From 3ab96ed3ccf59c52e0ed59541c422776b5b9a673 Mon Sep 17 00:00:00 2001 From: Philippe Renon Date: Mon, 1 Apr 2013 23:27:02 +0200 Subject: [PATCH] OP-907 step 2: moved vehicle specific code to respective vehicle widget --- .../src/plugins/config/airframe_ccpm_old.ui | 37 + .../plugins/config/{ccpm.ui => ccpm_old.ui} | 0 .../cfg_vehicletypes/configccpmwidget.cpp | 1081 ++++++++--------- .../cfg_vehicletypes/configccpmwidget.h | 9 +- .../cfg_vehicletypes/configcustomwidget.cpp | 293 +++++ .../cfg_vehicletypes/configcustomwidget.h | 91 ++ .../configfixedwingwidget.cpp | 83 +- .../cfg_vehicletypes/configfixedwingwidget.h | 4 +- .../configgroundvehiclewidget.cpp | 151 ++- .../configgroundvehiclewidget.h | 3 +- .../configmultirotorwidget.cpp | 297 +++-- .../cfg_vehicletypes/configmultirotorwidget.h | 8 +- .../config/cfg_vehicletypes/vehicleconfig.cpp | 95 +- .../config/cfg_vehicletypes/vehicleconfig.h | 44 +- .../src/plugins/config/config.pro | 3 +- .../config/configvehicletypewidget.cpp | 792 ++++++------ .../plugins/config/configvehicletypewidget.h | 71 +- 17 files changed, 1776 insertions(+), 1286 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/airframe_ccpm_old.ui rename ground/openpilotgcs/src/plugins/config/{ccpm.ui => ccpm_old.ui} (100%) create mode 100644 ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp create mode 100644 ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.h diff --git a/ground/openpilotgcs/src/plugins/config/airframe_ccpm_old.ui b/ground/openpilotgcs/src/plugins/config/airframe_ccpm_old.ui new file mode 100644 index 000000000..d9d90ebd4 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/airframe_ccpm_old.ui @@ -0,0 +1,37 @@ + + + CcpmConfigWidget + + + + 0 + 0 + 880 + 608 + + + + Form + + + + 12 + + + + + + + + + ConfigCcpmWidget + QWidget +
cfg_vehicletypes/configccpmwidget.h
+ 1 + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm_old.ui similarity index 100% rename from ground/openpilotgcs/src/plugins/config/ccpm.ui rename to ground/openpilotgcs/src/plugins/config/ccpm_old.ui diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp index 69693f11b..7b322f10e 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp @@ -36,34 +36,38 @@ #include #include #include -#include #include -#define Pi 3.14159265358979323846 +#include +#define Pi 3.14159265358979323846 -ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent) +ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : + VehicleConfig(parent), m_aircraft(new Ui_CcpmConfigWidget()) { - int i; - SwashLvlConfigurationInProgress=0; - SwashLvlState=0; - SwashLvlServoInterlock=0; - updatingFromHardware=FALSE; - updatingToHardware=FALSE; + m_aircraft->setupUi(this); - m_ccpm = new Ui_ccpmWidget(); - m_ccpm->setupUi(this); + //Ui_CcpmConfigWidget *m_aircraft = m_aircraft; + + SwashLvlConfigurationInProgress = 0; + SwashLvlState = 0; + SwashLvlServoInterlock = 0; + updatingFromHardware = FALSE; + updatingToHardware = FALSE; + + //m_aircraft = new Ui_ccpmWidget(); + //m_aircraft->setupUi(this); // Initialization of the swashplaye widget - m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this)); + m_aircraft->SwashplateImage->setScene(new QGraphicsScene(this)); - m_ccpm->SwashLvlSwashplateImage->setScene(m_ccpm->SwashplateImage->scene()); - m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500); - //m_ccpm->SwashLvlSwashplateImage->scale(.85,.85); + m_aircraft->SwashLvlSwashplateImage->setScene(m_aircraft->SwashplateImage->scene()); + m_aircraft->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500); + //m_aircraft->SwashLvlSwashplateImage->scale(.85,.85); - //m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect()); - m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500); - //m_ccpm->SwashplateImage->scale(.85,.85); + //m_aircraft->SwashplateImage->setSceneRect(SwashplateImg->boundingRect()); + m_aircraft->SwashplateImage->setSceneRect(-50,-30,500,500); + //m_aircraft->SwashplateImage->scale(.85,.85); QSvgRenderer *renderer = new QSvgRenderer(); renderer->load(QString(":/configgadget/images/ccpm_setup.svg")); @@ -74,7 +78,7 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent) SwashplateImg->setElementId("Swashplate"); SwashplateImg->setObjectName("Swashplate"); //SwashplateImg->setScale(0.75); - m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg); + m_aircraft->SwashplateImage->scene()->addItem(SwashplateImg); QFont serifFont("Times", 24, QFont::Bold); QPen pen; // creates a default pen @@ -101,14 +105,13 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent) QList ServoNames; ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ; - for (i=0;iSwashLvlSwashplateImage->scene()->addLine(0,0,100*i,i*i*100,pen); + for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) { + ServoLines[i] = m_aircraft->SwashLvlSwashplateImage->scene()->addLine(0,0,100*i,i*i*100,pen); Servos[i] = new QGraphicsSvgItem(); Servos[i]->setSharedRenderer(renderer); Servos[i]->setElementId(ServoNames.at(i)); - m_ccpm->SwashplateImage->scene()->addItem(Servos[i]); + m_aircraft->SwashplateImage->scene()->addItem(Servos[i]); ServosText[i] = new QGraphicsTextItem(); ServosText[i]->setDefaultTextColor(Qt::yellow); @@ -118,13 +121,13 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent) ServosTextCircles[i] = new QGraphicsEllipseItem(1,1,30,30); ServosTextCircles[i]->setBrush(brush); ServosTextCircles[i]->setPen(pen2); - m_ccpm->SwashplateImage->scene()->addItem(ServosTextCircles[i]); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]); + m_aircraft->SwashplateImage->scene()->addItem(ServosTextCircles[i]); + m_aircraft->SwashplateImage->scene()->addItem(ServosText[i]); - SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView - m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]); + SwashLvlSpinBoxes[i] = new QSpinBox(m_aircraft->SwashLvlSwashplateImage); // use QGraphicsView + m_aircraft->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]); SwashLvlSpinBoxes[i]->setMaximum(10000); SwashLvlSpinBoxes[i]->setMinimum(0); SwashLvlSpinBoxes[i]->setValue(0); @@ -133,25 +136,25 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent) //initialize our two mixer curves // mixercurve defaults to mixercurve_throttle - m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0, 0.0); + m_aircraft->ThrottleCurve->initLinearCurve(5, 1.0, 0.0); // tell mixercurve this is a pitch curve - m_ccpm->PitchCurve->setMixerType(MixerCurve::MIXERCURVE_PITCH); - m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0); + m_aircraft->PitchCurve->setMixerType(MixerCurve::MIXERCURVE_PITCH); + m_aircraft->PitchCurve->initLinearCurve(5, 1.0, -1.0); //initialize channel names - m_ccpm->ccpmEngineChannel->addItems(channelNames); - m_ccpm->ccpmEngineChannel->setCurrentIndex(0); - m_ccpm->ccpmTailChannel->addItems(channelNames); - m_ccpm->ccpmTailChannel->setCurrentIndex(0); - m_ccpm->ccpmServoWChannel->addItems(channelNames); - m_ccpm->ccpmServoWChannel->setCurrentIndex(0); - m_ccpm->ccpmServoXChannel->addItems(channelNames); - m_ccpm->ccpmServoXChannel->setCurrentIndex(0); - m_ccpm->ccpmServoYChannel->addItems(channelNames); - m_ccpm->ccpmServoYChannel->setCurrentIndex(0); - m_ccpm->ccpmServoZChannel->addItems(channelNames); - m_ccpm->ccpmServoZChannel->setCurrentIndex(0); + m_aircraft->ccpmEngineChannel->addItems(channelNames); + m_aircraft->ccpmEngineChannel->setCurrentIndex(0); + m_aircraft->ccpmTailChannel->addItems(channelNames); + m_aircraft->ccpmTailChannel->setCurrentIndex(0); + m_aircraft->ccpmServoWChannel->addItems(channelNames); + m_aircraft->ccpmServoWChannel->setCurrentIndex(0); + m_aircraft->ccpmServoXChannel->addItems(channelNames); + m_aircraft->ccpmServoXChannel->setCurrentIndex(0); + m_aircraft->ccpmServoYChannel->addItems(channelNames); + m_aircraft->ccpmServoYChannel->setCurrentIndex(0); + m_aircraft->ccpmServoZChannel->addItems(channelNames); + m_aircraft->ccpmServoZChannel->setCurrentIndex(0); QStringList Types; Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") << QString::fromUtf8("CCPM 4 Servo 90º") << @@ -159,49 +162,47 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent) QString::fromUtf8("FP 2 Servo 90º") << QString::fromUtf8("Coax 2 Servo 90º") << QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings"); - m_ccpm->ccpmType->addItems(Types); - m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); + m_aircraft->ccpmType->addItems(Types); + m_aircraft->ccpmType->setCurrentIndex(m_aircraft->ccpmType->count() - 1); refreshWidgetsValues(QString("HeliCP")); UpdateType(); - connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); - connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); - connect(m_ccpm->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType())); - - connect(m_ccpm->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed())); - connect(m_ccpm->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed())); - connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); - connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); - - connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()),this, SLOT(SetUIComponentVisibilities())); - connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); - connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); + connect(m_aircraft->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); + connect(m_aircraft->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); + connect(m_aircraft->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); + connect(m_aircraft->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); + connect(m_aircraft->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); + connect(m_aircraft->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); + connect(m_aircraft->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); + connect(m_aircraft->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); + connect(m_aircraft->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); + connect(m_aircraft->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType())); + connect(m_aircraft->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed())); + connect(m_aircraft->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed())); + connect(m_aircraft->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); + connect(m_aircraft->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); + connect(m_aircraft->ccpmCollectivePassthrough, SIGNAL(clicked()),this, SLOT(SetUIComponentVisibilities())); + connect(m_aircraft->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); + connect(m_aircraft->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); - ccpmSwashplateRedraw(); + ccpmSwashplateRedraw(); } ConfigCcpmWidget::~ConfigCcpmWidget() { - // Do nothing + delete m_aircraft; } void ConfigCcpmWidget::setupUI(QString frameType) @@ -291,139 +292,139 @@ void ConfigCcpmWidget::UpdateType() SetUIComponentVisibilities(); - TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - TypeText = m_ccpm->ccpmType->currentText(); - SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); + TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex()-1; + TypeText = m_aircraft->ccpmType->currentText(); + SingleServoIndex = m_aircraft->ccpmSingleServo->currentIndex(); //set visibility of user settings - m_ccpm->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0); - m_ccpm->ccpmAdvancedSettingsTable->clearFocus();; + m_aircraft->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0); + m_aircraft->ccpmAdvancedSettingsTable->clearFocus();; - m_ccpm->ccpmAngleW->setEnabled(TypeInt==1); - m_ccpm->ccpmAngleX->setEnabled(TypeInt==1); - m_ccpm->ccpmAngleY->setEnabled(TypeInt==1); - m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1); - m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt!=0); + m_aircraft->ccpmAngleW->setEnabled(TypeInt==1); + m_aircraft->ccpmAngleX->setEnabled(TypeInt==1); + m_aircraft->ccpmAngleY->setEnabled(TypeInt==1); + m_aircraft->ccpmAngleZ->setEnabled(TypeInt==1); + m_aircraft->ccpmCorrectionAngle->setEnabled(TypeInt!=0); - m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmSingleServo->setEnabled(TypeInt>1); + m_aircraft->ccpmServoWChannel->setEnabled(TypeInt>0); + m_aircraft->ccpmServoXChannel->setEnabled(TypeInt>0); + m_aircraft->ccpmServoYChannel->setEnabled(TypeInt>0); + m_aircraft->ccpmServoZChannel->setEnabled(TypeInt>0); + m_aircraft->ccpmSingleServo->setEnabled(TypeInt>1); - m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0); - m_ccpm->ccpmCollectivespinBox->setEnabled(TypeInt>0); - m_ccpm->ccpmRevoSlider->setEnabled(TypeInt>0); - m_ccpm->ccpmREVOspinBox->setEnabled(TypeInt>0); + m_aircraft->ccpmEngineChannel->setEnabled(TypeInt>0); + m_aircraft->ccpmTailChannel->setEnabled(TypeInt>0); + m_aircraft->ccpmCollectiveSlider->setEnabled(TypeInt>0); + m_aircraft->ccpmCollectivespinBox->setEnabled(TypeInt>0); + m_aircraft->ccpmRevoSlider->setEnabled(TypeInt>0); + m_aircraft->ccpmREVOspinBox->setEnabled(TypeInt>0); AdjustmentAngle=SingleServoIndex*90; - m_ccpm->PitchCurve->setVisible(1); + m_aircraft->PitchCurve->setVisible(1); NumServosDefined=4; //set values for pre defined heli types if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(0); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleY->setEnabled(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoYChannel->setCurrentIndex(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(0); - m_ccpm->ccpmServoYChannel->setEnabled(0); - m_ccpm->ccpmServoZChannel->setEnabled(0); + m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_aircraft->ccpmAngleY->setValue(0); + m_aircraft->ccpmAngleZ->setValue(0); + m_aircraft->ccpmAngleY->setEnabled(0); + m_aircraft->ccpmAngleZ->setEnabled(0); + m_aircraft->ccpmServoYChannel->setCurrentIndex(0); + m_aircraft->ccpmServoZChannel->setCurrentIndex(0); + m_aircraft->ccpmServoYChannel->setEnabled(0); + m_aircraft->ccpmServoZChannel->setEnabled(0); NumServosDefined=2; } else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(0); - m_ccpm->ccpmServoZChannel->setEnabled(0); + m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); + m_aircraft->ccpmAngleZ->setValue(0); + m_aircraft->ccpmAngleZ->setEnabled(0); + m_aircraft->ccpmServoZChannel->setCurrentIndex(0); + m_aircraft->ccpmServoZChannel->setEnabled(0); NumServosDefined=3; } else if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); - m_ccpm->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360)); - m_ccpm->ccpmSingleServo->setEnabled(0); - m_ccpm->ccpmSingleServo->setCurrentIndex(0); + m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); + m_aircraft->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360)); + m_aircraft->ccpmSingleServo->setEnabled(0); + m_aircraft->ccpmSingleServo->setCurrentIndex(0); NumServosDefined=4; } else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360)); - m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360)); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(0); - m_ccpm->ccpmServoZChannel->setEnabled(0); + m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360)); + m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360)); + m_aircraft->ccpmAngleZ->setValue(0); + m_aircraft->ccpmAngleZ->setEnabled(0); + m_aircraft->ccpmServoZChannel->setCurrentIndex(0); + m_aircraft->ccpmServoZChannel->setEnabled(0); NumServosDefined=3; } else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360)); - m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360)); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(0); - m_ccpm->ccpmServoZChannel->setEnabled(0); + m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360)); + m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360)); + m_aircraft->ccpmAngleZ->setValue(0); + m_aircraft->ccpmAngleZ->setEnabled(0); + m_aircraft->ccpmServoZChannel->setCurrentIndex(0); + m_aircraft->ccpmServoZChannel->setEnabled(0); NumServosDefined=3; } else if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(0); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleY->setEnabled(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoYChannel->setCurrentIndex(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(0); - m_ccpm->ccpmServoYChannel->setEnabled(0); - m_ccpm->ccpmServoZChannel->setEnabled(0); + m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_aircraft->ccpmAngleY->setValue(0); + m_aircraft->ccpmAngleZ->setValue(0); + m_aircraft->ccpmAngleY->setEnabled(0); + m_aircraft->ccpmAngleZ->setEnabled(0); + m_aircraft->ccpmServoYChannel->setCurrentIndex(0); + m_aircraft->ccpmServoZChannel->setCurrentIndex(0); + m_aircraft->ccpmServoYChannel->setEnabled(0); + m_aircraft->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCollectivespinBox->setEnabled(0); - m_ccpm->ccpmCollectiveSlider->setEnabled(0); - m_ccpm->ccpmCollectivespinBox->setValue(0); - m_ccpm->ccpmCollectiveSlider->setValue(0); - m_ccpm->PitchCurve->setVisible(0); + m_aircraft->ccpmCollectivespinBox->setEnabled(0); + m_aircraft->ccpmCollectiveSlider->setEnabled(0); + m_aircraft->ccpmCollectivespinBox->setValue(0); + m_aircraft->ccpmCollectiveSlider->setValue(0); + m_aircraft->PitchCurve->setVisible(0); NumServosDefined=2; } else if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(0); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleY->setEnabled(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoYChannel->setCurrentIndex(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(0); - m_ccpm->ccpmServoYChannel->setEnabled(0); - m_ccpm->ccpmServoZChannel->setEnabled(0); + m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_aircraft->ccpmAngleY->setValue(0); + m_aircraft->ccpmAngleZ->setValue(0); + m_aircraft->ccpmAngleY->setEnabled(0); + m_aircraft->ccpmAngleZ->setEnabled(0); + m_aircraft->ccpmServoYChannel->setCurrentIndex(0); + m_aircraft->ccpmServoZChannel->setCurrentIndex(0); + m_aircraft->ccpmServoYChannel->setEnabled(0); + m_aircraft->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCollectivespinBox->setEnabled(0); - m_ccpm->ccpmCollectiveSlider->setEnabled(0); - m_ccpm->ccpmCollectivespinBox->setValue(0); - m_ccpm->ccpmCollectiveSlider->setValue(0); - m_ccpm->PitchCurve->setVisible(0); + m_aircraft->ccpmCollectivespinBox->setEnabled(0); + m_aircraft->ccpmCollectiveSlider->setEnabled(0); + m_aircraft->ccpmCollectivespinBox->setValue(0); + m_aircraft->ccpmCollectiveSlider->setValue(0); + m_aircraft->PitchCurve->setVisible(0); NumServosDefined=2; } @@ -431,39 +432,39 @@ void ConfigCcpmWidget::UpdateType() //Set the text of the motor boxes if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmEngineLabel->setText("CW motor"); - m_ccpm->ccpmTailLabel->setText("CCW motor"); + m_aircraft->ccpmEngineLabel->setText("CW motor"); + m_aircraft->ccpmTailLabel->setText("CCW motor"); } else{ - m_ccpm->ccpmEngineLabel->setText("Engine"); - m_ccpm->ccpmTailLabel->setText("Tail rotor"); + m_aircraft->ccpmEngineLabel->setText("Engine"); + m_aircraft->ccpmTailLabel->setText("Tail rotor"); } //set the visibility of the swashplate servo selection boxes - m_ccpm->ccpmServoWLabel->setVisible(NumServosDefined>=1); - m_ccpm->ccpmServoXLabel->setVisible(NumServosDefined>=2); - m_ccpm->ccpmServoYLabel->setVisible(NumServosDefined>=3); - m_ccpm->ccpmServoZLabel->setVisible(NumServosDefined>=4); - m_ccpm->ccpmServoWChannel->setVisible(NumServosDefined>=1); - m_ccpm->ccpmServoXChannel->setVisible(NumServosDefined>=2); - m_ccpm->ccpmServoYChannel->setVisible(NumServosDefined>=3); - m_ccpm->ccpmServoZChannel->setVisible(NumServosDefined>=4); + m_aircraft->ccpmServoWLabel->setVisible(NumServosDefined>=1); + m_aircraft->ccpmServoXLabel->setVisible(NumServosDefined>=2); + m_aircraft->ccpmServoYLabel->setVisible(NumServosDefined>=3); + m_aircraft->ccpmServoZLabel->setVisible(NumServosDefined>=4); + m_aircraft->ccpmServoWChannel->setVisible(NumServosDefined>=1); + m_aircraft->ccpmServoXChannel->setVisible(NumServosDefined>=2); + m_aircraft->ccpmServoYChannel->setVisible(NumServosDefined>=3); + m_aircraft->ccpmServoZChannel->setVisible(NumServosDefined>=4); //set the visibility of the swashplate angle selection boxes - m_ccpm->ccpmServoWLabel_2->setVisible(NumServosDefined>=1); - m_ccpm->ccpmServoXLabel_2->setVisible(NumServosDefined>=2); - m_ccpm->ccpmServoYLabel_2->setVisible(NumServosDefined>=3); - m_ccpm->ccpmServoZLabel_2->setVisible(NumServosDefined>=4); - m_ccpm->ccpmAngleW->setVisible(NumServosDefined>=1); - m_ccpm->ccpmAngleX->setVisible(NumServosDefined>=2); - m_ccpm->ccpmAngleY->setVisible(NumServosDefined>=3); - m_ccpm->ccpmAngleZ->setVisible(NumServosDefined>=4); + m_aircraft->ccpmServoWLabel_2->setVisible(NumServosDefined>=1); + m_aircraft->ccpmServoXLabel_2->setVisible(NumServosDefined>=2); + m_aircraft->ccpmServoYLabel_2->setVisible(NumServosDefined>=3); + m_aircraft->ccpmServoZLabel_2->setVisible(NumServosDefined>=4); + m_aircraft->ccpmAngleW->setVisible(NumServosDefined>=1); + m_aircraft->ccpmAngleX->setVisible(NumServosDefined>=2); + m_aircraft->ccpmAngleY->setVisible(NumServosDefined>=3); + m_aircraft->ccpmAngleZ->setVisible(NumServosDefined>=4); - m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); + m_aircraft->ccpmAdvancedSettingsTable->resizeColumnsToContents(); for (int i=0;i<6;i++) { - m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- - m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); + m_aircraft->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_aircraft->ccpmAdvancedSettingsTable->width()- + m_aircraft->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); } //update UI @@ -482,25 +483,25 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw() double scale,xscale,yscale; - size = m_ccpm->SwashplateImage->rect(); + size = m_aircraft->SwashplateImage->rect(); xscale=size.width(); yscale=size.height(); scale=xscale; if (yscaleSwashplateImage->resetTransform (); - m_ccpm->SwashplateImage->scale(scale,scale); + m_aircraft->SwashplateImage->resetTransform (); + m_aircraft->SwashplateImage->scale(scale,scale); - size = m_ccpm->SwashLvlSwashplateImage->rect(); + size = m_aircraft->SwashLvlSwashplateImage->rect(); xscale=size.width(); yscale=size.height(); scale=xscale; if (yscaleSwashLvlSwashplateImage->resetTransform (); - m_ccpm->SwashLvlSwashplateImage->scale(scale,scale); + m_aircraft->SwashLvlSwashplateImage->resetTransform (); + m_aircraft->SwashLvlSwashplateImage->scale(scale,scale); - CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); + CorrectionAngle=m_aircraft->ccpmCorrectionAngle->value(); CenterX=200; CenterY=200; @@ -509,18 +510,18 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw() SwashplateImg->setPos(CenterX-bounds.width()/2,CenterY-bounds.height()/2); - defined[0]=(m_ccpm->ccpmServoWChannel->isEnabled()); - defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled()); - defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled()); - defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled()); - used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()>0)&&(m_ccpm->ccpmServoWChannel->isEnabled())); - used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()>0)&&(m_ccpm->ccpmServoXChannel->isEnabled())); - used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()>0)&&(m_ccpm->ccpmServoYChannel->isEnabled())); - used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()>0)&&(m_ccpm->ccpmServoZChannel->isEnabled())); - angle[0]=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00; - angle[1]=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00; - angle[2]=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00; - angle[3]=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00; + defined[0]=(m_aircraft->ccpmServoWChannel->isEnabled()); + defined[1]=(m_aircraft->ccpmServoXChannel->isEnabled()); + defined[2]=(m_aircraft->ccpmServoYChannel->isEnabled()); + defined[3]=(m_aircraft->ccpmServoZChannel->isEnabled()); + used[0]=((m_aircraft->ccpmServoWChannel->currentIndex()>0)&&(m_aircraft->ccpmServoWChannel->isEnabled())); + used[1]=((m_aircraft->ccpmServoXChannel->currentIndex()>0)&&(m_aircraft->ccpmServoXChannel->isEnabled())); + used[2]=((m_aircraft->ccpmServoYChannel->currentIndex()>0)&&(m_aircraft->ccpmServoYChannel->isEnabled())); + used[3]=((m_aircraft->ccpmServoZChannel->currentIndex()>0)&&(m_aircraft->ccpmServoZChannel->isEnabled())); + angle[0]=(CorrectionAngle+180+m_aircraft->ccpmAngleW->value())*Pi/180.00; + angle[1]=(CorrectionAngle+180+m_aircraft->ccpmAngleX->value())*Pi/180.00; + angle[2]=(CorrectionAngle+180+m_aircraft->ccpmAngleY->value())*Pi/180.00; + angle[3]=(CorrectionAngle+180+m_aircraft->ccpmAngleZ->value())*Pi/180.00; for (i=0;imove(m_ccpm->SwashLvlSwashplateImage->mapFromScene (x, y)); + SwashLvlSpinBoxes[i]->move(m_aircraft->SwashLvlSwashplateImage->mapFromScene (x, y)); SwashLvlSpinBoxes[i]->setVisible(used[i]!