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Code Issues Releases Activity

OP-907 step 2: moved vehicle specific code to respective vehicle widget

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This commit is contained in:
Philippe Renon 2013-04-01 23:27:02 +02:00
parent b190b898f1
commit 3ab96ed3cc
17 changed files with 1776 additions and 1286 deletions
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37
ground/openpilotgcs/src/plugins/config/airframe_ccpm_old.ui Normal file
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@ -0,0 +1,37 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CcpmConfigWidget</class>
<widget class="QWidget" name="CcpmConfigWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>880</width>
<height>608</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="margin">
<number>12</number>
</property>
<item>
<widget class="ConfigCcpmWidget" name="widget_3" native="true"/>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>ConfigCcpmWidget</class>
<extends>QWidget</extends>
<header>cfg_vehicletypes/configccpmwidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

0
ground/openpilotgcs/src/plugins/config/ccpm.ui → ground/openpilotgcs/src/plugins/config/ccpm_old.ui
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1081
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
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@ -36,34 +36,38 @@
#include <QtGui/QVBoxLayout> #include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton> #include <QtGui/QPushButton>
#include <QBrush> #include <QBrush>
#include <math.h>
#include <QMessageBox> #include <QMessageBox>
#define Pi 3.14159265358979323846 #include <math.h>
#define Pi 3.14159265358979323846
ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent) ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_CcpmConfigWidget())
{ {
int i; m_aircraft->setupUi(this);
SwashLvlConfigurationInProgress=0;
SwashLvlState=0;
SwashLvlServoInterlock=0;
updatingFromHardware=FALSE;
updatingToHardware=FALSE;
m_ccpm = new Ui_ccpmWidget(); //Ui_CcpmConfigWidget *m_aircraft = m_aircraft;
m_ccpm->setupUi(this);
SwashLvlConfigurationInProgress = 0;
SwashLvlState = 0;
SwashLvlServoInterlock = 0;
updatingFromHardware = FALSE;
updatingToHardware = FALSE;
//m_aircraft = new Ui_ccpmWidget();
//m_aircraft->setupUi(this);
// Initialization of the swashplaye widget // 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_aircraft->SwashLvlSwashplateImage->setScene(m_aircraft->SwashplateImage->scene());
m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500); m_aircraft->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500);
//m_ccpm->SwashLvlSwashplateImage->scale(.85,.85); //m_aircraft->SwashLvlSwashplateImage->scale(.85,.85);
//m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect()); //m_aircraft->SwashplateImage->setSceneRect(SwashplateImg->boundingRect());
m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500); m_aircraft->SwashplateImage->setSceneRect(-50,-30,500,500);
//m_ccpm->SwashplateImage->scale(.85,.85); //m_aircraft->SwashplateImage->scale(.85,.85);
QSvgRenderer *renderer = new QSvgRenderer(); QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/ccpm_setup.svg")); renderer->load(QString(":/configgadget/images/ccpm_setup.svg"));
@ -74,7 +78,7 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
SwashplateImg->setElementId("Swashplate"); SwashplateImg->setElementId("Swashplate");
SwashplateImg->setObjectName("Swashplate"); SwashplateImg->setObjectName("Swashplate");
//SwashplateImg->setScale(0.75); //SwashplateImg->setScale(0.75);
m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg); m_aircraft->SwashplateImage->scene()->addItem(SwashplateImg);
QFont serifFont("Times", 24, QFont::Bold); QFont serifFont("Times", 24, QFont::Bold);
QPen pen; // creates a default pen QPen pen; // creates a default pen
@ -101,14 +105,13 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
QList<QString> ServoNames; QList<QString> ServoNames;
ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ; ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ;
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) 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);
ServoLines[i] = m_ccpm->SwashLvlSwashplateImage->scene()->addLine(0,0,100*i,i*i*100,pen);
Servos[i] = new QGraphicsSvgItem(); Servos[i] = new QGraphicsSvgItem();
Servos[i]->setSharedRenderer(renderer); Servos[i]->setSharedRenderer(renderer);
Servos[i]->setElementId(ServoNames.at(i)); 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] = new QGraphicsTextItem();
ServosText[i]->setDefaultTextColor(Qt::yellow); 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] = new QGraphicsEllipseItem(1,1,30,30);
ServosTextCircles[i]->setBrush(brush); ServosTextCircles[i]->setBrush(brush);
ServosTextCircles[i]->setPen(pen2); ServosTextCircles[i]->setPen(pen2);
m_ccpm->SwashplateImage->scene()->addItem(ServosTextCircles[i]); m_aircraft->SwashplateImage->scene()->addItem(ServosTextCircles[i]);
m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]); m_aircraft->SwashplateImage->scene()->addItem(ServosText[i]);
SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView SwashLvlSpinBoxes[i] = new QSpinBox(m_aircraft->SwashLvlSwashplateImage); // use QGraphicsView
m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]); m_aircraft->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]);
SwashLvlSpinBoxes[i]->setMaximum(10000); SwashLvlSpinBoxes[i]->setMaximum(10000);
SwashLvlSpinBoxes[i]->setMinimum(0); SwashLvlSpinBoxes[i]->setMinimum(0);
SwashLvlSpinBoxes[i]->setValue(0); SwashLvlSpinBoxes[i]->setValue(0);
@ -133,25 +136,25 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
//initialize our two mixer curves //initialize our two mixer curves
// mixercurve defaults to mixercurve_throttle // 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 // tell mixercurve this is a pitch curve
m_ccpm->PitchCurve->setMixerType(MixerCurve::MIXERCURVE_PITCH); m_aircraft->PitchCurve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0); m_aircraft->PitchCurve->initLinearCurve(5, 1.0, -1.0);
//initialize channel names //initialize channel names
m_ccpm->ccpmEngineChannel->addItems(channelNames); m_aircraft->ccpmEngineChannel->addItems(channelNames);
m_ccpm->ccpmEngineChannel->setCurrentIndex(0); m_aircraft->ccpmEngineChannel->setCurrentIndex(0);
m_ccpm->ccpmTailChannel->addItems(channelNames); m_aircraft->ccpmTailChannel->addItems(channelNames);
m_ccpm->ccpmTailChannel->setCurrentIndex(0); m_aircraft->ccpmTailChannel->setCurrentIndex(0);
m_ccpm->ccpmServoWChannel->addItems(channelNames); m_aircraft->ccpmServoWChannel->addItems(channelNames);
m_ccpm->ccpmServoWChannel->setCurrentIndex(0); m_aircraft->ccpmServoWChannel->setCurrentIndex(0);
m_ccpm->ccpmServoXChannel->addItems(channelNames); m_aircraft->ccpmServoXChannel->addItems(channelNames);
m_ccpm->ccpmServoXChannel->setCurrentIndex(0); m_aircraft->ccpmServoXChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->addItems(channelNames); m_aircraft->ccpmServoYChannel->addItems(channelNames);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0); m_aircraft->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->addItems(channelNames); m_aircraft->ccpmServoZChannel->addItems(channelNames);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0); m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
QStringList Types; QStringList Types;
Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") << QString::fromUtf8("CCPM 4 Servo 90º") << 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("FP 2 Servo 90º") <<
QString::fromUtf8("Coax 2 Servo 90º") << QString::fromUtf8("Coax 2 Servo 90º") <<
QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings"); QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings");
m_ccpm->ccpmType->addItems(Types); m_aircraft->ccpmType->addItems(Types);
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); m_aircraft->ccpmType->setCurrentIndex(m_aircraft->ccpmType->count() - 1);
refreshWidgetsValues(QString("HeliCP")); refreshWidgetsValues(QString("HeliCP"));
UpdateType(); UpdateType();
connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); connect(m_aircraft->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); connect(m_aircraft->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); connect(m_aircraft->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); connect(m_aircraft->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); connect(m_aircraft->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); connect(m_aircraft->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); connect(m_aircraft->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); connect(m_aircraft->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); connect(m_aircraft->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
connect(m_ccpm->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType())); connect(m_aircraft->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType()));
connect(m_ccpm->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed())); connect(m_aircraft->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed()));
connect(m_ccpm->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed())); connect(m_aircraft->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed()));
connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); connect(m_aircraft->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); connect(m_aircraft->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()),this, SLOT(SetUIComponentVisibilities())); connect(m_aircraft->ccpmCollectivePassthrough, SIGNAL(clicked()),this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); connect(m_aircraft->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); connect(m_aircraft->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
ccpmSwashplateRedraw();
ccpmSwashplateRedraw();
} }
ConfigCcpmWidget::~ConfigCcpmWidget() ConfigCcpmWidget::~ConfigCcpmWidget()
{ {
// Do nothing delete m_aircraft;
} }
void ConfigCcpmWidget::setupUI(QString frameType) void ConfigCcpmWidget::setupUI(QString frameType)
@ -291,139 +292,139 @@ void ConfigCcpmWidget::UpdateType()
SetUIComponentVisibilities(); SetUIComponentVisibilities();
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex()-1;
TypeText = m_ccpm->ccpmType->currentText(); TypeText = m_aircraft->ccpmType->currentText();
SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); SingleServoIndex = m_aircraft->ccpmSingleServo->currentIndex();
//set visibility of user settings //set visibility of user settings
m_ccpm->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0); m_aircraft->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0);
m_ccpm->ccpmAdvancedSettingsTable->clearFocus();; m_aircraft->ccpmAdvancedSettingsTable->clearFocus();;
m_ccpm->ccpmAngleW->setEnabled(TypeInt==1); m_aircraft->ccpmAngleW->setEnabled(TypeInt==1);
m_ccpm->ccpmAngleX->setEnabled(TypeInt==1); m_aircraft->ccpmAngleX->setEnabled(TypeInt==1);
m_ccpm->ccpmAngleY->setEnabled(TypeInt==1); m_aircraft->ccpmAngleY->setEnabled(TypeInt==1);
m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1); m_aircraft->ccpmAngleZ->setEnabled(TypeInt==1);
m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt!=0); m_aircraft->ccpmCorrectionAngle->setEnabled(TypeInt!=0);
m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0); m_aircraft->ccpmServoWChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0); m_aircraft->ccpmServoXChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0); m_aircraft->ccpmServoYChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0); m_aircraft->ccpmServoZChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmSingleServo->setEnabled(TypeInt>1); m_aircraft->ccpmSingleServo->setEnabled(TypeInt>1);
m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0); m_aircraft->ccpmEngineChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0); m_aircraft->ccpmTailChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0); m_aircraft->ccpmCollectiveSlider->setEnabled(TypeInt>0);
m_ccpm->ccpmCollectivespinBox->setEnabled(TypeInt>0); m_aircraft->ccpmCollectivespinBox->setEnabled(TypeInt>0);
m_ccpm->ccpmRevoSlider->setEnabled(TypeInt>0); m_aircraft->ccpmRevoSlider->setEnabled(TypeInt>0);
m_ccpm->ccpmREVOspinBox->setEnabled(TypeInt>0); m_aircraft->ccpmREVOspinBox->setEnabled(TypeInt>0);
AdjustmentAngle=SingleServoIndex*90; AdjustmentAngle=SingleServoIndex*90;
m_ccpm->PitchCurve->setVisible(1); m_aircraft->PitchCurve->setVisible(1);
NumServosDefined=4; NumServosDefined=4;
//set values for pre defined heli types //set values for pre defined heli types
if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
{ {
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(0); m_aircraft->ccpmAngleY->setValue(0);
m_ccpm->ccpmAngleZ->setValue(0); m_aircraft->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0); m_aircraft->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_aircraft->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0); m_aircraft->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0); m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->setEnabled(0); m_aircraft->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_aircraft->ccpmServoZChannel->setEnabled(0);
NumServosDefined=2; NumServosDefined=2;
} }
else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0)
{ {
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
m_ccpm->ccpmAngleZ->setValue(0); m_aircraft->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_aircraft->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0); m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_aircraft->ccpmServoZChannel->setEnabled(0);
NumServosDefined=3; NumServosDefined=3;
} }
else if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) else if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0)
{ {
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
m_ccpm->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360)); m_aircraft->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360));
m_ccpm->ccpmSingleServo->setEnabled(0); m_aircraft->ccpmSingleServo->setEnabled(0);
m_ccpm->ccpmSingleServo->setCurrentIndex(0); m_aircraft->ccpmSingleServo->setCurrentIndex(0);
NumServosDefined=4; NumServosDefined=4;
} }
else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
{ {
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360)); m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360)); m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360));
m_ccpm->ccpmAngleZ->setValue(0); m_aircraft->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_aircraft->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0); m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_aircraft->ccpmServoZChannel->setEnabled(0);
NumServosDefined=3; NumServosDefined=3;
} }
else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
{ {
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360)); m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360)); m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360));
m_ccpm->ccpmAngleZ->setValue(0); m_aircraft->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_aircraft->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0); m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_aircraft->ccpmServoZChannel->setEnabled(0);
NumServosDefined=3; NumServosDefined=3;
} }
else if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) else if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive)==0)
{ {
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(0); m_aircraft->ccpmAngleY->setValue(0);
m_ccpm->ccpmAngleZ->setValue(0); m_aircraft->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0); m_aircraft->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_aircraft->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0); m_aircraft->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0); m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->setEnabled(0); m_aircraft->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_aircraft->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCollectivespinBox->setEnabled(0); m_aircraft->ccpmCollectivespinBox->setEnabled(0);
m_ccpm->ccpmCollectiveSlider->setEnabled(0); m_aircraft->ccpmCollectiveSlider->setEnabled(0);
m_ccpm->ccpmCollectivespinBox->setValue(0); m_aircraft->ccpmCollectivespinBox->setValue(0);
m_ccpm->ccpmCollectiveSlider->setValue(0); m_aircraft->ccpmCollectiveSlider->setValue(0);
m_ccpm->PitchCurve->setVisible(0); m_aircraft->PitchCurve->setVisible(0);
NumServosDefined=2; NumServosDefined=2;
} }
else if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0) else if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0)
{ {
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(0); m_aircraft->ccpmAngleY->setValue(0);
m_ccpm->ccpmAngleZ->setValue(0); m_aircraft->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0); m_aircraft->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_aircraft->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0); m_aircraft->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0); m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->setEnabled(0); m_aircraft->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_aircraft->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCollectivespinBox->setEnabled(0); m_aircraft->ccpmCollectivespinBox->setEnabled(0);
m_ccpm->ccpmCollectiveSlider->setEnabled(0); m_aircraft->ccpmCollectiveSlider->setEnabled(0);
m_ccpm->ccpmCollectivespinBox->setValue(0); m_aircraft->ccpmCollectivespinBox->setValue(0);
m_ccpm->ccpmCollectiveSlider->setValue(0); m_aircraft->ccpmCollectiveSlider->setValue(0);
m_ccpm->PitchCurve->setVisible(0); m_aircraft->PitchCurve->setVisible(0);
NumServosDefined=2; NumServosDefined=2;
} }
@ -431,39 +432,39 @@ void ConfigCcpmWidget::UpdateType()
//Set the text of the motor boxes //Set the text of the motor boxes
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0) if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0)
{ {
m_ccpm->ccpmEngineLabel->setText("CW motor"); m_aircraft->ccpmEngineLabel->setText("CW motor");
m_ccpm->ccpmTailLabel->setText("CCW motor"); m_aircraft->ccpmTailLabel->setText("CCW motor");
} }
else{ else{
m_ccpm->ccpmEngineLabel->setText("Engine"); m_aircraft->ccpmEngineLabel->setText("Engine");
m_ccpm->ccpmTailLabel->setText("Tail rotor"); m_aircraft->ccpmTailLabel->setText("Tail rotor");
} }
//set the visibility of the swashplate servo selection boxes //set the visibility of the swashplate servo selection boxes
m_ccpm->ccpmServoWLabel->setVisible(NumServosDefined>=1); m_aircraft->ccpmServoWLabel->setVisible(NumServosDefined>=1);
m_ccpm->ccpmServoXLabel->setVisible(NumServosDefined>=2); m_aircraft->ccpmServoXLabel->setVisible(NumServosDefined>=2);
m_ccpm->ccpmServoYLabel->setVisible(NumServosDefined>=3); m_aircraft->ccpmServoYLabel->setVisible(NumServosDefined>=3);
m_ccpm->ccpmServoZLabel->setVisible(NumServosDefined>=4); m_aircraft->ccpmServoZLabel->setVisible(NumServosDefined>=4);
m_ccpm->ccpmServoWChannel->setVisible(NumServosDefined>=1); m_aircraft->ccpmServoWChannel->setVisible(NumServosDefined>=1);
m_ccpm->ccpmServoXChannel->setVisible(NumServosDefined>=2); m_aircraft->ccpmServoXChannel->setVisible(NumServosDefined>=2);
m_ccpm->ccpmServoYChannel->setVisible(NumServosDefined>=3); m_aircraft->ccpmServoYChannel->setVisible(NumServosDefined>=3);
m_ccpm->ccpmServoZChannel->setVisible(NumServosDefined>=4); m_aircraft->ccpmServoZChannel->setVisible(NumServosDefined>=4);
//set the visibility of the swashplate angle selection boxes //set the visibility of the swashplate angle selection boxes
m_ccpm->ccpmServoWLabel_2->setVisible(NumServosDefined>=1); m_aircraft->ccpmServoWLabel_2->setVisible(NumServosDefined>=1);
m_ccpm->ccpmServoXLabel_2->setVisible(NumServosDefined>=2); m_aircraft->ccpmServoXLabel_2->setVisible(NumServosDefined>=2);
m_ccpm->ccpmServoYLabel_2->setVisible(NumServosDefined>=3); m_aircraft->ccpmServoYLabel_2->setVisible(NumServosDefined>=3);
m_ccpm->ccpmServoZLabel_2->setVisible(NumServosDefined>=4); m_aircraft->ccpmServoZLabel_2->setVisible(NumServosDefined>=4);
m_ccpm->ccpmAngleW->setVisible(NumServosDefined>=1); m_aircraft->ccpmAngleW->setVisible(NumServosDefined>=1);
m_ccpm->ccpmAngleX->setVisible(NumServosDefined>=2); m_aircraft->ccpmAngleX->setVisible(NumServosDefined>=2);
m_ccpm->ccpmAngleY->setVisible(NumServosDefined>=3); m_aircraft->ccpmAngleY->setVisible(NumServosDefined>=3);
m_ccpm->ccpmAngleZ->setVisible(NumServosDefined>=4); m_aircraft->ccpmAngleZ->setVisible(NumServosDefined>=4);
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); m_aircraft->ccpmAdvancedSettingsTable->resizeColumnsToContents();
for (int i=0;i<6;i++) { for (int i=0;i<6;i++) {
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- m_aircraft->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_aircraft->ccpmAdvancedSettingsTable->width()-
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); m_aircraft->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
} }
//update UI //update UI
@ -482,25 +483,25 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw()
double scale,xscale,yscale; double scale,xscale,yscale;
size = m_ccpm->SwashplateImage->rect(); size = m_aircraft->SwashplateImage->rect();
xscale=size.width(); xscale=size.width();
yscale=size.height(); yscale=size.height();
scale=xscale; scale=xscale;
if (yscale<scale)scale=yscale; if (yscale<scale)scale=yscale;
scale/=460.00; scale/=460.00;
m_ccpm->SwashplateImage->resetTransform (); m_aircraft->SwashplateImage->resetTransform ();
m_ccpm->SwashplateImage->scale(scale,scale); m_aircraft->SwashplateImage->scale(scale,scale);
size = m_ccpm->SwashLvlSwashplateImage->rect(); size = m_aircraft->SwashLvlSwashplateImage->rect();
xscale=size.width(); xscale=size.width();
yscale=size.height(); yscale=size.height();
scale=xscale; scale=xscale;
if (yscale<scale)scale=yscale; if (yscale<scale)scale=yscale;
scale/=590.00; scale/=590.00;
m_ccpm->SwashLvlSwashplateImage->resetTransform (); m_aircraft->SwashLvlSwashplateImage->resetTransform ();
m_ccpm->SwashLvlSwashplateImage->scale(scale,scale); m_aircraft->SwashLvlSwashplateImage->scale(scale,scale);
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); CorrectionAngle=m_aircraft->ccpmCorrectionAngle->value();
CenterX=200; CenterX=200;
CenterY=200; CenterY=200;
@ -509,18 +510,18 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw()
SwashplateImg->setPos(CenterX-bounds.width()/2,CenterY-bounds.height()/2); SwashplateImg->setPos(CenterX-bounds.width()/2,CenterY-bounds.height()/2);
defined[0]=(m_ccpm->ccpmServoWChannel->isEnabled()); defined[0]=(m_aircraft->ccpmServoWChannel->isEnabled());
defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled()); defined[1]=(m_aircraft->ccpmServoXChannel->isEnabled());
defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled()); defined[2]=(m_aircraft->ccpmServoYChannel->isEnabled());
defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled()); defined[3]=(m_aircraft->ccpmServoZChannel->isEnabled());
