rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

OP-907 step 3: more vehicle config code cleanups

Browse Source
This commit is contained in:
Philippe Renon 2013-04-07 17:55:59 +02:00
parent 14a0da076d
commit 3520a7c055
14 changed files with 934 additions and 1007 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

108
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -285,6 +285,61 @@ void ConfigCcpmWidget::resetActuators(GUIConfigDataUnion *configData)
configData->heli.ServoIndexZ = 0;
}
void ConfigCcpmWidget::refreshWidgetsValues(QString frameType)
{
Q_UNUSED(frameType);
setupUI(frameType);
GUIConfigDataUnion config = GetConfigData();
//swashplate config
setComboCurrentIndex( m_aircraft->ccpmType, m_aircraft->ccpmType->count() - (config.heli.SwashplateType +1));
setComboCurrentIndex(m_aircraft->ccpmSingleServo, config.heli.FirstServoIndex);
//ccpm mixing options
m_aircraft->ccpmCollectivePassthrough->setChecked(config.heli.ccpmCollectivePassthroughState);
m_aircraft->ccpmLinkCyclic->setChecked(config.heli.ccpmLinkCyclicState);
m_aircraft->ccpmLinkRoll->setChecked(config.heli.ccpmLinkRollState);
//correction angle
m_aircraft->ccpmCorrectionAngle->setValue(config.heli.CorrectionAngle);
//update sliders
m_aircraft->ccpmCollectiveScale->setValue(config.heli.SliderValue0);
m_aircraft->ccpmCollectiveScaleBox->setValue(config.heli.SliderValue0);
m_aircraft->ccpmCyclicScale->setValue(config.heli.SliderValue1);
m_aircraft->ccpmCyclicScaleBox->setValue(config.heli.SliderValue1);
m_aircraft->ccpmPitchScale->setValue(config.heli.SliderValue1);
m_aircraft->ccpmPitchScaleBox->setValue(config.heli.SliderValue1);
m_aircraft->ccpmRollScale->setValue(config.heli.SliderValue2);
m_aircraft->ccpmRollScaleBox->setValue(config.heli.SliderValue2);
m_aircraft->ccpmCollectiveSlider->setValue(config.heli.SliderValue0);
m_aircraft->ccpmCollectivespinBox->setValue(config.heli.SliderValue0);
//servo assignments
setComboCurrentIndex(m_aircraft->ccpmServoWChannel, config.heli.ServoIndexW);
setComboCurrentIndex( m_aircraft->ccpmServoXChannel,config.heli.ServoIndexX);
setComboCurrentIndex( m_aircraft->ccpmServoYChannel,config.heli.ServoIndexY);
setComboCurrentIndex( m_aircraft->ccpmServoZChannel,config.heli.ServoIndexZ);
//throttle
setComboCurrentIndex( m_aircraft->ccpmEngineChannel, config.heli.Throttle);
//tail
setComboCurrentIndex( m_aircraft->ccpmTailChannel, config.heli.Tail);
getMixer();
}
QString ConfigCcpmWidget::updateConfigObjectsFromWidgets()
{
QString airframeType = updateConfigObjects();
setMixer();
return airframeType;
}
void ConfigCcpmWidget::UpdateType()
{
int TypeInt, SingleServoIndex, NumServosDefined;
@ -756,59 +811,6 @@ QString ConfigCcpmWidget::updateConfigObjects()
return airframeType;
}
QString ConfigCcpmWidget::updateConfigObjectsFromWidgets()
{
QString airframeType = updateConfigObjects();
setMixer();
return airframeType;
}
void ConfigCcpmWidget::refreshWidgetsValues(QString frameType)
{
Q_UNUSED(frameType);
GUIConfigDataUnion config = GetConfigData();
//swashplate config
setComboCurrentIndex( m_aircraft->ccpmType, m_aircraft->ccpmType->count() - (config.heli.SwashplateType +1));
setComboCurrentIndex(m_aircraft->ccpmSingleServo, config.heli.FirstServoIndex);
//ccpm mixing options
m_aircraft->ccpmCollectivePassthrough->setChecked(config.heli.ccpmCollectivePassthroughState);
m_aircraft->ccpmLinkCyclic->setChecked(config.heli.ccpmLinkCyclicState);
m_aircraft->ccpmLinkRoll->setChecked(config.heli.ccpmLinkRollState);
//correction angle
m_aircraft->ccpmCorrectionAngle->setValue(config.heli.CorrectionAngle);
//update sliders
m_aircraft->ccpmCollectiveScale->setValue(config.heli.SliderValue0);
m_aircraft->ccpmCollectiveScaleBox->setValue(config.heli.SliderValue0);
m_aircraft->ccpmCyclicScale->setValue(config.heli.SliderValue1);
m_aircraft->ccpmCyclicScaleBox->setValue(config.heli.SliderValue1);
m_aircraft->ccpmPitchScale->setValue(config.heli.SliderValue1);
m_aircraft->ccpmPitchScaleBox->setValue(config.heli.SliderValue1);
m_aircraft->ccpmRollScale->setValue(config.heli.SliderValue2);
m_aircraft->ccpmRollScaleBox->setValue(config.heli.SliderValue2);
m_aircraft->ccpmCollectiveSlider->setValue(config.heli.SliderValue0);
m_aircraft->ccpmCollectivespinBox->setValue(config.heli.SliderValue0);
//servo assignments
setComboCurrentIndex(m_aircraft->ccpmServoWChannel, config.heli.ServoIndexW);
setComboCurrentIndex( m_aircraft->ccpmServoXChannel,config.heli.ServoIndexX);
setComboCurrentIndex( m_aircraft->ccpmServoYChannel,config.heli.ServoIndexY);
setComboCurrentIndex( m_aircraft->ccpmServoZChannel,config.heli.ServoIndexZ);
//throttle
setComboCurrentIndex( m_aircraft->ccpmEngineChannel, config.heli.Throttle);
//tail
setComboCurrentIndex( m_aircraft->ccpmTailChannel, config.heli.Tail);
getMixer();
}
void ConfigCcpmWidget::SetUIComponentVisibilities()
{
m_aircraft->ccpmRevoMixingBox->setVisible(0);

