mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
Merge branch 'next' into thread/OP-39
This commit is contained in:
Fredrik Arvidsson
commit
3b9e50ad51
@ -434,7 +434,7 @@ int32_t PIOS_BMA180_Test()
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* @brief IRQ Handler. Read data from the BMA180 FIFO and push onto a local fifo.
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*/
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int32_t bma180_irqs = 0;
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void PIOS_BMA180_IRQHandler(void)
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bool PIOS_BMA180_IRQHandler(void)
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{
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bma180_irqs++;
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@ -471,6 +471,7 @@ void PIOS_BMA180_IRQHandler(void)
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fifoBuf_putData(&dev->fifo, (uint8_t *) &data, sizeof(data));
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return false;
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}
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#endif /* PIOS_INCLUDE_BMA180 */
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@ -391,9 +391,11 @@ int32_t PIOS_HMC5883_Test(void)
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/**
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* @brief IRQ Handler
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*/
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void PIOS_HMC5883_IRQHandler(void)
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bool PIOS_HMC5883_IRQHandler(void)
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{
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pios_hmc5883_data_ready = true;
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pios_hmc5883_data_ready = true
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return false;
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}
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#endif /* PIOS_INCLUDE_HMC5883 */
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@ -353,7 +353,7 @@ uint8_t PIOS_L3GD20_Test(void)
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/**
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* @brief IRQ Handler. Read all the data from onboard buffer
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*/
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void PIOS_L3GD20_IRQHandler(void)
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bool PIOS_L3GD20_IRQHandler(void)
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{
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l3gd20_irq++;
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@ -375,7 +375,10 @@ void PIOS_L3GD20_IRQHandler(void)
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memcpy((uint8_t *) &(data.gyro_x), &rec[1], 6);
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data.temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);
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xQueueSend(dev->queue, (void *) &data, 0);
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portBASE_TYPE xHigherPriorityTaskWoken;
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xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
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return xHigherPriorityTaskWoken == pdTRUE;
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}
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#endif /* L3GD20 */
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@ -400,21 +400,21 @@ uint32_t mpu6000_interval_us;
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uint32_t mpu6000_time_us;
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uint32_t mpu6000_transfer_size;
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void PIOS_MPU6000_IRQHandler(void)
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bool PIOS_MPU6000_IRQHandler(void)
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{
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static uint32_t timeval;
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mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
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timeval = PIOS_DELAY_GetRaw();
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if(!mpu6000_configured)
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return;
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return false;
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mpu6000_count = PIOS_MPU6000_FifoDepth();
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if(mpu6000_count < sizeof(struct pios_mpu6000_data))
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return;
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return false;
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if(PIOS_MPU6000_ClaimBus() != 0)
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return;
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return false;
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uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
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uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
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@ -422,7 +422,7 @@ void PIOS_MPU6000_IRQHandler(void)
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if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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PIOS_MPU6000_ReleaseBus();
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mpu6000_fails++;
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return;
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return false;
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}
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PIOS_MPU6000_ReleaseBus();
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@ -433,15 +433,12 @@ void PIOS_MPU6000_IRQHandler(void)
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if (mpu6000_count >= (sizeof(data) * 2)) {
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mpu6000_fifo_backup++;
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if(PIOS_MPU6000_ClaimBus() != 0)
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return;
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uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
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uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
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return false;
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if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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PIOS_MPU6000_ReleaseBus();
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mpu6000_fails++;
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return;
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return false;
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}
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PIOS_MPU6000_ReleaseBus();
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@ -462,11 +459,14 @@ void PIOS_MPU6000_IRQHandler(void)
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data.gyro_z = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
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#endif
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xQueueSend(dev->queue, (void *) &data, 0);
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portBASE_TYPE xHigherPriorityTaskWoken;
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xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
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mpu6000_irq++;
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mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
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return xHigherPriorityTaskWoken == pdTRUE;
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}
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#endif
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@ -172,7 +172,7 @@ uint32_t random32 = 0x459ab8d8;
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/* Local function forwared declarations */
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static void PIOS_RFM22B_Supervisor(uint32_t ppm_id);
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static void rfm22_processInt(void);
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static void PIOS_RFM22_EXT_Int(void);
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static bool PIOS_RFM22_EXT_Int(void);
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static void rfm22_setTxMode(uint8_t mode);
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// SPI read/write functions
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@ -751,12 +751,13 @@ uint8_t rfm22_read(uint8_t addr)
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// external interrupt
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static void PIOS_RFM22_EXT_Int(void)
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static bool PIOS_RFM22_EXT_Int(void)
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{
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rfm22_setDebug("Ext Int");
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if (!exec_using_spi)
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rfm22_processInt();
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rfm22_setDebug("Ext Done");
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return false;
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}
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void rfm22_disableExtInt(void)
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@ -149,7 +149,7 @@ out_fail:
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return -1;
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}
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static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
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static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
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{
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uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
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@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
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if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
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cfg_index == PIOS_EXTI_INVALID) {
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/* Unconfigured interrupt just fired! */
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return;
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return false;
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}
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struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
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cfg->vector();
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return cfg->vector();
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}
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/* Bind Interrupt Handlers */
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#define PIOS_EXTI_HANDLE_LINE(line) \
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#ifdef PIOS_INCLUDE_FREERTOS
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#define PIOS_EXTI_HANDLE_LINE(line, woken) \
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if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
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EXTI_ClearITPendingBit(EXTI_Line##line); \
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woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
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}
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#else
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#define PIOS_EXTI_HANDLE_LINE(line, woken) \
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if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