used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()>0)&&(m_ccpm->ccpmServoWChannel->isEnabled())); used[0]=((m_aircraft->ccpmServoWChannel->currentIndex()>0)&&(m_aircraft->ccpmServoWChannel->isEnabled()));
used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()>0)&&(m_ccpm->ccpmServoXChannel->isEnabled())); used[1]=((m_aircraft->ccpmServoXChannel->currentIndex()>0)&&(m_aircraft->ccpmServoXChannel->isEnabled()));
used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()>0)&&(m_ccpm->ccpmServoYChannel->isEnabled())); used[2]=((m_aircraft->ccpmServoYChannel->currentIndex()>0)&&(m_aircraft->ccpmServoYChannel->isEnabled()));
used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()>0)&&(m_ccpm->ccpmServoZChannel->isEnabled())); used[3]=((m_aircraft->ccpmServoZChannel->currentIndex()>0)&&(m_aircraft->ccpmServoZChannel->isEnabled()));
angle[0]=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00; angle[0]=(CorrectionAngle+180+m_aircraft->ccpmAngleW->value())*Pi/180.00;
angle[1]=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00; angle[1]=(CorrectionAngle+180+m_aircraft->ccpmAngleX->value())*Pi/180.00;
angle[2]=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00; angle[2]=(CorrectionAngle+180+m_aircraft->ccpmAngleY->value())*Pi/180.00;
angle[3]=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00; angle[3]=(CorrectionAngle+180+m_aircraft->ccpmAngleZ->value())*Pi/180.00;
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
@ -559,7 +560,7 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw()
radius = (215.00+w+h); radius = (215.00+w+h);
x=CenterX-(radius*sin(angle[i]))-w; x=CenterX-(radius*sin(angle[i]))-w;
y=CenterY+(radius*cos(angle[i]))-h; y=CenterY+(radius*cos(angle[i]))-h;
SwashLvlSpinBoxes[i]->move(m_ccpm->SwashLvlSwashplateImage->mapFromScene (x, y)); SwashLvlSpinBoxes[i]->move(m_aircraft->SwashLvlSwashplateImage->mapFromScene (x, y));
SwashLvlSpinBoxes[i]->setVisible(used[i]!=0); SwashLvlSpinBoxes[i]->setVisible(used[i]!=0);
radius=220; radius=220;
@ -569,9 +570,9 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw()
ServoLines[i]->setVisible(defined[i]!=0); 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() void ConfigCcpmWidget::ccpmSwashplateUpdate()
@ -620,24 +621,24 @@ void ConfigCcpmWidget::UpdateMixer()
if (config.heli.SwashplateType>0) if (config.heli.SwashplateType>0)
{//not advanced settings {//not advanced settings
//get the channel data from the ui //get the channel data from the ui
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); MixerChannelData[0] = m_aircraft->ccpmEngineChannel->currentIndex();
MixerChannelData[1] = m_ccpm->ccpmTailChannel->currentIndex(); MixerChannelData[1] = m_aircraft->ccpmTailChannel->currentIndex();
MixerChannelData[2] = m_ccpm->ccpmServoWChannel->currentIndex(); MixerChannelData[2] = m_aircraft->ccpmServoWChannel->currentIndex();
MixerChannelData[3] = m_ccpm->ccpmServoXChannel->currentIndex(); MixerChannelData[3] = m_aircraft->ccpmServoXChannel->currentIndex();
MixerChannelData[4] = m_ccpm->ccpmServoYChannel->currentIndex(); MixerChannelData[4] = m_aircraft->ccpmServoYChannel->currentIndex();
MixerChannelData[5] = m_ccpm->ccpmServoZChannel->currentIndex(); MixerChannelData[5] = m_aircraft->ccpmServoZChannel->currentIndex();
//get the angle data from the ui //get the angle data from the ui
ThisAngle[2] = m_ccpm->ccpmAngleW->value(); ThisAngle[2] = m_aircraft->ccpmAngleW->value();
ThisAngle[3] = m_ccpm->ccpmAngleX->value(); ThisAngle[3] = m_aircraft->ccpmAngleX->value();
ThisAngle[4] = m_ccpm->ccpmAngleY->value(); ThisAngle[4] = m_aircraft->ccpmAngleY->value();
ThisAngle[5] = m_ccpm->ccpmAngleZ->value(); ThisAngle[5] = m_aircraft->ccpmAngleZ->value();
//get the angle data from the ui //get the angle data from the ui
ThisEnable[2] = m_ccpm->ccpmServoWChannel->isEnabled(); ThisEnable[2] = m_aircraft->ccpmServoWChannel->isEnabled();
ThisEnable[3] = m_ccpm->ccpmServoXChannel->isEnabled(); ThisEnable[3] = m_aircraft->ccpmServoXChannel->isEnabled();
ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled(); ThisEnable[4] = m_aircraft->ccpmServoYChannel->isEnabled();
ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled(); ThisEnable[5] = m_aircraft->ccpmServoZChannel->isEnabled();
ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2] )); ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2] ));
ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3] )); ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3] ));
@ -650,52 +651,52 @@ void ConfigCcpmWidget::UpdateMixer()
{ {
if ((MixerChannelData[i]>0) && ((ThisEnable[i])||(i<2))) 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 //Generate the mixer vector
if (i==0) if (i==0)
{//main motor-engine {//main motor-engine
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1 m_aircraft->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 m_aircraft->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll m_aircraft->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,4)->setText(QString("%1").arg(0));//Pitch
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0) 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 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) if (i==1)
{//tailrotor --or-- counter-clockwise motor {//tailrotor --or-- counter-clockwise motor
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0) 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_aircraft->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,5)->setText(QString("%1").arg(127));//Yaw
} }
else{ else{
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 m_aircraft->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,5)->setText(QString("%1").arg(127));//Yaw
} }
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 m_aircraft->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll m_aircraft->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,4)->setText(QString("%1").arg(0));//Pitch
} }
if (i>1) if (i>1)
{//Swashplate {//Swashplate
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 m_aircraft->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_aircraft->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_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_ccpm->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,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,5)->setText(QString("%1").arg(0));//Yaw
} }
} }
else 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 {//advanced settings
for (i=0;i<6;i++) 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"); if (Channel == "-") Channel = QString("9");
MixerChannelData[i]= Channel.toInt(); MixerChannelData[i]= Channel.toInt();
} }
@ -726,48 +727,48 @@ QString ConfigCcpmWidget::updateConfigObjects()
GUIConfigDataUnion config = GetConfigData(); GUIConfigDataUnion config = GetConfigData();
//swashplate config //swashplate config
config.heli.SwashplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; config.heli.SwashplateType = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex()-1;
config.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); config.heli.FirstServoIndex = m_aircraft->ccpmSingleServo->currentIndex();
//ccpm mixing options //ccpm mixing options
config.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); config.heli.ccpmCollectivePassthroughState = m_aircraft->ccpmCollectivePassthrough->isChecked();
config.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); config.heli.ccpmLinkCyclicState = m_aircraft->ccpmLinkCyclic->isChecked();
config.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); config.heli.ccpmLinkRollState = m_aircraft->ccpmLinkRoll->isChecked();
useCCPM = !(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState); useCCPM = !(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState);
useCyclic = config.heli.ccpmLinkRollState; useCyclic = config.heli.ccpmLinkRollState;
//correction angle //correction angle
config.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value(); config.heli.CorrectionAngle = m_aircraft->ccpmCorrectionAngle->value();
//update sliders //update sliders
if (useCCPM) if (useCCPM)
{ {
config.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value(); config.heli.SliderValue0 = m_aircraft->ccpmCollectiveSlider->value();
} }
else else
{ {
config.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value(); config.heli.SliderValue0 = m_aircraft->ccpmCollectiveScale->value();
} }
if (useCyclic) if (useCyclic)
{ {
config.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value(); config.heli.SliderValue1 = m_aircraft->ccpmCyclicScale->value();
} }
else 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 //servo assignments
config.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); config.heli.ServoIndexW = m_aircraft->ccpmServoWChannel->currentIndex();
config.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex(); config.heli.ServoIndexX = m_aircraft->ccpmServoXChannel->currentIndex();
config.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex(); config.heli.ServoIndexY = m_aircraft->ccpmServoYChannel->currentIndex();
config.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); config.heli.ServoIndexZ = m_aircraft->ccpmServoZChannel->currentIndex();
//throttle //throttle
config.heli.Throttle = m_ccpm->ccpmEngineChannel->currentIndex(); config.heli.Throttle = m_aircraft->ccpmEngineChannel->currentIndex();
//tail //tail
config.heli.Tail = m_ccpm->ccpmTailChannel->currentIndex(); config.heli.Tail = m_aircraft->ccpmTailChannel->currentIndex();
SetConfigData(config); SetConfigData(config);
@ -791,39 +792,39 @@ void ConfigCcpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFro
GUIConfigDataUnion config = GetConfigData(); GUIConfigDataUnion config = GetConfigData();
//swashplate config //swashplate config
setComboCurrentIndex( m_ccpm->ccpmType, m_ccpm->ccpmType->count() - (config.heli.SwashplateType +1)); setComboCurrentIndex( m_aircraft->ccpmType, m_aircraft->ccpmType->count() - (config.heli.SwashplateType +1));
setComboCurrentIndex(m_ccpm->ccpmSingleServo, config.heli.FirstServoIndex); setComboCurrentIndex(m_aircraft->ccpmSingleServo, config.heli.FirstServoIndex);
//ccpm mixing options //ccpm mixing options
m_ccpm->ccpmCollectivePassthrough->setChecked(config.heli.ccpmCollectivePassthroughState); m_aircraft->ccpmCollectivePassthrough->setChecked(config.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmLinkCyclic->setChecked(config.heli.ccpmLinkCyclicState); m_aircraft->ccpmLinkCyclic->setChecked(config.heli.ccpmLinkCyclicState);
m_ccpm->ccpmLinkRoll->setChecked(config.heli.ccpmLinkRollState); m_aircraft->ccpmLinkRoll->setChecked(config.heli.ccpmLinkRollState);
//correction angle //correction angle
m_ccpm->ccpmCorrectionAngle->setValue(config.heli.CorrectionAngle); m_aircraft->ccpmCorrectionAngle->setValue(config.heli.CorrectionAngle);
//update sliders //update sliders
m_ccpm->ccpmCollectiveScale->setValue(config.heli.SliderValue0); m_aircraft->ccpmCollectiveScale->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCollectiveScaleBox->setValue(config.heli.SliderValue0); m_aircraft->ccpmCollectiveScaleBox->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCyclicScale->setValue(config.heli.SliderValue1); m_aircraft->ccpmCyclicScale->setValue(config.heli.SliderValue1);
m_ccpm->ccpmCyclicScaleBox->setValue(config.heli.SliderValue1); m_aircraft->ccpmCyclicScaleBox->setValue(config.heli.SliderValue1);
m_ccpm->ccpmPitchScale->setValue(config.heli.SliderValue1); m_aircraft->ccpmPitchScale->setValue(config.heli.SliderValue1);
m_ccpm->ccpmPitchScaleBox->setValue(config.heli.SliderValue1); m_aircraft->ccpmPitchScaleBox->setValue(config.heli.SliderValue1);
m_ccpm->ccpmRollScale->setValue(config.heli.SliderValue2); m_aircraft->ccpmRollScale->setValue(config.heli.SliderValue2);
m_ccpm->ccpmRollScaleBox->setValue(config.heli.SliderValue2); m_aircraft->ccpmRollScaleBox->setValue(config.heli.SliderValue2);
m_ccpm->ccpmCollectiveSlider->setValue(config.heli.SliderValue0); m_aircraft->ccpmCollectiveSlider->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCollectivespinBox->setValue(config.heli.SliderValue0); m_aircraft->ccpmCollectivespinBox->setValue(config.heli.SliderValue0);
//servo assignments //servo assignments
setComboCurrentIndex(m_ccpm->ccpmServoWChannel, config.heli.ServoIndexW); setComboCurrentIndex(m_aircraft->ccpmServoWChannel, config.heli.ServoIndexW);
setComboCurrentIndex( m_ccpm->ccpmServoXChannel,config.heli.ServoIndexX); setComboCurrentIndex( m_aircraft->ccpmServoXChannel,config.heli.ServoIndexX);
setComboCurrentIndex( m_ccpm->ccpmServoYChannel,config.heli.ServoIndexY); setComboCurrentIndex( m_aircraft->ccpmServoYChannel,config.heli.ServoIndexY);
setComboCurrentIndex( m_ccpm->ccpmServoZChannel,config.heli.ServoIndexZ); setComboCurrentIndex( m_aircraft->ccpmServoZChannel,config.heli.ServoIndexZ);
//throttle //throttle
setComboCurrentIndex( m_ccpm->ccpmEngineChannel, config.heli.Throttle); setComboCurrentIndex( m_aircraft->ccpmEngineChannel, config.heli.Throttle);
//tail //tail
setComboCurrentIndex( m_ccpm->ccpmTailChannel, config.heli.Tail); setComboCurrentIndex( m_aircraft->ccpmTailChannel, config.heli.Tail);
getMixer(); getMixer();
} }
@ -831,30 +832,30 @@ void ConfigCcpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFro
void ConfigCcpmWidget::SetUIComponentVisibilities() void ConfigCcpmWidget::SetUIComponentVisibilities()
{ {
m_ccpm->ccpmRevoMixingBox->setVisible(0); m_aircraft->ccpmRevoMixingBox->setVisible(0);
m_ccpm->ccpmPitchMixingBox->setVisible(!m_ccpm->ccpmCollectivePassthrough->isChecked() && m_aircraft->ccpmPitchMixingBox->setVisible(!m_aircraft->ccpmCollectivePassthrough->isChecked() &&
m_ccpm->ccpmLinkCyclic->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_aircraft->ccpmCyclicScalingBox->setVisible((m_aircraft->ccpmCollectivePassthrough->isChecked() || !m_aircraft->ccpmLinkCyclic->isChecked()) &&
m_ccpm->ccpmLinkRoll->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_aircraft->ccpmPitchScalingBox->setVisible(0);
m_ccpm->ccpmRollScalingBox->setVisible(0); m_aircraft->ccpmRollScalingBox->setVisible(0);
m_ccpm->ccpmLinkRoll->setVisible(0); m_aircraft->ccpmLinkRoll->setVisible(0);
} }
else else
{ {
m_ccpm->ccpmPitchScalingBox->setVisible(!m_ccpm->ccpmLinkRoll->isChecked()); m_aircraft->ccpmPitchScalingBox->setVisible(!m_aircraft->ccpmLinkRoll->isChecked());
m_ccpm->ccpmRollScalingBox->setVisible(!m_ccpm->ccpmLinkRoll->isChecked()); m_aircraft->ccpmRollScalingBox->setVisible(!m_aircraft->ccpmLinkRoll->isChecked());
m_ccpm->ccpmLinkRoll->setVisible(1); m_aircraft->ccpmLinkRoll->setVisible(1);
} }
} }
/** /**
@ -877,20 +878,20 @@ void ConfigCcpmWidget::getMixer()
// is at least one of the curve values != 0? // is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) { if (vconfig->isValidThrottleCurve(&curveValues)) {
m_ccpm->ThrottleCurve->setCurve(&curveValues); m_aircraft->ThrottleCurve->setCurve(&curveValues);
} }
else { else {
m_ccpm->ThrottleCurve->ResetCurve(); m_aircraft->ThrottleCurve->ResetCurve();
} }
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
// is at least one of the curve values != 0? // is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) { if (vconfig->isValidThrottleCurve(&curveValues)) {
m_ccpm->PitchCurve->setCurve(&curveValues); m_aircraft->PitchCurve->setCurve(&curveValues);
} }
else { else {
m_ccpm->PitchCurve->ResetCurve(); m_aircraft->PitchCurve->ResetCurve();
} }
updatingFromHardware=FALSE; updatingFromHardware=FALSE;
@ -963,13 +964,13 @@ void ConfigCcpmWidget::setMixer()
//Configure the vector //Configure the vector
for (j=0;j<5;j++) 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 //get the user data for the curve into the mixer settings
QList<double> curve1 = m_ccpm->ThrottleCurve->getCurve(); QList<double> curve1 = m_aircraft->ThrottleCurve->getCurve();
QList<double> curve2 = m_ccpm->PitchCurve->getCurve(); QList<double> curve2 = m_aircraft->PitchCurve->getCurve();
for (i=0;i<5;i++) { for (i=0;i<5;i++) {
mixerSettingsData.ThrottleCurve1[i] = curve1.at(i); mixerSettingsData.ThrottleCurve1[i] = curve1.at(i);
mixerSettingsData.ThrottleCurve2[i] = curve2.at(i); mixerSettingsData.ThrottleCurve2[i] = curve2.at(i);
@ -978,7 +979,7 @@ void ConfigCcpmWidget::setMixer()
//mapping of collective input to curve 2... //mapping of collective input to curve 2...
//MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5 //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
//check if we are using throttle or directly from a channel... //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; mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE;
else else
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE; mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE;
@ -1008,10 +1009,10 @@ void ConfigCcpmWidget::resizeEvent(QResizeEvent* event)
{ {
Q_UNUSED(event); Q_UNUSED(event);
// Make the custom table columns autostretch: // Make the custom table columns autostretch:
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); m_aircraft->ccpmAdvancedSettingsTable->resizeColumnsToContents();
for (int i=0;i<6;i++) { for (int i=0;i<6;i++) {
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- m_aircraft->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_aircraft->ccpmAdvancedSettingsTable->width()-
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); m_aircraft->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
} }
ccpmSwashplateRedraw(); ccpmSwashplateRedraw();
@ -1019,10 +1020,10 @@ void ConfigCcpmWidget::resizeEvent(QResizeEvent* event)
void ConfigCcpmWidget::showEvent(QShowEvent *event) void ConfigCcpmWidget::showEvent(QShowEvent *event)
{ {
Q_UNUSED(event) Q_UNUSED(event)
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); m_aircraft->ccpmAdvancedSettingsTable->resizeColumnsToContents();
for (int i=0;i<6;i++) { for (int i=0;i<6;i++) {
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- m_aircraft->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_aircraft->ccpmAdvancedSettingsTable->width()-
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); m_aircraft->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
} }
ccpmSwashplateRedraw(); ccpmSwashplateRedraw();
} }
@ -1053,15 +1054,15 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed()
//remove Flight control of ActuatorCommand //remove Flight control of ActuatorCommand
enableSwashplateLevellingControl(true); enableSwashplateLevellingControl(true);
m_ccpm->SwashLvlStartButton->setEnabled(false); m_aircraft->SwashLvlStartButton->setEnabled(false);
m_ccpm->SwashLvlNextButton->setEnabled(true); m_aircraft->SwashLvlNextButton->setEnabled(true);
m_ccpm->SwashLvlCancelButton->setEnabled(true); m_aircraft->SwashLvlCancelButton->setEnabled(true);
m_ccpm->SwashLvlFinishButton->setEnabled(false); m_aircraft->SwashLvlFinishButton->setEnabled(false);
//clear status check boxes //clear status check boxes
m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked); m_aircraft->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked);
m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked); m_aircraft->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked);
m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked); m_aircraft->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked);
m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked); m_aircraft->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked);
//download the current settings to the OP hw //download the current settings to the OP hw
@ -1086,15 +1087,15 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed()
MaxField = obj->getField(QString("ChannelMax")); MaxField = obj->getField(QString("ChannelMax"));
//channel assignments //channel assignments
oldSwashLvlConfiguration.ServoChannels[0]=m_ccpm->ccpmServoWChannel->currentIndex(); oldSwashLvlConfiguration.ServoChannels[0]=m_aircraft->ccpmServoWChannel->currentIndex();
oldSwashLvlConfiguration.ServoChannels[1]=m_ccpm->ccpmServoXChannel->currentIndex(); oldSwashLvlConfiguration.ServoChannels[1]=m_aircraft->ccpmServoXChannel->currentIndex();
oldSwashLvlConfiguration.ServoChannels[2]=m_ccpm->ccpmServoYChannel->currentIndex(); oldSwashLvlConfiguration.ServoChannels[2]=m_aircraft->ccpmServoYChannel->currentIndex();
oldSwashLvlConfiguration.ServoChannels[3]=m_ccpm->ccpmServoZChannel->currentIndex(); oldSwashLvlConfiguration.ServoChannels[3]=m_aircraft->ccpmServoZChannel->currentIndex();
//if servos are used //if servos are used
oldSwashLvlConfiguration.Used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()>0)&&(m_ccpm->ccpmServoWChannel->isEnabled())); oldSwashLvlConfiguration.Used[0]=((m_aircraft->ccpmServoWChannel->currentIndex()>0)&&(m_aircraft->ccpmServoWChannel->isEnabled()));
oldSwashLvlConfiguration.Used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()>0)&&(m_ccpm->ccpmServoXChannel->isEnabled())); oldSwashLvlConfiguration.Used[1]=((m_aircraft->ccpmServoXChannel->currentIndex()>0)&&(m_aircraft->ccpmServoXChannel->isEnabled()));
oldSwashLvlConfiguration.Used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()>0)&&(m_ccpm->ccpmServoYChannel->isEnabled())); oldSwashLvlConfiguration.Used[2]=((m_aircraft->ccpmServoYChannel->currentIndex()>0)&&(m_aircraft->ccpmServoYChannel->isEnabled()));
oldSwashLvlConfiguration.Used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()>0)&&(m_ccpm->ccpmServoZChannel->isEnabled())); oldSwashLvlConfiguration.Used[3]=((m_aircraft->ccpmServoZChannel->currentIndex()>0)&&(m_aircraft->ccpmServoZChannel->isEnabled()));
//min,neutral,max values for the servos //min,neutral,max values for the servos
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{ {
@ -1115,111 +1116,107 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed()
//restore Flight control of ActuatorCommand //restore Flight control of ActuatorCommand
enableSwashplateLevellingControl(false); enableSwashplateLevellingControl(false);
m_ccpm->SwashLvlStartButton->setEnabled(true); m_aircraft->SwashLvlStartButton->setEnabled(true);
m_ccpm->SwashLvlNextButton->setEnabled(false); m_aircraft->SwashLvlNextButton->setEnabled(false);
m_ccpm->SwashLvlCancelButton->setEnabled(false); m_aircraft->SwashLvlCancelButton->setEnabled(false);
m_ccpm->SwashLvlFinishButton->setEnabled(false); m_aircraft->SwashLvlFinishButton->setEnabled(false);
break; break;
default: default:
// should never be reached // should never be reached
break; break;
} }
} }
void ConfigCcpmWidget::SwashLvlNextButtonPressed() void ConfigCcpmWidget::SwashLvlNextButtonPressed()
{ {
//ShowDisclaimer(2); //ShowDisclaimer(2);
SwashLvlState++; SwashLvlState++;
int i;
switch (SwashLvlState) {
switch (SwashLvlState)
{
case 0: case 0:
break; break;
case 1: //Neutral levelling case 1: //Neutral levelling
m_ccpm->SwashLvlStepList->setCurrentRow(0); m_aircraft->SwashLvlStepList->setCurrentRow(0);
//set spin boxes and swashplate servos to Neutral values //set spin boxes and swashplate servos to Neutral values
setSwashplateLevel(50); setSwashplateLevel(50);
//disable position slider //disable position slider
m_ccpm->SwashLvlPositionSlider->setEnabled(false); m_aircraft->SwashLvlPositionSlider->setEnabled(false);
m_ccpm->SwashLvlPositionSpinBox->setEnabled(false); m_aircraft->SwashLvlPositionSpinBox->setEnabled(false);
//set position slider to 50% //set position slider to 50%