11
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -57,7 +57,6 @@ class ConfigCcpmWidget: public VehicleConfig
Q_OBJECT
public:
static QStringList getChannelDescriptions();
ConfigCcpmWidget(QWidget *parent = 0);
@ -67,7 +66,6 @@ public:
virtual QString updateConfigObjectsFromWidgets();
public slots:
virtual void setupUI(QString airframeType);
void getMixer();
void setMixer();
void saveccpmUpdate();
@ -77,8 +75,6 @@ protected:
void resizeEvent(QResizeEvent *event);
private:
virtual void resetActuators(GUIConfigDataUnion *configData);
Ui_CcpmConfigWidget *m_aircraft;
QGraphicsSvgItem *SwashplateImg;
@ -100,17 +96,19 @@ private:
SwashplateServoSettingsStruct newSwashLvlConfiguration;
int MixerChannelData[6];
virtual void resetActuators(GUIConfigDataUnion *configData);
int ShowDisclaimer(int messageID);
virtual void enableControls(bool enable) { Q_UNUSED(enable) }; // Not used by this widget
bool updatingFromHardware;
bool updatingToHardware;
// TODO ?
QString updateConfigObjects();
private slots:
// TODO ?
virtual void setupUI(QString airframeType);
virtual bool throwConfigError(QString airframeType);
void ccpmSwashplateUpdate();
@ -131,7 +129,6 @@ private slots:
void enableSwashplateLevellingControl(bool state);
void setSwashplateLevel(int percent);
void SwashLvlSpinBoxChanged(int value);
// TODO ?
virtual void refreshValues() {}; // Not used
};

147
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp
View File

@ -26,9 +26,6 @@
*/
#include "configcustomwidget.h"
#include "mixersettings.h"
//#include "systemsettings.h"
//#include "actuatorsettings.h"
//#include "actuatorcommand.h"
#include <QDebug>
#include <QStringList>
@ -41,7 +38,14 @@
#include <math.h>
#include <QMessageBox>
//const QString ConfigCustomWidget::CHANNELBOXNAME = QString("multiMotorChannelBox");
QStringList ConfigCustomWidget::getChannelDescriptions()
{
QStringList channelDesc;
for (int i = 0; i < (int) (VehicleConfig::CHANNEL_NUMELEM); i++) {
channelDesc.append(QString("-"));
}
return channelDesc;
}
ConfigCustomWidget::ConfigCustomWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_CustomConfigWidget())
@ -74,83 +78,10 @@ ConfigCustomWidget::~ConfigCustomWidget()
void ConfigCustomWidget::setupUI(QString frameType)
{
Q_ASSERT(m_aircraft);
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i = 0; i < (int) (VehicleConfig::CHANNEL_NUMELEM); i++) {
m_aircraft->customMixerTable->setColumnWidth(i,
(m_aircraft->customMixerTable->width() - m_aircraft->customMixerTable->verticalHeader()->width()) / 10);
}
}
QStringList ConfigCustomWidget::getChannelDescriptions()
{
QStringList channelDesc;
for (int i = 0; i < (int) (VehicleConfig::CHANNEL_NUMELEM); i++) {
channelDesc.append(QString("-"));
}
return channelDesc;
}
void ConfigCustomWidget::resetActuators(GUIConfigDataUnion *configData)
{
}
/**
Helper function to update the UI widget objects
*/
QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
// Update the table:
for (int channel = 0; channel < (int) (VehicleConfig::CHANNEL_NUMELEM); channel++) {
QComboBox* q = (QComboBox*) m_aircraft->customMixerTable->cellWidget(0, channel);
if (q->currentText() == "Disabled") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
} else if (q->currentText() == "Motor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
} else if (q->currentText() == "Servo") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
} else if (q->currentText() == "CameraRoll") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL);
} else if (q->currentText() == "CameraPitch") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAPITCH);
} else if (q->currentText() == "CameraYaw") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
} else if (q->currentText() == "Accessory0") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
} else if (q->currentText() == "Accessory1") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
} else if (q->currentText() == "Accessory2") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
} else if (q->currentText() == "Accessory3") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
} else if (q->currentText() == "Accessory4") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
} else if (q->currentText() == "Accessory5") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
}
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
}
return "Custom";
}
/**
@ -160,6 +91,8 @@ void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
{
Q_ASSERT(m_aircraft);
setupUI(frameType);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
@ -219,6 +152,60 @@ void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
}
}
/**
Helper function to
*/
QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
// Update the table:
for (int channel = 0; channel < (int) (VehicleConfig::CHANNEL_NUMELEM); channel++) {
QComboBox* q = (QComboBox*) m_aircraft->customMixerTable->cellWidget(0, channel);
if (q->currentText() == "Disabled") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
} else if (q->currentText() == "Motor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
} else if (q->currentText() == "Servo") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
} else if (q->currentText() == "CameraRoll") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL);
} else if (q->currentText() == "CameraPitch") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAPITCH);
} else if (q->currentText() == "CameraYaw") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
} else if (q->currentText() == "Accessory0") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
} else if (q->currentText() == "Accessory1") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
} else if (q->currentText() == "Accessory2") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
} else if (q->currentText() == "Accessory3") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
} else if (q->currentText() == "Accessory4") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
} else if (q->currentText() == "Accessory5") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
}
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
}
return "Custom";
}
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
@ -238,7 +225,8 @@ void ConfigCustomWidget::showEvent(QShowEvent *event)
int channelCount = (int) VehicleConfig::CHANNEL_NUMELEM;
for (int i = 0; i < channelCount; i++) {
m_aircraft->customMixerTable->setColumnWidth(i,
(m_aircraft->customMixerTable->width() - m_aircraft->customMixerTable->verticalHeader()->width()) / channelCount);
(m_aircraft->customMixerTable->width() - m_aircraft->customMixerTable->verticalHeader()->width())
/ channelCount);
}
}
@ -253,7 +241,8 @@ void ConfigCustomWidget::resizeEvent(QResizeEvent *event)
int channelCount = (int) VehicleConfig::CHANNEL_NUMELEM;
for (int i = 0; i < channelCount; i++) {
m_aircraft->customMixerTable->setColumnWidth(i,
(m_aircraft->customMixerTable->width() - m_aircraft->customMixerTable->verticalHeader()->width()) / channelCount);
(m_aircraft->customMixerTable->width() - m_aircraft->customMixerTable->verticalHeader()->width())
/ channelCount);
}
}