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EXTI_ClearITPendingBit(EXTI_Line##line); \
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PIOS_EXTI_generic_irq_handler(line); \
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}
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#endif
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/* Bind Interrupt Handlers */
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static void PIOS_EXTI_0_irq_handler (void)
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{
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PIOS_EXTI_HANDLE_LINE(0);
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#ifdef PIOS_INCLUDE_FREERTOS
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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#else
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bool xHigherPriorityTaskWoken; // dummy variable
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#endif
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PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
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#ifdef PIOS_INCLUDE_FREERTOS
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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#endif
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}
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void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
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static void PIOS_EXTI_1_irq_handler (void)
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{
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PIOS_EXTI_HANDLE_LINE(1);
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#ifdef PIOS_INCLUDE_FREERTOS
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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#else
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bool xHigherPriorityTaskWoken; // dummy variable
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#endif
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PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
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#ifdef PIOS_INCLUDE_FREERTOS
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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#endif
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}
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void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
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static void PIOS_EXTI_2_irq_handler (void)
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{
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PIOS_EXTI_HANDLE_LINE(2);
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#ifdef PIOS_INCLUDE_FREERTOS
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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#else
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bool xHigherPriorityTaskWoken; // dummy variable
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#endif
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PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
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#ifdef PIOS_INCLUDE_FREERTOS
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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#endif
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}
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void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
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static void PIOS_EXTI_3_irq_handler (void)
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{
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PIOS_EXTI_HANDLE_LINE(3);
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#ifdef PIOS_INCLUDE_FREERTOS
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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#else
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bool xHigherPriorityTaskWoken; // dummy variable
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#endif
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PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
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#ifdef PIOS_INCLUDE_FREERTOS
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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#endif
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}
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void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
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static void PIOS_EXTI_4_irq_handler (void)
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{
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PIOS_EXTI_HANDLE_LINE(4);
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#ifdef PIOS_INCLUDE_FREERTOS
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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#else
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bool xHigherPriorityTaskWoken; // dummy variable
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#endif
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PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
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#ifdef PIOS_INCLUDE_FREERTOS
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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#endif
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}
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void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
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static void PIOS_EXTI_9_5_irq_handler (void)
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{
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PIOS_EXTI_HANDLE_LINE(5);
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PIOS_EXTI_HANDLE_LINE(6);
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PIOS_EXTI_HANDLE_LINE(7);
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PIOS_EXTI_HANDLE_LINE(8);
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PIOS_EXTI_HANDLE_LINE(9);
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#ifdef PIOS_INCLUDE_FREERTOS
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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#else
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bool xHigherPriorityTaskWoken; // dummy variable
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#endif
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PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
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#ifdef PIOS_INCLUDE_FREERTOS
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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#endif
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}
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void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
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static void PIOS_EXTI_15_10_irq_handler (void)
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{
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PIOS_EXTI_HANDLE_LINE(10);
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PIOS_EXTI_HANDLE_LINE(11);
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PIOS_EXTI_HANDLE_LINE(12);
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PIOS_EXTI_HANDLE_LINE(13);
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PIOS_EXTI_HANDLE_LINE(14);
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PIOS_EXTI_HANDLE_LINE(15);
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#ifdef PIOS_INCLUDE_FREERTOS
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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#else
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bool xHigherPriorityTaskWoken; // dummy variable
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#endif
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PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
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PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
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#ifdef PIOS_INCLUDE_FREERTOS
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portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
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#endif
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}
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void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));
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@ -321,7 +321,10 @@ RESULT PIOS_USB_CDC_SetControlLineState(void)
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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if (!valid) {
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/* No CDC interface is configured */
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return USB_UNSUPPORT;
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}
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|
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uint8_t wValue0 = pInformation->USBwValue0;
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uint8_t wValue1 = pInformation->USBwValue1;
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@ -338,14 +341,25 @@ static struct usb_cdc_line_coding line_coding = {
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.bDataBits = 8,
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};
|
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|
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RESULT PIOS_USB_CDC_SetLineCoding(void)
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uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
|
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|
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
|
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if (!valid) {
|
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/* No CDC interface is configured */
|
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return NULL;
|
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}
|
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|
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return USB_SUCCESS;
|
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if (Length == 0) {
|
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/* Report the number of bytes we're prepared to consume */
|
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pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
|
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pInformation->Ctrl_Info.Usb_rLength = sizeof(line_coding);
|
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return NULL;
|
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} else {
|
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/* Give out a pointer to the data struct */
|
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return ((uint8_t *) &line_coding);
|
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}
|
||||
}
|
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|
||||
const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
|
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@ -353,7 +367,10 @@ const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
|
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|
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
|
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PIOS_Assert(valid);
|
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if (!valid) {
|
||||
/* No CDC interface is configured */
|
||||
return NULL;
|
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}
|
||||
|
||||
if (Length == 0) {
|
||||
pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
|
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|
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@ -293,13 +293,16 @@ static void PIOS_USBHOOK_Status_Out(void)
|
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* Output : None.
|
||||
* Return : USB_UNSUPPORT or USB_SUCCESS.