m_ccpm->SwashLvlPositionSlider->setValue(50); m_aircraft->SwashLvlPositionSlider->setValue(50);
m_ccpm->SwashLvlPositionSpinBox->setValue(50); m_aircraft->SwashLvlPositionSpinBox->setValue(50);
//connect spinbox signals to slots and ebnable them //connect spinbox signals to slots and ebnable them
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) {
{
connect(SwashLvlSpinBoxes[i], SIGNAL(valueChanged(int)), this, SLOT(SwashLvlSpinBoxChanged(int))); connect(SwashLvlSpinBoxes[i], SIGNAL(valueChanged(int)), this, SLOT(SwashLvlSpinBoxChanged(int)));
SwashLvlSpinBoxes[i]->setEnabled(true); SwashLvlSpinBoxes[i]->setEnabled(true);
} }
//issue user instructions //issue user instructions
m_ccpm->SwashLvlStepInstruction->setHtml("<h2>Neutral levelling</h2><p>Using adjustment of:<ul><li>servo horns<li>link lengths and<li>Neutral timing spinboxes to the right</ul><br>ensure that the swashplate is in the center of desired travel range and is level."); m_aircraft->SwashLvlStepInstruction->setHtml(
"<h2>Neutral levelling</h2><p>Using adjustment of:<ul><li>servo horns<li>link lengths and<li>Neutral timing spinboxes to the right</ul><br>ensure that the swashplate is in the center of desired travel range and is level.");
break; break;
case 2: //Max levelling case 2: //Max levelling
//check Neutral status as complete //check Neutral status as complete
m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Checked); m_aircraft->SwashLvlStepList->item(0)->setCheckState(Qt::Checked);
m_ccpm->SwashLvlStepList->setCurrentRow(1); m_aircraft->SwashLvlStepList->setCurrentRow(1);
//set spin boxes and swashplate servos to Max values //set spin boxes and swashplate servos to Max values
setSwashplateLevel(100); setSwashplateLevel(100);
//set position slider to 100% //set position slider to 100%
m_ccpm->SwashLvlPositionSlider->setValue(100); m_aircraft->SwashLvlPositionSlider->setValue(100);
m_ccpm->SwashLvlPositionSpinBox->setValue(100); m_aircraft->SwashLvlPositionSpinBox->setValue(100);
//issue user instructions //issue user instructions
m_ccpm->SwashLvlStepInstruction->setText("<h2>Max levelling</h2><p>Using adjustment of:<ul><li>Max timing spinboxes to the right ONLY</ul><br>ensure that the swashplate is at the top of desired travel range and is level."); m_aircraft->SwashLvlStepInstruction->setText(
"<h2>Max levelling</h2><p>Using adjustment of:<ul><li>Max timing spinboxes to the right ONLY</ul><br>ensure that the swashplate is at the top of desired travel range and is level.");
break; break;
case 3: //Min levelling case 3: //Min levelling
//check Max status as complete //check Max status as complete
m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Checked); m_aircraft->SwashLvlStepList->item(1)->setCheckState(Qt::Checked);
m_ccpm->SwashLvlStepList->setCurrentRow(2); m_aircraft->SwashLvlStepList->setCurrentRow(2);
//set spin boxes and swashplate servos to Min values //set spin boxes and swashplate servos to Min values
setSwashplateLevel(0); setSwashplateLevel(0);
//set position slider to 0% //set position slider to 0%
m_ccpm->SwashLvlPositionSlider->setValue(0); m_aircraft->SwashLvlPositionSlider->setValue(0);
m_ccpm->SwashLvlPositionSpinBox->setValue(0); m_aircraft->SwashLvlPositionSpinBox->setValue(0);
//issue user instructions //issue user instructions
m_ccpm->SwashLvlStepInstruction->setText("<h2>Min levelling</h2><p>Using adjustment of:<ul><li>Min timing spinboxes to the right ONLY</ul><br>ensure that the swashplate is at the bottom of desired travel range and is level."); m_aircraft->SwashLvlStepInstruction->setText(
break; "<h2>Min levelling</h2><p>Using adjustment of:<ul><li>Min timing spinboxes to the right ONLY</ul><br>ensure that the swashplate is at the bottom of desired travel range and is level.");
break;
case 4: //levelling verification case 4: //levelling verification
//check Min status as complete //check Min status as complete
m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Checked); m_aircraft->SwashLvlStepList->item(2)->setCheckState(Qt::Checked);
m_ccpm->SwashLvlStepList->setCurrentRow(3); m_aircraft->SwashLvlStepList->setCurrentRow(3);
//enable position slider //enable position slider
m_ccpm->SwashLvlPositionSlider->setEnabled(true); m_aircraft->SwashLvlPositionSlider->setEnabled(true);
m_ccpm->SwashLvlPositionSpinBox->setEnabled(true); m_aircraft->SwashLvlPositionSpinBox->setEnabled(true);
//make heli respond to slider movement //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 //disable spin boxes
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) {
{
SwashLvlSpinBoxes[i]->setEnabled(false); SwashLvlSpinBoxes[i]->setEnabled(false);
} }
//issue user instructions //issue user instructions
m_ccpm->SwashLvlStepInstruction->setText("<h2>levelling verification</h2><p>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."); m_aircraft->SwashLvlStepInstruction->setText(
break; "<h2>levelling verification</h2><p>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 case 5: //levelling complete
//check verify status as 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 //issue user instructions
m_ccpm->SwashLvlStepInstruction->setText("<h2>levelling complete</h2><p>Press the Finish button to save these settings to the SD card<p>Press the cancel button to return to the pre-levelling settings"); m_aircraft->SwashLvlStepInstruction->setText(
"<h2>levelling complete</h2><p>Press the Finish button to save these settings to the SD card<p>Press the cancel button to return to the pre-levelling settings");
//disable position slider //disable position slider
m_ccpm->SwashLvlPositionSlider->setEnabled(false); m_aircraft->SwashLvlPositionSlider->setEnabled(false);
m_ccpm->SwashLvlPositionSpinBox->setEnabled(false); m_aircraft->SwashLvlPositionSpinBox->setEnabled(false);
//disconnect levelling slots from signals //disconnect levelling slots from signals
disconnect(m_ccpm->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int))); disconnect(m_aircraft->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int)));
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) {
{
disconnect(SwashLvlSpinBoxes[i], SIGNAL(valueChanged(int)), this, SLOT(SwashLvlSpinBoxChanged(int))); disconnect(SwashLvlSpinBoxes[i], SIGNAL(valueChanged(int)), this, SLOT(SwashLvlSpinBoxChanged(int)));
} }
m_ccpm->SwashLvlStartButton->setEnabled(false); m_aircraft->SwashLvlStartButton->setEnabled(false);
m_ccpm->SwashLvlNextButton->setEnabled(false); m_aircraft->SwashLvlNextButton->setEnabled(false);
m_ccpm->SwashLvlCancelButton->setEnabled(true); m_aircraft->SwashLvlCancelButton->setEnabled(true);
m_ccpm->SwashLvlFinishButton->setEnabled(true); m_aircraft->SwashLvlFinishButton->setEnabled(true);
default: default:
//restore collective/cyclic setting //restore collective/cyclic setting
@ -1230,24 +1227,24 @@ void ConfigCcpmWidget::SwashLvlNextButtonPressed()
break; break;
} }
} }
void ConfigCcpmWidget::SwashLvlCancelButtonPressed() void ConfigCcpmWidget::SwashLvlCancelButtonPressed()
{ {
int i; SwashLvlState = 0;
SwashLvlState=0;
UAVObjectField* MinField; UAVObjectField *MinField;
UAVObjectField* NeutralField; UAVObjectField *NeutralField;
UAVObjectField* MaxField; UAVObjectField *MaxField;
m_ccpm->SwashLvlStartButton->setEnabled(true); m_aircraft->SwashLvlStartButton->setEnabled(true);
m_ccpm->SwashLvlNextButton->setEnabled(false); m_aircraft->SwashLvlNextButton->setEnabled(false);
m_ccpm->SwashLvlCancelButton->setEnabled(false); m_aircraft->SwashLvlCancelButton->setEnabled(false);
m_ccpm->SwashLvlFinishButton->setEnabled(false); m_aircraft->SwashLvlFinishButton->setEnabled(false);
m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked); m_aircraft->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked);
m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked); m_aircraft->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked);
m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked); m_aircraft->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked);
m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked); m_aircraft->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked);
//restore old Actuator Settings //restore old Actuator Settings
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -1259,110 +1256,110 @@ void ConfigCcpmWidget::SwashLvlCancelButtonPressed()
NeutralField = obj->getField(QString("ChannelNeutral")); NeutralField = obj->getField(QString("ChannelNeutral"));
MaxField = obj->getField(QString("ChannelMax")); MaxField = obj->getField(QString("ChannelMax"));
//min,neutral,max values for the servos // min,neutral,max values for the servos
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) {
{ MinField->setValue(oldSwashLvlConfiguration.Min[i], oldSwashLvlConfiguration.ServoChannels[i]);
MinField->setValue(oldSwashLvlConfiguration.Min[i],oldSwashLvlConfiguration.ServoChannels[i]); NeutralField->setValue(oldSwashLvlConfiguration.Neutral[i], oldSwashLvlConfiguration.ServoChannels[i]);
NeutralField->setValue(oldSwashLvlConfiguration.Neutral[i],oldSwashLvlConfiguration.ServoChannels[i]); MaxField->setValue(oldSwashLvlConfiguration.Max[i], oldSwashLvlConfiguration.ServoChannels[i]);
MaxField->setValue(oldSwashLvlConfiguration.Max[i],oldSwashLvlConfiguration.ServoChannels[i]);
} }
obj->updated(); obj->updated();
// restore Flight control of ActuatorCommand
//restore Flight control of ActuatorCommand
enableSwashplateLevellingControl(false); enableSwashplateLevellingControl(false);
m_ccpm->SwashLvlStepInstruction->setText("<h2>Levelling Cancelled</h2><p>Previous settings have been restored."); m_aircraft->SwashLvlStepInstruction->setText(
"<h2>Levelling Cancelled</h2><p>Previous settings have been restored.");
} }
void ConfigCcpmWidget::SwashLvlFinishButtonPressed() void ConfigCcpmWidget::SwashLvlFinishButtonPressed()
{ {
int i; UAVObjectField *MinField;
UAVObjectField *NeutralField;
UAVObjectField *MaxField;
UAVObjectField* MinField; m_aircraft->SwashLvlStartButton->setEnabled(true);
UAVObjectField* NeutralField; m_aircraft->SwashLvlNextButton->setEnabled(false);
UAVObjectField* MaxField; m_aircraft->SwashLvlCancelButton->setEnabled(false);
m_aircraft->SwashLvlFinishButton->setEnabled(false);
m_ccpm->SwashLvlStartButton->setEnabled(true); // save new Actuator Settings to memory and SD card
m_ccpm->SwashLvlNextButton->setEnabled(false);
m_ccpm->SwashLvlCancelButton->setEnabled(false);
m_ccpm->SwashLvlFinishButton->setEnabled(false);
//save new Actuator Settings to memory and SD card
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
//update settings to match our changes.
// update settings to match our changes.
MinField = obj->getField(QString("ChannelMin")); MinField = obj->getField(QString("ChannelMin"));
NeutralField = obj->getField(QString("ChannelNeutral")); NeutralField = obj->getField(QString("ChannelNeutral"));
MaxField = obj->getField(QString("ChannelMax")); MaxField = obj->getField(QString("ChannelMax"));
//min,neutral,max values for the servos // min,neutral,max values for the servos
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) {
{ MinField->setValue(newSwashLvlConfiguration.Min[i], newSwashLvlConfiguration.ServoChannels[i]);
MinField->setValue(newSwashLvlConfiguration.Min[i],newSwashLvlConfiguration.ServoChannels[i]); NeutralField->setValue(newSwashLvlConfiguration.Neutral[i], newSwashLvlConfiguration.ServoChannels[i]);
NeutralField->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]); MaxField->setValue(newSwashLvlConfiguration.Max[i], newSwashLvlConfiguration.ServoChannels[i]);
MaxField->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]);
} }
obj->updated(); obj->updated();
saveObjectToSD(obj); saveObjectToSD(obj);
//restore Flight control of ActuatorCommand // restore Flight control of ActuatorCommand
enableSwashplateLevellingControl(false); enableSwashplateLevellingControl(false);
m_ccpm->SwashLvlStepInstruction->setText("<h2>Levelling Completed</h2><p>New settings have been saved to the SD card"); m_aircraft->SwashLvlStepInstruction->setText(
"<h2>Levelling Completed</h2><p>New settings have been saved to the SD card");
ShowDisclaimer(0); ShowDisclaimer(0);
//ShowDisclaimer(2); //ShowDisclaimer(2);
} }
int ConfigCcpmWidget::ShowDisclaimer(int messageID) int ConfigCcpmWidget::ShowDisclaimer(int messageID)
{ {
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setText("<font color=red><h1>Warning!!!</h2></font>"); msgBox.setText("<font color=red><h1>Warning!!!</h2></font>");
int ret; int ret;
switch (messageID) { switch (messageID) {
case 0: case 0:
// Basic disclaimer // Basic disclaimer
msgBox.setInformativeText("<h2>This code has many configurations.</h2><p>Please double check all settings before attempting flight!"); msgBox.setInformativeText(
msgBox.setStandardButtons(QMessageBox::Ok); "<h2>This code has many configurations.</h2><p>Please double check all settings before attempting flight!");
msgBox.setDefaultButton(QMessageBox::Ok); msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setIcon(QMessageBox::Information); msgBox.setDefaultButton(QMessageBox::Ok);
ret = msgBox.exec(); msgBox.setIcon(QMessageBox::Information);
return 0; ret = msgBox.exec();
break; return 0;
case 1: break;
// Not Tested disclaimer case 1:
msgBox.setInformativeText("<h2>The CCPM mixer code needs more testing!</h2><p><font color=red>Use it at your own risk!</font><p>Do you wish to continue?"); // Not Tested disclaimer
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); msgBox.setInformativeText(
msgBox.setDefaultButton(QMessageBox::Cancel); "<h2>The CCPM mixer code needs more testing!</h2><p><font color=red>Use it at your own risk!</font><p>Do you wish to continue?");
msgBox.setIcon(QMessageBox::Warning); msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
ret = msgBox.exec(); msgBox.setDefaultButton(QMessageBox::Cancel);
switch (ret) msgBox.setIcon(QMessageBox::Warning);
{ ret = msgBox.exec();
case QMessageBox::Cancel: return -1; switch (ret) {
case QMessageBox::Yes: return 0; case QMessageBox::Cancel:
} return -1;
break; case QMessageBox::Yes:
case 2:
// DO NOT use
msgBox.setInformativeText("<h2>The CCPM swashplate levelling code is NOT complete!</h2><p><font color=red>DO NOT use it for flight!</font>");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.setIcon(QMessageBox::Critical);
ret = msgBox.exec();
return 0; return 0;
break;
default:
// should never be reached
break;
} }
break;
case 2:
// DO NOT use
msgBox.setInformativeText(
"<h2>The CCPM swashplate levelling code is NOT complete!</h2><p><font color=red>DO NOT use it for flight!</font>");
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; return -1;
} }
@ -1378,33 +1375,30 @@ void ConfigCcpmWidget::enableSwashplateLevellingControl(bool state)
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand")));
UAVObject::Metadata mdata = obj->getMetadata(); UAVObject::Metadata mdata = obj->getMetadata();
if (state) if (state) {
{
SwashLvlaccInitialData = mdata; SwashLvlaccInitialData = mdata;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY); UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE); UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false); UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE); UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100; mdata.gcsTelemetryUpdatePeriod = 100;
SwashLvlConfigurationInProgress=1; SwashLvlConfigurationInProgress = 1;
m_ccpm->TabObject->setTabEnabled(0,0); m_aircraft->TabObject->setTabEnabled(0, 0);
m_ccpm->TabObject->setTabEnabled(2,0); m_aircraft->TabObject->setTabEnabled(2, 0);
m_ccpm->TabObject->setTabEnabled(3,0); m_aircraft->TabObject->setTabEnabled(3, 0);
m_ccpm->ccpmType->setEnabled(0); m_aircraft->ccpmType->setEnabled(0);
} } else {
else // Restore metadata
{ mdata = SwashLvlaccInitialData;
mdata = SwashLvlaccInitialData; // Restore metadata SwashLvlConfigurationInProgress = 0;
SwashLvlConfigurationInProgress=0;
m_ccpm->TabObject->setTabEnabled(0,1); m_aircraft->TabObject->setTabEnabled(0, 1);
m_ccpm->TabObject->setTabEnabled(2,1); m_aircraft->TabObject->setTabEnabled(2, 1);
m_ccpm->TabObject->setTabEnabled(3,1); m_aircraft->TabObject->setTabEnabled(3, 1);
m_ccpm->ccpmType->setEnabled(1); m_aircraft->ccpmType->setEnabled(1);
} }
obj->setMetadata(mdata); obj->setMetadata(mdata);
} }
/** /**
@ -1413,26 +1407,34 @@ void ConfigCcpmWidget::enableSwashplateLevellingControl(bool state)
*/ */
void ConfigCcpmWidget::setSwashplateLevel(int percent) void ConfigCcpmWidget::setSwashplateLevel(int percent)
{ {
if (percent<0)return;// -1; if (percent < 0) {
if (percent>100)return;// -1; return; // -1;
if (SwashLvlConfigurationInProgress!=1)return;// -1; }
int i; if (percent > 100) {
double value; return; // -1;
double level = ((double)percent /50.00) - 1.00; }
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(); ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData();
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) { for (int i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) {
if (level==0) double value;
if (level == 0) {
value = newSwashLvlConfiguration.Neutral[i]; value = newSwashLvlConfiguration.Neutral[i];
else if (level > 0) } else if (level > 0) {
value = (newSwashLvlConfiguration.Max[i] - newSwashLvlConfiguration.Neutral[i])*level + newSwashLvlConfiguration.Neutral[i]; value = (newSwashLvlConfiguration.Max[i] - newSwashLvlConfiguration.Neutral[i]) * level
else if (level < 0) + newSwashLvlConfiguration.Neutral[i];
value = (newSwashLvlConfiguration.Neutral[i] - newSwashLvlConfiguration.Min[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; actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value;
SwashLvlSpinBoxes[i]->setValue(value); SwashLvlSpinBoxes[i]->setValue(value);
} }
@ -1440,38 +1442,42 @@ void ConfigCcpmWidget::setSwashplateLevel(int percent)
actuatorCommand->setData(actuatorCommandData); actuatorCommand->setData(actuatorCommandData);
actuatorCommand->updated(); actuatorCommand->updated();
SwashLvlServoInterlock=0; SwashLvlServoInterlock = 0;
return;
} }
void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value) void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
{ {
Q_UNUSED(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(); 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(); value = SwashLvlSpinBoxes[i]->value();
switch (SwashLvlState) switch (SwashLvlState) {
{ case 1:
case 1: //Neutral levelling // Neutral levelling
newSwashLvlConfiguration.Neutral[i]=value; newSwashLvlConfiguration.Neutral[i] = value;
break; break;
case 2: //Max levelling case 2:
// Max levelling
newSwashLvlConfiguration.Max[i] = value; newSwashLvlConfiguration.Max[i] = value;
break; break;
case 3: //Min levelling case 3:
newSwashLvlConfiguration.Min[i]= value; // Min levelling
newSwashLvlConfiguration.Min[i] = value;
break; break;
case 4: //levelling verification case 4:
// levelling verification
break; break;
case 5: //levelling complete case 5:
// levelling complete
break; break;
default: default:
break; break;
@ -1480,7 +1486,6 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value;
} }
actuatorCommand->setData(actuatorCommandData); actuatorCommand->setData(actuatorCommandData);
actuatorCommand->updated(); actuatorCommand->updated();
@ -1496,63 +1501,45 @@ bool ConfigCcpmWidget::throwConfigError(QString airframeType)
bool error = false; bool error = false;
if((m_ccpm->ccpmServoWChannel->currentIndex()==0) && (m_ccpm->ccpmServoWChannel->isEnabled())) if ((m_aircraft->ccpmServoWChannel->currentIndex() == 0) && (m_aircraft->ccpmServoWChannel->isEnabled())) {
{ m_aircraft->ccpmServoWLabel->setText("<font color=red>" + m_aircraft->ccpmServoWLabel->text() + "</font>");
m_ccpm->ccpmServoWLabel->setText("<font color=red>" + m_ccpm->ccpmServoWLabel->text() + "</font>");
error = true; error = true;
} } else {
else m_aircraft->ccpmServoWLabel->setText(QTextEdit(m_aircraft->ccpmServoWLabel->text()).toPlainText());
{
m_ccpm->ccpmServoWLabel->setText(QTextEdit(m_ccpm->ccpmServoWLabel->text()).toPlainText());
} }
if((m_ccpm->ccpmServoXChannel->currentIndex()==0) && (m_ccpm->ccpmServoXChannel->isEnabled())) if ((m_aircraft->ccpmServoXChannel->currentIndex() == 0) && (m_aircraft->ccpmServoXChannel->isEnabled())) {
{ m_aircraft->ccpmServoXLabel->setText("<font color=red>" + m_aircraft->ccpmServoXLabel->text() + "</font>");
m_ccpm->ccpmServoXLabel->setText("<font color=red>" + m_ccpm->ccpmServoXLabel->text() + "</font>");
error = true; error = true;
} } else {
else m_aircraft->ccpmServoXLabel->setText(QTextEdit(m_aircraft->ccpmServoXLabel->text()).toPlainText());
{
m_ccpm->ccpmServoXLabel->setText(QTextEdit(m_ccpm->ccpmServoXLabel->text()).toPlainText());
} }
if((m_ccpm->ccpmServoYChannel->currentIndex()==0) && (m_ccpm->ccpmServoYChannel->isEnabled())) if ((m_aircraft->ccpmServoYChannel->currentIndex() == 0) && (m_aircraft->ccpmServoYChannel->isEnabled())) {
{ m_aircraft->ccpmServoYLabel->setText("<font color=red>" + m_aircraft->ccpmServoYLabel->text() + "</font>");
m_ccpm->ccpmServoYLabel->setText("<font color=red>" + m_ccpm->ccpmServoYLabel->text() + "</font>");
error = true; error = true;
} } else {
else m_aircraft->ccpmServoYLabel->setText(QTextEdit(m_aircraft->ccpmServoYLabel->text()).toPlainText());
{
m_ccpm->ccpmServoYLabel->setText(QTextEdit(m_ccpm->ccpmServoYLabel->text()).toPlainText());
} }
if((m_ccpm->ccpmServoZChannel->currentIndex()==0) && (m_ccpm->ccpmServoZChannel->isEnabled())) if ((m_aircraft->ccpmServoZChannel->currentIndex() == 0) && (m_aircraft->ccpmServoZChannel->isEnabled())) {
{ m_aircraft->ccpmServoZLabel->setText("<font color=red>" + m_aircraft->ccpmServoZLabel->text() + "</font>");
m_ccpm->ccpmServoZLabel->setText("<font color=red>" + m_ccpm->ccpmServoZLabel->text()+ "</font>");
error = true; error = true;
} } else {
else m_aircraft->ccpmServoZLabel->setText(QTextEdit(m_aircraft->ccpmServoZLabel->text()).toPlainText());
{
m_ccpm->ccpmServoZLabel->setText(QTextEdit(m_ccpm->ccpmServoZLabel->text()).toPlainText());
} }
if((m_ccpm->ccpmEngineChannel->currentIndex()==0) && (m_ccpm->ccpmEngineChannel->isEnabled())) if ((m_aircraft->ccpmEngineChannel->currentIndex() == 0) && (m_aircraft->ccpmEngineChannel->isEnabled())) {
{ m_aircraft->ccpmEngineLabel->setText("<font color=red>" + m_aircraft->ccpmEngineLabel->text() + "</font>");
m_ccpm->ccpmEngineLabel->setText("<font color=red>" + m_ccpm->ccpmEngineLabel->text() + "</font>"); } else {
} m_aircraft->ccpmEngineLabel->setText(QTextEdit(m_aircraft->ccpmEngineLabel->text()).toPlainText());
else
{
m_ccpm->ccpmEngineLabel->setText(QTextEdit(m_ccpm->ccpmEngineLabel->text()).toPlainText());
} }
if((m_ccpm->ccpmTailChannel->currentIndex()==0) && (m_ccpm->ccpmTailChannel->isEnabled())) if ((m_aircraft->ccpmTailChannel->currentIndex() == 0) && (m_aircraft->ccpmTailChannel->isEnabled())) {
{ m_aircraft->ccpmTailLabel->setText("<font color=red>" + m_aircraft->ccpmTailLabel->text() + "</font>");
m_ccpm->ccpmTailLabel->setText("<font color=red>" + m_ccpm->ccpmTailLabel->text() + "</font>");
error = true; error = true;
} } else {
else m_aircraft->ccpmTailLabel->setText(QTextEdit(m_aircraft->ccpmTailLabel->text()).toPlainText());
{
m_ccpm->ccpmTailLabel->setText(QTextEdit(m_ccpm->ccpmTailLabel->text()).toPlainText());
} }