14
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.h
View File

@ -46,7 +46,6 @@ class ConfigCustomWidget: public VehicleConfig
Q_OBJECT
public:
static QStringList getChannelDescriptions();
ConfigCustomWidget(QWidget *parent = 0);
@ -55,23 +54,18 @@ public:
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
public slots:
virtual void setupUI(QString airframeType);
protected:
void showEvent(QShowEvent *event);
void resizeEvent(QResizeEvent *event);
private:
virtual void resetActuators(GUIConfigDataUnion *configData);
Ui_CustomConfigWidget *m_aircraft;
private slots:
virtual bool throwConfigError(int numMotors);
virtual void resetActuators(GUIConfigDataUnion *configData);
//signals:
// void configurationChanged();
private slots:
virtual void setupUI(QString airframeType);
virtual bool throwConfigError(int numMotors);
};

75
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -25,7 +25,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configfixedwingwidget.h"
//#include "configvehicletypewidget.h"
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.h"
@ -41,6 +40,41 @@
#include <math.h>
#include <QMessageBox>
QStringList ConfigFixedWingWidget::getChannelDescriptions()
{
// init a channel_numelem list of channel desc defaults
QStringList channelDesc;
for (int i = 0; i < (int) (ConfigFixedWingWidget::CHANNEL_NUMELEM); i++) {
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
if (configData.fixedwing.FixedWingPitch1 > 0) {
channelDesc[configData.fixedwing.FixedWingPitch1 - 1] = QString("FixedWingPitch1");
}
if (configData.fixedwing.FixedWingPitch2 > 0) {
channelDesc[configData.fixedwing.FixedWingPitch2 - 1] = QString("FixedWingPitch2");
}
if (configData.fixedwing.FixedWingRoll1 > 0) {
channelDesc[configData.fixedwing.FixedWingRoll1 - 1] = QString("FixedWingRoll1");
}
if (configData.fixedwing.FixedWingRoll2 > 0) {
channelDesc[configData.fixedwing.FixedWingRoll2 - 1] = QString("FixedWingRoll2");
}
if (configData.fixedwing.FixedWingYaw1 > 0) {
channelDesc[configData.fixedwing.FixedWingYaw1 - 1] = QString("FixedWingYaw1");
}
if (configData.fixedwing.FixedWingYaw2 > 0) {
channelDesc[configData.fixedwing.FixedWingYaw2 - 1] = QString("FixedWingYaw2");
}
if (configData.fixedwing.FixedWingThrottle > 0) {
channelDesc[configData.fixedwing.FixedWingThrottle - 1] = QString("FixedWingThrottle");
}
return channelDesc;
}
ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_FixedWingConfigWidget())
{
@ -51,7 +85,9 @@ ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
m_aircraft->fixedWingType->addItems(fixedWingTypes);
// Set default model to "Elevator aileron rudder"
m_aircraft->fixedWingType->setCurrentIndex(0);
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
setupUI(m_aircraft->fixedWingType->currentText());
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString)));
}
@ -141,38 +177,6 @@ void ConfigFixedWingWidget::resetActuators(GUIConfigDataUnion *configData)
configData->fixedwing.FixedWingThrottle = 0;
}
QStringList ConfigFixedWingWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i=0; i < (int)(ConfigFixedWingWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
if (configData.fixedwing.FixedWingPitch1 > 0)
channelDesc[configData.fixedwing.FixedWingPitch1-1] = QString("FixedWingPitch1");
if (configData.fixedwing.FixedWingPitch2 > 0)
channelDesc[configData.fixedwing.FixedWingPitch2-1] = QString("FixedWingPitch2");
if (configData.fixedwing.FixedWingRoll1 > 0)
channelDesc[configData.fixedwing.FixedWingRoll1-1] = QString("FixedWingRoll1");
if (configData.fixedwing.FixedWingRoll2 > 0)
channelDesc[configData.fixedwing.FixedWingRoll2-1] = QString("FixedWingRoll2");
if (configData.fixedwing.FixedWingYaw1 > 0)
channelDesc[configData.fixedwing.FixedWingYaw1-1] = QString("FixedWingYaw1");
if (configData.fixedwing.FixedWingYaw2 > 0)
channelDesc[configData.fixedwing.FixedWingYaw2-1] = QString("FixedWingYaw2");
if (configData.fixedwing.FixedWingThrottle > 0)
channelDesc[configData.fixedwing.FixedWingThrottle-1] = QString("FixedWingThrottle");
return channelDesc;
}
/**
Virtual function to update the UI widget objects
*/
@ -205,7 +209,6 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
return airframeType;
}
/**
Virtual function to refresh the UI widget values
*/
@ -213,6 +216,8 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
{
Q_ASSERT(m_aircraft);
setupUI(frameType);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);

11
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -46,7 +46,6 @@ class ConfigFixedWingWidget: public VehicleConfig
Q_OBJECT
public:
static QStringList getChannelDescriptions();
ConfigFixedWingWidget(QWidget *parent = 0);
@ -55,23 +54,19 @@ public:
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
public slots:
virtual void setupUI(QString airframeType);
private:
virtual void resetActuators(GUIConfigDataUnion *configData);
Ui_FixedWingConfigWidget *m_aircraft;
virtual void resetActuators(GUIConfigDataUnion *configData);
bool setupFrameFixedWing(QString airframeType);
bool setupFrameElevon(QString airframeType);
bool setupFrameVtail(QString airframeType);
private slots:
virtual void setupUI(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:
};
#endif // CONFIGFIXEDWINGWIDGET_H