|
||||
*******************************************************************************/
|
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extern uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length);
|
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extern const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length);
|
||||
|
||||
static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
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{
|
||||
const uint8_t *(*CopyRoutine) (uint16_t);
|
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uint8_t *(*CopyOutRoutine) (uint16_t);
|
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const uint8_t *(*CopyInRoutine) (uint16_t);
|
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|
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CopyRoutine = NULL;
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CopyInRoutine = NULL;
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CopyOutRoutine = NULL;
|
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|
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switch (Type_Recipient) {
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case (STANDARD_REQUEST | INTERFACE_RECIPIENT):
|
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@ -313,10 +316,10 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
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case GET_DESCRIPTOR:
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switch (pInformation->USBwValue1) {
|
||||
case USB_DESC_TYPE_REPORT:
|
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CopyRoutine = PIOS_USBHOOK_GetReportDescriptor;
|
||||
CopyInRoutine = PIOS_USBHOOK_GetReportDescriptor;
|
||||
break;
|
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case USB_DESC_TYPE_HID:
|
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CopyRoutine = PIOS_USBHOOK_GetHIDDescriptor;
|
||||
CopyInRoutine = PIOS_USBHOOK_GetHIDDescriptor;
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -332,7 +335,7 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
#endif
|
||||
switch (RequestNo) {
|
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case USB_HID_REQ_GET_PROTOCOL:
|
||||
CopyRoutine = PIOS_USBHOOK_GetProtocolValue;
|
||||
CopyInRoutine = PIOS_USBHOOK_GetProtocolValue;
|
||||
break;
|
||||
}
|
||||
|
||||
@ -340,8 +343,11 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
#if defined(PIOS_INCLUDE_USB_CDC)
|
||||
case 0: /* CDC Call Control Interface */
|
||||
switch (RequestNo) {
|
||||
case USB_CDC_REQ_SET_LINE_CODING:
|
||||
CopyOutRoutine = PIOS_USB_CDC_SetLineCoding;
|
||||
break;
|
||||
case USB_CDC_REQ_GET_LINE_CODING:
|
||||
//CopyRoutine = PIOS_USB_CDC_GetLineCoding;
|
||||
CopyInRoutine = PIOS_USB_CDC_GetLineCoding;
|
||||
break;
|
||||
}
|
||||
|
||||
@ -359,13 +365,27 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
break;
|
||||
}
|
||||
|
||||
if (CopyRoutine == NULL) {
|
||||
/* No registered copy routine */
|
||||
if ((CopyInRoutine == NULL) && (CopyOutRoutine == NULL)) {
|
||||
return USB_UNSUPPORT;
|
||||
}
|
||||
|
||||
pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
|
||||
/* Registered copy in AND copy out routine */
|
||||
if ((CopyInRoutine != NULL) && (CopyOutRoutine != NULL)) {
|
||||
/* This should never happen */
|
||||
return USB_UNSUPPORT;
|
||||
}
|
||||
|
||||
if (CopyInRoutine != NULL) {
|
||||
pInformation->Ctrl_Info.CopyDataIn = CopyInRoutine;
|
||||
pInformation->Ctrl_Info.Usb_wOffset = 0;
|
||||
(*CopyRoutine) (0);
|
||||
(*CopyInRoutine) (0);
|
||||
} else if (CopyOutRoutine != NULL) {
|
||||
pInformation->Ctrl_Info.CopyDataOut = CopyOutRoutine;
|
||||
pInformation->Ctrl_Info.Usb_rOffset = 0;
|
||||
(*CopyOutRoutine) (0);
|
||||
}
|
||||
|
||||
return USB_SUCCESS;
|
||||
}
|
||||
|
||||
@ -377,7 +397,6 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
|
||||
* Return : USB_UNSUPPORT or USB_SUCCESS.
|
||||
*******************************************************************************/
|
||||
extern RESULT PIOS_USB_CDC_SetControlLineState(void);
|
||||
extern RESULT PIOS_USB_CDC_SetLineCoding(void);
|
||||
|
||||
static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
|
||||
{
|
||||
@ -400,9 +419,6 @@ static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
|
||||
#if defined(PIOS_INCLUDE_USB_CDC)
|
||||
case 0: /* CDC Call Control Interface */
|
||||
switch (RequestNo) {
|
||||
case USB_CDC_REQ_SET_LINE_CODING:
|
||||
return PIOS_USB_CDC_SetLineCoding();
|
||||
break;
|
||||
case USB_CDC_REQ_SET_CONTROL_LINE_STATE:
|
||||
return PIOS_USB_CDC_SetControlLineState();
|
||||
break;
|
||||
|
||||
@ -149,7 +149,7 @@ out_fail:
|
||||
return -1;
|
||||
}
|
||||
|
||||
static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
|
||||
static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
|
||||
{
|
||||
uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
|
||||
|
||||
@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
|
||||
if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
|
||||
cfg_index == PIOS_EXTI_INVALID) {
|
||||
/* Unconfigured interrupt just fired! */
|
||||
return;
|
||||
return false;
|
||||
}
|
||||
|
||||
struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
|
||||
cfg->vector();
|
||||
return cfg->vector();
|
||||
}
|
||||
|
||||
/* Bind Interrupt Handlers */
|
||||
|
||||
#define PIOS_EXTI_HANDLE_LINE(line) \
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
|
||||
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
|
||||
EXTI_ClearITPendingBit(EXTI_Line##line); \
|
||||
woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
|
||||
}
|
||||
#else
|
||||
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
|
||||
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
|
||||