9
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -28,7 +28,7 @@
#define CONFIGccpmWIDGET_H #define CONFIGccpmWIDGET_H
#include "cfg_vehicletypes/vehicleconfig.h" #include "cfg_vehicletypes/vehicleconfig.h"
#include "ui_ccpm.h" #include "ui_airframe_ccpm.h"
#include "../uavobjectwidgetutils/configtaskwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
@ -52,7 +52,6 @@ typedef struct {
int Min[CCPM_MAX_SWASH_SERVOS]; int Min[CCPM_MAX_SWASH_SERVOS];
} SwashplateServoSettingsStruct; } SwashplateServoSettingsStruct;
class ConfigCcpmWidget: public VehicleConfig class ConfigCcpmWidget: public VehicleConfig
{ {
Q_OBJECT Q_OBJECT
@ -64,7 +63,9 @@ public:
friend class ConfigVehicleTypeWidget; friend class ConfigVehicleTypeWidget;
private: private:
Ui_ccpmWidget *m_ccpm; //Ui_ccpmWidget *m_ccpm;
Ui_CcpmConfigWidget *m_aircraft;
QGraphicsSvgItem *SwashplateImg; QGraphicsSvgItem *SwashplateImg;
QGraphicsSvgItem *CurveImg; QGraphicsSvgItem *CurveImg;
QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS]; QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS];
@ -90,7 +91,7 @@ private:
bool updatingFromHardware; bool updatingFromHardware;
bool updatingToHardware; bool updatingToHardware;
virtual void ResetActuators(GUIConfigDataUnion* configData); virtual void ResetActuators(GUIConfigDataUnion *configData);
static QStringList getChannelDescriptions(); static QStringList getChannelDescriptions();
QString updateConfigObjects(); QString updateConfigObjects();