=0); radius=220; @@ -569,9 +570,9 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw() ServoLines[i]->setVisible(defined[i]!=0); } - //m_ccpm->SwashplateImage->centerOn (CenterX, CenterY); + //m_aircraft->SwashplateImage->centerOn (CenterX, CenterY); - //m_ccpm->SwashplateImage->fitInView(SwashplateImg, Qt::KeepAspectRatio); + //m_aircraft->SwashplateImage->fitInView(SwashplateImg, Qt::KeepAspectRatio); } void ConfigCcpmWidget::ccpmSwashplateUpdate() @@ -620,24 +621,24 @@ void ConfigCcpmWidget::UpdateMixer() if (config.heli.SwashplateType>0) {//not advanced settings //get the channel data from the ui - MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); - MixerChannelData[1] = m_ccpm->ccpmTailChannel->currentIndex(); - MixerChannelData[2] = m_ccpm->ccpmServoWChannel->currentIndex(); - MixerChannelData[3] = m_ccpm->ccpmServoXChannel->currentIndex(); - MixerChannelData[4] = m_ccpm->ccpmServoYChannel->currentIndex(); - MixerChannelData[5] = m_ccpm->ccpmServoZChannel->currentIndex(); + MixerChannelData[0] = m_aircraft->ccpmEngineChannel->currentIndex(); + MixerChannelData[1] = m_aircraft->ccpmTailChannel->currentIndex(); + MixerChannelData[2] = m_aircraft->ccpmServoWChannel->currentIndex(); + MixerChannelData[3] = m_aircraft->ccpmServoXChannel->currentIndex(); + MixerChannelData[4] = m_aircraft->ccpmServoYChannel->currentIndex(); + MixerChannelData[5] = m_aircraft->ccpmServoZChannel->currentIndex(); //get the angle data from the ui - ThisAngle[2] = m_ccpm->ccpmAngleW->value(); - ThisAngle[3] = m_ccpm->ccpmAngleX->value(); - ThisAngle[4] = m_ccpm->ccpmAngleY->value(); - ThisAngle[5] = m_ccpm->ccpmAngleZ->value(); + ThisAngle[2] = m_aircraft->ccpmAngleW->value(); + ThisAngle[3] = m_aircraft->ccpmAngleX->value(); + ThisAngle[4] = m_aircraft->ccpmAngleY->value(); + ThisAngle[5] = m_aircraft->ccpmAngleZ->value(); //get the angle data from the ui - ThisEnable[2] = m_ccpm->ccpmServoWChannel->isEnabled(); - ThisEnable[3] = m_ccpm->ccpmServoXChannel->isEnabled(); - ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled(); - ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled(); + ThisEnable[2] = m_aircraft->ccpmServoWChannel->isEnabled(); + ThisEnable[3] = m_aircraft->ccpmServoXChannel->isEnabled(); + ThisEnable[4] = m_aircraft->ccpmServoYChannel->isEnabled(); + ThisEnable[5] = m_aircraft->ccpmServoZChannel->isEnabled(); ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2] )); ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3] )); @@ -650,52 +651,52 @@ void ConfigCcpmWidget::UpdateMixer() { if ((MixerChannelData[i]>0) && ((ThisEnable[i])||(i<2))) { - m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i] )); + m_aircraft->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i] )); //Generate the mixer vector if (i==0) {//main motor-engine - m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1 - m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 - m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll - m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch + m_aircraft->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1 + m_aircraft->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 + m_aircraft->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll + m_aircraft->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0) - m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(-127));//Yaw + m_aircraft->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(-127));//Yaw else - m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw + m_aircraft->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw } if (i==1) {//tailrotor --or-- counter-clockwise motor if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0) { - m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1 - m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw + m_aircraft->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1 + m_aircraft->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw } else{ - m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 - m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw + m_aircraft->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 + m_aircraft->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw } - m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 - m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll - m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch + m_aircraft->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 + m_aircraft->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll + m_aircraft->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch } if (i>1) {//Swashplate - m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 - m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2 - m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+config.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll - m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((config.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch - m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw + m_aircraft->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 + m_aircraft->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2 + m_aircraft->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+config.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll + m_aircraft->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((config.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch + m_aircraft->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw } } else { - for (j=0;j<6;j++) m_ccpm->ccpmAdvancedSettingsTable->item(i,j)->setText(QString("-")); + for (j=0;j<6;j++) m_aircraft->ccpmAdvancedSettingsTable->item(i,j)->setText(QString("-")); } } @@ -704,7 +705,7 @@ void ConfigCcpmWidget::UpdateMixer() {//advanced settings for (i=0;i<6;i++) { - Channel =m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->text(); + Channel =m_aircraft->ccpmAdvancedSettingsTable->item(i,0)->text(); if (Channel == "-") Channel = QString("9"); MixerChannelData[i]= Channel.toInt(); } @@ -726,48 +727,48 @@ QString ConfigCcpmWidget::updateConfigObjects() GUIConfigDataUnion config = GetConfigData(); //swashplate config - config.heli.SwashplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - config.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); + config.heli.SwashplateType = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex()-1; + config.heli.FirstServoIndex = m_aircraft->ccpmSingleServo->currentIndex(); //ccpm mixing options - config.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); - config.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); - config.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); + config.heli.ccpmCollectivePassthroughState = m_aircraft->ccpmCollectivePassthrough->isChecked(); + config.heli.ccpmLinkCyclicState = m_aircraft->ccpmLinkCyclic->isChecked(); + config.heli.ccpmLinkRollState = m_aircraft->ccpmLinkRoll->isChecked(); useCCPM = !(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState); useCyclic = config.heli.ccpmLinkRollState; //correction angle - config.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value(); + config.heli.CorrectionAngle = m_aircraft->ccpmCorrectionAngle->value(); //update sliders if (useCCPM) { - config.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value(); + config.heli.SliderValue0 = m_aircraft->ccpmCollectiveSlider->value(); } else { - config.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value(); + config.heli.SliderValue0 = m_aircraft->ccpmCollectiveScale->value(); } if (useCyclic) { - config.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value(); + config.heli.SliderValue1 = m_aircraft->ccpmCyclicScale->value(); } else { - config.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value(); + config.heli.SliderValue1 = m_aircraft->ccpmPitchScale->value(); } - config.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); + config.heli.SliderValue2 = m_aircraft->ccpmRollScale->value(); //servo assignments - config.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); - config.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex(); - config.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex(); - config.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); + config.heli.ServoIndexW = m_aircraft->ccpmServoWChannel->currentIndex(); + config.heli.ServoIndexX = m_aircraft->ccpmServoXChannel->currentIndex(); + config.heli.ServoIndexY = m_aircraft->ccpmServoYChannel->currentIndex(); + config.heli.ServoIndexZ = m_aircraft->ccpmServoZChannel->currentIndex(); //throttle - config.heli.Throttle = m_ccpm->ccpmEngineChannel->currentIndex(); + config.heli.Throttle = m_aircraft->ccpmEngineChannel->currentIndex(); //tail - config.heli.Tail = m_ccpm->ccpmTailChannel->currentIndex(); + config.heli.Tail = m_aircraft->ccpmTailChannel->currentIndex(); SetConfigData(config); @@ -791,39 +792,39 @@ void ConfigCcpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFro GUIConfigDataUnion config = GetConfigData(); //swashplate config - setComboCurrentIndex( m_ccpm->ccpmType, m_ccpm->ccpmType->count() - (config.heli.SwashplateType +1)); - setComboCurrentIndex(m_ccpm->ccpmSingleServo, config.heli.FirstServoIndex); + setComboCurrentIndex( m_aircraft->ccpmType, m_aircraft->ccpmType->count() - (config.heli.SwashplateType +1)); + setComboCurrentIndex(m_aircraft->ccpmSingleServo, config.heli.FirstServoIndex); //ccpm mixing options - m_ccpm->ccpmCollectivePassthrough->setChecked(config.heli.ccpmCollectivePassthroughState); - m_ccpm->ccpmLinkCyclic->setChecked(config.heli.ccpmLinkCyclicState); - m_ccpm->ccpmLinkRoll->setChecked(config.heli.ccpmLinkRollState); + m_aircraft->ccpmCollectivePassthrough->setChecked(config.heli.ccpmCollectivePassthroughState); + m_aircraft->ccpmLinkCyclic->setChecked(config.heli.ccpmLinkCyclicState); + m_aircraft->ccpmLinkRoll->setChecked(config.heli.ccpmLinkRollState); //correction angle - m_ccpm->ccpmCorrectionAngle->setValue(config.heli.CorrectionAngle); + m_aircraft->ccpmCorrectionAngle->setValue(config.heli.CorrectionAngle); //update sliders - m_ccpm->ccpmCollectiveScale->setValue(config.heli.SliderValue0); - m_ccpm->ccpmCollectiveScaleBox->setValue(config.heli.SliderValue0); - m_ccpm->ccpmCyclicScale->setValue(config.heli.SliderValue1); - m_ccpm->ccpmCyclicScaleBox->setValue(config.heli.SliderValue1); - m_ccpm->ccpmPitchScale->setValue(config.heli.SliderValue1); - m_ccpm->ccpmPitchScaleBox->setValue(config.heli.SliderValue1); - m_ccpm->ccpmRollScale->setValue(config.heli.SliderValue2); - m_ccpm->ccpmRollScaleBox->setValue(config.heli.SliderValue2); - m_ccpm->ccpmCollectiveSlider->setValue(config.heli.SliderValue0); - m_ccpm->ccpmCollectivespinBox->setValue(config.heli.SliderValue0); + 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_ccpm->ccpmServoWChannel, config.heli.ServoIndexW); - setComboCurrentIndex( m_ccpm->ccpmServoXChannel,config.heli.ServoIndexX); - setComboCurrentIndex( m_ccpm->ccpmServoYChannel,config.heli.ServoIndexY); - setComboCurrentIndex( m_ccpm->ccpmServoZChannel,config.heli.ServoIndexZ); + 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_ccpm->ccpmEngineChannel, config.heli.Throttle); + setComboCurrentIndex( m_aircraft->ccpmEngineChannel, config.heli.Throttle); //tail - setComboCurrentIndex( m_ccpm->ccpmTailChannel, config.heli.Tail); + setComboCurrentIndex( m_aircraft->ccpmTailChannel, config.heli.Tail); getMixer(); } @@ -831,30 +832,30 @@ void ConfigCcpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFro void ConfigCcpmWidget::SetUIComponentVisibilities() { - m_ccpm->ccpmRevoMixingBox->setVisible(0); + m_aircraft->ccpmRevoMixingBox->setVisible(0); - m_ccpm->ccpmPitchMixingBox->setVisible(!m_ccpm->ccpmCollectivePassthrough->isChecked() && - m_ccpm->ccpmLinkCyclic->isChecked()); + m_aircraft->ccpmPitchMixingBox->setVisible(!m_aircraft->ccpmCollectivePassthrough->isChecked() && + m_aircraft->ccpmLinkCyclic->isChecked()); - m_ccpm->ccpmCollectiveScalingBox->setVisible(m_ccpm->ccpmCollectivePassthrough->isChecked() || !m_ccpm->ccpmLinkCyclic->isChecked()); + m_aircraft->ccpmCollectiveScalingBox->setVisible(m_aircraft->ccpmCollectivePassthrough->isChecked() || !m_aircraft->ccpmLinkCyclic->isChecked()); - m_ccpm->ccpmLinkCyclic->setVisible(!m_ccpm->ccpmCollectivePassthrough->isChecked()); + m_aircraft->ccpmLinkCyclic->setVisible(!m_aircraft->ccpmCollectivePassthrough->isChecked()); - m_ccpm->ccpmCyclicScalingBox->setVisible((m_ccpm->ccpmCollectivePassthrough->isChecked() || !m_ccpm->ccpmLinkCyclic->isChecked()) && - m_ccpm->ccpmLinkRoll->isChecked()); + m_aircraft->ccpmCyclicScalingBox->setVisible((m_aircraft->ccpmCollectivePassthrough->isChecked() || !m_aircraft->ccpmLinkCyclic->isChecked()) && + m_aircraft->ccpmLinkRoll->isChecked()); - if (!m_ccpm->ccpmCollectivePassthrough->checkState() && m_ccpm->ccpmLinkCyclic->isChecked()) + if (!m_aircraft->ccpmCollectivePassthrough->checkState() && m_aircraft->ccpmLinkCyclic->isChecked()) { - m_ccpm->ccpmPitchScalingBox->setVisible(0); - m_ccpm->ccpmRollScalingBox->setVisible(0); - m_ccpm->ccpmLinkRoll->setVisible(0); + m_aircraft->ccpmPitchScalingBox->setVisible(0); + m_aircraft->ccpmRollScalingBox->setVisible(0); + m_aircraft->ccpmLinkRoll->setVisible(0); } else { - m_ccpm->ccpmPitchScalingBox->setVisible(!m_ccpm->ccpmLinkRoll->isChecked()); - m_ccpm->ccpmRollScalingBox->setVisible(!m_ccpm->ccpmLinkRoll->isChecked()); - m_ccpm->ccpmLinkRoll->setVisible(1); + m_aircraft->ccpmPitchScalingBox->setVisible(!m_aircraft->ccpmLinkRoll->isChecked()); + m_aircraft->ccpmRollScalingBox->setVisible(!m_aircraft->ccpmLinkRoll->isChecked()); + m_aircraft->ccpmLinkRoll->setVisible(1); } } /** @@ -877,20 +878,20 @@ void ConfigCcpmWidget::getMixer() // is at least one of the curve values != 0? if (vconfig->isValidThrottleCurve(&curveValues)) { - m_ccpm->ThrottleCurve->setCurve(&curveValues); + m_aircraft->ThrottleCurve->setCurve(&curveValues); } else { - m_ccpm->ThrottleCurve->ResetCurve(); + m_aircraft->ThrottleCurve->ResetCurve(); } vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); // is at least one of the curve values != 0? if (vconfig->isValidThrottleCurve(&curveValues)) { - m_ccpm->PitchCurve->setCurve(&curveValues); + m_aircraft->PitchCurve->setCurve(&curveValues); } else { - m_ccpm->PitchCurve->ResetCurve(); + m_aircraft->PitchCurve->ResetCurve(); } updatingFromHardware=FALSE; @@ -963,13 +964,13 @@ void ConfigCcpmWidget::setMixer() //Configure the vector for (j=0;j<5;j++) - mixers[MixerChannelData[i] - 1][j] = m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(); + mixers[MixerChannelData[i] - 1][j] = m_aircraft->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(); } } //get the user data for the curve into the mixer settings - QList curve1 = m_ccpm->ThrottleCurve->getCurve(); - QList curve2 = m_ccpm->PitchCurve->getCurve(); + QList curve1 = m_aircraft->ThrottleCurve->getCurve(); + QList curve2 = m_aircraft->PitchCurve->getCurve(); for (i=0;i<5;i++) { mixerSettingsData.ThrottleCurve1[i] = curve1.at(i); mixerSettingsData.ThrottleCurve2[i] = curve2.at(i); @@ -978,7 +979,7 @@ void ConfigCcpmWidget::setMixer() //mapping of collective input to curve 2... //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5 //check if we are using throttle or directly from a channel... - if (m_ccpm->ccpmCollectivePassthrough->isChecked()) + if (m_aircraft->ccpmCollectivePassthrough->isChecked()) mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE; else mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE; @@ -1008,10 +1009,10 @@ void ConfigCcpmWidget::resizeEvent(QResizeEvent* event) { Q_UNUSED(event); // Make the custom table columns autostretch: - m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); + m_aircraft->ccpmAdvancedSettingsTable->resizeColumnsToContents(); for (int i=0;i<6;i++) { - m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- - m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); + m_aircraft->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_aircraft->ccpmAdvancedSettingsTable->width()- + m_aircraft->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); } ccpmSwashplateRedraw(); @@ -1019,10 +1020,10 @@ void ConfigCcpmWidget::resizeEvent(QResizeEvent* event) void ConfigCcpmWidget::showEvent(QShowEvent *event) { Q_UNUSED(event) - m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); + m_aircraft->ccpmAdvancedSettingsTable->resizeColumnsToContents(); for (int i=0;i<6;i++) { - m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- - m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); + m_aircraft->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_aircraft->ccpmAdvancedSettingsTable->width()- + m_aircraft->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); } ccpmSwashplateRedraw(); } @@ -1053,15 +1054,15 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed() //remove Flight control of ActuatorCommand enableSwashplateLevellingControl(true); - m_ccpm->SwashLvlStartButton->setEnabled(false); - m_ccpm->SwashLvlNextButton->setEnabled(true); - m_ccpm->SwashLvlCancelButton->setEnabled(true); - m_ccpm->SwashLvlFinishButton->setEnabled(false); + m_aircraft->SwashLvlStartButton->setEnabled(false); + m_aircraft->SwashLvlNextButton->setEnabled(true); + m_aircraft->SwashLvlCancelButton->setEnabled(true); + m_aircraft->SwashLvlFinishButton->setEnabled(false); //clear status check boxes - m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked); + m_aircraft->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked); + m_aircraft->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked); + m_aircraft->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked); + m_aircraft->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked); //download the current settings to the OP hw @@ -1086,15 +1087,15 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed() MaxField = obj->getField(QString("ChannelMax")); //channel assignments - oldSwashLvlConfiguration.ServoChannels[0]=m_ccpm->ccpmServoWChannel->currentIndex(); - oldSwashLvlConfiguration.ServoChannels[1]=m_ccpm->ccpmServoXChannel->currentIndex(); - oldSwashLvlConfiguration.ServoChannels[2]=m_ccpm->ccpmServoYChannel->currentIndex(); - oldSwashLvlConfiguration.ServoChannels[3]=m_ccpm->ccpmServoZChannel->currentIndex(); + oldSwashLvlConfiguration.ServoChannels[0]=m_aircraft->ccpmServoWChannel->currentIndex(); + oldSwashLvlConfiguration.ServoChannels[1]=m_aircraft->ccpmServoXChannel->currentIndex(); + oldSwashLvlConfiguration.ServoChannels[2]=m_aircraft->ccpmServoYChannel->currentIndex(); + oldSwashLvlConfiguration.ServoChannels[3]=m_aircraft->ccpmServoZChannel->currentIndex(); //if servos are used - oldSwashLvlConfiguration.Used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()>0)&&(m_ccpm->ccpmServoWChannel->isEnabled())); - oldSwashLvlConfiguration.Used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()>0)&&(m_ccpm->ccpmServoXChannel->isEnabled())); - oldSwashLvlConfiguration.Used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()>0)&&(m_ccpm->ccpmServoYChannel->isEnabled())); - oldSwashLvlConfiguration.Used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()>0)&&(m_ccpm->ccpmServoZChannel->isEnabled())); + oldSwashLvlConfiguration.Used[0]=((m_aircraft->ccpmServoWChannel->currentIndex()>0)&&(m_aircraft->ccpmServoWChannel->isEnabled())); + oldSwashLvlConfiguration.Used[1]=((m_aircraft->ccpmServoXChannel->currentIndex()>0)&&(m_aircraft->ccpmServoXChannel->isEnabled())); + oldSwashLvlConfiguration.Used[2]=((m_aircraft->ccpmServoYChannel->currentIndex()>0)&&(m_aircraft->ccpmServoYChannel->isEnabled())); + oldSwashLvlConfiguration.Used[3]=((m_aircraft->ccpmServoZChannel->currentIndex()>0)&&(m_aircraft->ccpmServoZChannel->isEnabled())); //min,neutral,max values for the servos for (i=0;iSwashLvlStartButton->setEnabled(true); - m_ccpm->SwashLvlNextButton->setEnabled(false); - m_ccpm->SwashLvlCancelButton->setEnabled(false); - m_ccpm->SwashLvlFinishButton->setEnabled(false); + m_aircraft->SwashLvlStartButton->setEnabled(true); + m_aircraft->SwashLvlNextButton->setEnabled(false); + m_aircraft->SwashLvlCancelButton->setEnabled(false); + m_aircraft->SwashLvlFinishButton->setEnabled(false); break; default: // should never be reached break; } - - } + void ConfigCcpmWidget::SwashLvlNextButtonPressed() { //ShowDisclaimer(2); SwashLvlState++; - int i; - - - - switch (SwashLvlState) - { + switch (SwashLvlState) { case 0: break; case 1: //Neutral levelling - m_ccpm->SwashLvlStepList->setCurrentRow(0); + m_aircraft->SwashLvlStepList->setCurrentRow(0); //set spin boxes and swashplate servos to Neutral values setSwashplateLevel(50); //disable position slider - m_ccpm->SwashLvlPositionSlider->setEnabled(false); - m_ccpm->SwashLvlPositionSpinBox->setEnabled(false); + m_aircraft->SwashLvlPositionSlider->setEnabled(false); + m_aircraft->SwashLvlPositionSpinBox->setEnabled(false); //set position slider to 50% - m_ccpm->SwashLvlPositionSlider->setValue(50); - m_ccpm->SwashLvlPositionSpinBox->setValue(50); + m_aircraft->SwashLvlPositionSlider->setValue(50); + m_aircraft->SwashLvlPositionSpinBox->setValue(50); //connect spinbox signals to slots and ebnable them - for (i=0;isetEnabled(true); } //issue user instructions - m_ccpm->SwashLvlStepInstruction->setHtml("