EXTI_ClearITPendingBit(EXTI_Line##line); \
|
||||
PIOS_EXTI_generic_irq_handler(line); \
|
||||
}
|
||||
#endif
|
||||
|
||||
static void PIOS_EXTI_0_irq_handler (void)
|
||||
{
|
||||
PIOS_EXTI_HANDLE_LINE(0);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
#else
|
||||
bool xHigherPriorityTaskWoken;
|
||||
#endif
|
||||
PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
|
||||
#endif
|
||||
}
|
||||
void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
|
||||
|
||||
static void PIOS_EXTI_1_irq_handler (void)
|
||||
{
|
||||
PIOS_EXTI_HANDLE_LINE(1);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
#else
|
||||
bool xHigherPriorityTaskWoken;
|
||||
#endif
|
||||
PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
|
||||
#endif
|
||||
}
|
||||
void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
|
||||
|
||||
static void PIOS_EXTI_2_irq_handler (void)
|
||||
{
|
||||
PIOS_EXTI_HANDLE_LINE(2);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
#else
|
||||
bool xHigherPriorityTaskWoken;
|
||||
#endif
|
||||
PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
|
||||
#endif
|
||||
}
|
||||
void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
|
||||
|
||||
static void PIOS_EXTI_3_irq_handler (void)
|
||||
{
|
||||
PIOS_EXTI_HANDLE_LINE(3);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
#else
|
||||
bool xHigherPriorityTaskWoken;
|
||||
#endif
|
||||
PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
|
||||
#endif
|
||||
}
|
||||
void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
|
||||
|
||||
static void PIOS_EXTI_4_irq_handler (void)
|
||||
{
|
||||
PIOS_EXTI_HANDLE_LINE(4);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
#else
|
||||
bool xHigherPriorityTaskWoken;
|
||||
#endif
|
||||
PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
|
||||
#endif
|
||||
}
|
||||
void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
|
||||
|
||||
static void PIOS_EXTI_9_5_irq_handler (void)
|
||||
{
|
||||
PIOS_EXTI_HANDLE_LINE(5);
|
||||
PIOS_EXTI_HANDLE_LINE(6);
|
||||
PIOS_EXTI_HANDLE_LINE(7);
|
||||
PIOS_EXTI_HANDLE_LINE(8);
|
||||
PIOS_EXTI_HANDLE_LINE(9);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
#else
|
||||
bool xHigherPriorityTaskWoken;
|
||||
#endif
|
||||
PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
|
||||
#endif
|
||||
}
|
||||
void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
|
||||
|
||||
static void PIOS_EXTI_15_10_irq_handler (void)
|
||||
{
|
||||
PIOS_EXTI_HANDLE_LINE(10);
|
||||
PIOS_EXTI_HANDLE_LINE(11);
|
||||
PIOS_EXTI_HANDLE_LINE(12);
|
||||
PIOS_EXTI_HANDLE_LINE(13);
|
||||
PIOS_EXTI_HANDLE_LINE(14);
|
||||
PIOS_EXTI_HANDLE_LINE(15);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
||||
#else
|
||||
bool xHigherPriorityTaskWoken;
|
||||
#endif
|
||||
PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
|
||||
PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
|
||||
#ifdef PIOS_INCLUDE_FREERTOS
|
||||
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
|
||||
#endif
|
||||
}
|
||||
void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));
|
||||
|
||||
|
||||
@ -103,7 +103,7 @@ extern float PIOS_BMA180_GetScale();
|
||||
extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
|
||||
extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
|
||||
extern int32_t PIOS_BMA180_Test();
|
||||
extern void PIOS_BMA180_IRQHandler();
|
||||
extern bool PIOS_BMA180_IRQHandler();
|
||||
|
||||
#endif /* PIOS_BMA180_H */
|
||||
|
||||
|
||||
@ -36,7 +36,7 @@
|
||||
#include <pios_stm32.h>
|
||||
|
||||
struct pios_exti_cfg {
|
||||
void (* vector)(void);
|
||||
bool (* vector)(void);
|
||||
uint32_t line; /* use EXTI_LineN macros */
|
||||
struct stm32_gpio pin;
|
||||
struct stm32_irq irq;
|
||||
|
||||
@ -107,7 +107,7 @@ extern bool PIOS_HMC5883_NewDataAvailable(void);
|
||||
extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
|
||||
extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
|
||||
extern int32_t PIOS_HMC5883_Test(void);
|
||||
extern void PIOS_HMC5883_IRQHandler();
|
||||
bool void PIOS_HMC5883_IRQHandler();
|
||||
#endif /* PIOS_HMC5883_H */
|
||||
|
||||
/**
|
||||
|
||||
@ -141,7 +141,7 @@ extern int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range);
|
||||
extern float PIOS_L3GD20_GetScale();
|
||||
extern int32_t PIOS_L3GD20_ReadID();
|
||||
extern uint8_t PIOS_L3GD20_Test();
|
||||
extern void PIOS_L3GD20_IRQHandler();
|
||||
bool void PIOS_L3GD20_IRQHandler();
|
||||
|
||||
#endif /* PIOS_L3GD20_H */
|
||||
|
||||
|
||||
@ -156,7 +156,7 @@ extern int32_t PIOS_MPU6000_ReadID();
|
||||
extern uint8_t PIOS_MPU6000_Test();
|
||||
extern float PIOS_MPU6000_GetScale();
|
||||
extern float PIOS_MPU6000_GetAccelScale();
|
||||
extern void PIOS_MPU6000_IRQHandler(void);
|
||||
extern bool PIOS_MPU6000_IRQHandler(void);
|
||||
|
||||
#endif /* PIOS_MPU6000_H */
|
||||
|
||||
|
||||
@ -267,7 +267,7 @@ enum usb_cdc_requests {
|
||||
USB_CDC_REQ_SET_LINE_CODING = 0x20,
|
||||
USB_CDC_REQ_GET_LINE_CODING = 0x21,
|
||||
|
||||
USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x23,
|
||||
USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x22,
|
||||
};
|
||||
|
||||
struct usb_cdc_header_func_desc {
|
||||
|
||||
@ -40,13 +40,16 @@ namespace Utils {
|
||||
|
||||
HomeLocationUtil::HomeLocationUtil()
|
||||
{
|
||||
// Initialize();
|
||||
}
|
||||
|
||||
// input params: LLA
|
||||
//
|
||||
// output params: ECEF, RNE and Be
|
||||
int HomeLocationUtil::getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3])
|
||||
/*
|
||||
/**
|
||||
* @brief Get local magnetic field
|
||||
* @param[in] LLA The longitude-latitude-altitude coordinate to compute the magnetic field at
|
||||
* @param[out] Be The resulting magnetic field at that location and time in [mGau](?)