293
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp Normal file
View File

@ -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 <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QtGui/QComboBox>
#include <QBrush>
#include <math.h>
#include <QMessageBox>
//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<UAVDataObject *>(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<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
// Update the table:
for (int channel = 0; channel < (int) (VehicleConfig::CHANNEL_NUMELEM); channel++) {
QComboBox* q = (QComboBox*) m_aircraft->customMixerTable->cellWidget(0, channel);
if (q->currentText() == "Disabled") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
} else if (q->currentText() == "Motor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
} else if (q->currentText() == "Servo") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
} else if (q->currentText() == "CameraRoll") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL);
} else if (q->currentText() == "CameraPitch") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAPITCH);
} else if (q->currentText() == "CameraYaw") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
} else if (q->currentText() == "Accessory0") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
} else if (q->currentText() == "Accessory1") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
} else if (q->currentText() == "Accessory2") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
} else if (q->currentText() == "Accessory3") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
} else if (q->currentText() == "Accessory4") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
} else if (q->currentText() == "Accessory5") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
}
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
}
return "Custom";
}
/**
Helper function to refresh the UI widget values
*/
void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
{
Q_ASSERT(m_aircraft);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->customThrottle1Curve->initCurve(&curveValues);
}
else {
// no, init a straight curve
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0);
}
if (MixerSettings *mxr = qobject_cast<MixerSettings *>(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<QSpinBox*>(editor);
spinBox->setValue(value);
}
void SpinBoxDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const
{
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->interpretText();
int value = spinBox->value();
model->setData(index, value, Qt::EditRole);
}
void SpinBoxDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option,
const QModelIndex &index) const
{
editor->setGeometry(option.rect);
}

91
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.h Normal file
View File

@ -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 <QtGui/QWidget>
#include <QList>
#include <QItemDelegate>
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

83
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -41,20 +41,24 @@
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
/** ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
Constructor VehicleConfig(parent), m_aircraft(new Ui_FixedWingConfigWidget())
*/
ConfigFixedWingWidget::ConfigFixedWingWidget(Ui_FixedWingConfigWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
{ {
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() ConfigFixedWingWidget::~ConfigFixedWingWidget()
{ {
// Do nothing delete m_aircraft;
} }
/** /**
@ -65,7 +69,6 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
Q_ASSERT(m_aircraft); Q_ASSERT(m_aircraft);
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") { if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
// Setup the UI
//setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing")); //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
m_aircraft->fwRudder1ChannelBox->setEnabled(true); m_aircraft->fwRudder1ChannelBox->setEnabled(true);
@ -210,6 +213,30 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
{ {
Q_ASSERT(m_aircraft); Q_ASSERT(m_aircraft);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->fixedWingThrottle->initCurve(&curveValues);
}
else {
// no, init a straight curve
m_aircraft->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0);
}
GUIConfigDataUnion config = GetConfigData(); GUIConfigDataUnion config = GetConfigData();
fixedGUISettingsStruct fixed = config.fixedwing; fixedGUISettingsStruct fixed = config.fixedwing;
@ -222,26 +249,32 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1); setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2); setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
UAVDataObject* mixer= dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); //UAVDataObject* mixer= dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer); //Q_ASSERT(mixer);
int channel; int channel;
if (frameType == "FixedWingElevon") { if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting // If the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1) // Find the channel number for Elevon1 (FixedWingRoll1)
channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1; channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check. if (channel > -1) {
m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)*100); // If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100); m_aircraft->elevonSlider1->setValue(
} getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL) * 100);
} m_aircraft->elevonSlider2->setValue(
if (frameType == "FixedWingVtail") { getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
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);
} }
} }
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);
}
}
} }

4
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -46,7 +46,7 @@ class ConfigFixedWingWidget: public VehicleConfig
Q_OBJECT Q_OBJECT
public: public:
ConfigFixedWingWidget(Ui_FixedWingConfigWidget *aircraft = 0, QWidget *parent = 0); ConfigFixedWingWidget(QWidget *parent = 0);
~ConfigFixedWingWidget(); ~ConfigFixedWingWidget();
friend class ConfigVehicleTypeWidget; friend class ConfigVehicleTypeWidget;
@ -67,10 +67,8 @@ private slots:
virtual QString updateConfigObjectsFromWidgets(); virtual QString updateConfigObjectsFromWidgets();
virtual bool throwConfigError(QString airframeType); virtual bool throwConfigError(QString airframeType);
protected: protected:
}; };
#endif // CONFIGFIXEDWINGWIDGET_H #endif // CONFIGFIXEDWINGWIDGET_H

151
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -41,37 +41,51 @@
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
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() ConfigGroundVehicleWidget::~ConfigGroundVehicleWidget()
{ {
// Do nothing delete m_aircraft;
} }
/** /**
Virtual function to setup the UI Virtual function to setup the UI
TODO move to constructor or make private
*/ */
void ConfigGroundVehicleWidget::setupUI(QString frameType) void ConfigGroundVehicleWidget::setupUI(QString frameType)
{ {
m_aircraft->differentialSteeringMixBox->setHidden(true); m_aircraft->differentialSteeringMixBox->setHidden(true);
//STILL NEEDS WORK //STILL NEEDS WORK
// Setup the UI // Setup the UI
//setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground")); //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground"));
m_aircraft->gvEngineChannelBox->setEnabled(false); m_aircraft->gvEngineChannelBox->setEnabled(false);
m_aircraft->gvEngineLabel->setEnabled(false); m_aircraft->gvEngineLabel->setEnabled(false);
m_aircraft->gvAileron1ChannelBox->setEnabled(false); m_aircraft->gvAileron1ChannelBox->setEnabled(false);
m_aircraft->gvAileron1Label->setEnabled(false); m_aircraft->gvAileron1Label->setEnabled(false);
m_aircraft->gvAileron2ChannelBox->setEnabled(false); m_aircraft->gvAileron2ChannelBox->setEnabled(false);
m_aircraft->gvAileron2Label->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)")); setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Differential (tank)"));
m_aircraft->gvMotor1ChannelBox->setEnabled(true); m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor1Label->setEnabled(true); m_aircraft->gvMotor1Label->setEnabled(true);
@ -96,7 +110,8 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Right throttle curve"); 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")); setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Motorcycle"));
m_aircraft->gvMotor1ChannelBox->setEnabled(false); m_aircraft->gvMotor1ChannelBox->setEnabled(false);
m_aircraft->gvMotor1Label->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->gvThrottleCurve1GroupBox->setTitle("Front throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve"); m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
} }
else {//Car else {
// Car
setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Turnable (car)")); setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Turnable (car)"));
m_aircraft->gvMotor1ChannelBox->setEnabled(true); m_aircraft->gvMotor1ChannelBox->setEnabled(true);
@ -159,28 +175,28 @@ QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
QStringList channelDesc; QStringList channelDesc;
// init a channel_numelem list of channel desc defaults // 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("-")); channelDesc.append(QString("-"));
} }
// get the gui config data // get the gui config data
GUIConfigDataUnion configData = GetConfigData(); GUIConfigDataUnion configData = GetConfigData();
if (configData.ground.GroundVehicleSteering1 > 0) if (configData.ground.GroundVehicleSteering1 > 0) {
channelDesc[configData.ground.GroundVehicleSteering1-1] = QString("GroundSteering1"); channelDesc[configData.ground.GroundVehicleSteering1 - 1] = QString("GroundSteering1");
if (configData.ground.GroundVehicleSteering2 > 0) }
channelDesc[configData.ground.GroundVehicleSteering2-1] = QString("GroundSteering2"); if (configData.ground.GroundVehicleSteering2 > 0) {
if (configData.ground.GroundVehicleThrottle1 > 0) channelDesc[configData.ground.GroundVehicleSteering2 - 1] = QString("GroundSteering2");
channelDesc[configData.ground.GroundVehicleThrottle1-1] = QString("GroundThrottle1"); }
if (configData.ground.GroundVehicleThrottle2 > 0) if (configData.ground.GroundVehicleThrottle1 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle2-1] = QString("GroundThrottle2"); channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundThrottle1");
}
if (configData.ground.GroundVehicleThrottle2 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundThrottle2");
}
return channelDesc; return channelDesc;
} }
/** /**
Virtual function to update the UI widget objects Virtual function to update the UI widget objects
*/ */
@ -195,33 +211,68 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
setMixerValue(mixer, "FeedForward", 0.0); setMixerValue(mixer, "FeedForward", 0.0);
// set the throttle curves // set the throttle curves
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve() ); setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve() ); setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve());
//All airframe types must start with "GroundVehicle" // All airframe types must start with "GroundVehicle"
if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)" ) { if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)") {
airframeType = "GroundVehicleCar"; airframeType = "GroundVehicleCar";
setupGroundVehicleCar(airframeType); setupGroundVehicleCar(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") { } else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") {
airframeType = "GroundVehicleDifferential"; airframeType = "GroundVehicleDifferential";
setupGroundVehicleDifferential(airframeType); setupGroundVehicleDifferential(airframeType);
} else { // "Motorcycle" } else { // "Motorcycle"
airframeType = "GroundVehicleMotorcycle"; airframeType = "GroundVehicleMotorcycle";
setupGroundVehicleMotorcycle(airframeType); setupGroundVehicleMotorcycle(airframeType);
} }
return airframeType; return airframeType;
} }
/** /**
Virtual function to refresh the UI widget values Virtual function to refresh the UI widget values
*/ */
void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType) void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
{ {
UAVDataObject* obj; qDebug() << "ConfigGroundVehicleWidget::refreshWidgetsValues - frame type:" << frameType;
// UAVObjectField *field;
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->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(); GUIConfigDataUnion config = GetConfigData();
@ -237,16 +288,18 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
// If the vehicle type is "differential", restore the slider setting // If the vehicle type is "differential", restore the slider setting
// Find the channel number for Motor1 // Find the channel number for Motor1
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); //obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); //Q_ASSERT(obj);
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1; 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. 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->differentialSteeringSlider1->setValue(
m_aircraft->differentialSteeringSlider2->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_PITCH)*100); 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 //CURRENTLY BROKEN UNTIL WE DECIDE HOW MOTORCYCLE SHOULD BEHAVE
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); // obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj); // Q_ASSERT(obj);
@ -311,8 +364,6 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
return true; return true;
} }
/** /**
Setup differentially steered ground vehicle. Setup differentially steered ground vehicle.
@ -355,11 +406,8 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
m_aircraft->gvStatusLabel->setText("Mixer generated"); m_aircraft->gvStatusLabel->setText("Mixer generated");
return true; return true;
} }
/** /**
Setup steerable ground vehicle. Setup steerable ground vehicle.
@ -505,4 +553,3 @@ bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
} }
return error; return error;
} }

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

@ -46,7 +46,7 @@ class ConfigGroundVehicleWidget: public VehicleConfig
Q_OBJECT Q_OBJECT
public: public:
ConfigGroundVehicleWidget(Ui_GroundConfigWidget *aircraft = 0, QWidget *parent = 0); ConfigGroundVehicleWidget(QWidget *parent = 0);
~ConfigGroundVehicleWidget(); ~ConfigGroundVehicleWidget();
friend class ConfigVehicleTypeWidget; friend class ConfigVehicleTypeWidget;
@ -71,5 +71,4 @@ protected:
}; };
#endif // CONFIGGROUNDVEHICLEWIDGET_H #endif // CONFIGGROUNDVEHICLEWIDGET_H