Neutral levelling

Using adjustment of:

  • servo horns
  • link lengths and
  • Neutral timing spinboxes to the right

ensure that the swashplate is in the center of desired travel range and is level."); + m_aircraft->SwashLvlStepInstruction->setHtml( + "

Neutral levelling

Using adjustment of:

  • servo horns
  • link lengths and
  • Neutral timing spinboxes to the right

ensure that the swashplate is in the center of desired travel range and is level."); break; case 2: //Max levelling //check Neutral status as complete - m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Checked); - m_ccpm->SwashLvlStepList->setCurrentRow(1); + m_aircraft->SwashLvlStepList->item(0)->setCheckState(Qt::Checked); + m_aircraft->SwashLvlStepList->setCurrentRow(1); //set spin boxes and swashplate servos to Max values setSwashplateLevel(100); //set position slider to 100% - m_ccpm->SwashLvlPositionSlider->setValue(100); - m_ccpm->SwashLvlPositionSpinBox->setValue(100); + m_aircraft->SwashLvlPositionSlider->setValue(100); + m_aircraft->SwashLvlPositionSpinBox->setValue(100); //issue user instructions - m_ccpm->SwashLvlStepInstruction->setText("

Max levelling

Using adjustment of:

  • Max timing spinboxes to the right ONLY

ensure that the swashplate is at the top of desired travel range and is level."); + m_aircraft->SwashLvlStepInstruction->setText( + "

Max levelling

Using adjustment of:

  • Max timing spinboxes to the right ONLY

ensure that the swashplate is at the top of desired travel range and is level."); break; case 3: //Min levelling //check Max status as complete - m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Checked); - m_ccpm->SwashLvlStepList->setCurrentRow(2); + m_aircraft->SwashLvlStepList->item(1)->setCheckState(Qt::Checked); + m_aircraft->SwashLvlStepList->setCurrentRow(2); //set spin boxes and swashplate servos to Min values setSwashplateLevel(0); //set position slider to 0% - m_ccpm->SwashLvlPositionSlider->setValue(0); - m_ccpm->SwashLvlPositionSpinBox->setValue(0); + m_aircraft->SwashLvlPositionSlider->setValue(0); + m_aircraft->SwashLvlPositionSpinBox->setValue(0); //issue user instructions - m_ccpm->SwashLvlStepInstruction->setText("

Min levelling

Using adjustment of:

  • Min timing spinboxes to the right ONLY

ensure that the swashplate is at the bottom of desired travel range and is level."); - break; + m_aircraft->SwashLvlStepInstruction->setText( + "

Min levelling

Using adjustment of:

  • Min timing spinboxes to the right ONLY

ensure that the swashplate is at the bottom of desired travel range and is level."); + break; case 4: //levelling verification //check Min status as complete - m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Checked); - m_ccpm->SwashLvlStepList->setCurrentRow(3); + m_aircraft->SwashLvlStepList->item(2)->setCheckState(Qt::Checked); + m_aircraft->SwashLvlStepList->setCurrentRow(3); //enable position slider - m_ccpm->SwashLvlPositionSlider->setEnabled(true); - m_ccpm->SwashLvlPositionSpinBox->setEnabled(true); + m_aircraft->SwashLvlPositionSlider->setEnabled(true); + m_aircraft->SwashLvlPositionSpinBox->setEnabled(true); //make heli respond to slider movement - connect(m_ccpm->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int))); + connect(m_aircraft->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int))); //disable spin boxes - for (i=0;isetEnabled(false); } //issue user instructions - m_ccpm->SwashLvlStepInstruction->setText("

levelling verification

Adjust the slider to the right over it's full range and observe the swashplate motion. It should remain level over the entire range of travel."); - break; + m_aircraft->SwashLvlStepInstruction->setText( + "

levelling verification

Adjust the slider to the right over it's full range and observe the swashplate motion. It should remain level over the entire range of travel."); + break; case 5: //levelling complete //check verify status as complete - m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Checked); + m_aircraft->SwashLvlStepList->item(3)->setCheckState(Qt::Checked); //issue user instructions - m_ccpm->SwashLvlStepInstruction->setText("

levelling complete

Press the Finish button to save these settings to the SD card

Press the cancel button to return to the pre-levelling settings"); + m_aircraft->SwashLvlStepInstruction->setText( + "

levelling complete

Press the Finish button to save these settings to the SD card

Press the cancel button to return to the pre-levelling settings"); //disable position slider - m_ccpm->SwashLvlPositionSlider->setEnabled(false); - m_ccpm->SwashLvlPositionSpinBox->setEnabled(false); + m_aircraft->SwashLvlPositionSlider->setEnabled(false); + m_aircraft->SwashLvlPositionSpinBox->setEnabled(false); //disconnect levelling slots from signals - disconnect(m_ccpm->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int))); - for (i=0;iSwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int))); + for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) { disconnect(SwashLvlSpinBoxes[i], SIGNAL(valueChanged(int)), this, SLOT(SwashLvlSpinBoxChanged(int))); } - m_ccpm->SwashLvlStartButton->setEnabled(false); - m_ccpm->SwashLvlNextButton->setEnabled(false); - m_ccpm->SwashLvlCancelButton->setEnabled(true); - m_ccpm->SwashLvlFinishButton->setEnabled(true); + m_aircraft->SwashLvlStartButton->setEnabled(false); + m_aircraft->SwashLvlNextButton->setEnabled(false); + m_aircraft->SwashLvlCancelButton->setEnabled(true); + m_aircraft->SwashLvlFinishButton->setEnabled(true); default: //restore collective/cyclic setting @@ -1230,24 +1227,24 @@ void ConfigCcpmWidget::SwashLvlNextButtonPressed() break; } } + void ConfigCcpmWidget::SwashLvlCancelButtonPressed() { - int i; - SwashLvlState=0; + SwashLvlState = 0; - UAVObjectField* MinField; - UAVObjectField* NeutralField; - UAVObjectField* MaxField; + UAVObjectField *MinField; + UAVObjectField *NeutralField; + UAVObjectField *MaxField; - m_ccpm->SwashLvlStartButton->setEnabled(true); - m_ccpm->SwashLvlNextButton->setEnabled(false); - m_ccpm->SwashLvlCancelButton->setEnabled(false); - m_ccpm->SwashLvlFinishButton->setEnabled(false); + m_aircraft->SwashLvlStartButton->setEnabled(true); + m_aircraft->SwashLvlNextButton->setEnabled(false); + m_aircraft->SwashLvlCancelButton->setEnabled(false); + m_aircraft->SwashLvlFinishButton->setEnabled(false); - m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked); + m_aircraft->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked); + m_aircraft->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked); + m_aircraft->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked); + m_aircraft->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked); //restore old Actuator Settings ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); @@ -1259,110 +1256,110 @@ void ConfigCcpmWidget::SwashLvlCancelButtonPressed() NeutralField = obj->getField(QString("ChannelNeutral")); MaxField = obj->getField(QString("ChannelMax")); - //min,neutral,max values for the servos - for (i=0;isetValue(oldSwashLvlConfiguration.Min[i],oldSwashLvlConfiguration.ServoChannels[i]); - NeutralField->setValue(oldSwashLvlConfiguration.Neutral[i],oldSwashLvlConfiguration.ServoChannels[i]); - MaxField->setValue(oldSwashLvlConfiguration.Max[i],oldSwashLvlConfiguration.ServoChannels[i]); + // min,neutral,max values for the servos + for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) { + MinField->setValue(oldSwashLvlConfiguration.Min[i], oldSwashLvlConfiguration.ServoChannels[i]); + NeutralField->setValue(oldSwashLvlConfiguration.Neutral[i], oldSwashLvlConfiguration.ServoChannels[i]); + MaxField->setValue(oldSwashLvlConfiguration.Max[i], oldSwashLvlConfiguration.ServoChannels[i]); } obj->updated(); - - //restore Flight control of ActuatorCommand + // restore Flight control of ActuatorCommand enableSwashplateLevellingControl(false); - m_ccpm->SwashLvlStepInstruction->setText("

Levelling Cancelled

Previous settings have been restored."); - + m_aircraft->SwashLvlStepInstruction->setText( + "

Levelling Cancelled

Previous settings have been restored."); } void ConfigCcpmWidget::SwashLvlFinishButtonPressed() { - int i; + UAVObjectField *MinField; + UAVObjectField *NeutralField; + UAVObjectField *MaxField; - UAVObjectField* MinField; - UAVObjectField* NeutralField; - UAVObjectField* MaxField; + m_aircraft->SwashLvlStartButton->setEnabled(true); + m_aircraft->SwashLvlNextButton->setEnabled(false); + m_aircraft->SwashLvlCancelButton->setEnabled(false); + m_aircraft->SwashLvlFinishButton->setEnabled(false); - m_ccpm->SwashLvlStartButton->setEnabled(true); - m_ccpm->SwashLvlNextButton->setEnabled(false); - m_ccpm->SwashLvlCancelButton->setEnabled(false); - m_ccpm->SwashLvlFinishButton->setEnabled(false); - - //save new Actuator Settings to memory and SD card + // save new Actuator Settings to memory and SD card ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); Q_ASSERT(obj); - //update settings to match our changes. + + // update settings to match our changes. MinField = obj->getField(QString("ChannelMin")); NeutralField = obj->getField(QString("ChannelNeutral")); MaxField = obj->getField(QString("ChannelMax")); - //min,neutral,max values for the servos - for (i=0;isetValue(newSwashLvlConfiguration.Min[i],newSwashLvlConfiguration.ServoChannels[i]); - NeutralField->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]); - MaxField->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]); + // min,neutral,max values for the servos + for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) { + MinField->setValue(newSwashLvlConfiguration.Min[i], newSwashLvlConfiguration.ServoChannels[i]); + NeutralField->setValue(newSwashLvlConfiguration.Neutral[i], newSwashLvlConfiguration.ServoChannels[i]); + MaxField->setValue(newSwashLvlConfiguration.Max[i], newSwashLvlConfiguration.ServoChannels[i]); } obj->updated(); saveObjectToSD(obj); - //restore Flight control of ActuatorCommand + // restore Flight control of ActuatorCommand enableSwashplateLevellingControl(false); - m_ccpm->SwashLvlStepInstruction->setText("

Levelling Completed

New settings have been saved to the SD card"); + m_aircraft->SwashLvlStepInstruction->setText( + "

Levelling Completed

New settings have been saved to the SD card"); ShowDisclaimer(0); //ShowDisclaimer(2); - } int ConfigCcpmWidget::ShowDisclaimer(int messageID) { - QMessageBox msgBox; - msgBox.setText("

Warning!!!