|
||||
* @returns 0 if successful, -1 otherwise.
|
||||
*/
|
||||
int HomeLocationUtil::getDetails(double LLA[3], double Be[3])
|
||||
{
|
||||
// *************
|
||||
// check input parms
|
||||
@ -66,10 +69,8 @@ namespace Utils {
|
||||
|
||||
QDateTime dt = QDateTime::currentDateTime().toUTC();
|
||||
|
||||
CoordinateConversions().LLA2ECEF(LLA, ECEF);
|
||||
CoordinateConversions().RneFromLLA(LLA, (double (*)[3])RNE);
|
||||
if (WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) < 0)
|
||||
return -6;
|
||||
//Fetch world magnetic model
|
||||
Q_ASSERT(WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) >= 0);
|
||||
|
||||
return 0; // OK
|
||||
}
|
||||
|
||||
@ -40,7 +40,7 @@ namespace Utils {
|
||||
public:
|
||||
HomeLocationUtil();
|
||||
|
||||
int getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
|
||||
int getDetails(double LLA[3], double Be[3]);
|
||||
|
||||
private:
|
||||
|
||||
|
||||
@ -14,9 +14,6 @@
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
@ -132,7 +129,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>935</width>
|
||||
<height>554</height>
|
||||
<height>537</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
@ -145,9 +142,6 @@
|
||||
<string/>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
@ -705,12 +699,12 @@ margin:1px;</string>
|
||||
</widget>
|
||||
<widget class="QWidget" name="multiRotor">
|
||||
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
|
||||
<property name="verticalSpacing">
|
||||
<number>24</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="verticalSpacing">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QGroupBox" name="groupBox_10">
|
||||
<property name="minimumSize">
|
||||
@ -853,7 +847,7 @@ margin:1px;</string>
|
||||
<item row="0" column="2">
|
||||
<widget class="QGroupBox" name="groupBox_6">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
@ -1098,7 +1092,7 @@ margin:1px;</string>
|
||||
Typical value is 50% for + or X configuration on quads.</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-100</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
@ -1191,7 +1185,7 @@ margin:1px;</string>
|
||||
<item row="1" column="0" colspan="3">
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Maximum">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
@ -1456,7 +1450,7 @@ font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Multirotor Yaw Direction</string>
|
||||
<string>Multirotor Motor Direction</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
@ -1512,9 +1506,9 @@ margin:1px;</string>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QCheckBox" name="TricopterRevMixercheckBox">
|
||||
<widget class="QCheckBox" name="MultirotorRevMixercheckBox">
|
||||
<property name="text">
|
||||
<string>Reverse Yaw Mix</string>
|
||||
<string>Reverse all motors</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@ -2820,7 +2814,7 @@ margin:1px;</string>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>935</width>
|
||||
<height>554</height>
|
||||
<height>537</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_18">
|
||||
@ -2836,9 +2830,6 @@ margin:1px;</string>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<item row="2" column="0" colspan="3">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_10">
|
||||
<item>
|
||||
@ -3206,14 +3197,15 @@ p, li { white-space: pre-wrap; }
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
|
||||
</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
|
||||
<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
|
||||
<tr>
|
||||
<td style="border: none;">
|
||||
<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD REQUIRES CAUTION</span></p>
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</span></p>
|
||||
<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.</span></p></td></tr></table></body></html></string>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;"><br /></span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</p>
|
||||
<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.</p></td></tr></table></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@ -3264,7 +3256,7 @@ p, li { white-space: pre-wrap; }
|
||||
<string/>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset resource="E:/Users/Chris/Desktop/src/plugins/coreplugin/core.qrc">
|
||||
<iconset resource="../coreplugin/core.qrc">
|
||||
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
|
||||
</property>
|
||||
<property name="iconSize">
|
||||
@ -3317,7 +3309,7 @@ p, li { white-space: pre-wrap; }
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<resources>
|
||||
<include location="E:/Users/Chris/Desktop/src/plugins/coreplugin/core.qrc"/>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
</resources>
|
||||
<connections>
|
||||
<connection>
|
||||
|
||||
@ -6,22 +6,214 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>443</width>
|
||||
<height>575</height>
|
||||
<width>739</width>
|
||||
<height>688</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QTabWidget" name="Autotune_tabs">
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="Preautotune_tab">
|
||||
<attribute name="title">
|
||||
<string>Pre-Autotune</string>
|
||||
</attribute>
|
||||
<layout class="QGridLayout" name="gridLayout_5">
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item row="3" column="0" colspan="3">
|
||||
<widget class="QTextEdit" name="textEdit">
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Sunken</enum>
|
||||
</property>
|
||||
<property name="html">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be </span><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> for it creating bad tuning values. Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:<br /></span></p>
|
||||
<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">On the <span style=" font-style:italic;">Input configuration</span> tab, <span style=" font-style:italic;">Flight Mode Switch Settings</span>, set one of your flight modes to &quot;Autotune&quot;.<br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, change flight mode to autotune, keep it in the air while it's shaking.<br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm. (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).<br /></li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly the new settings.</li>
|
||||
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the <span style=" font-style:italic;">Enable Autotune Module</span> checkbox above this text, click <span style=" font-style:italic;">save</span> and go to the next tab.</li></ul></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0" colspan="3">
|
||||
<widget class="QGroupBox" name="groupBox_5">
|
||||
<property name="title">
|
||||
<string>Module Control</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="enableAutoTune">
|
||||
<property name="text">
|
||||
<string>Enable Autotune Module</string>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>454</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
<zorder>horizontalSpacer_5</zorder>
|
||||
<zorder>enableAutoTune</zorder>
|
||||
<zorder>horizontalSpacer_4</zorder>
|
||||
<zorder>enableAutoTune</zorder>
|
||||
<zorder>horizontalSpacer_5</zorder>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="autotune_tab">
|
||||
<attribute name="title">
|
||||
<string>Autotune Setup</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QScrollArea" name="scrollArea">
|
||||
<property name="palette">
|
||||
<palette>
|
||||
<active>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</active>
|
||||
<inactive>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</inactive>
|
||||
<disabled>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</disabled>
|
||||
</palette>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="widgetResizable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<widget class="QWidget" name="scrollAreaWidgetContents">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>20</x>
|
||||
<y>10</y>
|
||||
<width>401</width>
|
||||
<height>131</height>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>711</width>
|
||||
<height>596</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="spacing">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="title">
|
||||
<string>Tuning Aggressiveness</string>
|
||||
</property>
|
||||
@ -78,128 +270,9 @@
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>20</x>