297
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -43,14 +43,50 @@
const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChannelBox"); 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() ConfigMultiRotorWidget::~ConfigMultiRotorWidget()
{ {
// Do nothing delete m_aircraft;
} }
void ConfigMultiRotorWidget::setupUI(QString frameType) void ConfigMultiRotorWidget::setupUI(QString frameType)
@ -59,11 +95,12 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
Q_ASSERT(uiowner); Q_ASSERT(uiowner);
Q_ASSERT(quad); Q_ASSERT(quad);
qDebug() << "ConfigMultiRotorWidget::setupUI - begin";
qDebug() << "ConfigMultiRotorWidget::setupUI - frame type" << frameType; 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")); //setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor"));
// disable triyaw channel
m_aircraft->triYawChannelBox->setEnabled(false); m_aircraft->triYawChannelBox->setEnabled(false);
// disable all motor channel boxes // disable all motor channel boxes
@ -77,9 +114,9 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
} }
if (frameType == "Tri" || frameType == "Tricopter Y") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrRollMixLevel->setValue(100);
@ -89,9 +126,9 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->triYawChannelBox->setEnabled(true); m_aircraft->triYawChannelBox->setEnabled(true);
} }
else if (frameType == "QuadX" || frameType == "Quad X") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
// init mixer levels // init mixer levels
@ -100,9 +137,9 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(50); setYawMixLevel(50);
} }
else if (frameType == "QuadP" || frameType == "Quad +") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrRollMixLevel->setValue(100);
@ -110,9 +147,9 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(50); setYawMixLevel(50);
} }
else if (frameType == "Hexa" || frameType == "Hexacopter") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(50); m_aircraft->mrRollMixLevel->setValue(50);
@ -120,31 +157,31 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(33); setYawMixLevel(33);
} }
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(33); m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50); m_aircraft->mrPitchMixLevel->setValue(50);
setYawMixLevel(33); setYawMixLevel(33);
} }
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50); m_aircraft->mrPitchMixLevel->setValue(50);
setYawMixLevel(66); setYawMixLevel(66);
} }
else if (frameType == "Octo" || frameType == "Octocopter") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(33); m_aircraft->mrRollMixLevel->setValue(33);
@ -152,31 +189,30 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setYawMixLevel(25); setYawMixLevel(25);
} }
else if (frameType == "OctoV" || frameType == "Octocopter V") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(25); m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25); m_aircraft->mrPitchMixLevel->setValue(25);
setYawMixLevel(25); setYawMixLevel(25);
} }
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100); m_aircraft->mrPitchMixLevel->setValue(100);
setYawMixLevel(50); setYawMixLevel(50);
} }
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") { 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); enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(50); m_aircraft->mrRollMixLevel->setValue(50);
@ -186,15 +222,14 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
// Draw the appropriate airframe // Draw the appropriate airframe
drawAirframe(frameType); drawAirframe(frameType);
qDebug() << "ConfigMultiRotorWidget::setupUI - end";
} }
void ConfigMultiRotorWidget::drawAirframe(QString frameType) 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 (frameType == "Tri" || frameType == "Tricopter Y") {
if (invertMotors > 0) { if (invertMotors > 0) {
@ -203,13 +238,11 @@ void ConfigMultiRotorWidget::drawAirframe(QString frameType)
quad->setElementId("tri_reverse"); quad->setElementId("tri_reverse");
} }
} else if (frameType == "QuadX" || frameType == "Quad X") { } else if (frameType == "QuadX" || frameType == "Quad X") {
qDebug() << "ConfigMultiRotorWidget::drawAirframe - 1";
if (invertMotors > 0) { if (invertMotors > 0) {
quad->setElementId("quad-x"); quad->setElementId("quad-x");
} else { } else {
quad->setElementId("quad-x_reverse"); quad->setElementId("quad-x_reverse");
} }
qDebug() << "ConfigMultiRotorWidget::drawAirframe - 2";
} else if (frameType == "QuadP" || frameType == "Quad +") { } else if (frameType == "QuadP" || frameType == "Quad +") {
if (invertMotors > 0) { if (invertMotors > 0) {
quad->setElementId("quad-plus"); quad->setElementId("quad-plus");
@ -259,7 +292,8 @@ void ConfigMultiRotorWidget::drawAirframe(QString frameType)
quad->setElementId("octo-coax-X_reverse"); 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) void ConfigMultiRotorWidget::ResetActuators(GUIConfigDataUnion* configData)
@ -316,12 +350,12 @@ void ConfigMultiRotorWidget::setYawMixLevel(int value)
if(value<0) if(value<0)
{ {
m_aircraft->mrYawMixLevel->setValue((-1)*value); m_aircraft->mrYawMixLevel->setValue((-1)*value);
m_aircraft->MultirotorRevMixercheckBox->setChecked(true); m_aircraft->MultirotorRevMixerCheckBox->setChecked(true);
} }
else else
{ {
m_aircraft->mrYawMixLevel->setValue(value); m_aircraft->mrYawMixLevel->setValue(value);
m_aircraft->MultirotorRevMixercheckBox->setChecked(false); m_aircraft->MultirotorRevMixerCheckBox->setChecked(false);
} }
} }
@ -337,11 +371,11 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
QString airframeType; QString airframeType;
QList<QString> motorList; QList<QString> motorList;
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj); Q_ASSERT(mixer);
// Curve is also common to all quads: // 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 +") { if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP"; airframeType = "QuadP";
@ -368,17 +402,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
// Motor 1 to 6, Y6 Layout: // Motor 1 to 6, Y6 Layout:
// pitch roll yaw // pitch roll yaw
double mixer [8][3] = { double mixerMatrix[8][3] = {
{ 0.5, 1, -1}, { 0.5, 1, -1 },
{ 0.5, 1, 1}, { 0.5, 1, 1 },
{ 0.5, -1, -1}, { 0.5, -1, -1 },
{ 0.5, -1, 1}, { 0.5, -1, 1 },
{ -1, 0, -1}, { -1, 0, -1 },
{ -1, 0, 1}, { -1, 0, 1 },
{ 0, 0, 0}, { 0, 0, 0 },
{ 0, 0, 0} { 0, 0, 0 }
}; };
setupMultiRotorMixer(mixer); setupMultiRotorMixer(mixerMatrix);
m_aircraft->mrStatusLabel->setText("Configuration OK"); m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") { } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
@ -394,17 +428,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setupMotors(motorList); setupMotors(motorList);
// Motor 1 to 8: // Motor 1 to 8:
// pitch roll yaw // pitch roll yaw
double mixer [8][3] = { double mixerMatrix[8][3] = {
{ 1, 0, -1}, { 1, 0, -1 },
{ 1, -1, 1}, { 1, -1, 1 },
{ 0, -1, -1}, { 0, -1, -1 },
{ -1, -1, 1}, { -1, -1, 1 },
{ -1, 0, -1}, { -1, 0, -1 },
{ -1, 1, 1}, { -1, 1, 1 },
{ 0, 1, -1}, { 0, 1, -1 },
{ 1, 1, 1} { 1, 1, 1 }
}; };
setupMultiRotorMixer(mixer); setupMultiRotorMixer(mixerMatrix);
m_aircraft->mrStatusLabel->setText("Configuration OK"); m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") { } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
@ -420,17 +454,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
// Motor 1 to 8: // Motor 1 to 8:
// IMPORTANT: Assumes evenly spaced engines // IMPORTANT: Assumes evenly spaced engines
// pitch roll yaw // pitch roll yaw
double mixer [8][3] = { double mixerMatrix[8][3] = {
{ 0.33, -1, -1}, { 0.33, -1, -1 },
{ 1 , -1, 1}, { 1 , -1, 1 },
{ -1 , -1, -1}, { -1 , -1, -1 },
{ -0.33, -1, 1}, { -0.33, -1, 1 },
{ -0.33, 1, -1}, { -0.33, 1, -1 },
{ -1 , 1, 1}, { -1 , 1, 1 },
{ 1 , 1, -1}, { 1 , 1, -1 },
{ 0.33, 1, 1} { 0.33, 1, 1 }
}; };
setupMultiRotorMixer(mixer); setupMultiRotorMixer(mixerMatrix);
m_aircraft->mrStatusLabel->setText("Configuration OK"); m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") { } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
@ -445,17 +479,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setupMotors(motorList); setupMotors(motorList);
// Motor 1 to 8: // Motor 1 to 8:
// pitch roll yaw // pitch roll yaw
double mixer [8][3] = { double mixerMatrix[8][3] = {
{ 1, 0, -1}, { 1, 0, -1 },
{ 1, 0, 1}, { 1, 0, 1 },
{ 0, -1, -1}, { 0, -1, -1 },
{ 0, -1, 1}, { 0, -1, 1 },
{ -1, 0, -1}, { -1, 0, -1 },
{ -1, 0, 1}, { -1, 0, 1 },
{ 0, 1, -1}, { 0, 1, -1 },
{ 0, 1, 1} { 0, 1, 1 }
}; };
setupMultiRotorMixer(mixer); setupMultiRotorMixer(mixerMatrix);
m_aircraft->mrStatusLabel->setText("Configuration OK"); m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") { } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
@ -470,17 +504,17 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setupMotors(motorList); setupMotors(motorList);
// Motor 1 to 8: // Motor 1 to 8:
// pitch roll yaw // pitch roll yaw
double mixer [8][3] = { 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 },
{ -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"); m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") { } else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
@ -505,24 +539,24 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
// Motor 1 to 6, Y6 Layout: // Motor 1 to 6, Y6 Layout:
// pitch roll yaw // pitch roll yaw
double mixer [8][3] = { double mixerMatrix[8][3] = {
{ 0.5, 1, 0}, { 0.5, 1, 0 },
{ 0.5, -1, 0}, { 0.5, -1, 0 },
{ -1, 0, 0}, { -1, 0, 0 },
{ 0, 0, 0}, { 0, 0, 0 },
{ 0, 0, 0}, { 0, 0, 0 },
{ 0, 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; int channel = m_aircraft->triYawChannelBox->currentIndex() - 1;
if (channel > -1){ if (channel > -1) {
setMixerType(mixerObj, channel, VehicleConfig::MIXERTYPE_SERVO); setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixerObj, channel, VehicleConfig::MIXERVECTOR_YAW, 127); setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
} }
m_aircraft->mrStatusLabel->setText(tr("Configuration OK")); m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
@ -532,21 +566,45 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
return airframeType; return airframeType;
} }
void ConfigMultiRotorWidget::reverseMultirotorMotor(){
QString frameType = m_aircraft->multirotorFrameType->currentText();
drawAirframe(frameType);
}
/** /**
Helper function to refresh the UI widget values Helper function to refresh the UI widget values
*/ */
void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType) void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
{ {
Q_ASSERT(m_aircraft);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->multiThrottleCurve->initCurve(&curveValues);
}
else {
// no, init a straight curve
m_aircraft->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
}
int channel; int channel;
double value; double value;
GUIConfigDataUnion config = GetConfigData(); GUIConfigDataUnion config = GetConfigData();
multiGUISettingsStruct multi = config.multi; multiGUISettingsStruct multi = config.multi;
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); // UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer); // Q_ASSERT(mixer);
if (frameType == "QuadP") if (frameType == "QuadP")
{ {
@ -1022,7 +1080,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
// and enable only the relevant channels: // and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100; double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->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; double yFactor =invertMotors * (double)m_aircraft->mrYawMixLevel->value()/100;
for (int i=0 ; i<8; i++) { for (int i=0 ; i<8; i++) {
if(mmList.at(i)->isEnabled()) if(mmList.at(i)->isEnabled())
@ -1070,4 +1128,23 @@ bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
return error; 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);
}

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

@ -46,7 +46,7 @@ class ConfigMultiRotorWidget: public VehicleConfig
Q_OBJECT Q_OBJECT
public: public:
ConfigMultiRotorWidget(Ui_MultiRotorConfigWidget *aircraft = 0, QWidget *parent = 0); ConfigMultiRotorWidget(QWidget *parent = 0);
~ConfigMultiRotorWidget(); ~ConfigMultiRotorWidget();
friend class ConfigVehicleTypeWidget; friend class ConfigVehicleTypeWidget;
@ -66,7 +66,7 @@ private:
float invertMotors; float invertMotors;
virtual void ResetActuators(GUIConfigDataUnion* configData); virtual void ResetActuators(GUIConfigDataUnion *configData);
static QStringList getChannelDescriptions(); static QStringList getChannelDescriptions();
static const QString CHANNELBOXNAME; static const QString CHANNELBOXNAME;
void setYawMixLevel(int); void setYawMixLevel(int);
@ -79,13 +79,15 @@ private slots:
virtual QString updateConfigObjectsFromWidgets(); virtual QString updateConfigObjectsFromWidgets();
virtual bool throwConfigError(int numMotors); virtual bool throwConfigError(int numMotors);
void reverseMultirotorMotor();
protected: protected:
void showEvent(QShowEvent *event);
void resizeEvent(QResizeEvent *event);
signals: signals:
void configurationChanged(); void configurationChanged();
}; };
#endif // CONFIGMULTIROTORWIDGET_H #endif // CONFIGMULTIROTORWIDGET_H

95
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -104,7 +104,22 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
guiConfig->setValue(configData.UAVObject[i], i); 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 Sets the current index on supplied combobox to index
if it is within bounds 0 <= index < combobox.count() 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); Q_ASSERT(box);
if (index >= 0 && index < box->count()) if (index >= 0 && index < box->count()) {
box->setCurrentIndex(index); box->setCurrentIndex(index);
}
} }
/** /**
Helper function: Helper function:
enables/disables the named comboboxes within supplied uiowner 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++) { for (int i = 1; i <= boxCount; i++) {
QComboBox* box = qFindChild<QComboBox*>(owner, QString("%0%1").arg(boxName).arg(i)); QComboBox* box = qFindChild<QComboBox*>(owner, QString("%0%1").arg(boxName).arg(i));
if (box) if (box) {
box->setEnabled(enable); box->setEnabled(enable);
}
} }
} }
QString VehicleConfig::getMixerType(UAVDataObject* mixer, int channel)
QString VehicleConfig::getMixerType(UAVDataObject *mixer, int channel)
{ {
Q_ASSERT(mixer); Q_ASSERT(mixer);
@ -246,28 +264,22 @@ void VehicleConfig::setMixerValue(UAVDataObject* mixer, QString elementName, dou
} }
} }
void VehicleConfig::setThrottleCurve(UAVDataObject *mixer, MixerThrottleCurveElem curveType, QList<double> curve)
void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
{ {
QPointer<UAVObjectField> field; QPointer<UAVObjectField> field;
switch (curveType) switch (curveType) {
{ case MIXER_THROTTLECURVE1:
case MIXER_THROTTLECURVE1: field = mixer->getField("ThrottleCurve1");
{ break;
field = mixer->getField("ThrottleCurve1"); case MIXER_THROTTLECURVE2:
break; field = mixer->getField("ThrottleCurve2");
} break;
case MIXER_THROTTLECURVE2:
{
field = mixer->getField("ThrottleCurve2");
break;
}
} }
if (field && field->getNumElements() == curve.length()) { if (field && field->getNumElements() == curve.length()) {
for (int i=0;i<curve.length();i++) { for (int i = 0; i < curve.length(); i++) {
field->setValue(curve.at(i),i); field->setValue(curve.at(i), i);
} }
} }
} }
@ -279,23 +291,18 @@ void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveEle
QPointer<UAVObjectField> field; QPointer<UAVObjectField> field;
switch (curveType) switch (curveType) {
{ case MIXER_THROTTLECURVE1:
case MIXER_THROTTLECURVE1: field = mixer->getField("ThrottleCurve1");
{ break;
field = mixer->getField("ThrottleCurve1"); case MIXER_THROTTLECURVE2:
break; field = mixer->getField("ThrottleCurve2");
} break;
case MIXER_THROTTLECURVE2:
{
field = mixer->getField("ThrottleCurve2");
break;
}
} }
if (field) { if (field) {
curve->clear(); 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()); curve->append(field->getValue(i).toDouble());
} }
} }
@ -306,7 +313,7 @@ bool VehicleConfig::isValidThrottleCurve(QList<double>* curve)
Q_ASSERT(curve); Q_ASSERT(curve);
if (curve) { if (curve) {
for (int i=0; i < curve->count(); i++) { for (int i = 0; i < curve->count(); i++) {
if (curve->at(i) != 0) if (curve->at(i) != 0)
return true; return true;
} }
@ -314,21 +321,21 @@ bool VehicleConfig::isValidThrottleCurve(QList<double>* curve)
return false; return false;
} }
double VehicleConfig::getCurveMin(QList<double>* curve) double VehicleConfig::getCurveMin(QList<double> *curve)
{ {
double min = 0; double min = 0;
for (int i=0; i<curve->count(); i++) for (int i = 0; i < curve->count(); i++) {
min = std::min(min, curve->at(i)); min = std::min(min, curve->at(i));
}
return min; return min;
} }
double VehicleConfig::getCurveMax(QList<double>* curve) double VehicleConfig::getCurveMax(QList<double> *curve)
{ {
double max = 0; double max = 0;
for (int i=0; i<curve->count(); i++) for (int i = 0; i < curve->count(); i++) {
max = std::max(max, curve->at(i)); max = std::max(max, curve->at(i));
}
return max; return max;
} }
/** /**
@ -336,8 +343,8 @@ double VehicleConfig::getCurveMax(QList<double>* curve)
*/ */
void VehicleConfig::resetField(UAVObjectField * field) void VehicleConfig::resetField(UAVObjectField * field)
{ {
for (unsigned int i=0;i<field->getNumElements();i++) { for (unsigned int i = 0; i < field->getNumElements(); i++) {
field->setValue(0,i); field->setValue(0, i);
} }
} }