"); - int ret; - switch (messageID) { - case 0: - // Basic disclaimer - msgBox.setInformativeText("

This code has many configurations.

Please double check all settings before attempting flight!"); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.setIcon(QMessageBox::Information); - ret = msgBox.exec(); - return 0; - break; - case 1: - // Not Tested disclaimer - msgBox.setInformativeText("

The CCPM mixer code needs more testing!

Use it at your own risk!

Do you wish to continue?"); - msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); - msgBox.setDefaultButton(QMessageBox::Cancel); - msgBox.setIcon(QMessageBox::Warning); - ret = msgBox.exec(); - switch (ret) - { - case QMessageBox::Cancel: return -1; - case QMessageBox::Yes: return 0; - } - break; - case 2: - // DO NOT use - msgBox.setInformativeText("

The CCPM swashplate levelling code is NOT complete!

DO NOT use it for flight!"); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.setIcon(QMessageBox::Critical); - ret = msgBox.exec(); + QMessageBox msgBox; + msgBox.setText("

Warning!!!

"); + int ret; + switch (messageID) { + case 0: + // Basic disclaimer + msgBox.setInformativeText( + "

This code has many configurations.

Please double check all settings before attempting flight!"); + msgBox.setStandardButtons(QMessageBox::Ok); + msgBox.setDefaultButton(QMessageBox::Ok); + msgBox.setIcon(QMessageBox::Information); + ret = msgBox.exec(); + return 0; + break; + case 1: + // Not Tested disclaimer + msgBox.setInformativeText( + "

The CCPM mixer code needs more testing!

Use it at your own risk!

Do you wish to continue?"); + msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); + msgBox.setDefaultButton(QMessageBox::Cancel); + msgBox.setIcon(QMessageBox::Warning); + ret = msgBox.exec(); + switch (ret) { + case QMessageBox::Cancel: + return -1; + case QMessageBox::Yes: return 0; - break; - default: - // should never be reached - break; } + break; + case 2: + // DO NOT use + msgBox.setInformativeText( + "

The CCPM swashplate levelling code is NOT complete!

