansettings.xml
View File

@ -5,6 +5,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightplanstatus.xml
View File

@ -9,6 +9,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="2000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightstatus.xml
View File

@ -9,6 +9,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="5000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

4
shared/uavobjectdefinition/gcsreceiver.xml
View File

@ -4,7 +4,7 @@
<field name="Channel" units="us" type="uint16" elements="6"/>
<access gcs="readwrite" flight="readonly"/>
<telemetrygcs acked="false" updatemode="onchange" period="0"/>
<telemetryflight acked="false" updatemode="never" period="0"/>
<logging updatemode="never" period="0"/>
<telemetryflight acked="false" updatemode="manual" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/gcstelemetrystats.xml
View File

@ -10,6 +10,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="periodic" period="5000"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/guidancesettings.xml
View File

@ -14,6 +14,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/homelocation.xml
View File

@ -12,6 +12,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -25,6 +25,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/manualcontrolcommand.xml
View File

@ -11,6 +11,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="2000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

4
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -13,6 +13,8 @@
<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="Deadband" units="%" type="float" elements="1" defaultvalue="0"/>
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
@ -27,6 +29,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/mixersettings.xml
View File

@ -31,6 +31,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/nedaccel.xml
View File

@ -7,6 +7,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="10001"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/objectpersistence.xml
View File

@ -8,6 +8,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/receiveractivity.xml
View File

@ -9,6 +9,6 @@
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/sonaraltitude.xml
View File

@ -5,6 +5,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -10,6 +10,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -27,6 +27,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

4
shared/uavobjectdefinition/systemsettings.xml
View File

@ -1,11 +1,11 @@
<xml>
<object name="SystemSettings" singleinstance="true" settings="true">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri" defaultvalue="FixedWing"/>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="FixedWing"/>
<field name="GUIConfigData" units="bits" type="uint32" elements="2" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -24,6 +24,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>