173
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -41,6 +41,32 @@
#include <math.h>
#include <QMessageBox>
QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
{
// init a channel_numelem list of channel desc defaults
QStringList channelDesc;
for (int i = 0; i < (int) (ConfigGroundVehicleWidget::CHANNEL_NUMELEM); i++) {
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
if (configData.ground.GroundVehicleSteering1 > 0) {
channelDesc[configData.ground.GroundVehicleSteering1 - 1] = QString("GroundSteering1");
}
if (configData.ground.GroundVehicleSteering2 > 0) {
channelDesc[configData.ground.GroundVehicleSteering2 - 1] = QString("GroundSteering2");
}
if (configData.ground.GroundVehicleThrottle1 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundThrottle1");
}
if (configData.ground.GroundVehicleThrottle2 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundThrottle2");
}
return channelDesc;
}
ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_GroundConfigWidget())
{
@ -51,7 +77,7 @@ ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(QWidget *parent) :
m_aircraft->groundVehicleType->addItems(groundVehicleTypes);
// Set default model to "Turnable (car)"
m_aircraft->groundVehicleType->setCurrentIndex(0);
m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Turnable (car)"));
setupUI(m_aircraft->groundVehicleType->currentText());
@ -169,66 +195,6 @@ void ConfigGroundVehicleWidget::resetActuators(GUIConfigDataUnion *configData)
configData->ground.GroundVehicleThrottle2 = 0;
}
QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i = 0; i < (int) (ConfigGroundVehicleWidget::CHANNEL_NUMELEM); i++) {
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
if (configData.ground.GroundVehicleSteering1 > 0) {
channelDesc[configData.ground.GroundVehicleSteering1 - 1] = QString("GroundSteering1");
}
if (configData.ground.GroundVehicleSteering2 > 0) {
channelDesc[configData.ground.GroundVehicleSteering2 - 1] = QString("GroundSteering2");
}
if (configData.ground.GroundVehicleThrottle1 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundThrottle1");
}
if (configData.ground.GroundVehicleThrottle2 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundThrottle2");
}
return channelDesc;
}
/**
Virtual function to update the UI widget objects
*/
QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
{
QString airframeType = "GroundVehicleCar";
// Save the curve (common to all ground vehicle frames)
UAVDataObject *mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Remove Feed Forward, it is pointless on a ground vehicle:
setMixerValue(mixer, "FeedForward", 0.0);
// set the throttle curves
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve());
// 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);
}
return airframeType;
}
/**
Virtual function to refresh the UI widget values
*/
@ -236,6 +202,8 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
{
qDebug() << "ConfigGroundVehicleWidget::refreshWidgetsValues - frame type:" << frameType;
setupUI(frameType);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
@ -271,25 +239,25 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
//UAVDataObject *obj;
//UAVDataObject *obj;
//UAVObjectField *field;
GUIConfigDataUnion config = GetConfigData();
//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
//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
setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, config.ground.GroundVehicleThrottle1);
setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, config.ground.GroundVehicleThrottle2);
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, config.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, config.ground.GroundVehicleSteering2);
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);
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 channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check.
@ -298,23 +266,54 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
m_aircraft->differentialSteeringSlider2->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
}
}
else 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);
// }
}
}
else 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);
// }
}
}
/**
Virtual function to update the UI widget objects
*/
QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
{
QString airframeType = "GroundVehicleCar";
// Save the curve (common to all ground vehicle frames)
UAVDataObject *mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Remove Feed Forward, it is pointless on a ground vehicle:
setMixerValue(mixer, "FeedForward", 0.0);
// set the throttle curves
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve());
// 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);
}
return airframeType;
}
/**
Setup balancing ground vehicle.

8
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
View File

@ -54,19 +54,17 @@ public:
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
public slots:
virtual void setupUI(QString airframeType);
private:
virtual void resetActuators(GUIConfigDataUnion *configData);
Ui_GroundConfigWidget *m_aircraft;
virtual void resetActuators(GUIConfigDataUnion *configData);
bool setupGroundVehicleCar(QString airframeType);
bool setupGroundVehicleDifferential(QString airframeType);
bool setupGroundVehicleMotorcycle(QString airframeType);
private slots:
virtual void setupUI(QString airframeType);
virtual bool throwConfigError(QString airframeType);
};