DO NOT use it for flight!"); + msgBox.setStandardButtons(QMessageBox::Ok); + msgBox.setDefaultButton(QMessageBox::Ok); + msgBox.setIcon(QMessageBox::Critical); + ret = msgBox.exec(); + return 0; + break; + default: + // should never be reached + break; + } return -1; } @@ -1378,33 +1375,30 @@ void ConfigCcpmWidget::enableSwashplateLevellingControl(bool state) UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ActuatorCommand"))); UAVObject::Metadata mdata = obj->getMetadata(); - if (state) - { + if (state) { SwashLvlaccInitialData = mdata; UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY); UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE); UAVObject::SetGcsTelemetryAcked(mdata, false); UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE); mdata.gcsTelemetryUpdatePeriod = 100; - SwashLvlConfigurationInProgress=1; - m_ccpm->TabObject->setTabEnabled(0,0); - m_ccpm->TabObject->setTabEnabled(2,0); - m_ccpm->TabObject->setTabEnabled(3,0); - m_ccpm->ccpmType->setEnabled(0); - } - else - { - mdata = SwashLvlaccInitialData; // Restore metadata - SwashLvlConfigurationInProgress=0; + SwashLvlConfigurationInProgress = 1; + m_aircraft->TabObject->setTabEnabled(0, 0); + m_aircraft->TabObject->setTabEnabled(2, 0); + m_aircraft->TabObject->setTabEnabled(3, 0); + m_aircraft->ccpmType->setEnabled(0); + } else { + // Restore metadata + mdata = SwashLvlaccInitialData; + SwashLvlConfigurationInProgress = 0; - m_ccpm->TabObject->setTabEnabled(0,1); - m_ccpm->TabObject->setTabEnabled(2,1); - m_ccpm->TabObject->setTabEnabled(3,1); - m_ccpm->ccpmType->setEnabled(1); + m_aircraft->TabObject->setTabEnabled(0, 1); + m_aircraft->TabObject->setTabEnabled(2, 1); + m_aircraft->TabObject->setTabEnabled(3, 1); + m_aircraft->ccpmType->setEnabled(1); } obj->setMetadata(mdata); - } /** @@ -1413,26 +1407,34 @@ void ConfigCcpmWidget::enableSwashplateLevellingControl(bool state) */ void ConfigCcpmWidget::setSwashplateLevel(int percent) { - if (percent<0)return;// -1; - if (percent>100)return;// -1; - if (SwashLvlConfigurationInProgress!=1)return;// -1; - int i; - double value; - double level = ((double)percent /50.00) - 1.00; + if (percent < 0) { + return; // -1; + } + if (percent > 100) { + return; // -1; + } + if (SwashLvlConfigurationInProgress != 1) { + return; // -1; + } - SwashLvlServoInterlock=1; + double level = ((double) percent / 50.00) - 1.00; - ActuatorCommand * actuatorCommand = ActuatorCommand::GetInstance(getObjectManager()); + SwashLvlServoInterlock = 1; + + ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager()); ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData(); - for (i=0;i 0) - value = (newSwashLvlConfiguration.Max[i] - newSwashLvlConfiguration.Neutral[i])*level + newSwashLvlConfiguration.Neutral[i]; - else if (level < 0) - value = (newSwashLvlConfiguration.Neutral[i] - newSwashLvlConfiguration.Min[i])*level + newSwashLvlConfiguration.Neutral[i]; - + } else if (level > 0) { + value = (newSwashLvlConfiguration.Max[i] - newSwashLvlConfiguration.Neutral[i]) * level + + newSwashLvlConfiguration.Neutral[i]; + } else if (level < 0) { + value = (newSwashLvlConfiguration.Neutral[i] - newSwashLvlConfiguration.Min[i]) * level + + newSwashLvlConfiguration.Neutral[i]; + } actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; SwashLvlSpinBoxes[i]->setValue(value); } @@ -1440,38 +1442,42 @@ void ConfigCcpmWidget::setSwashplateLevel(int percent) actuatorCommand->setData(actuatorCommandData); actuatorCommand->updated(); - SwashLvlServoInterlock=0; - -return; + SwashLvlServoInterlock = 0; } void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value) { Q_UNUSED(value); - int i; - if (SwashLvlServoInterlock==1)return; - ActuatorCommand * actuatorCommand = ActuatorCommand::GetInstance(getObjectManager()); + if (SwashLvlServoInterlock == 1) { + return; + } + + ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager()); ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData(); - for (i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) { + for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) { value = SwashLvlSpinBoxes[i]->value(); - switch (SwashLvlState) - { - case 1: //Neutral levelling - newSwashLvlConfiguration.Neutral[i]=value; + switch (SwashLvlState) { + case 1: + // Neutral levelling + newSwashLvlConfiguration.Neutral[i] = value; break; - case 2: //Max levelling + case 2: + // Max levelling newSwashLvlConfiguration.Max[i] = value; break; - case 3: //Min levelling - newSwashLvlConfiguration.Min[i]= value; + case 3: + // Min levelling + newSwashLvlConfiguration.Min[i] = value; break; - case 4: //levelling verification + case 4: + // levelling verification break; - case 5: //levelling complete + case 5: + // levelling complete break; default: break; @@ -1480,7 +1486,6 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value) actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; } - actuatorCommand->setData(actuatorCommandData); actuatorCommand->updated(); @@ -1496,63 +1501,45 @@ bool ConfigCcpmWidget::throwConfigError(QString airframeType) bool error = false; - if((m_ccpm->ccpmServoWChannel->currentIndex()==0) && (m_ccpm->ccpmServoWChannel->isEnabled())) - { - m_ccpm->ccpmServoWLabel->setText("" + m_ccpm->ccpmServoWLabel->text() + ""); + if ((m_aircraft->ccpmServoWChannel->currentIndex() == 0) && (m_aircraft->ccpmServoWChannel->isEnabled())) { + m_aircraft->ccpmServoWLabel->setText("" + m_aircraft->ccpmServoWLabel->text() + ""); error = true; - } - else - { - m_ccpm->ccpmServoWLabel->setText(QTextEdit(m_ccpm->ccpmServoWLabel->text()).toPlainText()); + } else { + m_aircraft->ccpmServoWLabel->setText(QTextEdit(m_aircraft->ccpmServoWLabel->text()).toPlainText()); } - if((m_ccpm->ccpmServoXChannel->currentIndex()==0) && (m_ccpm->ccpmServoXChannel->isEnabled())) - { - m_ccpm->ccpmServoXLabel->setText("" + m_ccpm->ccpmServoXLabel->text() + ""); + if ((m_aircraft->ccpmServoXChannel->currentIndex() == 0) && (m_aircraft->ccpmServoXChannel->isEnabled())) { + m_aircraft->ccpmServoXLabel->setText("" + m_aircraft->ccpmServoXLabel->text() + ""); error = true; - } - else - { - m_ccpm->ccpmServoXLabel->setText(QTextEdit(m_ccpm->ccpmServoXLabel->text()).toPlainText()); + } else { + m_aircraft->ccpmServoXLabel->setText(QTextEdit(m_aircraft->ccpmServoXLabel->text()).toPlainText()); } - if((m_ccpm->ccpmServoYChannel->currentIndex()==0) && (m_ccpm->ccpmServoYChannel->isEnabled())) - { - m_ccpm->ccpmServoYLabel->setText("" + m_ccpm->ccpmServoYLabel->text() + ""); + if ((m_aircraft->ccpmServoYChannel->currentIndex() == 0) && (m_aircraft->ccpmServoYChannel->isEnabled())) { + m_aircraft->ccpmServoYLabel->setText("" + m_aircraft->ccpmServoYLabel->text() + ""); error = true; - } - else - { - m_ccpm->ccpmServoYLabel->setText(QTextEdit(m_ccpm->ccpmServoYLabel->text()).toPlainText()); + } else { + m_aircraft->ccpmServoYLabel->setText(QTextEdit(m_aircraft->ccpmServoYLabel->text()).toPlainText()); } - if((m_ccpm->ccpmServoZChannel->currentIndex()==0) && (m_ccpm->ccpmServoZChannel->isEnabled())) - { - m_ccpm->ccpmServoZLabel->setText("" + m_ccpm->ccpmServoZLabel->text()+ ""); + if ((m_aircraft->ccpmServoZChannel->currentIndex() == 0) && (m_aircraft->ccpmServoZChannel->isEnabled())) { + m_aircraft->ccpmServoZLabel->setText("" + m_aircraft->ccpmServoZLabel->text() + ""); error = true; - } - else - { - m_ccpm->ccpmServoZLabel->setText(QTextEdit(m_ccpm->ccpmServoZLabel->text()).toPlainText()); + } else { + m_aircraft->ccpmServoZLabel->setText(QTextEdit(m_aircraft->ccpmServoZLabel->text()).toPlainText()); } - if((m_ccpm->ccpmEngineChannel->currentIndex()==0) && (m_ccpm->ccpmEngineChannel->isEnabled())) - { - m_ccpm->ccpmEngineLabel->setText("" + m_ccpm->ccpmEngineLabel->text() + ""); - } - else - { - m_ccpm->ccpmEngineLabel->setText(QTextEdit(m_ccpm->ccpmEngineLabel->text()).toPlainText()); + if ((m_aircraft->ccpmEngineChannel->currentIndex() == 0) && (m_aircraft->ccpmEngineChannel->isEnabled())) { + m_aircraft->ccpmEngineLabel->setText("" + m_aircraft->ccpmEngineLabel->text() + ""); + } else { + m_aircraft->ccpmEngineLabel->setText(QTextEdit(m_aircraft->ccpmEngineLabel->text()).toPlainText()); } - if((m_ccpm->ccpmTailChannel->currentIndex()==0) && (m_ccpm->ccpmTailChannel->isEnabled())) - { - m_ccpm->ccpmTailLabel->setText("" + m_ccpm->ccpmTailLabel->text() + ""); + if ((m_aircraft->ccpmTailChannel->currentIndex() == 0) && (m_aircraft->ccpmTailChannel->isEnabled())) { + m_aircraft->ccpmTailLabel->setText("" + m_aircraft->ccpmTailLabel->text() + ""); error = true; - } - else - { - m_ccpm->ccpmTailLabel->setText(QTextEdit(m_ccpm->ccpmTailLabel->text()).toPlainText()); + } else { + m_aircraft->ccpmTailLabel->setText(QTextEdit(m_aircraft->ccpmTailLabel->text()).toPlainText()); } diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h index 7f091c1fb..2890cffdb 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h @@ -28,7 +28,7 @@ #define CONFIGccpmWIDGET_H #include "cfg_vehicletypes/vehicleconfig.h" -#include "ui_ccpm.h" +#include "ui_airframe_ccpm.h" #include "../uavobjectwidgetutils/configtaskwidget.h" #include "extensionsystem/pluginmanager.h" #include "uavobjectmanager.h" @@ -52,7 +52,6 @@ typedef struct { int Min[CCPM_MAX_SWASH_SERVOS]; } SwashplateServoSettingsStruct; - class ConfigCcpmWidget: public VehicleConfig { Q_OBJECT @@ -64,7 +63,9 @@ public: friend class ConfigVehicleTypeWidget; private: - Ui_ccpmWidget *m_ccpm; + //Ui_ccpmWidget *m_ccpm; + Ui_CcpmConfigWidget *m_aircraft; + QGraphicsSvgItem *SwashplateImg; QGraphicsSvgItem *CurveImg; QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS]; @@ -90,7 +91,7 @@ private: bool updatingFromHardware; bool updatingToHardware; - virtual void ResetActuators(GUIConfigDataUnion* configData); + virtual void ResetActuators(GUIConfigDataUnion *configData); static QStringList getChannelDescriptions(); QString updateConfigObjects(); diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp new file mode 100644 index 000000000..07c453c93 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp @@ -0,0 +1,293 @@ +/** + ****************************************************************************** + * + * @file configmultirotorwidget.cpp + * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup ConfigPlugin Config Plugin + * @{ + * @brief ccpm configuration panel + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#include "configcustomwidget.h" +#include "mixersettings.h" +//#include "systemsettings.h" +//#include "actuatorsettings.h" +//#include "actuatorcommand.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +//const QString ConfigCustomWidget::CHANNELBOXNAME = QString("multiMotorChannelBox"); + +ConfigCustomWidget::ConfigCustomWidget(QWidget *parent) : + VehicleConfig(parent), m_aircraft(new Ui_CustomConfigWidget()) +{ + m_aircraft->setupUi(this); + + // Put combo boxes in line one of the custom mixer table: + UAVDataObject *mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); + Q_ASSERT(mixer); + + UAVObjectField* field = mixer->getField(QString("Mixer1Type")); + QStringList list = field->getOptions(); + for (int i = 0; i < (int) (VehicleConfig::CHANNEL_NUMELEM); i++) { + QComboBox* qb = new QComboBox(m_aircraft->customMixerTable); + qb->addItems(list); + m_aircraft->customMixerTable->setCellWidget(0, i, qb); + } + + SpinBoxDelegate *sbd = new SpinBoxDelegate(); + for (int i = 1; i < (int) (VehicleConfig::CHANNEL_NUMELEM); i++) { + m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd); + } +} + +ConfigCustomWidget::~ConfigCustomWidget() +{ + delete m_aircraft; +} + +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; +} + +/** + Helper function to update the UI widget objects + */ +QString ConfigCustomWidget::updateConfigObjectsFromWidgets() +{ + UAVDataObject *mixer = dynamic_cast(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"; +} + +/** + Helper function to refresh the UI widget values + */ +void ConfigCustomWidget::refreshWidgetsValues(QString frameType) +{ + Q_ASSERT(m_aircraft); + + UAVDataObject *mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); + Q_ASSERT(mixer); + + QList 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->customThrottle1Curve->initCurve(&curveValues); + } + else { + // no, init a straight curve + m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0); + } + + if (MixerSettings *mxr = qobject_cast(mixer)) { + MixerSettings::DataFields mixerSettingsData = mxr->getData(); + if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE) + m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE); + else { + m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH); + } + } + + // Setup all Throttle2 curves for all types of airframes + getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); + + if (isValidThrottleCurve(&curveValues)) { + m_aircraft->customThrottle2Curve->initCurve(&curveValues); + } + else { + m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin()); + } + + // Update the mixer table: + for (int channel = 0; channel < m_aircraft->customMixerTable->columnCount(); channel++) { + UAVObjectField* field = mixer->getField(mixerTypes.at(channel)); + if (field) { + QComboBox* q = (QComboBox*) m_aircraft->customMixerTable->cellWidget(0, channel); + if (q) { + QString s = field->getValue().toString(); + setComboCurrentIndex(q, q->findText(s)); + } + + m_aircraft->customMixerTable->item(1, channel)->setText( + QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1))); + m_aircraft->customMixerTable->item(2, channel)->setText( + QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2))); + m_aircraft->customMixerTable->item(3, channel)->setText( + QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL))); + m_aircraft->customMixerTable->item(4, channel)->setText( + QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH))); + m_aircraft->customMixerTable->item(5, channel)->setText( + QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW))); + } + } +} + +/** + This function displays text and color formatting in order to help the user understand what channels have not yet been configured. + */ +bool ConfigCustomWidget::throwConfigError(int numMotors) +{ + return false; +} + +/** + WHAT DOES THIS DO??? + */ +void ConfigCustomWidget::showEvent(QShowEvent *event) +{ + Q_UNUSED(event) + 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); + } +} + +/** + Resize the GUI contents when the user changes the window size + */ +void ConfigCustomWidget::resizeEvent(QResizeEvent *event) +{ + Q_UNUSED(event); + // Make the custom table columns autostretch: + m_aircraft->customMixerTable->resizeColumnsToContents(); + 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); + } +} + +/** + Helper delegate for the custom mixer editor table. + Taken straight from Qt examples, thanks! +*/ +SpinBoxDelegate::SpinBoxDelegate(QObject *parent) : + QItemDelegate(parent) +{ +} + +QWidget *SpinBoxDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, + const QModelIndex &index) const +{ + QSpinBox *editor = new QSpinBox(parent); + editor->setMinimum(-127); + editor->setMaximum(127); + + return editor; +} + +void SpinBoxDelegate::setEditorData(QWidget *editor, const QModelIndex &index) const +{ + int value = index.model()->data(index, Qt::EditRole).toInt(); + + QSpinBox *spinBox = static_cast(editor); + spinBox->setValue(value); +} + +void SpinBoxDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const +{ + QSpinBox *spinBox = static_cast(editor); + spinBox->interpretText(); + int value = spinBox->value(); + + model->setData(index, value, Qt::EditRole); +} + +void SpinBoxDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, + const QModelIndex &index) const +{ + editor->setGeometry(option.rect); +} diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.h new file mode 100644 index 000000000..08fcd549a --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.h @@ -0,0 +1,91 @@ +/** + ****************************************************************************** + * + * @file configairframetwidget.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup ConfigPlugin Config Plugin + * @{ + * @brief Airframe configuration panel + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#ifndef CONFIGCUSTOMWIDGET_H +#define CONFIGCUSTOMWIDGET_H + +#include "cfg_vehicletypes/vehicleconfig.h" +#include "ui_airframe_custom.h" +#include "../uavobjectwidgetutils/configtaskwidget.h" +#include "extensionsystem/pluginmanager.h" +#include "uavobjectmanager.h" +#include "uavobject.h" +#include "uavtalk/telemetrymanager.h" + +#include +#include +#include + +class Ui_Widget; + +class ConfigCustomWidget: public VehicleConfig +{ + Q_OBJECT + +public: + ConfigCustomWidget(QWidget *parent = 0); + ~ConfigCustomWidget(); + + friend class ConfigVehicleTypeWidget; + +private: + Ui_CustomConfigWidget *m_aircraft; + + //virtual void ResetActuators(GUIConfigDataUnion *configData); + static QStringList getChannelDescriptions(); +// static const QString CHANNELBOXNAME; + +private slots: + virtual void setupUI(QString airframeType); + virtual void refreshWidgetsValues(QString frameType); + virtual QString updateConfigObjectsFromWidgets(); + virtual bool throwConfigError(int numMotors); + +protected: + void showEvent(QShowEvent *event); + void resizeEvent(QResizeEvent *event); + +signals: + void configurationChanged(); + +}; + +class SpinBoxDelegate : public QItemDelegate +{ + Q_OBJECT + +public: + SpinBoxDelegate(QObject *parent = 0); + + QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const; + + void setEditorData(QWidget *editor, const QModelIndex &index) const; + void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const; + + void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const; +}; + +#endif // CONFIGCUSTOMWIDGET_H diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp index 27a62ec9c..8c3ae1167 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp @@ -41,20 +41,24 @@ #include #include -/** - Constructor - */ -ConfigFixedWingWidget::ConfigFixedWingWidget(Ui_FixedWingConfigWidget *aircraft, QWidget *parent) : VehicleConfig(parent) +ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) : + VehicleConfig(parent), m_aircraft(new Ui_FixedWingConfigWidget()) { - m_aircraft = aircraft; + m_aircraft->setupUi(this); + + QStringList fixedWingTypes; + fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail"; + m_aircraft->fixedWingType->addItems(fixedWingTypes); + + // Set default model to "Elevator aileron rudder" + m_aircraft->fixedWingType->setCurrentIndex(0); + + connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString))); } -/** - Destructor - */ ConfigFixedWingWidget::~ConfigFixedWingWidget() { - // Do nothing + delete m_aircraft; } /** @@ -65,7 +69,6 @@ void ConfigFixedWingWidget::setupUI(QString frameType) Q_ASSERT(m_aircraft); if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") { - // Setup the UI //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder")); m_aircraft->fwRudder1ChannelBox->setEnabled(true); @@ -210,6 +213,30 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType) { Q_ASSERT(m_aircraft); + UAVDataObject *mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); + Q_ASSERT(mixer); + + QList 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->fixedWingThrottle->initCurve(&curveValues); + } + else { + // no, init a straight curve + m_aircraft->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0); + } + + + + + + + + + GUIConfigDataUnion config = GetConfigData(); fixedGUISettingsStruct fixed = config.fixedwing; @@ -222,26 +249,32 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType) setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1); setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2); - UAVDataObject* mixer= dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); - Q_ASSERT(mixer); + //UAVDataObject* mixer= dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); + //Q_ASSERT(mixer); int channel; - if (frameType == "FixedWingElevon") { + if (frameType == "FixedWingElevon") { // If the airframe is elevon, restore the slider setting // Find the channel number for Elevon1 (FixedWingRoll1) - channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1; - if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check. - m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)*100); - m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100); - } - } - if (frameType == "FixedWingVtail") { - channel = m_aircraft->fwElevator1ChannelBox->currentIndex()-1; - if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check. - m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)*100); - m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100); + channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1; + if (channel > -1) { + // If for some reason the actuators were incoherent, we might fail here, hence the check. + m_aircraft->elevonSlider1->setValue( + getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL) * 100); + m_aircraft->elevonSlider2->setValue( + getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100); } - } + } + else if (frameType == "FixedWingVtail") { + channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1; + if (channel > -1) { + // If for some reason the actuators were incoherent, we might fail here, hence the check. + m_aircraft->elevonSlider1->setValue( + getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW) * 100); + m_aircraft->elevonSlider2->setValue( + getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100); + } + } } diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h index 282fc3447..21dff9658 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h @@ -46,7 +46,7 @@ class ConfigFixedWingWidget: public VehicleConfig Q_OBJECT public: - ConfigFixedWingWidget(Ui_FixedWingConfigWidget *aircraft = 0, QWidget *parent = 0); + ConfigFixedWingWidget(QWidget *parent = 0); ~ConfigFixedWingWidget(); friend class ConfigVehicleTypeWidget; @@ -67,10 +67,8 @@ private slots: virtual QString updateConfigObjectsFromWidgets(); virtual bool throwConfigError(QString airframeType); - protected: }; - #endif // CONFIGFIXEDWINGWIDGET_H diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp index 01a7d3492..b2e419f42 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp @@ -41,29 +41,42 @@ #include #include -ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(Ui_GroundConfigWidget *aircraft, QWidget *parent) : VehicleConfig(parent) +ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(QWidget *parent) : + VehicleConfig(parent), m_aircraft(new Ui_GroundConfigWidget()) { - m_aircraft = aircraft; + m_aircraft->setupUi(this); + + QStringList groundVehicleTypes; + groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle"; + m_aircraft->groundVehicleType->addItems(groundVehicleTypes); + + // Set default model to "Turnable (car)" + m_aircraft->groundVehicleType->setCurrentIndex(0); + + setupUI(m_aircraft->groundVehicleType->currentText()); + + connect(m_aircraft->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString))); } ConfigGroundVehicleWidget::~ConfigGroundVehicleWidget() { - // Do nothing + delete m_aircraft; } /** Virtual function to setup the UI + TODO move to constructor or make private */ void ConfigGroundVehicleWidget::setupUI(QString frameType) { m_aircraft->differentialSteeringMixBox->setHidden(true); //STILL NEEDS WORK + // Setup the UI //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground")); m_aircraft->gvEngineChannelBox->setEnabled(false); m_aircraft->gvEngineLabel->setEnabled(false); - m_aircraft->gvAileron1ChannelBox->setEnabled(false); m_aircraft->gvAileron1Label->setEnabled(false); @@ -71,7 +84,8 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType) m_aircraft->gvAileron2ChannelBox->setEnabled(false); m_aircraft->gvAileron2Label->setEnabled(false); - if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"){ //Tank + if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)") { + // Tank setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Differential (tank)")); m_aircraft->gvMotor1ChannelBox->setEnabled(true); m_aircraft->gvMotor1Label->setEnabled(true); @@ -96,7 +110,8 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType) m_aircraft->gvThrottleCurve2GroupBox->setTitle("Right throttle curve"); } - else if (frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle"){ //Motorcycle + else if (frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle") { + // Motorcycle setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Motorcycle")); m_aircraft->gvMotor1ChannelBox->setEnabled(false); m_aircraft->gvMotor1Label->setEnabled(false); @@ -120,7 +135,8 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType) m_aircraft->gvThrottleCurve1GroupBox->setTitle("Front throttle curve"); m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve"); } - else {//Car + else { + // Car setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Turnable (car)")); m_aircraft->gvMotor1ChannelBox->setEnabled(true); @@ -159,28 +175,28 @@ QStringList ConfigGroundVehicleWidget::getChannelDescriptions() QStringList channelDesc; // init a channel_numelem list of channel desc defaults - for (i=0; i < (int)(ConfigGroundVehicleWidget::CHANNEL_NUMELEM); i++) - { + 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"); - + 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 */ @@ -195,33 +211,68 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets() 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() ); + 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); - } + // 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 */ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType) { - UAVDataObject* obj; -// UAVObjectField *field; + qDebug() << "ConfigGroundVehicleWidget::refreshWidgetsValues - frame type:" << frameType; + + UAVDataObject *mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); + Q_ASSERT(mixer); + + QList 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->groundVehicleThrottle1->initCurve(&curveValues); + } + else { + // no, init a straight curve + m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0); + } + + // Setup all Throttle2 curves for all types of airframes + getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); + + if (isValidThrottleCurve(&curveValues)) { + m_aircraft->groundVehicleThrottle2->initCurve(&curveValues); + } + else { + m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0); + } + + + + + + + + + + + //UAVDataObject *obj; + //UAVObjectField *field; GUIConfigDataUnion config = GetConfigData(); @@ -237,16 +288,18 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType) // If the vehicle type is "differential", restore the slider setting // Find the channel number for Motor1 - obj = dynamic_cast(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. - - m_aircraft->differentialSteeringSlider1->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_ROLL)*100); - m_aircraft->differentialSteeringSlider2->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_PITCH)*100); - } + //obj = dynamic_cast(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. + m_aircraft->differentialSteeringSlider1->setValue( + getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL) * 100); + m_aircraft->differentialSteeringSlider2->setValue( + getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100); + } } - if (frameType == "GroundVehicleMotorcycle") { + else if (frameType == "GroundVehicleMotorcycle") { //CURRENTLY BROKEN UNTIL WE DECIDE HOW MOTORCYCLE SHOULD BEHAVE // obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); // Q_ASSERT(obj); @@ -311,8 +364,6 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp return true; } - - /** Setup differentially steered ground vehicle. @@ -355,11 +406,8 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT m_aircraft->gvStatusLabel->setText("Mixer generated"); return true; - } - - /** Setup steerable ground vehicle. @@ -505,4 +553,3 @@ bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType) } return error; } - diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h index 804b0bfa7..97b35c8e4 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h @@ -46,7 +46,7 @@ class ConfigGroundVehicleWidget: public VehicleConfig Q_OBJECT public: - ConfigGroundVehicleWidget(Ui_GroundConfigWidget *aircraft = 0, QWidget *parent = 0); + ConfigGroundVehicleWidget(QWidget *parent = 0); ~ConfigGroundVehicleWidget(); friend class ConfigVehicleTypeWidget; @@ -71,5 +71,4 @@ protected: }; - #endif // CONFIGGROUNDVEHICLEWIDGET_H diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp index 678688c6b..f93aceba8 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp @@ -43,14 +43,50 @@ const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChannelBox"); -ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_MultiRotorConfigWidget *aircraft, QWidget *parent) : VehicleConfig(parent), invertMotors(1) +ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) : + VehicleConfig(parent), m_aircraft(new Ui_MultiRotorConfigWidget()), invertMotors(1) { - m_aircraft = aircraft; + m_aircraft->setupUi(this); + + // Setup the Multirotor picture in the Quad settings interface + m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + QSvgRenderer *renderer = new QSvgRenderer(); + renderer->load(QString(":/configgadget/images/multirotor-shapes.svg")); + + quad = new QGraphicsSvgItem(); + quad->setSharedRenderer(renderer); + quad->setElementId("quad-x"); + + QGraphicsScene *scene = new QGraphicsScene(this); + 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()); + + 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); + + 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() { - // Do nothing + delete m_aircraft; } void ConfigMultiRotorWidget::setupUI(QString frameType) @@ -59,11 +95,12 @@ void ConfigMultiRotorWidget::setupUI(QString frameType) Q_ASSERT(uiowner); Q_ASSERT(quad); - qDebug() << "ConfigMultiRotorWidget::setupUI - begin"; qDebug() << "ConfigMultiRotorWidget::setupUI - frame type" << frameType; - // set aircraftType to Multirotor, disable triyaw channel + // set aircraftType to Multirotor //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor")); + + // disable triyaw channel m_aircraft->triYawChannelBox->setEnabled(false); // disable all motor channel boxes @@ -77,9 +114,9 @@ void ConfigMultiRotorWidget::setupUI(QString frameType) } if (frameType == "Tri" || frameType == "Tricopter Y") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y")); - //Enable all necessary motor channel boxes... + // Enable all necessary motor channel boxes... enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true); m_aircraft->mrRollMixLevel->setValue(100); @@ -89,9 +126,9 @@ void ConfigMultiRotorWidget::setupUI(QString frameType) m_aircraft->triYawChannelBox->setEnabled(true); } else if (frameType == "QuadX" || frameType == "Quad X") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X")); - //Enable all necessary motor channel boxes... + // Enable all necessary motor channel boxes... enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true); // init mixer levels @@ -100,9 +137,9 @@ void ConfigMultiRotorWidget::setupUI(QString frameType) setYawMixLevel(50); } else if (frameType == "QuadP" || frameType == "Quad +") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +")); - //Enable all necessary motor channel boxes... + // Enable all necessary motor channel boxes... enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true); m_aircraft->mrRollMixLevel->setValue(100); @@ -110,9 +147,9 @@ void ConfigMultiRotorWidget::setupUI(QString frameType) setYawMixLevel(50); } else if (frameType == "Hexa" || frameType == "Hexacopter") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter")); - //Enable all necessary motor channel boxes... + // Enable all necessary motor channel boxes... enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true); m_aircraft->mrRollMixLevel->setValue(50); @@ -120,31 +157,31 @@ void ConfigMultiRotorWidget::setupUI(QString frameType) setYawMixLevel(33); } else if (frameType == "HexaX" || frameType == "Hexacopter X" ) { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, + m_aircraft->multirotorFrameType->findText("Hexacopter X")); - //Enable all necessary motor channel boxes... + // Enable all necessary motor channel boxes... enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true); m_aircraft->mrRollMixLevel->setValue(33); m_aircraft->mrPitchMixLevel->setValue(50); setYawMixLevel(33); - } else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, + m_aircraft->multirotorFrameType->findText("Hexacopter Y6")); - //Enable all necessary motor channel boxes... + // Enable all necessary motor channel boxes... enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true); m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrPitchMixLevel->setValue(50); setYawMixLevel(66); - } else if (frameType == "Octo" || frameType == "Octocopter") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter")); - //Enable all necessary motor channel boxes + // Enable all necessary motor channel boxes enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true); m_aircraft->mrRollMixLevel->setValue(33); @@ -152,31 +189,30 @@ void ConfigMultiRotorWidget::setupUI(QString frameType) setYawMixLevel(25); } else if (frameType == "OctoV" || frameType == "Octocopter V") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, + m_aircraft->multirotorFrameType->findText("Octocopter V")); - //Enable all necessary motor channel boxes + // Enable all necessary motor channel boxes enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true); m_aircraft->mrRollMixLevel->setValue(25); m_aircraft->mrPitchMixLevel->setValue(25); setYawMixLevel(25); - } else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +")); - //Enable all necessary motor channel boxes + // Enable all necessary motor channel boxes enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true); m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrPitchMixLevel->setValue(100); setYawMixLevel(50); - } else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") { - setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X")); + setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X")); - //Enable all necessary motor channel boxes + // Enable all necessary motor channel boxes enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true); m_aircraft->mrRollMixLevel->setValue(50); @@ -186,15 +222,14 @@ void ConfigMultiRotorWidget::setupUI(QString frameType) // Draw the appropriate airframe drawAirframe(frameType); - qDebug() << "ConfigMultiRotorWidget::setupUI - end"; } void ConfigMultiRotorWidget::drawAirframe(QString frameType) { - qDebug() << "ConfigMultiRotorWidget::drawAirframe - begin"; - qDebug() << "ConfigMultiRotorWidget::drawAirframe - frame type:" << frameType; + qDebug() << "ConfigMultiRotorWidget::drawAirframe - frame type" << frameType; - invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1 : 1; + invertMotors = m_aircraft->MultirotorRevMixerCheckBox->isChecked() ? -1 : 1; + qDebug() << "ConfigMultiRotorWidget::drawAirframe - invert motors" << invertMotors; if (frameType == "Tri" || frameType == "Tricopter Y") { if (invertMotors > 0) { @@ -203,13 +238,11 @@ void ConfigMultiRotorWidget::drawAirframe(QString frameType) quad->setElementId("tri_reverse"); } } else if (frameType == "QuadX" || frameType == "Quad X") { - qDebug() << "ConfigMultiRotorWidget::drawAirframe - 1"; if (invertMotors > 0) { quad->setElementId("quad-x"); } else { quad->setElementId("quad-x_reverse"); } - qDebug() << "ConfigMultiRotorWidget::drawAirframe - 2"; } else if (frameType == "QuadP" || frameType == "Quad +") { if (invertMotors > 0) { quad->setElementId("quad-plus"); @@ -259,7 +292,8 @@ void ConfigMultiRotorWidget::drawAirframe(QString frameType) quad->setElementId("octo-coax-X_reverse"); } } - qDebug() << "ConfigMultiRotorWidget::drawAirframe - end"; + m_aircraft->quadShape->setSceneRect(quad->boundingRect()); + m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); } void ConfigMultiRotorWidget::ResetActuators(GUIConfigDataUnion* configData) @@ -316,12 +350,12 @@ void ConfigMultiRotorWidget::setYawMixLevel(int value) if(value<0) { m_aircraft->mrYawMixLevel->setValue((-1)*value); - m_aircraft->MultirotorRevMixercheckBox->setChecked(true); + m_aircraft->MultirotorRevMixerCheckBox->setChecked(true); } else { m_aircraft->mrYawMixLevel->setValue(value); - m_aircraft->MultirotorRevMixercheckBox->setChecked(false); + m_aircraft->MultirotorRevMixerCheckBox->setChecked(false); } } @@ -337,11 +371,11 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets() QString airframeType; QList motorList; - UAVDataObject* mixerObj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); - Q_ASSERT(mixerObj); + UAVDataObject *mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); + Q_ASSERT(mixer); // Curve is also common to all quads: - setThrottleCurve(mixerObj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() ); + setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() ); if (m_aircraft->multirotorFrameType->currentText() == "Quad +") { airframeType = "QuadP"; @@ -368,17 +402,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets() // Motor 1 to 6, Y6 Layout: // pitch roll yaw - double mixer [8][3] = { - { 0.5, 1, -1}, - { 0.5, 1, 1}, - { 0.5, -1, -1}, - { 0.5, -1, 1}, - { -1, 0, -1}, - { -1, 0, 1}, - { 0, 0, 0}, - { 0, 0, 0} + double mixerMatrix[8][3] = { + { 0.5, 1, -1 }, + { 0.5, 1, 1 }, + { 0.5, -1, -1 }, + { 0.5, -1, 1 }, + { -1, 0, -1 }, + { -1, 0, 1 }, + { 0, 0, 0 }, + { 0, 0, 0 } }; - setupMultiRotorMixer(mixer); + setupMultiRotorMixer(mixerMatrix); m_aircraft->mrStatusLabel->setText("Configuration OK"); } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") { @@ -394,17 +428,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets() setupMotors(motorList); // Motor 1 to 8: // pitch roll yaw - double mixer [8][3] = { - { 1, 0, -1}, - { 1, -1, 1}, - { 0, -1, -1}, - { -1, -1, 1}, - { -1, 0, -1}, - { -1, 1, 1}, - { 0, 1, -1}, - { 1, 1, 1} + double mixerMatrix[8][3] = { + { 1, 0, -1 }, + { 1, -1, 1 }, + { 0, -1, -1 }, + { -1, -1, 1 }, + { -1, 0, -1 }, + { -1, 1, 1 }, + { 0, 1, -1 }, + { 1, 1, 1 } }; - setupMultiRotorMixer(mixer); + setupMultiRotorMixer(mixerMatrix); m_aircraft->mrStatusLabel->setText("Configuration OK"); } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") { @@ -420,17 +454,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets() // Motor 1 to 8: // IMPORTANT: Assumes evenly spaced engines // pitch roll yaw - double mixer [8][3] = { - { 0.33, -1, -1}, - { 1 , -1, 1}, - { -1 , -1, -1}, - { -0.33, -1, 1}, - { -0.33, 1, -1}, - { -1 , 1, 1}, - { 1 , 1, -1}, - { 0.33, 1, 1} + double mixerMatrix[8][3] = { + { 0.33, -1, -1 }, + { 1 , -1, 1 }, + { -1 , -1, -1 }, + { -0.33, -1, 1 }, + { -0.33, 1, -1 }, + { -1 , 1, 1 }, + { 1 , 1, -1 }, + { 0.33, 1, 1 } }; - setupMultiRotorMixer(mixer); + setupMultiRotorMixer(mixerMatrix); m_aircraft->mrStatusLabel->setText("Configuration OK"); } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") { @@ -445,17 +479,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets() setupMotors(motorList); // Motor 1 to 8: // pitch roll yaw - double mixer [8][3] = { - { 1, 0, -1}, - { 1, 0, 1}, - { 0, -1, -1}, - { 0, -1, 1}, - { -1, 0, -1}, - { -1, 0, 1}, - { 0, 1, -1}, - { 0, 1, 1} + double mixerMatrix[8][3] = { + { 1, 0, -1 }, + { 1, 0, 1 }, + { 0, -1, -1 }, + { 0, -1, 1 }, + { -1, 0, -1 }, + { -1, 0, 1 }, + { 0, 1, -1 }, + { 0, 1, 1 } }; - setupMultiRotorMixer(mixer); + setupMultiRotorMixer(mixerMatrix); m_aircraft->mrStatusLabel->setText("Configuration OK"); } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") { @@ -470,17 +504,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets() setupMotors(motorList); // Motor 1 to 8: // pitch roll yaw - double mixer [8][3] = { - { 1, 1, -1}, - { 1, 1, 1}, - { 1, -1, -1}, - { 1, -1, 1}, - { -1, -1, -1}, - { -1, -1, 1}, - { -1, 1, -1}, - { -1, 1, 1} + double mixerMatrix[8][3] = { + { 1, 1, -1 }, + { 1, 1, 1 }, + { 1, -1, -1 }, + { 1, -1, 1 }, + { -1, -1, -1 }, + { -1, -1, 1 }, + { -1, 1, -1 }, + { -1, 1, 1 } }; - setupMultiRotorMixer(mixer); + setupMultiRotorMixer(mixerMatrix); m_aircraft->mrStatusLabel->setText("Configuration OK"); } else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") { @@ -505,24 +539,24 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets() // Motor 1 to 6, Y6 Layout: // pitch roll yaw - double mixer [8][3] = { - { 0.5, 1, 0}, - { 0.5, -1, 0}, - { -1, 0, 0}, - { 0, 0, 0}, - { 0, 0, 0}, - { 0, 0, 0}, - { 0, 0, 0}, - { 0, 0, 0} + double mixerMatrix[8][3] = { + { 0.5, 1, 0 }, + { 0.5, -1, 0 }, + { -1, 0, 0 }, + { 0, 0, 0 }, + { 0, 0, 0 }, + { 0, 0, 0 }, + { 0, 0, 0 }, + { 0, 0, 0 } }; - setupMultiRotorMixer(mixer); + setupMultiRotorMixer(mixerMatrix); - //tell the mixer about tricopter yaw channel + // tell the mixer about tricopter yaw channel - int channel = m_aircraft->triYawChannelBox->currentIndex()-1; - if (channel > -1){ - setMixerType(mixerObj, channel, VehicleConfig::MIXERTYPE_SERVO); - setMixerVectorValue(mixerObj, channel, VehicleConfig::MIXERVECTOR_YAW, 127); + int channel = m_aircraft->triYawChannelBox->currentIndex() - 1; + if (channel > -1) { + setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO); + setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127); } m_aircraft->mrStatusLabel->setText(tr("Configuration OK")); @@ -532,21 +566,45 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets() return airframeType; } - +void ConfigMultiRotorWidget::reverseMultirotorMotor(){ + QString frameType = m_aircraft->multirotorFrameType->currentText(); + drawAirframe(frameType); +} /** Helper function to refresh the UI widget values */ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType) { + Q_ASSERT(m_aircraft); + + UAVDataObject *mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); + Q_ASSERT(mixer); + + QList 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); + } + + + + int channel; double value; GUIConfigDataUnion config = GetConfigData(); multiGUISettingsStruct multi = config.multi; - UAVDataObject* mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); - Q_ASSERT(mixer); +// UAVDataObject* mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); +// Q_ASSERT(mixer); if (frameType == "QuadP") { @@ -1022,7 +1080,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3]) // and enable only the relevant channels: double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100; double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100; - invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1; + invertMotors = m_aircraft->MultirotorRevMixerCheckBox->isChecked() ? -1:1; double yFactor =invertMotors * (double)m_aircraft->mrYawMixLevel->value()/100; for (int i=0 ; i<8; i++) { if(mmList.at(i)->isEnabled()) @@ -1070,4 +1128,23 @@ bool ConfigMultiRotorWidget::throwConfigError(int numMotors) return error; } +/** + WHAT DOES THIS DO??? + */ +void ConfigMultiRotorWidget::showEvent(QShowEvent *event) +{ + Q_UNUSED(event) + // Thit fitInView method should only be called now, once the + // widget is shown, otherwise it cannot compute its values and + // the result is usually a ahrsbargraph that is way too small. + m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); +} +/** + Resize the GUI contents when the user changes the window size + */ +void ConfigMultiRotorWidget::resizeEvent(QResizeEvent *event) +{ + Q_UNUSED(event); + m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); +} diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h index 64b8dd388..210133a48 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h @@ -46,7 +46,7 @@ class ConfigMultiRotorWidget: public VehicleConfig Q_OBJECT public: - ConfigMultiRotorWidget(Ui_MultiRotorConfigWidget *aircraft = 0, QWidget *parent = 0); + ConfigMultiRotorWidget(QWidget *parent = 0); ~ConfigMultiRotorWidget(); friend class ConfigVehicleTypeWidget; @@ -66,7 +66,7 @@ private: float invertMotors; - virtual void ResetActuators(GUIConfigDataUnion* configData); + virtual void ResetActuators(GUIConfigDataUnion *configData); static QStringList getChannelDescriptions(); static const QString CHANNELBOXNAME; void setYawMixLevel(int); @@ -79,13 +79,15 @@ private slots: virtual QString updateConfigObjectsFromWidgets(); virtual bool throwConfigError(int numMotors); + void reverseMultirotorMotor(); protected: + void showEvent(QShowEvent *event); + void resizeEvent(QResizeEvent *event); signals: void configurationChanged(); }; - #endif // CONFIGMULTIROTORWIDGET_H diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp index ad76c1632..caba82a7f 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp @@ -104,7 +104,22 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) { guiConfig->setValue(configData.UAVObject[i], i); } -void VehicleConfig::ResetActuators(GUIConfigDataUnion* configData) + +void VehicleConfig::setupUI(QString frameType) +{ + +} + +QString VehicleConfig::updateConfigObjectsFromWidgets() +{ + return QString(); +} + +void VehicleConfig::refreshWidgetsValues(QString frameType) +{ +} + +void VehicleConfig::ResetActuators(GUIConfigDataUnion *configData) { } @@ -113,27 +128,30 @@ void VehicleConfig::ResetActuators(GUIConfigDataUnion* configData) Sets the current index on supplied combobox to index if it is within bounds 0 <= index < combobox.count() */ -void VehicleConfig::setComboCurrentIndex(QComboBox* box, int index) +void VehicleConfig::setComboCurrentIndex(QComboBox *box, int index) { Q_ASSERT(box); - if (index >= 0 && index < box->count()) + if (index >= 0 && index < box->count()) { box->setCurrentIndex(index); + } } /** Helper function: enables/disables the named comboboxes within supplied uiowner */ -void VehicleConfig::enableComboBoxes(QWidget* owner, QString boxName, int boxCount, bool enable) +void VehicleConfig::enableComboBoxes(QWidget *owner, QString boxName, int boxCount, bool enable) { for (int i = 1; i <= boxCount; i++) { QComboBox* box = qFindChild(owner, QString("%0%1").arg(boxName).arg(i)); - if (box) + if (box) { box->setEnabled(enable); + } } } -QString VehicleConfig::getMixerType(UAVDataObject* mixer, int channel) + +QString VehicleConfig::getMixerType(UAVDataObject *mixer, int channel) { Q_ASSERT(mixer); @@ -246,28 +264,22 @@ void VehicleConfig::setMixerValue(UAVDataObject* mixer, QString elementName, dou } } - -void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList curve) +void VehicleConfig::setThrottleCurve(UAVDataObject *mixer, MixerThrottleCurveElem curveType, QList curve) { QPointer field; - switch (curveType) - { - case MIXER_THROTTLECURVE1: - { - field = mixer->getField("ThrottleCurve1"); - break; - } - case MIXER_THROTTLECURVE2: - { - field = mixer->getField("ThrottleCurve2"); - break; - } + switch (curveType) { + case MIXER_THROTTLECURVE1: + field = mixer->getField("ThrottleCurve1"); + break; + case MIXER_THROTTLECURVE2: + field = mixer->getField("ThrottleCurve2"); + break; } if (field && field->getNumElements() == curve.length()) { - for (int i=0;isetValue(curve.at(i),i); + for (int i = 0; i < curve.length(); i++) { + field->setValue(curve.at(i), i); } } } @@ -279,23 +291,18 @@ void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveEle QPointer field; - switch (curveType) - { - case MIXER_THROTTLECURVE1: - { - field = mixer->getField("ThrottleCurve1"); - break; - } - case MIXER_THROTTLECURVE2: - { - field = mixer->getField("ThrottleCurve2"); - break; - } + switch (curveType) { + case MIXER_THROTTLECURVE1: + field = mixer->getField("ThrottleCurve1"); + break; + case MIXER_THROTTLECURVE2: + field = mixer->getField("ThrottleCurve2"); + break; } if (field) { curve->clear(); - for (unsigned int i=0; i < field->getNumElements(); i++) { + for (unsigned int i = 0; i < field->getNumElements(); i++) { curve->append(field->getValue(i).toDouble()); } } @@ -306,7 +313,7 @@ bool VehicleConfig::isValidThrottleCurve(QList* curve) Q_ASSERT(curve); if (curve) { - for (int i=0; i < curve->count(); i++) { + for (int i = 0; i < curve->count(); i++) { if (curve->at(i) != 0) return true; } @@ -314,21 +321,21 @@ bool VehicleConfig::isValidThrottleCurve(QList* curve) return false; } -double VehicleConfig::getCurveMin(QList* curve) +double VehicleConfig::getCurveMin(QList *curve) { double min = 0; - for (int i=0; icount(); i++) + for (int i = 0; i < curve->count(); i++) { min = std::min(min, curve->at(i)); - + } return min; } -double VehicleConfig::getCurveMax(QList* curve) +double VehicleConfig::getCurveMax(QList *curve) { double max = 0; - for (int i=0; icount(); i++) + for (int i = 0; i < curve->count(); i++) { max = std::max(max, curve->at(i)); - + } return max; } /** @@ -336,8 +343,8 @@ double VehicleConfig::getCurveMax(QList* curve) */ void VehicleConfig::resetField(UAVObjectField * field) { - for (unsigned int i=0;igetNumElements();i++) { - field->setValue(0,i); + for (unsigned int i = 0; i < field->getNumElements(); i++) { + field->setValue(0, i); } } diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h index e8de31427..1be3037e0 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h @@ -140,25 +140,33 @@ public: MIXERVECTOR_YAW = 4 } MixerVectorElem; + // TODO remove 1st capital static GUIConfigDataUnion GetConfigData(); 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); - double getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName); - void setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value); - void resetMixerVector(UAVDataObject* mixer, int channel); - void resetMotorAndServoMixers(UAVDataObject* mixer); - QString getMixerType(UAVDataObject* mixer, int channel); - void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType); - double getMixerValue(UAVDataObject* mixer, QString elementName); - void setMixerValue(UAVDataObject* mixer, QString elementName, double value); - void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList curve); - void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList* curve); - bool isValidThrottleCurve(QList* curve); - double getCurveMin(QList* curve); - double getCurveMax(QList* curve); - virtual void ResetActuators(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); + + virtual void setupUI(QString airframeType); + virtual QString updateConfigObjectsFromWidgets(); + virtual void refreshWidgetsValues(QString frameType); + + virtual void ResetActuators(GUIConfigDataUnion *configData); + + double getMixerVectorValue(UAVDataObject *mixer, int channel, MixerVectorElem elementName); + void setMixerVectorValue(UAVDataObject *mixer, int channel, MixerVectorElem elementName, double value); + void resetMixerVector(UAVDataObject *mixer, int channel); + void resetMotorAndServoMixers(UAVDataObject *mixer); + QString getMixerType(UAVDataObject *mixer, int channel); + void setMixerType(UAVDataObject *mixer, int channel, MixerTypeElem mixerType); + double getMixerValue(UAVDataObject *mixer, QString elementName); + void setMixerValue(UAVDataObject *mixer, QString elementName, double value); + void setThrottleCurve(UAVDataObject *mixer, MixerThrottleCurveElem curveType, QList curve); + void getThrottleCurve(UAVDataObject *mixer, MixerThrottleCurveElem curveType, QList* curve); + bool isValidThrottleCurve(QList *curve); + double getCurveMin(QList *curve); + double getCurveMax(QList *curve); QStringList channelNames; QStringList mixerTypes; @@ -168,7 +176,7 @@ public: static const quint32 CHANNEL_NUMELEM = ActuatorCommand::CHANNEL_NUMELEM;; private: - static UAVObjectManager* getUAVObjectManager(); + static UAVObjectManager *getUAVObjectManager(); private slots: diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro index d05c66252..af016c2ac 100644 --- a/ground/openpilotgcs/src/plugins/config/config.pro +++ b/ground/openpilotgcs/src/plugins/config/config.pro @@ -32,6 +32,7 @@ HEADERS += configplugin.h \ cfg_vehicletypes/configmultirotorwidget.h \ cfg_vehicletypes/configfixedwingwidget.h \ cfg_vehicletypes/configgroundvehiclewidget.h \ + cfg_vehicletypes/configcustomwidget.h \ configrevowidget.h \ config_global.h \ mixercurve.h \ @@ -65,6 +66,7 @@ SOURCES += configplugin.cpp \ cfg_vehicletypes/configmultirotorwidget.cpp \ cfg_vehicletypes/configfixedwingwidget.cpp \ cfg_vehicletypes/configgroundvehiclewidget.cpp \ + cfg_vehicletypes/configcustomwidget.cpp \ outputchannelform.cpp \ mixercurve.cpp \ dblspindelegate.cpp \ @@ -77,7 +79,6 @@ FORMS += airframe.ui \ airframe_multirotor.ui \ airframe_custom.ui \ cc_hw_settings.ui \ - ccpm.ui \ stabilization.ui \ input.ui \ output.ui \ diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp index c14045755..b9c98ab89 100644 --- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp @@ -26,70 +26,29 @@ */ #include "configvehicletypewidget.h" #include "systemsettings.h" -#include "mixersettings.h" #include "actuatorsettings.h" +#include "cfg_vehicletypes/configccpmwidget.h" +#include "cfg_vehicletypes/configfixedwingwidget.h" +#include "cfg_vehicletypes/configgroundvehiclewidget.h" +#include "cfg_vehicletypes/configmultirotorwidget.h" +#include "cfg_vehicletypes/configcustomwidget.h" + #include #include #include #include -#include -#include -#include -#include +//#include +//#include +//#include #include #include -#include +//#include #include #include -/** - Helper delegate for the custom mixer editor table. - Taken straight from Qt examples, thanks! - */ -SpinBoxDelegate::SpinBoxDelegate(QObject *parent) - : QItemDelegate(parent) - { - } - -QWidget *SpinBoxDelegate::createEditor(QWidget *parent, - const QStyleOptionViewItem &/* option */, - const QModelIndex &/* index */) const -{ - QSpinBox *editor = new QSpinBox(parent); - editor->setMinimum(-127); - editor->setMaximum(127); - - return editor; -} - -void SpinBoxDelegate::setEditorData(QWidget *editor, - const QModelIndex &index) const -{ - int value = index.model()->data(index, Qt::EditRole).toInt(); - - QSpinBox *spinBox = static_cast(editor); - spinBox->setValue(value); -} - -void SpinBoxDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, - const QModelIndex &index) const -{ - QSpinBox *spinBox = static_cast(editor); - spinBox->interpretText(); - int value = spinBox->value(); - - model->setData(index, value, Qt::EditRole); -} - -void SpinBoxDelegate::updateEditorGeometry(QWidget *editor, - const QStyleOptionViewItem &option, const QModelIndex &/* index */) const -{ - editor->setGeometry(option.rect); -} - -/**********************************************************************************/ +//#include ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWidget(parent) { @@ -102,7 +61,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi m_aircraft->saveAircraftToRAM->setVisible(false); } - addApplySaveButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD); + addApplySaveButtons(m_aircraft->saveAircraftToRAM, m_aircraft->saveAircraftToSD); addUAVObject("SystemSettings"); addUAVObject("MixerSettings"); @@ -120,76 +79,90 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi // ***************************************************************************************************************** // create and setup a FixedWing config widget - QWidget *fixedwingConfigWidget = new QWidget(); - m_fixedwingUi = new Ui_FixedWingConfigWidget(); - m_fixedwingUi->setupUi(fixedwingConfigWidget); - m_aircraft->airframesWidget->addWidget(fixedwingConfigWidget); + qDebug() << "create fixedwing ui"; + m_fixedwing = new ConfigFixedWingWidget(); + m_aircraft->airframesWidget->addWidget(m_fixedwing); - m_fixedwing = new ConfigFixedWingWidget(m_fixedwingUi); - m_fixedwing->setupUI(m_fixedwingUi->fixedWingType->currentText() ); - QStringList fixedWingTypes; - fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail"; - m_fixedwingUi->fixedWingType->addItems(fixedWingTypes); - m_fixedwingUi->fixedWingType->setCurrentIndex(0); //Set default model to "Elevator aileron rudder" - connect(m_fixedwingUi->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); +// QWidget *fixedwingConfigWidget = new QWidget(); +// m_fixedwingUi = new Ui_FixedWingConfigWidget(); +// m_fixedwingUi->setupUi(fixedwingConfigWidget); +// m_aircraft->airframesWidget->addWidget(fixedwingConfigWidget); + +// m_fixedwing = new ConfigFixedWingWidget(m_fixedwingUi); +// m_fixedwing->setupUI(m_fixedwingUi->fixedWingType->currentText() ); + +// QStringList fixedWingTypes; +// fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail"; +// m_fixedwingUi->fixedWingType->addItems(fixedWingTypes); +// m_fixedwingUi->fixedWingType->setCurrentIndex(0); //Set default model to "Elevator aileron rudder" +// +// connect(m_fixedwingUi->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); // ***************************************************************************************************************** // MULTIROTOR // ***************************************************************************************************************** // create and setup a MultiRotor config widget - qDebug() << "create multirotor ui"; - QWidget *multirotorConfigWidget = new QWidget(); - m_multirotorUi = new Ui_MultiRotorConfigWidget(); - m_multirotorUi->setupUi(multirotorConfigWidget); - m_aircraft->airframesWidget->addWidget(multirotorConfigWidget); + m_multirotor = new ConfigMultiRotorWidget(); + m_aircraft->airframesWidget->addWidget(m_multirotor); - // Setup the Multirotor picture in the Quad settings interface - m_multirotorUi->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - m_multirotorUi->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - QSvgRenderer *renderer = new QSvgRenderer(); - renderer->load(QString(":/configgadget/images/multirotor-shapes.svg")); - quad = new QGraphicsSvgItem(); - quad->setSharedRenderer(renderer); - quad->setElementId("quad-x"); - QGraphicsScene *scene = new QGraphicsScene(this); - scene->addItem(quad); - scene->setSceneRect(quad->boundingRect()); - m_multirotorUi->quadShape->setScene(scene); - m_multirotor = new ConfigMultiRotorWidget(m_multirotorUi); - m_multirotor->quad = quad; - m_multirotor->uiowner = this; - m_multirotor->setupUI(m_multirotorUi->multirotorFrameType->currentText()); - QStringList multiRotorTypes; - multiRotorTypes << "Tricopter Y"<< "Quad +" << "Quad X" << - "Hexacopter" << "Hexacopter X" << "Hexacopter Y6" << - "Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ; - m_multirotorUi->multirotorFrameType->addItems(multiRotorTypes); - m_multirotorUi->multirotorFrameType->setCurrentIndex(2); //Set default model to "Quad X" +// qDebug() << "create multirotor ui"; +// QWidget *multirotorConfigWidget = new QWidget(); +// m_multirotorUi = new Ui_MultiRotorConfigWidget(); +// m_multirotorUi->setupUi(multirotorConfigWidget); +// m_aircraft->airframesWidget->addWidget(multirotorConfigWidget); - connect(m_multirotorUi->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); - - // Connect the multirotor motor reverse checkbox - connect(m_multirotorUi->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor())); - - m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); +// // Setup the Multirotor picture in the Quad settings interface +// m_multirotorUi->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); +// m_multirotorUi->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); +// QSvgRenderer *renderer = new QSvgRenderer(); +// renderer->load(QString(":/configgadget/images/multirotor-shapes.svg")); +// quad = new QGraphicsSvgItem(); +// quad->setSharedRenderer(renderer); +// quad->setElementId("quad-x"); +// QGraphicsScene *scene = new QGraphicsScene(this); +// scene->addItem(quad); +// scene->setSceneRect(quad->boundingRect()); +// m_multirotorUi->quadShape->setScene(scene); +// +// m_multirotor = new ConfigMultiRotorWidget(m_multirotorUi); +// m_multirotor->quad = quad; +// m_multirotor->uiowner = this; +// m_multirotor->setupUI(m_multirotorUi->multirotorFrameType->currentText()); +// +// QStringList multiRotorTypes; +// multiRotorTypes << "Tricopter Y"<< "Quad +" << "Quad X" << +// "Hexacopter" << "Hexacopter X" << "Hexacopter Y6" << +// "Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ; +// m_multirotorUi->multirotorFrameType->addItems(multiRotorTypes); +// m_multirotorUi->multirotorFrameType->setCurrentIndex(2); //Set default model to "Quad X" +// +// connect(m_multirotorUi->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); +// +// // Connect the multirotor motor reverse checkbox +// connect(m_multirotorUi->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor())); +// +// m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); // ***************************************************************************************************************** // HELICOPTER // ***************************************************************************************************************** // create and setup a Helicopter config widget - QWidget *ccpmConfigWidget = new QWidget(); - m_ccpmUi = new Ui_CcpmConfigWidget(); - m_ccpmUi->setupUi(ccpmConfigWidget); - m_aircraft->airframesWidget->addWidget(ccpmConfigWidget); +// QWidget *ccpmConfigWidget = new QWidget(); +// m_ccpmUi = new Ui_CcpmConfigWidget(); +// m_ccpmUi->setupUi(ccpmConfigWidget); +// m_aircraft->airframesWidget->addWidget(ccpmConfigWidget); - m_heli = m_ccpmUi->widget_3; - m_heli->setupUI(QString("HeliCP")); + m_heli = new ConfigCcpmWidget(); + m_aircraft->airframesWidget->addWidget(m_heli); + + //m_heli = m_ccpmUi->widget_3; + //m_heli->setupUI(QString("HeliCP")); //mdl connect(m_heli->m_ccpm->ccpmType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); @@ -199,45 +172,49 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi // ***************************************************************************************************************** // create and setup a GroundVehicle config widget - qDebug() << "create ground ui"; - QWidget *groundConfigWidget = new QWidget(); - m_groundUi = new Ui_GroundConfigWidget(); - m_groundUi->setupUi(groundConfigWidget); - m_aircraft->airframesWidget->addWidget(groundConfigWidget); +// QWidget *groundConfigWidget = new QWidget(); +// m_groundUi = new Ui_GroundConfigWidget(); +// m_groundUi->setupUi(groundConfigWidget); +// m_aircraft->airframesWidget->addWidget(groundConfigWidget); - m_groundvehicle = new ConfigGroundVehicleWidget(m_groundUi); - m_groundvehicle->setupUI(m_groundUi->groundVehicleType->currentText()); + m_groundvehicle = new ConfigGroundVehicleWidget(); + //m_groundvehicle->setupUI(m_groundUi->groundVehicleType->currentText()); + m_aircraft->airframesWidget->addWidget(m_groundvehicle); - QStringList groundVehicleTypes; - groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle"; - m_groundUi->groundVehicleType->addItems(groundVehicleTypes); - m_groundUi->groundVehicleType->setCurrentIndex(0); //Set default model to "Turnable (car)" +// QStringList groundVehicleTypes; +// groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle"; +// m_groundUi->groundVehicleType->addItems(groundVehicleTypes); +// m_groundUi->groundVehicleType->setCurrentIndex(0); //Set default model to "Turnable (car)" - connect(m_groundUi->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); +// connect(m_groundUi->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); // ***************************************************************************************************************** // CUSTOM // ***************************************************************************************************************** - QWidget *customConfigWidget = new QWidget(); - m_customUi = new Ui_CustomConfigWidget(); - m_customUi->setupUi(customConfigWidget); - m_aircraft->airframesWidget->addWidget(customConfigWidget); + m_custom = new ConfigCustomWidget(); + m_aircraft->airframesWidget->addWidget(m_custom); - // Put combo boxes in line one of the custom mixer table: - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); - UAVObjectField* field = obj->getField(QString("Mixer1Type")); - QStringList list = field->getOptions(); - for (int i=0; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) { - QComboBox* qb = new QComboBox(m_customUi->customMixerTable); - qb->addItems(list); - m_customUi->customMixerTable->setCellWidget(0,i,qb); - } - SpinBoxDelegate *sbd = new SpinBoxDelegate(); - for (int i=1; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) { - m_customUi->customMixerTable->setItemDelegateForRow(i, sbd); - } +// QWidget *customConfigWidget = new QWidget(); +// m_customUi = new Ui_CustomConfigWidget(); +// m_customUi->setupUi(customConfigWidget); +// m_aircraft->airframesWidget->addWidget(customConfigWidget); + +// // Put combo boxes in line one of the custom mixer table: +// UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); +// UAVObjectField* field = obj->getField(QString("Mixer1Type")); +// QStringList list = field->getOptions(); +// for (int i=0; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) { +// QComboBox* qb = new QComboBox(m_customUi->customMixerTable); +// qb->addItems(list); +// m_customUi->customMixerTable->setCellWidget(0,i,qb); +// } +// +// SpinBoxDelegate *sbd = new SpinBoxDelegate(); +// for (int i=1; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) { +// m_customUi->customMixerTable->setItemDelegateForRow(i, sbd); +// } // ***************************************************************************************************************** @@ -249,9 +226,9 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi // Generate lists of mixerTypeNames, mixerVectorNames, channelNames channelNames << "None"; for (int i = 0; i < (int) ActuatorSettings::CHANNELADDR_NUMELEM; i++) { - mixerTypes << QString("Mixer%1Type").arg(i+1); - mixerVectors << QString("Mixer%1Vector").arg(i+1); - channelNames << QString("Channel%1").arg(i+1); + mixerTypes << QString("Mixer%1Type").arg(i + 1); + mixerVectors << QString("Mixer%1Vector").arg(i + 1); + channelNames << QString("Channel%1").arg(i + 1); } // NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name @@ -298,73 +275,52 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget() */ QStringList ConfigVehicleTypeWidget::getChannelDescriptions() { - int i; - QStringList channelDesc; - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager * objMngr = pm->getObject(); + UAVObjectManager *objMngr = pm->getObject(); Q_ASSERT(objMngr); // get an instance of systemsettings - SystemSettings * systemSettings = SystemSettings::GetInstance(objMngr); + SystemSettings *systemSettings = SystemSettings::GetInstance(objMngr); Q_ASSERT(systemSettings); SystemSettings::DataFields systemSettingsData = systemSettings->getData(); - switch (systemSettingsData.AirframeType) - { + QStringList channelDesc; + switch (systemSettingsData.AirframeType) { + case SystemSettings::AIRFRAMETYPE_FIXEDWING: + case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON: + case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL: // fixed wing - case SystemSettings::AIRFRAMETYPE_FIXEDWING: - case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON: - case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL: - { - channelDesc = ConfigFixedWingWidget::getChannelDescriptions(); - } + channelDesc = ConfigFixedWingWidget::getChannelDescriptions(); break; - + case SystemSettings::AIRFRAMETYPE_HELICP: // helicp - case SystemSettings::AIRFRAMETYPE_HELICP: - { - channelDesc = ConfigCcpmWidget::getChannelDescriptions(); - } + channelDesc = ConfigCcpmWidget::getChannelDescriptions(); break; - - //multirotor - 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: - { - channelDesc = ConfigMultiRotorWidget::getChannelDescriptions(); - } + 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 - case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR: - case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL: - case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE: - { - channelDesc = ConfigGroundVehicleWidget::getChannelDescriptions(); - } + channelDesc = ConfigGroundVehicleWidget::getChannelDescriptions(); break; - - default: - { - for (i=0; i < (int)(VehicleConfig::CHANNEL_NUMELEM); i++) - channelDesc.append(QString("-")); - } + default: + channelDesc = ConfigCustomWidget::getChannelDescriptions(); break; } -// for (i=0; i < channelDesc.count(); i++) -// qDebug() << QString("Channel %0 = %1").arg(i).arg(channelDesc[i]); - return channelDesc; } @@ -376,83 +332,83 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions() */ void ConfigVehicleTypeWidget::switchAirframeType(int index) { + //m_multirotorUi->quadShape->setSceneRect(quad->boundingRect()); + //m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); +// m_customUi->customMixerTable->resizeColumnsToContents(); +// for (int i = 0; i < (int) (VehicleConfig::CHANNEL_NUMELEM); i++) { +// m_customUi->customMixerTable->setColumnWidth(i, +// (m_customUi->customMixerTable->width() - m_customUi->customMixerTable->verticalHeader()->width()) / 10); +// } + m_aircraft->airframesWidget->setCurrentIndex(index); - m_multirotorUi->quadShape->setSceneRect(quad->boundingRect()); - m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); - m_customUi->customMixerTable->resizeColumnsToContents(); - for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { - m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()- - m_customUi->customMixerTable->verticalHeader()->width())/ 10); - } } /** WHAT DOES THIS DO??? */ -void ConfigVehicleTypeWidget::showEvent(QShowEvent *event) -{ - Q_UNUSED(event) - // Thit fitInView method should only be called now, once the - // widget is shown, otherwise it cannot compute its values and - // the result is usually a ahrsbargraph that is way too small. - m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); - m_customUi->customMixerTable->resizeColumnsToContents(); - for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { - m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()- - m_customUi->customMixerTable->verticalHeader()->width())/ 10); - } -} +//void ConfigVehicleTypeWidget::showEvent(QShowEvent *event) +//{ +// Q_UNUSED(event) +// // Thit fitInView method should only be called now, once the +// // widget is shown, otherwise it cannot compute its values and +// // the result is usually a ahrsbargraph that is way too small. +// //m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); +//// m_customUi->customMixerTable->resizeColumnsToContents(); +//// for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { +//// m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()- +//// m_customUi->customMixerTable->verticalHeader()->width())/ 10); +//// } +//} /** Resize the GUI contents when the user changes the window size */ -void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent* event) -{ - Q_UNUSED(event); - m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); - // Make the custom table columns autostretch: - m_customUi->customMixerTable->resizeColumnsToContents(); - for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { - m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()- - m_customUi->customMixerTable->verticalHeader()->width())/ 10); - } +//void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent *event) +//{ +// Q_UNUSED(event); +// //m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); +// // Make the custom table columns autostretch: +// m_customUi->customMixerTable->resizeColumnsToContents(); +// for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { +// m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()- +// m_customUi->customMixerTable->verticalHeader()->width())/ 10); +// } +// +//} -} +//void ConfigVehicleTypeWidget::toggleAileron2(int index) +//{ +// if (index) { +// m_fixedwingUi->fwAileron2ChannelBox->setEnabled(true); +// m_fixedwingUi->fwAileron2Label->setEnabled(true); +// } else { +// m_fixedwingUi->fwAileron2ChannelBox->setEnabled(false); +// m_fixedwingUi->fwAileron2Label->setEnabled(false); +// } +//} +//void ConfigVehicleTypeWidget::toggleElevator2(int index) +//{ +// if (index) { +// m_fixedwingUi->fwElevator2ChannelBox->setEnabled(true); +// m_fixedwingUi->fwElevator2Label->setEnabled(true); +// } else { +// m_fixedwingUi->fwElevator2ChannelBox->setEnabled(false); +// m_fixedwingUi->fwElevator2Label->setEnabled(false); +// } +//} -void ConfigVehicleTypeWidget::toggleAileron2(int index) -{ - if (index) { - m_fixedwingUi->fwAileron2ChannelBox->setEnabled(true); - m_fixedwingUi->fwAileron2Label->setEnabled(true); - } else { - m_fixedwingUi->fwAileron2ChannelBox->setEnabled(false); - m_fixedwingUi->fwAileron2Label->setEnabled(false); - } -} - -void ConfigVehicleTypeWidget::toggleElevator2(int index) -{ - if (index) { - m_fixedwingUi->fwElevator2ChannelBox->setEnabled(true); - m_fixedwingUi->fwElevator2Label->setEnabled(true); - } else { - m_fixedwingUi->fwElevator2ChannelBox->setEnabled(false); - m_fixedwingUi->fwElevator2Label->setEnabled(false); - } -} - -void ConfigVehicleTypeWidget::toggleRudder2(int index) -{ - if (index) { - m_fixedwingUi->fwRudder2ChannelBox->setEnabled(true); - m_fixedwingUi->fwRudder2Label->setEnabled(true); - } else { - m_fixedwingUi->fwRudder2ChannelBox->setEnabled(false); - m_fixedwingUi->fwRudder2Label->setEnabled(false); - } -} +//void ConfigVehicleTypeWidget::toggleRudder2(int index) +//{ +// if (index) { +// m_fixedwingUi->fwRudder2ChannelBox->setEnabled(true); +// m_fixedwingUi->fwRudder2Label->setEnabled(true); +// } else { +// m_fixedwingUi->fwRudder2ChannelBox->setEnabled(false); +// m_fixedwingUi->fwRudder2Label->setEnabled(false); +// } +//} ///////////////////////////////////////////////////////// /// Feed Forward Testing @@ -522,81 +478,84 @@ void ConfigVehicleTypeWidget::enableFFTest() /** Refreshes the current value of the SystemSettings which holds the aircraft type */ -void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o) +void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o) { Q_UNUSED(o); qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - begin"; - if(!allObjectsUpdated()) + if (!allObjectsUpdated()) { return; + } bool dirty = isDirty(); qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - isDirty:" << dirty; // Get the Airframe type from the system settings: - UAVDataObject* system = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); + UAVDataObject *system = dynamic_cast(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); - UAVDataObject* mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); - Q_ASSERT(mixer); - - QPointer vconfig = new VehicleConfig(); - - QList curveValues; - vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues); +// UAVDataObject* mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); +// Q_ASSERT(mixer); +// +// QPointer vconfig = new VehicleConfig(); +// +// QList curveValues; +// vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues); // is at least one of the curve values != 0? - if (vconfig->isValidThrottleCurve(&curveValues)) { - // yes, use the curve we just read from mixersettings - m_multirotorUi->multiThrottleCurve->initCurve(&curveValues); - m_fixedwingUi->fixedWingThrottle->initCurve(&curveValues); - m_groundUi->groundVehicleThrottle1->initCurve(&curveValues); - } - else { - // no, init a straight curve - m_multirotorUi->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9); - m_fixedwingUi->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0); - m_groundUi->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0); - } +// if (vconfig->isValidThrottleCurve(&curveValues)) { +// // yes, use the curve we just read from mixersettings +// //m_multirotorUi->multiThrottleCurve->initCurve(&curveValues); +// //m_fixedwingUi->fixedWingThrottle->initCurve(&curveValues); +// //m_groundUi->groundVehicleThrottle1->initCurve(&curveValues); +// } +// else { +// // no, init a straight curve +// //m_multirotorUi->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9); +// //m_fixedwingUi->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0); +// //m_groundUi->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0); +// } // Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES - vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); +// vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); +// +// if (vconfig->isValidThrottleCurve(&curveValues)) { +// m_groundUi->groundVehicleThrottle2->initCurve(&curveValues); +// } +// else { +// m_groundUi->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0); +// } - if (vconfig->isValidThrottleCurve(&curveValues)) { - m_groundUi->groundVehicleThrottle2->initCurve(&curveValues); - } - else { - m_groundUi->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0); - } - - // Load the Settings for fixed wing frames: if (frameType.startsWith("FixedWing")) { // Retrieve fixed wing settings + setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing")); m_fixedwing->refreshWidgetsValues(frameType); - } else if (frameType == "Tri" || - frameType == "QuadX" || frameType == "QuadP" || - frameType == "Hexa" || frameType == "HexaCoax" || frameType == "HexaX" || - frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP" || frameType == "OctoCoaxX" ) { - - // Retrieve multirotor settings - m_multirotor->refreshWidgetsValues(frameType); + } else if (frameType == "Tri" || frameType == "QuadX" || frameType == "QuadP" || frameType == "Hexa" + || frameType == "HexaCoax" || frameType == "HexaX" || frameType == "Octo" || frameType == "OctoV" + || frameType == "OctoCoaxP" || frameType == "OctoCoaxX") { + // Retrieve multirotor settings + setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor")); + m_multirotor->refreshWidgetsValues(frameType); } else if (frameType == "HeliCP") { setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter")); m_heli->refreshWidgetsValues(frameType); } else if (frameType.startsWith("GroundVehicle")) { // Retrieve ground vehicle settings + setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground")); m_groundvehicle->refreshWidgetsValues(frameType); } else if (frameType == "Custom") { setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom")); + m_custom->refreshWidgetsValues(frameType); } updateCustomAirframeUI(); @@ -614,36 +573,31 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType) qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - begin"; qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - frame type" << frameType; bool dirty = isDirty(); + if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon" || frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") { m_fixedwing->setupUI(frameType); - } - else if (frameType == "Tri" || frameType == "Tricopter Y" || - frameType == "QuadX" || frameType == "Quad X" || - frameType == "QuadP" || frameType == "Quad +" || - frameType == "Hexa" || frameType == "Hexacopter" || - frameType == "HexaX" || frameType == "Hexacopter X" || - frameType == "HexaCoax" || frameType == "Hexacopter Y6" || - frameType == "Octo" || frameType == "Octocopter" || - frameType == "OctoV" || frameType == "Octocopter V" || - frameType == "OctoCoaxP" || frameType == "Octo Coax +" || - frameType == "OctoCoaxX" || frameType == "Octo Coax X" ) { - - //Call multi-rotor setup UI - m_multirotor->setupUI(frameType); - } - else if (frameType == "HeliCP") { + } 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") { + + m_multirotor->setupUI(frameType); + } else if (frameType == "HeliCP") { m_heli->setupUI(frameType); - } - else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)" || - frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)" || - frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") { + } else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)" + || frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)" + || frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") { m_groundvehicle->setupUI(frameType); + } else { + m_custom->setupUI(frameType); } - + //SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST??? - m_multirotorUi->quadShape->setSceneRect(quad->boundingRect()); - m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); + //m_multirotorUi->quadShape->setSceneRect(quad->boundingRect()); + //m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); setDirty(dirty); qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - end"; @@ -655,8 +609,8 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType) */ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field) { - for (unsigned int i=0;igetNumElements();i++) { - field->setValue(0,i); + for (unsigned int i = 0; i < field->getNumElements(); i++) { + field->setValue(0, i); } } @@ -665,6 +619,7 @@ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field) Note: does NOT ask for an object refresh itself! */ +// TODO rename to FF void ConfigVehicleTypeWidget::updateCustomAirframeUI() { UAVDataObject* mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); @@ -672,61 +627,61 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI() QPointer vconfig = new VehicleConfig(); - QList curveValues; - vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues); - - // is at least one of the curve values != 0? - if (vconfig->isValidThrottleCurve(&curveValues)) { - m_customUi->customThrottle1Curve->initCurve(&curveValues); - } - else { - // no, init a straight curve - m_customUi->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0); - } - - if (MixerSettings* mxr = qobject_cast(mixer)) { - MixerSettings::DataFields mixerSettingsData = mxr->getData(); - if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE) - m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE); - else { - m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH); - } - } - - // Setup all Throttle2 curves for all types of airframes - vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); - - if (vconfig->isValidThrottleCurve(&curveValues)) { - m_customUi->customThrottle2Curve->initCurve(&curveValues); - } - else { - m_customUi->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_customUi->customThrottle2Curve->getMin()); - } - - // Update the mixer table: - for (int channel=0; channel < m_customUi->customMixerTable->columnCount(); channel++) { - UAVObjectField* field = mixer->getField(mixerTypes.at(channel)); - if (field) - { - QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel); - if (q) - { - QString s = field->getValue().toString(); - setComboCurrentIndex(q, q->findText(s)); - } - - m_customUi->customMixerTable->item(1,channel)->setText( - QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1))); - m_customUi->customMixerTable->item(2,channel)->setText( - QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2))); - m_customUi->customMixerTable->item(3,channel)->setText( - QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL))); - m_customUi->customMixerTable->item(4,channel)->setText( - QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH))); - m_customUi->customMixerTable->item(5,channel)->setText( - QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW))); - } - } +// QList curveValues; +// vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues); +// +// // is at least one of the curve values != 0? +// if (vconfig->isValidThrottleCurve(&curveValues)) { +// m_customUi->customThrottle1Curve->initCurve(&curveValues); +// } +// else { +// // no, init a straight curve +// m_customUi->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0); +// } +// +// if (MixerSettings* mxr = qobject_cast(mixer)) { +// MixerSettings::DataFields mixerSettingsData = mxr->getData(); +// if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE) +// m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE); +// else { +// m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH); +// } +// } +// +// // Setup all Throttle2 curves for all types of airframes +// vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); +// +// if (vconfig->isValidThrottleCurve(&curveValues)) { +// m_customUi->customThrottle2Curve->initCurve(&curveValues); +// } +// else { +// m_customUi->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_customUi->customThrottle2Curve->getMin()); +// } +// +// // Update the mixer table: +// for (int channel=0; channel < m_customUi->customMixerTable->columnCount(); channel++) { +// UAVObjectField* field = mixer->getField(mixerTypes.at(channel)); +// if (field) +// { +// QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel); +// if (q) +// { +// QString s = field->getValue().toString(); +// setComboCurrentIndex(q, q->findText(s)); +// } +// +// m_customUi->customMixerTable->item(1,channel)->setText( +// QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1))); +// m_customUi->customMixerTable->item(2,channel)->setText( +// QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2))); +// m_customUi->customMixerTable->item(3,channel)->setText( +// QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL))); +// m_customUi->customMixerTable->item(4,channel)->setText( +// QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH))); +// m_customUi->customMixerTable->item(5,channel)->setText( +// QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW))); +// } +// } // Update feed forward settings m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer,"FeedForward") * 100); @@ -745,7 +700,7 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI() */ void ConfigVehicleTypeWidget::updateObjectsFromWidgets() { - UAVDataObject* mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); + UAVDataObject *mixer = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); Q_ASSERT(mixer); QPointer vconfig = new VehicleConfig(); @@ -756,7 +711,8 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets() vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value()); vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value()); - QString airframeType = "Custom"; //Sets airframe type default to "Custom" + // Sets airframe type default to "Custom" + QString airframeType = "Custom"; if (m_aircraft->aircraftType->currentText() == "Fixed Wing") { airframeType = m_fixedwing->updateConfigObjectsFromWidgets(); } @@ -770,57 +726,59 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets() airframeType = m_groundvehicle->updateConfigObjectsFromWidgets(); } else { - vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_customUi->customThrottle1Curve->getCurve()); - vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_customUi->customThrottle2Curve->getCurve()); - - // Update the table: - for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) { - QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel); - if(q->currentText()=="Disabled") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED); - else if(q->currentText()=="Motor") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR); - else if(q->currentText()=="Servo") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO); - else if(q->currentText()=="CameraRoll") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAROLL); - else if(q->currentText()=="CameraPitch") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAPITCH); - else if(q->currentText()=="CameraYaw") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAYAW); - else if(q->currentText()=="Accessory0") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY0); - else if(q->currentText()=="Accessory1") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY1); - else if(q->currentText()=="Accessory2") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY2); - else if(q->currentText()=="Accessory3") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY3); - else if(q->currentText()=="Accessory4") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY4); - else if(q->currentText()=="Accessory5") - vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY5); - - vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, - m_customUi->customMixerTable->item(1,channel)->text().toDouble()); - vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2, - m_customUi->customMixerTable->item(2,channel)->text().toDouble()); - vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL, - m_customUi->customMixerTable->item(3,channel)->text().toDouble()); - vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH, - m_customUi->customMixerTable->item(4,channel)->text().toDouble()); - vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW, - m_customUi->customMixerTable->item(5,channel)->text().toDouble()); - } + airframeType = m_custom->updateConfigObjectsFromWidgets(); +// vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_customUi->customThrottle1Curve->getCurve()); +// vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_customUi->customThrottle2Curve->getCurve()); +// +// // Update the table: +// for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) { +// QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel); +// if(q->currentText()=="Disabled") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED); +// else if(q->currentText()=="Motor") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR); +// else if(q->currentText()=="Servo") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO); +// else if(q->currentText()=="CameraRoll") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAROLL); +// else if(q->currentText()=="CameraPitch") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAPITCH); +// else if(q->currentText()=="CameraYaw") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAYAW); +// else if(q->currentText()=="Accessory0") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY0); +// else if(q->currentText()=="Accessory1") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY1); +// else if(q->currentText()=="Accessory2") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY2); +// else if(q->currentText()=="Accessory3") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY3); +// else if(q->currentText()=="Accessory4") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY4); +// else if(q->currentText()=="Accessory5") +// vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY5); +// +// vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, +// m_customUi->customMixerTable->item(1,channel)->text().toDouble()); +// vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2, +// m_customUi->customMixerTable->item(2,channel)->text().toDouble()); +// vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL, +// m_customUi->customMixerTable->item(3,channel)->text().toDouble()); +// vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH, +// m_customUi->customMixerTable->item(4,channel)->text().toDouble()); +// vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW, +// m_customUi->customMixerTable->item(5,channel)->text().toDouble()); +// } } // set the airframe type - UAVDataObject* system = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); + UAVDataObject *system = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); Q_ASSERT(system); QPointer field = system->getField(QString("AirframeType")); - if (field) + if (field) { field->setValue(airframeType); + } updateCustomAirframeUI(); } @@ -830,7 +788,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets() */ void ConfigVehicleTypeWidget::openHelp() { - QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/44Cf", QUrl::StrictMode) ); } @@ -841,16 +798,11 @@ void ConfigVehicleTypeWidget::openHelp() */ void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index) { - if (index >= 0 && index < box->count()) + if (index >= 0 && index < box->count()) { box->setCurrentIndex(index); + } } -void ConfigVehicleTypeWidget::reverseMultirotorMotor(){ - QString frameType = m_multirotorUi->multirotorFrameType->currentText(); - m_multirotor->drawAirframe(frameType); -} - - /** WHAT DOES THIS DO??? */ diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h index c1ad6b473..2a4bb867e 100644 --- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h @@ -28,29 +28,14 @@ #define CONFIGVEHICLETYPEWIDGET_H #include "ui_airframe.h" -#include "../uavobjectwidgetutils/configtaskwidget.h" -#include "extensionsystem/pluginmanager.h" -#include "uavobjectmanager.h" -#include "uavobject.h" -#include "uavtalk/telemetrymanager.h" - #include "cfg_vehicletypes/vehicleconfig.h" -#include "cfg_vehicletypes/configccpmwidget.h" -#include "cfg_vehicletypes/configfixedwingwidget.h" -#include "cfg_vehicletypes/configgroundvehiclewidget.h" -#include "cfg_vehicletypes/configmultirotorwidget.h" +#include "uavobject.h" +#include "../uavobjectwidgetutils/configtaskwidget.h" -#include "ui_airframe_ccpm.h" -#include "ui_airframe_fixedwing.h" -#include "ui_airframe_ground.h" -#include "ui_airframe_multirotor.h" -#include "ui_airframe_custom.h" - -#include -#include -#include - -class Ui_Widget; +#include +#include +#include +#include class ConfigVehicleTypeWidget: public ConfigTaskWidget { @@ -65,16 +50,11 @@ public: private: Ui_AircraftWidget *m_aircraft; - Ui_CcpmConfigWidget *m_ccpmUi; - Ui_FixedWingConfigWidget *m_fixedwingUi; - Ui_MultiRotorConfigWidget *m_multirotorUi; - Ui_GroundConfigWidget *m_groundUi; - Ui_CustomConfigWidget *m_customUi; - - ConfigCcpmWidget *m_heli; - ConfigFixedWingWidget *m_fixedwing; - ConfigMultiRotorWidget *m_multirotor; - ConfigGroundVehicleWidget *m_groundvehicle; + VehicleConfig *m_heli; + VehicleConfig *m_fixedwing; + VehicleConfig *m_multirotor; + VehicleConfig *m_groundvehicle; + VehicleConfig *m_custom; void updateCustomAirframeUI(); void addToDirtyMonitor(); @@ -86,7 +66,6 @@ private: QStringList mixerTypes; QStringList mixerVectors; - QGraphicsSvgItem *quad; bool ffTuningInProgress; bool ffTuningPhase; UAVObject::Metadata accInitialData; @@ -100,36 +79,14 @@ private slots: void setupAirframeUI(QString type); - void toggleAileron2(int index); - void toggleElevator2(int index); - void toggleRudder2(int index); +// void toggleAileron2(int index); +// void toggleElevator2(int index); +// void toggleRudder2(int index); void switchAirframeType(int index); void enableFFTest(); void openHelp(); - void reverseMultirotorMotor(); -protected: - void showEvent(QShowEvent *event); - void resizeEvent(QResizeEvent *event); - - - -}; - -class SpinBoxDelegate : public QItemDelegate -{ - Q_OBJECT - -public: - SpinBoxDelegate(QObject *parent = 0); - - QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const; - - void setEditorData(QWidget *editor, const QModelIndex &index) const; - void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const; - - void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const; }; #endif // CONFIGVEHICLETYPEWIDGET_H