44
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -140,25 +140,33 @@ public:
MIXERVECTOR_YAW = 4 MIXERVECTOR_YAW = 4
} MixerVectorElem; } MixerVectorElem;
// TODO remove 1st capital
static GUIConfigDataUnion GetConfigData(); static GUIConfigDataUnion GetConfigData();
static void SetConfigData(GUIConfigDataUnion configData); static void SetConfigData(GUIConfigDataUnion configData);
static void resetField(UAVObjectField * field);
static void setComboCurrentIndex(QComboBox* box, int index); static void resetField(UAVObjectField *field);
static void enableComboBoxes(QWidget* owner, QString boxName, int boxCount, bool enable); static void setComboCurrentIndex(QComboBox *box, int index);
double getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName); static void enableComboBoxes(QWidget *owner, QString boxName, int boxCount, bool enable);
void setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value);
void resetMixerVector(UAVDataObject* mixer, int channel); virtual void setupUI(QString airframeType);
void resetMotorAndServoMixers(UAVDataObject* mixer); virtual QString updateConfigObjectsFromWidgets();
QString getMixerType(UAVDataObject* mixer, int channel); virtual void refreshWidgetsValues(QString frameType);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName); virtual void ResetActuators(GUIConfigDataUnion *configData);
void setMixerValue(UAVDataObject* mixer, QString elementName, double value);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve); double getMixerVectorValue(UAVDataObject *mixer, int channel, MixerVectorElem elementName);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve); void setMixerVectorValue(UAVDataObject *mixer, int channel, MixerVectorElem elementName, double value);
bool isValidThrottleCurve(QList<double>* curve); void resetMixerVector(UAVDataObject *mixer, int channel);
double getCurveMin(QList<double>* curve); void resetMotorAndServoMixers(UAVDataObject *mixer);
double getCurveMax(QList<double>* curve); QString getMixerType(UAVDataObject *mixer, int channel);
virtual void ResetActuators(GUIConfigDataUnion* configData); 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<double> curve);
void getThrottleCurve(UAVDataObject *mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
bool isValidThrottleCurve(QList<double> *curve);
double getCurveMin(QList<double> *curve);
double getCurveMax(QList<double> *curve);
QStringList channelNames; QStringList channelNames;
QStringList mixerTypes; QStringList mixerTypes;
@ -168,7 +176,7 @@ public:
static const quint32 CHANNEL_NUMELEM = ActuatorCommand::CHANNEL_NUMELEM;; static const quint32 CHANNEL_NUMELEM = ActuatorCommand::CHANNEL_NUMELEM;;
private: private:
static UAVObjectManager* getUAVObjectManager(); static UAVObjectManager *getUAVObjectManager();
private slots: private slots:

3
ground/openpilotgcs/src/plugins/config/config.pro
View File

@ -32,6 +32,7 @@ HEADERS += configplugin.h \
cfg_vehicletypes/configmultirotorwidget.h \ cfg_vehicletypes/configmultirotorwidget.h \
cfg_vehicletypes/configfixedwingwidget.h \ cfg_vehicletypes/configfixedwingwidget.h \
cfg_vehicletypes/configgroundvehiclewidget.h \ cfg_vehicletypes/configgroundvehiclewidget.h \
cfg_vehicletypes/configcustomwidget.h \
configrevowidget.h \ configrevowidget.h \
config_global.h \ config_global.h \
mixercurve.h \ mixercurve.h \
@ -65,6 +66,7 @@ SOURCES += configplugin.cpp \
cfg_vehicletypes/configmultirotorwidget.cpp \ cfg_vehicletypes/configmultirotorwidget.cpp \
cfg_vehicletypes/configfixedwingwidget.cpp \ cfg_vehicletypes/configfixedwingwidget.cpp \
cfg_vehicletypes/configgroundvehiclewidget.cpp \ cfg_vehicletypes/configgroundvehiclewidget.cpp \
cfg_vehicletypes/configcustomwidget.cpp \
outputchannelform.cpp \ outputchannelform.cpp \
mixercurve.cpp \ mixercurve.cpp \
dblspindelegate.cpp \ dblspindelegate.cpp \
@ -77,7 +79,6 @@ FORMS += airframe.ui \
airframe_multirotor.ui \ airframe_multirotor.ui \
airframe_custom.ui \ airframe_custom.ui \
cc_hw_settings.ui \ cc_hw_settings.ui \
ccpm.ui \
stabilization.ui \ stabilization.ui \
input.ui \ input.ui \
output.ui \ output.ui \