812
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -43,6 +43,50 @@
const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChannelBox");
QStringList ConfigMultiRotorWidget::getChannelDescriptions()
{
// init a channel_numelem list of channel desc defaults
QStringList channelDesc;
for (int i = 0; i < (int) (ConfigMultiRotorWidget::CHANNEL_NUMELEM); i++) {
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
multiGUISettingsStruct multi = configData.multi;
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorN - 1] = QString("VTOLMotorN");
}
if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorNE - 1] = QString("VTOLMotorNE");
}
if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorNW - 1] = QString("VTOLMotorNW");
}
if (multi.VTOLMotorS > 0 && multi.VTOLMotorS <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorS - 1] = QString("VTOLMotorS");
}
if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorSE - 1] = QString("VTOLMotorSE");
}
if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorSW - 1] = QString("VTOLMotorSW");
}
if (multi.VTOLMotorW > 0 && multi.VTOLMotorW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorW - 1] = QString("VTOLMotorW");
}
if (multi.VTOLMotorE > 0 && multi.VTOLMotorE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorE - 1] = QString("VTOLMotorE");
}
if (multi.TRIYaw > 0 && multi.TRIYaw <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.TRIYaw - 1] = QString("Tri-Yaw");
}
return channelDesc;
}
ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_MultiRotorConfigWidget()), invertMotors(1)
{
@ -58,30 +102,30 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
quad->setSharedRenderer(renderer);
quad->setElementId("quad-x");
QGraphicsScene *scene = new QGraphicsScene(this);
QGraphicsScene *scene = new QGraphicsScene();
scene->addItem(quad);
scene->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->setScene(scene);
//m_multirotor = new ConfigMultiRotorWidget(m_aircraft);
//m_multirotor->quad = quad;
uiowner = this;
setupUI(m_aircraft->multirotorFrameType->currentText());
//setupUI(m_aircraft->multirotorFrameType->currentText());
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);
// Set default model to "Quad X"
m_aircraft->multirotorFrameType->setCurrentIndex(2);
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad X"));
setupUI(m_aircraft->multirotorFrameType->currentText());
connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString)));
// Connect the multirotor motor reverse checkbox
connect(m_aircraft->MultirotorRevMixerCheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
//m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
}
ConfigMultiRotorWidget::~ConfigMultiRotorWidget()
@ -92,7 +136,6 @@ ConfigMultiRotorWidget::~ConfigMultiRotorWidget()
void ConfigMultiRotorWidget::setupUI(QString frameType)
{
Q_ASSERT(m_aircraft);
Q_ASSERT(uiowner);
Q_ASSERT(quad);
qDebug() << "ConfigMultiRotorWidget::setupUI - frame type" << frameType;
@ -106,7 +149,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
// disable all motor channel boxes
for (int i = 1; i <= 8; i++) {
// do it manually so we can turn off any error decorations
QComboBox *combobox = qFindChild<QComboBox*>(uiowner, "multiMotorChannelBox" + QString::number(i));
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
if (combobox) {
combobox->setEnabled(false);
combobox->setItemData(0, 0, Qt::DecorationRole);
@ -117,7 +160,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
// Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
enableComboBoxes(this, CHANNELBOXNAME, 3, true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
@ -129,7 +172,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
// Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
// init mixer levels
m_aircraft->mrRollMixLevel->setValue(50);
@ -140,7 +183,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
// Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
@ -150,7 +193,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
// Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33);
@ -161,7 +204,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->multirotorFrameType->findText("Hexacopter X"));
// Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -172,7 +215,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
// Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -182,7 +225,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
// Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
enableComboBoxes(this, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
@ -193,7 +236,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->multirotorFrameType->findText("Octocopter V"));
// Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
enableComboBoxes(this, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
@ -203,7 +246,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
// Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
enableComboBoxes(this, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
@ -213,7 +256,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
// Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
enableComboBoxes(this, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -221,79 +264,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
}
// Draw the appropriate airframe
drawAirframe(frameType);
}
void ConfigMultiRotorWidget::drawAirframe(QString frameType)
{
qDebug() << "ConfigMultiRotorWidget::drawAirframe - frame type" << frameType;
invertMotors = m_aircraft->MultirotorRevMixerCheckBox->isChecked() ? -1 : 1;
qDebug() << "ConfigMultiRotorWidget::drawAirframe - invert motors" << invertMotors;
if (frameType == "Tri" || frameType == "Tricopter Y") {
if (invertMotors > 0) {
quad->setElementId("tri");
} else {
quad->setElementId("tri_reverse");
}
} else if (frameType == "QuadX" || frameType == "Quad X") {
if (invertMotors > 0) {
quad->setElementId("quad-x");
} else {
quad->setElementId("quad-x_reverse");
}
} else if (frameType == "QuadP" || frameType == "Quad +") {
if (invertMotors > 0) {
quad->setElementId("quad-plus");
} else {
quad->setElementId("quad-plus_reverse");
}
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
if (invertMotors > 0) {
quad->setElementId("quad-hexa");
} else {
quad->setElementId("quad-hexa_reverse");
}
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
if (invertMotors > 0) {
quad->setElementId("quad-hexa-H");
} else {
quad->setElementId("quad-hexa-H_reverse");
}
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
if (invertMotors > 0) {
quad->setElementId("hexa-coax");
} else {
quad->setElementId("hexa-coax_reverse");
}
} else if (frameType == "Octo" || frameType == "Octocopter") {
if (invertMotors > 0) {
quad->setElementId("quad-octo");
} else {
quad->setElementId("quad-octo_reverse");
}
} else if (frameType == "OctoV" || frameType == "Octocopter V") {
if (invertMotors > 0) {
quad->setElementId("quad-octo-v");
} else {
quad->setElementId("quad-octo-v_reverse");
}
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
if (invertMotors > 0) {
quad->setElementId("octo-coax-P");
} else {
quad->setElementId("octo-coax-P_reverse");
}
} else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
if (invertMotors > 0) {
quad->setElementId("octo-coax-X");
} else {
quad->setElementId("octo-coax-X_reverse");
}
}
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
// drawAirframe(frameType);
}
void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
@ -309,60 +280,298 @@ void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