|
||||
<y>250</y>
|
||||
<width>401</width>
|
||||
<height>121</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Computed Values</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
||||
<string>RateKp</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>RateKi</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>AttitudeKp</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="4">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>AttitudeKi</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="rollRateKp">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="pitchRateKp">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="rollRateKi">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="pitchRateKi">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QLabel" name="rollAttitudeKp">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QLabel" name="pitchAttitudeKp">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QLabel" name="rollAttitudeKi">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QLabel" name="pitchAttitudeKi">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_3">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>20</x>
|
||||
<y>140</y>
|
||||
<width>401</width>
|
||||
<height>111</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Measured Properties</string>
|
||||
</property>
|
||||
@ -302,770 +375,144 @@
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QGroupBox" name="RateStabilizationGroup_21">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>20</x>
|
||||
<y>480</y>
|
||||
<width>401</width>
|
||||
<height>79</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
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|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>0</red>
|
||||
<green>0</green>
|
||||
<blue>0</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</disabled>
|
||||
</palette>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string/>
|
||||
<string>Computed Values</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_10">
|
||||
<item row="0" column="0">
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>111</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QPushButton" name="stabilizationReloadBoardData_6">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>28</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Reloads the saved settings into GCS.
|
||||
Useful if you have accidentally changed some settings.</string>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">QPushButton {
|
||||
border: 1px outset #999;
|
||||
border-radius: 5;
|
||||
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
|
||||
}
|
||||
|
||||
QPushButton:pressed {
|
||||
|
||||
border-style: inset;
|
||||
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
|
||||
|
||||
}
|
||||
|
||||
|
||||
QPushButton:hover {
|
||||
border: 1px outset #999;
|
||||
border-color: rgb(83, 83, 83);
|
||||
border-radius: 4;
|
||||
}</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reload Board Data</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>button:reload</string>
|
||||
<string>buttongroup:10</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<item row="0" column="2">
|
||||
<widget class="QPushButton" name="saveStabilizationToRAM_6">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>28</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Send settings to the board but do not save to the non-volatile memory</string>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">QPushButton {
|
||||
border: 1px outset #999;
|
||||
border-radius: 5;
|
||||
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
|
||||
}
|
||||
|
||||
QPushButton:pressed {
|
||||
|
||||
border-style: inset;
|
||||
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
|
||||
|
||||
}
|
||||
|
||||
|
||||
QPushButton:hover {
|
||||
border: 1px outset #999;
|
||||
border-color: rgb(83, 83, 83);
|
||||
border-radius: 4;
|
||||
}</string>
|
||||
</property>
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>Apply</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>button:apply</string>
|
||||
</stringlist>
|
||||
<string>RateKi</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QPushButton" name="saveStabilizationToSD_6">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>28</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Send settings to the board and save to the non-volatile memory</string>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">QPushButton {
|
||||
border: 1px outset #999;
|
||||
border-radius: 5;
|
||||
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
|
||||
}
|
||||
|
||||
QPushButton:pressed {
|
||||
|
||||
border-style: inset;
|
||||
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
|
||||
|
||||
}
|
||||
|
||||
|
||||
QPushButton:hover {
|
||||
border: 1px outset #999;
|
||||
border-color: rgb(83, 83, 83);
|
||||
border-radius: 4;
|
||||
}</string>
|
||||
</property>
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>Save</string>
|
||||
<string>AttitudeKp</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>button:save</string>
|
||||
</stringlist>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="pitchRateKi">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
||||
<string>RateKp</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="rollRateKp">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="4">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>AttitudeKi</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QLabel" name="rollAttitudeKp">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QLabel" name="pitchAttitudeKi">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QLabel" name="pitchAttitudeKp">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="pitchRateKp">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="rollRateKi">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QLabel" name="rollAttitudeKi">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>30</x>
|
||||
<y>440</y>
|
||||
<width>401</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="title">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>The buttons below change the autotuning settings which
|
||||
will alter things for the next autotuning flight</string>
|
||||
</property>
|
||||
</widget>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_4">
|
||||
<item row="0" column="1" colspan="2">
|
||||
<widget class="QPushButton" name="useComputedValues">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>250</x>
|
||||
<y>380</y>
|
||||
<width>171</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">QPushButton {
|
||||
border: 1px outset #999;
|
||||
border-radius: 5;
|
||||
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
|
||||
}
|
||||
|
||||
QPushButton:pressed {
|
||||
|
||||
border-style: inset;
|
||||
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
|
||||
|
||||
}
|
||||
|
||||
|
||||
QPushButton:hover {
|
||||
border: 1px outset #999;
|
||||
border-color: rgb(83, 83, 83);
|
||||
border-radius: 4;
|
||||
}</string>
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Apply Computed Values</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>40</x>
|
||||
<y>410</y>
|
||||
<width>104</width>
|
||||
<height>20</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Step Size</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QSlider" name="stepSizeSlider">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>149</x>
|
||||
<y>410</y>
|
||||
<width>266</width>
|
||||
<height>20</height>
|
||||
</rect>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QSlider" name="stepSizeSlider">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
@ -1078,6 +525,168 @@ border-radius: 4;
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="2" column="0" colspan="4">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="text">
|
||||
<string>The Apply and Save buttons below save the autotuning settings which
|
||||
will alter settings for the next autotuning flight</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>77</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<property name="spacing">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>13</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="stabilizationReloadBoardData_6">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Reloads the saved settings into GCS.