788
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -26,70 +26,29 @@
*/ */
#include "configvehicletypewidget.h" #include "configvehicletypewidget.h"
#include "systemsettings.h" #include "systemsettings.h"
#include "mixersettings.h"
#include "actuatorsettings.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 <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
#include <QTimer> #include <QTimer>
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QtGui/QTextEdit> //#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout> //#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton> //#include <QtGui/QPushButton>
#include <math.h>
#include <QDesktopServices> #include <QDesktopServices>
#include <QUrl> #include <QUrl>
#include <QEventLoop> //#include <QEventLoop>
#include <extensionsystem/pluginmanager.h> #include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h> #include <coreplugin/generalsettings.h>
/** //#include <math.h>
Helper delegate for the custom mixer editor table.
Taken straight from Qt examples, thanks!
*/
SpinBoxDelegate::SpinBoxDelegate(QObject *parent)
: QItemDelegate(parent)
{
}
QWidget *SpinBoxDelegate::createEditor(QWidget *parent,
const QStyleOptionViewItem &/* option */,
const QModelIndex &/* index */) const
{
QSpinBox *editor = new QSpinBox(parent);
editor->setMinimum(-127);
editor->setMaximum(127);
return editor;
}
void SpinBoxDelegate::setEditorData(QWidget *editor,
const QModelIndex &index) const
{
int value = index.model()->data(index, Qt::EditRole).toInt();
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->setValue(value);
}
void SpinBoxDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
const QModelIndex &index) const
{
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->interpretText();
int value = spinBox->value();
model->setData(index, value, Qt::EditRole);
}
void SpinBoxDelegate::updateEditorGeometry(QWidget *editor,
const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
{
editor->setGeometry(option.rect);
}
/**********************************************************************************/
ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWidget(parent) ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWidget(parent)
{ {
@ -102,7 +61,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
m_aircraft->saveAircraftToRAM->setVisible(false); m_aircraft->saveAircraftToRAM->setVisible(false);
} }
addApplySaveButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD); addApplySaveButtons(m_aircraft->saveAircraftToRAM, m_aircraft->saveAircraftToSD);
addUAVObject("SystemSettings"); addUAVObject("SystemSettings");
addUAVObject("MixerSettings"); addUAVObject("MixerSettings");
@ -120,76 +79,90 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
// ***************************************************************************************************************** // *****************************************************************************************************************
// create and setup a FixedWing config widget // create and setup a FixedWing config widget
QWidget *fixedwingConfigWidget = new QWidget(); qDebug() << "create fixedwing ui";
m_fixedwingUi = new Ui_FixedWingConfigWidget(); m_fixedwing = new ConfigFixedWingWidget();
m_fixedwingUi->setupUi(fixedwingConfigWidget); m_aircraft->airframesWidget->addWidget(m_fixedwing);
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))); // 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 // MULTIROTOR
// ***************************************************************************************************************** // *****************************************************************************************************************
// create and setup a MultiRotor config widget // create and setup a MultiRotor config widget
qDebug() << "create multirotor ui"; m_multirotor = new ConfigMultiRotorWidget();
QWidget *multirotorConfigWidget = new QWidget(); m_aircraft->airframesWidget->addWidget(m_multirotor);
m_multirotorUi = new Ui_MultiRotorConfigWidget();
m_multirotorUi->setupUi(multirotorConfigWidget);
m_aircraft->airframesWidget->addWidget(multirotorConfigWidget);
// 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; // qDebug() << "create multirotor ui";
multiRotorTypes << "Tricopter Y"<< "Quad +" << "Quad X" << // QWidget *multirotorConfigWidget = new QWidget();
"Hexacopter" << "Hexacopter X" << "Hexacopter Y6" << // m_multirotorUi = new Ui_MultiRotorConfigWidget();
"Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ; // m_multirotorUi->setupUi(multirotorConfigWidget);
m_multirotorUi->multirotorFrameType->addItems(multiRotorTypes); // m_aircraft->airframesWidget->addWidget(multirotorConfigWidget);
m_multirotorUi->multirotorFrameType->setCurrentIndex(2); //Set default model to "Quad X"
connect(m_multirotorUi->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); // // Setup the Multirotor picture in the Quad settings interface
// m_multirotorUi->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
// Connect the multirotor motor reverse checkbox // m_multirotorUi->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
connect(m_multirotorUi->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor())); // QSvgRenderer *renderer = new QSvgRenderer();
// renderer->load(QString(":/configgadget/images/multirotor-shapes.svg"));
m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); // 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 // HELICOPTER
// ***************************************************************************************************************** // *****************************************************************************************************************
// create and setup a Helicopter config widget // create and setup a Helicopter config widget
QWidget *ccpmConfigWidget = new QWidget(); // QWidget *ccpmConfigWidget = new QWidget();
m_ccpmUi = new Ui_CcpmConfigWidget(); // m_ccpmUi = new Ui_CcpmConfigWidget();
m_ccpmUi->setupUi(ccpmConfigWidget); // m_ccpmUi->setupUi(ccpmConfigWidget);
m_aircraft->airframesWidget->addWidget(ccpmConfigWidget); // m_aircraft->airframesWidget->addWidget(ccpmConfigWidget);
m_heli = m_ccpmUi->widget_3; m_heli = new ConfigCcpmWidget();
m_heli->setupUI(QString("HeliCP")); 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))); //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 // create and setup a GroundVehicle config widget
qDebug() << "create ground ui"; // QWidget *groundConfigWidget = new QWidget();
QWidget *groundConfigWidget = new QWidget(); // m_groundUi = new Ui_GroundConfigWidget();
m_groundUi = new Ui_GroundConfigWidget(); // m_groundUi->setupUi(groundConfigWidget);
m_groundUi->setupUi(groundConfigWidget); // m_aircraft->airframesWidget->addWidget(groundConfigWidget);
m_aircraft->airframesWidget->addWidget(groundConfigWidget);
m_groundvehicle = new ConfigGroundVehicleWidget(m_groundUi); m_groundvehicle = new ConfigGroundVehicleWidget();
m_groundvehicle->setupUI(m_groundUi->groundVehicleType->currentText()); //m_groundvehicle->setupUI(m_groundUi->groundVehicleType->currentText());
m_aircraft->airframesWidget->addWidget(m_groundvehicle);
QStringList groundVehicleTypes; // QStringList groundVehicleTypes;
groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle"; // groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle";
m_groundUi->groundVehicleType->addItems(groundVehicleTypes); // m_groundUi->groundVehicleType->addItems(groundVehicleTypes);
m_groundUi->groundVehicleType->setCurrentIndex(0); //Set default model to "Turnable (car)" // 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 // CUSTOM
// ***************************************************************************************************************** // *****************************************************************************************************************
QWidget *customConfigWidget = new QWidget(); m_custom = new ConfigCustomWidget();
m_customUi = new Ui_CustomConfigWidget(); m_aircraft->airframesWidget->addWidget(m_custom);
m_customUi->setupUi(customConfigWidget);
m_aircraft->airframesWidget->addWidget(customConfigWidget);
// Put combo boxes in line one of the custom mixer table:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("Mixer1Type"));
QStringList list = field->getOptions();
for (int i=0; i<(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(); // QWidget *customConfigWidget = new QWidget();
for (int i=1; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) { // m_customUi = new Ui_CustomConfigWidget();
m_customUi->customMixerTable->setItemDelegateForRow(i, sbd); // m_customUi->setupUi(customConfigWidget);
} // m_aircraft->airframesWidget->addWidget(customConfigWidget);
// // Put combo boxes in line one of the custom mixer table:
// UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// UAVObjectField* field = obj->getField(QString("Mixer1Type"));
// QStringList list = field->getOptions();
// for (int i=0; i<(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 // Generate lists of mixerTypeNames, mixerVectorNames, channelNames
channelNames << "None"; channelNames << "None";
for (int i = 0; i < (int) ActuatorSettings::CHANNELADDR_NUMELEM; i++) { for (int i = 0; i < (int) ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1); mixerTypes << QString("Mixer%1Type").arg(i + 1);
mixerVectors << QString("Mixer%1Vector").arg(i+1); mixerVectors << QString("Mixer%1Vector").arg(i + 1);
channelNames << QString("Channel%1").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 // 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() QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
{ {
int i;
QStringList channelDesc;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>(); UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr); Q_ASSERT(objMngr);
// get an instance of systemsettings // get an instance of systemsettings
SystemSettings * systemSettings = SystemSettings::GetInstance(objMngr); SystemSettings *systemSettings = SystemSettings::GetInstance(objMngr);
Q_ASSERT(systemSettings); Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData(); 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 // fixed wing
case SystemSettings::AIRFRAMETYPE_FIXEDWING: channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
{
channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
}
break; break;
case SystemSettings::AIRFRAMETYPE_HELICP:
// helicp // helicp
case SystemSettings::AIRFRAMETYPE_HELICP: channelDesc = ConfigCcpmWidget::getChannelDescriptions();
{
channelDesc = ConfigCcpmWidget::getChannelDescriptions();
}
break; break;
case SystemSettings::AIRFRAMETYPE_VTOL:
//multirotor case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_VTOL: case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_TRI: case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_QUADX: case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_QUADP: case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOV: case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX: case SystemSettings::AIRFRAMETYPE_OCTO:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP: case SystemSettings::AIRFRAMETYPE_HEXAX:
case SystemSettings::AIRFRAMETYPE_OCTO: case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXAX: case SystemSettings::AIRFRAMETYPE_HEXA:
case SystemSettings::AIRFRAMETYPE_HEXACOAX: // multirotor
case SystemSettings::AIRFRAMETYPE_HEXA: channelDesc = ConfigMultiRotorWidget::getChannelDescriptions();
{
channelDesc = ConfigMultiRotorWidget::getChannelDescriptions();
}
break; break;
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
// ground // ground
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR: channelDesc = ConfigGroundVehicleWidget::getChannelDescriptions();
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
channelDesc = ConfigGroundVehicleWidget::getChannelDescriptions();
}
break; break;
default:
default: channelDesc = ConfigCustomWidget::getChannelDescriptions();
{
for (i=0; i < (int)(VehicleConfig::CHANNEL_NUMELEM); i++)
channelDesc.append(QString("-"));
}
break; break;
} }
// for (i=0; i < channelDesc.count(); i++)
// qDebug() << QString("Channel %0 = %1").arg(i).arg(channelDesc[i]);
return channelDesc; return channelDesc;
} }
@ -376,83 +332,83 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
*/ */
void ConfigVehicleTypeWidget::switchAirframeType(int index) 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_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??? WHAT DOES THIS DO???
*/ */
void ConfigVehicleTypeWidget::showEvent(QShowEvent *event) //void ConfigVehicleTypeWidget::showEvent(QShowEvent *event)
{ //{
Q_UNUSED(event) // Q_UNUSED(event)
// Thit fitInView method should only be called now, once the // // Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and // // widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small. // // the result is usually a ahrsbargraph that is way too small.
m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); // //m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio);
m_customUi->customMixerTable->resizeColumnsToContents(); //// m_customUi->customMixerTable->resizeColumnsToContents();
for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { //// for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()- //// m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()-
m_customUi->customMixerTable->verticalHeader()->width())/ 10); //// m_customUi->customMixerTable->verticalHeader()->width())/ 10);
} //// }
} //}
/** /**
Resize the GUI contents when the user changes the window size Resize the GUI contents when the user changes the window size
*/ */
void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent* event) //void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent *event)
{ //{
Q_UNUSED(event); // Q_UNUSED(event);
m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); // //m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio);
// Make the custom table columns autostretch: // // Make the custom table columns autostretch:
m_customUi->customMixerTable->resizeColumnsToContents(); // m_customUi->customMixerTable->resizeColumnsToContents();
for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) { // for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()- // m_customUi->customMixerTable->setColumnWidth(i,(m_customUi->customMixerTable->width()-
m_customUi->customMixerTable->verticalHeader()->width())/ 10); // 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) //void ConfigVehicleTypeWidget::toggleRudder2(int index)
{ //{
if (index) { // if (index) {
m_fixedwingUi->fwAileron2ChannelBox->setEnabled(true); // m_fixedwingUi->fwRudder2ChannelBox->setEnabled(true);
m_fixedwingUi->fwAileron2Label->setEnabled(true); // m_fixedwingUi->fwRudder2Label->setEnabled(true);
} else { // } else {
m_fixedwingUi->fwAileron2ChannelBox->setEnabled(false); // m_fixedwingUi->fwRudder2ChannelBox->setEnabled(false);
m_fixedwingUi->fwAileron2Label->setEnabled(false); // m_fixedwingUi->fwRudder2Label->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);
}
}
///////////////////////////////////////////////////////// /////////////////////////////////////////////////////////
/// Feed Forward Testing /// Feed Forward Testing
@ -522,81 +478,84 @@ void ConfigVehicleTypeWidget::enableFFTest()
/** /**
Refreshes the current value of the SystemSettings which holds the aircraft type 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); Q_UNUSED(o);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - begin"; qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - begin";
if(!allObjectsUpdated()) if (!allObjectsUpdated()) {
return; return;
}
bool dirty = isDirty(); bool dirty = isDirty();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - isDirty:" << dirty; qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - isDirty:" << dirty;
// Get the Airframe type from the system settings: // Get the Airframe type from the system settings:
UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings"))); UAVDataObject *system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system); Q_ASSERT(system);
UAVObjectField *field = system->getField(QString("AirframeType")); UAVObjectField *field = system->getField(QString("AirframeType"));
Q_ASSERT(field); Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this // At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but there you go. // is not ideal, but there you go.
QString frameType = field->getValue().toString(); QString frameType = field->getValue().toString();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType; qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType;
setupAirframeUI(frameType); setupAirframeUI(frameType);
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); // UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer); // Q_ASSERT(mixer);
//
QPointer<VehicleConfig> vconfig = new VehicleConfig(); // QPointer<VehicleConfig> vconfig = new VehicleConfig();
//
QList<double> curveValues; // QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues); // vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0? // is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) { // if (vconfig->isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings // // yes, use the curve we just read from mixersettings
m_multirotorUi->multiThrottleCurve->initCurve(&curveValues); // //m_multirotorUi->multiThrottleCurve->initCurve(&curveValues);
m_fixedwingUi->fixedWingThrottle->initCurve(&curveValues); // //m_fixedwingUi->fixedWingThrottle->initCurve(&curveValues);
m_groundUi->groundVehicleThrottle1->initCurve(&curveValues); // //m_groundUi->groundVehicleThrottle1->initCurve(&curveValues);
} // }
else { // else {
// no, init a straight curve // // no, init a straight curve
m_multirotorUi->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9); // //m_multirotorUi->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
m_fixedwingUi->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0); // //m_fixedwingUi->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0);
m_groundUi->groundVehicleThrottle1->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 // 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")) { if (frameType.startsWith("FixedWing")) {
// Retrieve fixed wing settings // Retrieve fixed wing settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
m_fixedwing->refreshWidgetsValues(frameType); m_fixedwing->refreshWidgetsValues(frameType);
} else if (frameType == "Tri" || } else if (frameType == "Tri" || frameType == "QuadX" || frameType == "QuadP" || frameType == "Hexa"
frameType == "QuadX" || frameType == "QuadP" || || frameType == "HexaCoax" || frameType == "HexaX" || frameType == "Octo" || frameType == "OctoV"
frameType == "Hexa" || frameType == "HexaCoax" || frameType == "HexaX" || || frameType == "OctoCoaxP" || frameType == "OctoCoaxX") {
frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP" || frameType == "OctoCoaxX" ) { // Retrieve multirotor settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor"));
// Retrieve multirotor settings m_multirotor->refreshWidgetsValues(frameType);
m_multirotor->refreshWidgetsValues(frameType);
} else if (frameType == "HeliCP") { } else if (frameType == "HeliCP") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter"));
m_heli->refreshWidgetsValues(frameType); m_heli->refreshWidgetsValues(frameType);
} else if (frameType.startsWith("GroundVehicle")) { } else if (frameType.startsWith("GroundVehicle")) {
// Retrieve ground vehicle settings // Retrieve ground vehicle settings
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground"));
m_groundvehicle->refreshWidgetsValues(frameType); m_groundvehicle->refreshWidgetsValues(frameType);
} else if (frameType == "Custom") { } else if (frameType == "Custom") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
m_custom->refreshWidgetsValues(frameType);
} }
updateCustomAirframeUI(); updateCustomAirframeUI();
@ -614,36 +573,31 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - begin"; qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - begin";
qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - frame type" << frameType; qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - frame type" << frameType;
bool dirty = isDirty(); bool dirty = isDirty();
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon" if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") { || frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
m_fixedwing->setupUI(frameType); m_fixedwing->setupUI(frameType);
} } else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
else if (frameType == "Tri" || frameType == "Tricopter Y" || || frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
frameType == "QuadX" || frameType == "Quad X" || || frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
frameType == "QuadP" || frameType == "Quad +" || || frameType == "Hexacopter Y6" || frameType == "Octo" || frameType == "Octocopter" || frameType == "OctoV"
frameType == "Hexa" || frameType == "Hexacopter" || || frameType == "Octocopter V" || frameType == "OctoCoaxP" || frameType == "Octo Coax +"
frameType == "HexaX" || frameType == "Hexacopter X" || || frameType == "OctoCoaxX" || frameType == "Octo Coax 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);
m_multirotor->setupUI(frameType); } else if (frameType == "HeliCP") {
}
else if (frameType == "HeliCP") {
m_heli->setupUI(frameType); m_heli->setupUI(frameType);
} } else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)"
else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)" || || frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"
frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)" || || frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
m_groundvehicle->setupUI(frameType); m_groundvehicle->setupUI(frameType);
} else {
m_custom->setupUI(frameType);
} }
//SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST??? //SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST???
m_multirotorUi->quadShape->setSceneRect(quad->boundingRect()); //m_multirotorUi->quadShape->setSceneRect(quad->boundingRect());
m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio); //m_multirotorUi->quadShape->fitInView(quad, Qt::KeepAspectRatio);
setDirty(dirty); setDirty(dirty);
qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - end"; qDebug() << "ConfigVehicleTypeWidget::setupAirframeUI - end";
@ -655,8 +609,8 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
*/ */
void ConfigVehicleTypeWidget::resetField(UAVObjectField * field) void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
{ {
for (unsigned int i=0;i<field->getNumElements();i++) { for (unsigned int i = 0; i < field->getNumElements(); i++) {
field->setValue(0,i); field->setValue(0, i);
} }
} }
@ -665,6 +619,7 @@ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
Note: does NOT ask for an object refresh itself! Note: does NOT ask for an object refresh itself!
*/ */
// TODO rename to FF
void ConfigVehicleTypeWidget::updateCustomAirframeUI() void ConfigVehicleTypeWidget::updateCustomAirframeUI()
{ {
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
@ -672,61 +627,61 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
QPointer<VehicleConfig> vconfig = new VehicleConfig(); QPointer<VehicleConfig> vconfig = new VehicleConfig();
QList<double> curveValues; // QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues); // vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
//
// is at least one of the curve values != 0? // // is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) { // if (vconfig->isValidThrottleCurve(&curveValues)) {
m_customUi->customThrottle1Curve->initCurve(&curveValues); // m_customUi->customThrottle1Curve->initCurve(&curveValues);
} // }
else { // else {
// no, init a straight curve // // no, init a straight curve
m_customUi->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0); // m_customUi->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0);
} // }
//
if (MixerSettings* mxr = qobject_cast<MixerSettings *>(mixer)) { // if (MixerSettings* mxr = qobject_cast<MixerSettings *>(mixer)) {
MixerSettings::DataFields mixerSettingsData = mxr->getData(); // MixerSettings::DataFields mixerSettingsData = mxr->getData();
if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE) // if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE)
m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE); // m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
else { // else {
m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH); // m_customUi->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
} // }
} // }
//
// Setup all Throttle2 curves for all types of airframes // // Setup all Throttle2 curves for all types of airframes
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues); // vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
//
if (vconfig->isValidThrottleCurve(&curveValues)) { // if (vconfig->isValidThrottleCurve(&curveValues)) {
m_customUi->customThrottle2Curve->initCurve(&curveValues); // m_customUi->customThrottle2Curve->initCurve(&curveValues);
} // }
else { // else {
m_customUi->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_customUi->customThrottle2Curve->getMin()); // m_customUi->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_customUi->customThrottle2Curve->getMin());
} // }
//
// Update the mixer table: // // Update the mixer table:
for (int channel=0; channel < m_customUi->customMixerTable->columnCount(); channel++) { // for (int channel=0; channel < m_customUi->customMixerTable->columnCount(); channel++) {
UAVObjectField* field = mixer->getField(mixerTypes.at(channel)); // UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
if (field) // if (field)
{ // {
QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel); // QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel);
if (q) // if (q)
{ // {
QString s = field->getValue().toString(); // QString s = field->getValue().toString();
setComboCurrentIndex(q, q->findText(s)); // setComboCurrentIndex(q, q->findText(s));
} // }
//
m_customUi->customMixerTable->item(1,channel)->setText( // m_customUi->customMixerTable->item(1,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1))); // QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
m_customUi->customMixerTable->item(2,channel)->setText( // m_customUi->customMixerTable->item(2,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2))); // QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
m_customUi->customMixerTable->item(3,channel)->setText( // m_customUi->customMixerTable->item(3,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL))); // QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)));
m_customUi->customMixerTable->item(4,channel)->setText( // m_customUi->customMixerTable->item(4,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH))); // QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)));
m_customUi->customMixerTable->item(5,channel)->setText( // m_customUi->customMixerTable->item(5,channel)->setText(
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW))); // QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
} // }
} // }
// Update feed forward settings // Update feed forward settings
m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer,"FeedForward") * 100); m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer,"FeedForward") * 100);
@ -745,7 +700,7 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/ */
void ConfigVehicleTypeWidget::updateObjectsFromWidgets() void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{ {
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer); Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig(); QPointer<VehicleConfig> vconfig = new VehicleConfig();
@ -756,7 +711,8 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value()); vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->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") { if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets(); airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
} }
@ -770,57 +726,59 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets(); airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
} }
else { else {
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_customUi->customThrottle1Curve->getCurve()); airframeType = m_custom->updateConfigObjectsFromWidgets();
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_customUi->customThrottle2Curve->getCurve()); // 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++) { // // Update the table:
QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel); // for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) {
if(q->currentText()=="Disabled") // QComboBox* q = (QComboBox*)m_customUi->customMixerTable->cellWidget(0,channel);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED); // if(q->currentText()=="Disabled")
else if(q->currentText()=="Motor") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR); // else if(q->currentText()=="Motor")
else if(q->currentText()=="Servo") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO); // else if(q->currentText()=="Servo")
else if(q->currentText()=="CameraRoll") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAROLL); // else if(q->currentText()=="CameraRoll")
else if(q->currentText()=="CameraPitch") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAROLL);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAPITCH); // else if(q->currentText()=="CameraPitch")
else if(q->currentText()=="CameraYaw") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAPITCH);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAYAW); // else if(q->currentText()=="CameraYaw")
else if(q->currentText()=="Accessory0") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_CAMERAYAW);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY0); // else if(q->currentText()=="Accessory0")
else if(q->currentText()=="Accessory1") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY0);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY1); // else if(q->currentText()=="Accessory1")
else if(q->currentText()=="Accessory2") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY1);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY2); // else if(q->currentText()=="Accessory2")
else if(q->currentText()=="Accessory3") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY2);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY3); // else if(q->currentText()=="Accessory3")
else if(q->currentText()=="Accessory4") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY3);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY4); // else if(q->currentText()=="Accessory4")
else if(q->currentText()=="Accessory5") // vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY4);
vconfig->setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_ACCESSORY5); // 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_THROTTLECURVE1,
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2, // m_customUi->customMixerTable->item(1,channel)->text().toDouble());
m_customUi->customMixerTable->item(2,channel)->text().toDouble()); // vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL, // m_customUi->customMixerTable->item(2,channel)->text().toDouble());
m_customUi->customMixerTable->item(3,channel)->text().toDouble()); // vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL,
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH, // m_customUi->customMixerTable->item(3,channel)->text().toDouble());
m_customUi->customMixerTable->item(4,channel)->text().toDouble()); // vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH,
vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW, // m_customUi->customMixerTable->item(4,channel)->text().toDouble());
m_customUi->customMixerTable->item(5,channel)->text().toDouble()); // vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW,
} // m_customUi->customMixerTable->item(5,channel)->text().toDouble());
// }
} }
// set the airframe type // set the airframe type
UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings"))); UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system); Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType")); QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
if (field) if (field) {
field->setValue(airframeType); field->setValue(airframeType);
}
updateCustomAirframeUI(); updateCustomAirframeUI();
} }
@ -830,7 +788,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
*/ */
void ConfigVehicleTypeWidget::openHelp() void ConfigVehicleTypeWidget::openHelp()
{ {
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/44Cf", QUrl::StrictMode) ); 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) void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
{ {
if (index >= 0 && index < box->count()) if (index >= 0 && index < box->count()) {
box->setCurrentIndex(index); box->setCurrentIndex(index);
}
} }
void ConfigVehicleTypeWidget::reverseMultirotorMotor(){
QString frameType = m_multirotorUi->multirotorFrameType->currentText();
m_multirotor->drawAirframe(frameType);
}
/** /**
WHAT DOES THIS DO??? WHAT DOES THIS DO???
*/ */

71
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -28,29 +28,14 @@
#define CONFIGVEHICLETYPEWIDGET_H #define CONFIGVEHICLETYPEWIDGET_H
#include "ui_airframe.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/vehicleconfig.h"
#include "cfg_vehicletypes/configccpmwidget.h" #include "uavobject.h"
#include "cfg_vehicletypes/configfixedwingwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h"
#include "cfg_vehicletypes/configgroundvehiclewidget.h"
#include "cfg_vehicletypes/configmultirotorwidget.h"
#include "ui_airframe_ccpm.h" #include <QComboBox>
#include "ui_airframe_fixedwing.h" #include <QString>
#include "ui_airframe_ground.h" #include <QStringList>
#include "ui_airframe_multirotor.h" #include <QWidget>
#include "ui_airframe_custom.h"
#include <QtGui/QWidget>
#include <QList>
#include <QItemDelegate>
class Ui_Widget;
class ConfigVehicleTypeWidget: public ConfigTaskWidget class ConfigVehicleTypeWidget: public ConfigTaskWidget
{ {
@ -65,16 +50,11 @@ public:
private: private:
Ui_AircraftWidget *m_aircraft; Ui_AircraftWidget *m_aircraft;
Ui_CcpmConfigWidget *m_ccpmUi; VehicleConfig *m_heli;
Ui_FixedWingConfigWidget *m_fixedwingUi; VehicleConfig *m_fixedwing;
Ui_MultiRotorConfigWidget *m_multirotorUi; VehicleConfig *m_multirotor;
Ui_GroundConfigWidget *m_groundUi; VehicleConfig *m_groundvehicle;
Ui_CustomConfigWidget *m_customUi; VehicleConfig *m_custom;
ConfigCcpmWidget *m_heli;
ConfigFixedWingWidget *m_fixedwing;
ConfigMultiRotorWidget *m_multirotor;
ConfigGroundVehicleWidget *m_groundvehicle;
void updateCustomAirframeUI(); void updateCustomAirframeUI();
void addToDirtyMonitor(); void addToDirtyMonitor();
@ -86,7 +66,6 @@ private:
QStringList mixerTypes; QStringList mixerTypes;
QStringList mixerVectors; QStringList mixerVectors;
QGraphicsSvgItem *quad;
bool ffTuningInProgress; bool ffTuningInProgress;
bool ffTuningPhase; bool ffTuningPhase;
UAVObject::Metadata accInitialData; UAVObject::Metadata accInitialData;
@ -100,36 +79,14 @@ private slots:
void setupAirframeUI(QString type); void setupAirframeUI(QString type);
void toggleAileron2(int index); // void toggleAileron2(int index);
void toggleElevator2(int index); // void toggleElevator2(int index);
void toggleRudder2(int index); // void toggleRudder2(int index);
void switchAirframeType(int index); void switchAirframeType(int index);
void enableFFTest(); void enableFFTest();
void openHelp(); 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 #endif // CONFIGVEHICLETYPEWIDGET_H