configData->multi.TRIYaw = 0;
}
QStringList ConfigMultiRotorWidget::getChannelDescriptions()
/**
Helper function to refresh the UI widget values
*/
void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
{
QStringList channelDesc;
Q_ASSERT(m_aircraft);
// init a channel_numelem list of channel desc defaults
for (int i=0; i < (int)(ConfigMultiRotorWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
setupUI(frameType);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->multiThrottleCurve->initCurve(&curveValues);
}
else {
// no, init a straight curve
m_aircraft->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
multiGUISettingsStruct multi = configData.multi;
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorN-1] = QString("VTOLMotorN");
if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNE-1] = QString("VTOLMotorNE");
if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNW-1] = QString("VTOLMotorNW");
if (multi.VTOLMotorS > 0 && multi.VTOLMotorS <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorS-1] = QString("VTOLMotorS");
if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSE-1] = QString("VTOLMotorSE");
if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSW-1] = QString("VTOLMotorSW");
if (multi.VTOLMotorW > 0 && multi.VTOLMotorW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorW-1] = QString("VTOLMotorW");
if (multi.VTOLMotorE > 0 && multi.VTOLMotorE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorE-1] = QString("VTOLMotorE");
if (multi.TRIYaw > 0 && multi.TRIYaw <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.TRIYaw-1] = QString("Tri-Yaw");
return channelDesc;
int channel;
double value;
GUIConfigDataUnion config = GetConfigData();
multiGUISettingsStruct multi = config.multi;
// UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(mixer);
if (frameType == "QuadP")
{
// Motors 1/2/3/4 are: N / E / S / W
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27));
}
}
else if (frameType == "QuadX")
{
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27));
}
}
else if (frameType == "Hexa")
{
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
else if (frameType == "HexaX")
{
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
else if (frameType == "HexaCoax")
{
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSE);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(2*value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
}
else if (frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorNW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
if (frameType == "Octo") {
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
else if (frameType == "OctoV") {
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
else if (frameType == "OctoCoaxP") {
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
}
else if (frameType == "OctoCoaxX")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
}
else if (frameType == "Tri")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(2*value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
}
drawAirframe(frameType);
}
void ConfigMultiRotorWidget::setYawMixLevel(int value)
{
if(value<0)
{
m_aircraft->mrYawMixLevel->setValue((-1)*value);
m_aircraft->MultirotorRevMixerCheckBox->setChecked(true);
}
else
{
m_aircraft->mrYawMixLevel->setValue(value);
m_aircraft->MultirotorRevMixerCheckBox->setChecked(false);
}
}
/**
Helper function to update the UI widget objects
*/
@ -566,303 +775,62 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
return airframeType;
}
void ConfigMultiRotorWidget::setYawMixLevel(int value)
{
if (value < 0) {
m_aircraft->mrYawMixLevel->setValue(-value);
m_aircraft->MultirotorRevMixerCheckBox->setChecked(true);
} else {
m_aircraft->mrYawMixLevel->setValue(value);
m_aircraft->MultirotorRevMixerCheckBox->setChecked(false);
}
}
void ConfigMultiRotorWidget::reverseMultirotorMotor(){
QString frameType = m_aircraft->multirotorFrameType->currentText();
drawAirframe(frameType);
}
/**
Helper function to refresh the UI widget values
*/
void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
void ConfigMultiRotorWidget::drawAirframe(QString frameType)
{
Q_ASSERT(m_aircraft);
qDebug() << "ConfigMultiRotorWidget::drawAirframe - frame type" << frameType;
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->multiThrottleCurve->initCurve(&curveValues);
}
else {
// no, init a straight curve
m_aircraft->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
QString elementId;
if (frameType == "Tri" || frameType == "Tricopter Y") {
elementId = "tri";
} else if (frameType == "QuadX" || frameType == "Quad X") {
elementId = "quad-x";
} else if (frameType == "QuadP" || frameType == "Quad +") {
elementId = "quad-plus";
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
elementId = "quad-hexa";
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
elementId = "quad-hexa-H";
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
elementId = "hexa-coax";
} else if (frameType == "Octo" || frameType == "Octocopter") {
elementId = "quad-octo";
} else if (frameType == "OctoV" || frameType == "Octocopter V") {
elementId = "quad-octo-v";
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
elementId = "octo-coax-P";
} else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
elementId = "octo-coax-X";
}
int channel;
double value;
GUIConfigDataUnion config = GetConfigData();
multiGUISettingsStruct multi = config.multi;
// UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(mixer);
if (frameType == "QuadP")
{
// Motors 1/2/3/4 are: N / E / S / W
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27));
}
}
else if (frameType == "QuadX")
{
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27));
}
}
else if (frameType == "Hexa")
{
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
else if (frameType == "HexaX")
{
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
else if (frameType == "HexaCoax")
{
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSE);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(2*value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
}
else if (frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorNW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
if (frameType == "Octo") {
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
else if (frameType == "OctoV") {
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
else if (frameType == "OctoCoaxP") {
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
}
else if (frameType == "OctoCoaxX")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorW);
// 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.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
}
else if (frameType == "Tri")
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(2*value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
invertMotors = m_aircraft->MultirotorRevMixerCheckBox->isChecked() ? -1 : 1;
if (invertMotors <= 0) {
elementId += "_reverse";
}
drawAirframe(frameType);
if (elementId != "" && elementId != quad->elementId()) {
quad->setElementId(elementId);
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
}
}
/**
Helper function: setupQuadMotor
*/
@ -1106,7 +1074,7 @@ bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
//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*>(uiowner, "multiMotorChannelBox" + QString::number(i+1));
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i+1));
if (combobox){
if (combobox->currentText() == "None") {
int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);