|
||||
Useful if you have accidentally changed some settings.</string>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reload Board Data</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>button:reload</string>
|
||||
<string>buttongroup:10</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveStabilizationToRAM_6">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Send settings to the board but do not save to the non-volatile memory</string>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Apply</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>button:apply</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveStabilizationToSD_6">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Send settings to the board and save to the non-volatile memory</string>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Save</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>button:save</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources/>
|
||||
<connections/>
|
||||
|
||||
@ -6,22 +6,34 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>789</width>
|
||||
<height>615</height>
|
||||
<width>786</width>
|
||||
<height>566</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_5">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QTabWidget" name="tabWidget">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
</property>
|
||||
@ -35,6 +47,12 @@
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QScrollArea" name="scrollArea">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
@ -46,19 +64,37 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>742</width>
|
||||
<height>560</height>
|
||||
<width>741</width>
|
||||
<height>559</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Module Control</string>
|
||||
</property>
|
||||
@ -86,7 +122,7 @@
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_5">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
@ -94,7 +130,13 @@
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>131</height>
|
||||
<height>130</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
@ -340,7 +382,7 @@ margin:1px;</string>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
@ -348,13 +390,22 @@ margin:1px;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>266</height>
|
||||
<height>250</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Advanced Settings (Control)</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_8">
|
||||
<property name="verticalSpacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_32">
|
||||
<property name="minimumSize">
|
||||
@ -924,6 +975,18 @@ value.</string>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>71</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Messages</string>
|
||||
</property>
|
||||
@ -946,6 +1009,9 @@ value.</string>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
@ -963,24 +1029,24 @@ value.</string>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<property name="spacing">
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="horizontalSpacing">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<item>
|
||||
<item row="0" column="0">
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>321</width>
|
||||
<height>16</height>
|
||||
<width>288</width>
|
||||
<height>18</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QPushButton" name="camerastabilizationHelp">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
@ -1029,7 +1095,7 @@ value.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QPushButton" name="camerastabilizationResetToDefaults">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
@ -1060,7 +1126,7 @@ Apply or Save button afterwards.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QPushButton" name="pushButton">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
@ -1093,7 +1159,7 @@ Apply or Save button afterwards.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<item row="0" column="4">
|
||||
<widget class="QPushButton" name="camerastabilizationSaveRAM">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
@ -1120,7 +1186,7 @@ Apply or Save button afterwards.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<item row="0" column="5">
|
||||
<widget class="QPushButton" name="camerastabilizationSaveSD">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>666</width>
|
||||
<width>780</width>
|
||||
<height>566</height>
|
||||
</rect>
|
||||
</property>
|
||||
@ -110,14 +110,11 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>636</width>
|
||||
<height>483</height>
|
||||
<width>750</width>
|
||||
<height>466</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
@ -126,18 +123,25 @@
|
||||
<property name="title">
|
||||
<string>Rotate virtual attitude relative to board</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<item row="0" column="0">
|
||||
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1,0,1,0,1,0">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<item row="1" column="1">
|
||||
<widget class="QSpinBox" name="rollBias">
|
||||
<property name="minimum">
|
||||
<number>-180</number>
|
||||
@ -147,17 +151,77 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<item row="1" column="4">
|
||||
<spacer name="horizontalSpacer_9">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="5">
|
||||
<widget class="QSpinBox" name="yawBias">
|
||||
<property name="minimum">
|
||||
<number>-180</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="5">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<spacer name="horizontalSpacer_8">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<item row="1" column="3">
|
||||
<widget class="QSpinBox" name="pitchBias">
|
||||
<property name="minimum">
|
||||
<number>-90</number>
|
||||
@ -167,25 +231,31 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
<item row="1" column="0">
|
||||
<spacer name="horizontalSpacer_7">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QSpinBox" name="yawBias">
|
||||
<property name="minimum">
|
||||
<number>-180</number>
|
||||
<item row="1" column="6">
|
||||
<spacer name="horizontalSpacer_10">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
|
||||
@ -49,7 +49,7 @@ const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChanne
|
||||
/**
|
||||
Constructor
|
||||
*/
|
||||
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
|
||||
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent), invertMotors(1)
|
||||
{
|
||||
m_aircraft = aircraft;
|
||||
}
|
||||
@ -87,20 +87,18 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
|
||||
|
||||
if (frameType == "Tri" || frameType == "Tricopter Y") {
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
|
||||
quad->setElementId("tri");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(100);
|
||||
m_aircraft->mrPitchMixLevel->setValue(100);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
|
||||
m_aircraft->triYawChannelBox->setEnabled(true);
|
||||
}
|
||||
else if (frameType == "QuadX" || frameType == "Quad X") {
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
|
||||
quad->setElementId("quad-x");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
|
||||
@ -108,104 +106,173 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
|
||||
// init mixer levels
|
||||
m_aircraft->mrRollMixLevel->setValue(50);
|
||||
m_aircraft->mrPitchMixLevel->setValue(50);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
}
|
||||
else if (frameType == "QuadP" || frameType == "Quad +") {
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
|
||||
quad->setElementId("quad-plus");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(100);
|
||||
m_aircraft->mrPitchMixLevel->setValue(100);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
}
|
||||
else if (frameType == "Hexa" || frameType == "Hexacopter")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
|
||||
quad->setElementId("quad-hexa");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(50);
|
||||
m_aircraft->mrPitchMixLevel->setValue(33);
|
||||
m_aircraft->mrYawMixLevel->setValue(33);
|
||||
setYawMixLevel(33);
|
||||
}
|
||||
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
|
||||
quad->setElementId("quad-hexa-H");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(33);
|
||||
m_aircraft->mrPitchMixLevel->setValue(50);
|
||||
m_aircraft->mrYawMixLevel->setValue(33);
|
||||
setYawMixLevel(33);
|
||||
|
||||
}
|
||||
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
|
||||
quad->setElementId("hexa-coax");
|
||||
|
||||
//Enable all necessary motor channel boxes...