16
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -46,9 +46,8 @@ class ConfigMultiRotorWidget: public VehicleConfig
Q_OBJECT
public:
static QStringList getChannelDescriptions();
static const QString CHANNELBOXNAME;
static QStringList getChannelDescriptions();
ConfigMultiRotorWidget(QWidget *parent = 0);
~ConfigMultiRotorWidget();
@ -56,20 +55,16 @@ public:
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
public slots:
virtual void setupUI(QString airframeType);
protected:
void showEvent(QShowEvent *event);
void resizeEvent(QResizeEvent *event);
private:
virtual void resetActuators(GUIConfigDataUnion *configData);
Ui_MultiRotorConfigWidget *m_aircraft;
QWidget *uiowner;
QGraphicsSvgItem *quad;
float invertMotors;
virtual void resetActuators(GUIConfigDataUnion *configData);
bool setupQuad(bool pLayout);
bool setupHexa(bool pLayout);
@ -78,13 +73,12 @@ private:
void setupMotors(QList<QString> motorList);
void setupQuadMotor(int channel, double roll, double pitch, double yaw);
float invertMotors;
void setYawMixLevel(int);
void drawAirframe(QString multiRotorType);
private slots:
virtual void setupUI(QString airframeType);
virtual bool throwConfigError(int numMotors);
void reverseMultirotorMotor();

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -138,7 +138,7 @@ void VehicleConfig::setComboCurrentIndex(QComboBox *box, int index)
/**
Helper function:
enables/disables the named comboboxes within supplied uiowner
enables/disables the named comboboxes within supplied owner
*/
void VehicleConfig::enableComboBoxes(QWidget *owner, QString boxName, int boxCount, bool enable)
{

35
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -41,11 +41,11 @@ typedef struct {
uint VTOLMotorNW:4;
uint VTOLMotorNE:4;
uint VTOLMotorSW:4;
uint VTOLMotorSE:4; //32bits
uint VTOLMotorSE:4; // 32 bits
uint TRIYaw:4;
quint32 padding:28; //64bits
quint32 padding:28; // 64 bits
quint32 padding1;
quint32 padding2; //128bits
quint32 padding2; // 128 bits
} __attribute__((packed)) multiGUISettingsStruct;
typedef struct {
@ -57,15 +57,15 @@ typedef struct {
uint ccpmLinkRollState:1;
uint SliderValue0:7;
uint SliderValue1:7;
uint SliderValue2:7;//41bits
uint SliderValue2:7; // 41 bits
uint ServoIndexW:4;
uint ServoIndexX:4;
uint ServoIndexY:4;
uint ServoIndexZ:4;//57bits
uint ServoIndexZ:4; // 57 bits
uint Throttle:4;
uint Tail:4; //65bits
quint32 padding:31; //96bits
quint32 padding1; //128bits
uint Tail:4; // 65bits
quint32 padding:31; // 96 bits
quint32 padding1; // 128 bits
} __attribute__((packed)) heliGUISettingsStruct;
typedef struct {
@ -76,10 +76,10 @@ typedef struct {
uint FixedWingPitch2:4;
uint FixedWingYaw1:4;
uint FixedWingYaw2:4;
uint padding:4; //32bits
uint padding:4; // 32 bits
quint32 padding1;
quint32 padding2;
quint32 padding3; //128bits
quint32 padding3; // 128 bits
} __attribute__((packed)) fixedGUISettingsStruct;
typedef struct {
@ -87,16 +87,16 @@ typedef struct {
uint GroundVehicleThrottle2:4;
uint GroundVehicleSteering1:4;
uint GroundVehicleSteering2:4;
uint padding:16; //32bits
uint padding:16; // 32 bits
quint32 padding1;
quint32 padding2;
quint32 padding3; //128bits
quint32 padding3; // 128 bits
} __attribute__((packed)) groundGUISettingsStruct;
typedef union
{
uint UAVObject[4]; //32bits * 4
heliGUISettingsStruct heli; //128bits
uint UAVObject[4]; // 32 bits * 4
heliGUISettingsStruct heli; // 128 bits
fixedGUISettingsStruct fixedwing;
multiGUISettingsStruct multi;
groundGUISettingsStruct ground;
@ -145,6 +145,7 @@ public:
static void SetConfigData(GUIConfigDataUnion configData);
static void resetField(UAVObjectField *field);
static void setComboCurrentIndex(QComboBox *box, int index);
static void enableComboBoxes(QWidget *owner, QString boxName, int boxCount, bool enable);
@ -170,9 +171,6 @@ public:
double getCurveMin(QList<double> *curve);
double getCurveMax(QList<double> *curve);
public slots:
virtual void setupUI(QString airframeType);
protected:
QStringList channelNames;
QStringList mixerTypes;
@ -184,6 +182,9 @@ private:
virtual void resetActuators(GUIConfigDataUnion *configData);
private slots:
virtual void setupUI(QString airframeType);
};
#endif // GUIVEHICLECONFIG_H

510
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -44,6 +44,62 @@
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
/**
Static function to get currently assigned channelDescriptions
for all known vehicle types; instantiates the appropriate object
then asks it to supply channel descs
*/
QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
// get an instance of systemsettings
SystemSettings *systemSettings = SystemSettings::GetInstance(objMngr);
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
QStringList channelDesc;
switch (systemSettingsData.AirframeType) {
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
// fixed wing
channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_HELICP:
// helicp
channelDesc = ConfigCcpmWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_VTOL:
case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
case SystemSettings::AIRFRAMETYPE_OCTO:
case SystemSettings::AIRFRAMETYPE_HEXAX:
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
// multirotor
channelDesc = ConfigMultiRotorWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
// ground
channelDesc = ConfigGroundVehicleWidget::getChannelDescriptions();
break;
default:
channelDesc = ConfigCustomWidget::getChannelDescriptions();
break;
}
return channelDesc;
}
ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_aircraft = new Ui_AircraftWidget();
@ -115,7 +171,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
}
// Connect aircraft type selection dropbox to callback function
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), m_aircraft->airframesWidget, SLOT(setCurrentIndex(int)));
// Connect the three feed forward test checkboxes
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
@ -132,7 +188,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
disableMouseWheelEvents();
}
/**
Destructor
*/
@ -141,76 +196,207 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
// Do nothing
}
/**
Static function to get currently assigned channelDescriptions
for all known vehicle types; instantiates the appropriate object
then asks it to supply channel descs
*/
QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
// get an instance of systemsettings
SystemSettings *systemSettings = SystemSettings::GetInstance(objMngr);
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
QStringList channelDesc;
switch (systemSettingsData.AirframeType) {
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
// fixed wing
channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_HELICP:
// helicp
channelDesc = ConfigCcpmWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_VTOL:
case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
case SystemSettings::AIRFRAMETYPE_OCTO:
case SystemSettings::AIRFRAMETYPE_HEXAX:
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
// multirotor
channelDesc = ConfigMultiRotorWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
// ground
channelDesc = ConfigGroundVehicleWidget::getChannelDescriptions();
break;
default:
channelDesc = ConfigCustomWidget::getChannelDescriptions();
break;
}
return channelDesc;
}
/**
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)
//void ConfigVehicleTypeWidget::switchAirframeType(int index)
//{
// m_aircraft->airframesWidget->setCurrentIndex(index);
//}
/**
\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)
//{
// qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - begin";
// qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - frame type" << frameType;
//
// bool dirty = isDirty();
//
// QString category = frameCategory2(frameType);
// if (category == "FixedWing") {
// m_fixedwing->setupUI(frameType);
// } else if (category == "Multirotor") {
// m_multirotor->setupUI(frameType);
// } else if (category == "Helicopter") {
// m_heli->setupUI(frameType);
// } else if (category == "Ground") {
// m_groundvehicle->setupUI(frameType);
// } else if (category == "Custom") {
// m_custom->setupUI(frameType);
// }
//
// setDirty(dirty);
//
// qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - end";
//}
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
{
m_aircraft->airframesWidget->setCurrentIndex(index);
Q_UNUSED(o);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - begin";
if (!allObjectsUpdated()) {
return;
}
bool dirty = isDirty();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - isDirty:" << dirty;
// Get the Airframe type from the system settings:
UAVDataObject *system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
UAVObjectField *field = system->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 there you go.
QString frameType = field->getValue().toString();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType;
//setupAirframeUI(frameType);
QString category = "FixedWing";//frameCategory(frameType);
if (category == "FixedWing") {
// Retrieve fixed wing settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
m_fixedwing->refreshWidgetsValues(frameType);
} else if (category == "Multirotor") {
// Retrieve multirotor settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor"));
m_multirotor->refreshWidgetsValues(frameType);
} else if (category == "Helicopter") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter"));
m_heli->refreshWidgetsValues(frameType);
} else if (category == "Ground") {
// Retrieve ground vehicle settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground"));
m_groundvehicle->refreshWidgetsValues(frameType);
} else if (category == "Custom") {
// Retrieve custom settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
m_custom->refreshWidgetsValues(frameType);
}
updateFeedForwardUI();
setDirty(dirty);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - end";
}
/////////////////////////////////////////////////////////
/// Feed Forward Testing
/////////////////////////////////////////////////////////
//QString ConfigVehicleTypeWidget::frameCategory1(QString frameType)
//{
// QString category;
// if (frameType.startsWith("FixedWing")) {
// category = "FixedWing";
// } else if (frameType == "Tri" || frameType == "QuadX" || frameType == "QuadP" || frameType == "Hexa"
// || frameType == "HexaCoax" || frameType == "HexaX" || frameType == "Octo" || frameType == "OctoV"
// || frameType == "OctoCoaxP" || frameType == "OctoCoaxX") {
// category = "Multirotor";
// } else if (frameType == "HeliCP") {
// category = "Helicopter";
// } else if (frameType.startsWith("GroundVehicle")) {
// category = "Ground";
// } else {
// category = "Custom";
// }
// return category;
//}
QString ConfigVehicleTypeWidget::frameCategory(QString frameType)
{
QString category;
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
category = "FixedWing";
} 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 +"
|| frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
category = "Multirotor";
} else if (frameType == "HeliCP") {
category = "Helicopter";
} else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)"
|| frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"
|| frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
category = "Ground";
} else {
category = "Custom";
}
return category;
}
/**
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()
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
// Sets airframe type default to "Custom"
QString airframeType = "Custom";
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
airframeType = m_multirotor->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
airframeType = m_heli->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Ground") {
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
else {
airframeType = m_custom->updateConfigObjectsFromWidgets();
}
// set the airframe type
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
if (field) {
field->setValue(airframeType);
}
updateFeedForwardUI();
}
/**
Reset the contents of a field
*/
//void ConfigVehicleTypeWidget::resetField(UAVObjectField *field)
//{
// for (unsigned int i = 0; i < field->getNumElements(); i++) {
// field->setValue(0, i);
// }
//}
/**
Enables and runs feed forward testing
@ -271,150 +457,6 @@ void ConfigVehicleTypeWidget::enableFFTest()
}
}
/**************************
* Aircraft settings
**************************/
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
{
Q_UNUSED(o);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - begin";
if (!allObjectsUpdated()) {
return;
}
bool dirty = isDirty();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - isDirty:" << dirty;
// Get the Airframe type from the system settings:
UAVDataObject *system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
UAVObjectField *field = system->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 there you go.
QString frameType = field->getValue().toString();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType;
setupAirframeUI(frameType);
QString category = frameCategory1(frameType);
if (category == "FixedWing") {
// Retrieve fixed wing settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
m_fixedwing->refreshWidgetsValues(frameType);
} else if (category == "Multirotor") {
// Retrieve multirotor settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor"));
m_multirotor->refreshWidgetsValues(frameType);
} else if (category == "Helicopter") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter"));
m_heli->refreshWidgetsValues(frameType);
} else if (category == "Ground") {
// Retrieve ground vehicle settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground"));
m_groundvehicle->refreshWidgetsValues(frameType);
} else if (category == "Custom") {
// Retrieve custom settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
m_custom->refreshWidgetsValues(frameType);
}
updateFeedForwardUI();
setDirty(dirty);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - end";
}
/**
\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)
{
qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - begin";
qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - frame type" << frameType;
bool dirty = isDirty();
QString category = frameCategory2(frameType);
if (category == "FixedWing") {
m_fixedwing->setupUI(frameType);
} else if (category == "Multirotor") {
m_multirotor->setupUI(frameType);
} else if (category == "Helicopter") {
m_heli->setupUI(frameType);
} else if (category == "Ground") {
m_groundvehicle->setupUI(frameType);
} else if (category == "Custom") {
m_custom->setupUI(frameType);
}
setDirty(dirty);
qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - end";
}
QString ConfigVehicleTypeWidget::frameCategory1(QString frameType)
{
QString category;
if (frameType.startsWith("FixedWing")) {
category = "FixedWing";
} else if (frameType == "Tri" || frameType == "QuadX" || frameType == "QuadP" || frameType == "Hexa"
|| frameType == "HexaCoax" || frameType == "HexaX" || frameType == "Octo" || frameType == "OctoV"
|| frameType == "OctoCoaxP" || frameType == "OctoCoaxX") {
category = "Multirotor";
} else if (frameType == "HeliCP") {
category = "Helicopter";
} else if (frameType.startsWith("GroundVehicle")) {
category = "Ground";
} else {
category = "Custom";
}
return category;
}
QString ConfigVehicleTypeWidget::frameCategory2(QString frameType)
{
QString category;
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
category = "FixedWing";
} 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 +"
|| frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
category = "Multirotor";
} else if (frameType == "HeliCP") {
category = "Helicopter";
} else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)"
|| frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"
|| frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
category = "Ground";
} else {
category = "Custom";
}
return category;
}
/**
Reset the contents of a field
*/
void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
{
for (unsigned int i = 0; i < field->getNumElements(); i++) {
field->setValue(0, i);
}
}
/**
Updates the custom airframe settings based on the current airframe.
@ -422,7 +464,7 @@ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
*/
// TODO rename to FF
void ConfigVehicleTypeWidget::updateFeedForwardUI()
{
{
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
@ -435,56 +477,6 @@ void ConfigVehicleTypeWidget::updateFeedForwardUI()
m_aircraft->maxAccelSlider->setValue(vconfig->getMixerValue(mixer,"MaxAccel"));
}
/**
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()
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
// Sets airframe type default to "Custom"
QString airframeType = "Custom";
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
airframeType = m_multirotor->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
airframeType = m_heli->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Ground") {
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
else {
airframeType = m_custom->updateConfigObjectsFromWidgets();
}
// set the airframe type
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
if (field) {
field->setValue(airframeType);
}
updateFeedForwardUI();
}
/**
Opens the wiki from the user's default browser
*/

19
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -43,10 +43,15 @@ class ConfigVehicleTypeWidget: public ConfigTaskWidget
public:
static QStringList getChannelDescriptions();
static void setComboCurrentIndex(QComboBox *box, int index);
ConfigVehicleTypeWidget(QWidget *parent = 0);
~ConfigVehicleTypeWidget();
public slots:
virtual void refreshWidgetsValues(UAVObject *o = NULL);
virtual void updateObjectsFromWidgets();
private:
Ui_AircraftWidget *m_aircraft;
@ -57,10 +62,8 @@ private:
VehicleConfig *m_custom;
void updateFeedForwardUI();
void resetField(UAVObjectField *field);
QString frameCategory1(QString frameType);
QString frameCategory2(QString frameType);
QString frameCategory(QString frameType);
QStringList channelNames;
QStringList mixerTypes;
@ -71,16 +74,6 @@ private:
UAVObject::Metadata accInitialData;
private slots:
virtual void refreshWidgetsValues(UAVObject *o = NULL);
virtual void updateObjectsFromWidgets();
void setComboCurrentIndex(QComboBox *box, int index);
void setupAirframeUI(QString type);
// TODO ?
void switchAirframeType(int index);
void enableFFTest();
void openHelp();