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(100);
|
||||
m_aircraft->mrPitchMixLevel->setValue(50);
|
||||
m_aircraft->mrYawMixLevel->setValue(66);
|
||||
setYawMixLevel(66);
|
||||
|
||||
}
|
||||
else if (frameType == "Octo" || frameType == "Octocopter")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
|
||||
quad->setElementId("quad-octo");
|
||||
|
||||
//Enable all necessary motor channel boxes
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(33);
|
||||
m_aircraft->mrPitchMixLevel->setValue(33);
|
||||
m_aircraft->mrYawMixLevel->setValue(25);
|
||||
setYawMixLevel(25);
|
||||
}
|
||||
else if (frameType == "OctoV" || frameType == "Octocopter V")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
|
||||
quad->setElementId("quad-octo-v");
|
||||
|
||||
//Enable all necessary motor channel boxes
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(25);
|
||||
m_aircraft->mrPitchMixLevel->setValue(25);
|
||||
m_aircraft->mrYawMixLevel->setValue(25);
|
||||
setYawMixLevel(25);
|
||||
|
||||
}
|
||||
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
|
||||
quad->setElementId("octo-coax-P");
|
||||
|
||||
//Enable all necessary motor channel boxes
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(100);
|
||||
m_aircraft->mrPitchMixLevel->setValue(100);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
|
||||
}
|
||||
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
|
||||
{
|
||||
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
|
||||
quad->setElementId("octo-coax-X");
|
||||
|
||||
//Enable all necessary motor channel boxes
|
||||
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
|
||||
|
||||
m_aircraft->mrRollMixLevel->setValue(50);
|
||||
m_aircraft->mrPitchMixLevel->setValue(50);
|
||||
m_aircraft->mrYawMixLevel->setValue(50);
|
||||
setYawMixLevel(50);
|
||||
}
|
||||
|
||||
//Draw the appropriate airframe
|
||||
drawAirframe(frameType);
|
||||
}
|
||||
|
||||
void ConfigMultiRotorWidget::drawAirframe(QString frameType){
|
||||
|
||||
invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
|
||||
|
||||
if (frameType == "Tri" || frameType == "Tricopter Y") {
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("tri");
|
||||
else
|
||||
quad->setElementId("tri_reverse");
|
||||
}
|
||||
else if (frameType == "QuadX" || frameType == "Quad X") {
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-x");
|
||||
else
|
||||
quad->setElementId("quad-x_reverse");
|
||||
}
|
||||
else if (frameType == "QuadP" || frameType == "Quad +") {
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-plus");
|
||||
else
|
||||
quad->setElementId("quad-plus_reverse");
|
||||
}
|
||||
else if (frameType == "Hexa" || frameType == "Hexacopter")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-hexa");
|
||||
else
|
||||
quad->setElementId("quad-hexa_reverse");
|
||||
}
|
||||
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-hexa-H");
|
||||
else
|
||||
quad->setElementId("quad-hexa-H_reverse");
|
||||
}
|
||||
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("hexa-coax");
|
||||
else
|
||||
quad->setElementId("hexa-coax_reverse");
|
||||
}
|
||||
else if (frameType == "Octo" || frameType == "Octocopter")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-octo");
|
||||
else
|
||||
quad->setElementId("quad-octo_reverse");
|
||||
}
|
||||
else if (frameType == "OctoV" || frameType == "Octocopter V")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("quad-octo-v");
|
||||
else
|
||||
quad->setElementId("quad-octo-v_reverse");
|
||||
}
|
||||
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("octo-coax-P");
|
||||
else
|
||||
quad->setElementId("octo-coax-P_reverse");
|
||||
|
||||
}
|
||||
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
|
||||
{
|
||||
if(invertMotors > 0)
|
||||
quad->setElementId("octo-coax-X");
|
||||
else
|
||||
quad->setElementId("octo-coax-X_reverse");
|
||||
|
||||
}
|
||||
}
|
||||
@ -259,6 +326,21 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
|
||||
return channelDesc;
|
||||
}
|
||||
|
||||
void ConfigMultiRotorWidget::setYawMixLevel(int value)
|
||||
{
|
||||
if(value<0)
|
||||
{
|
||||
m_aircraft->mrYawMixLevel->setValue((-1)*value);
|
||||
m_aircraft->MultirotorRevMixercheckBox->setChecked(true);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_aircraft->mrYawMixLevel->setValue(value);
|
||||
m_aircraft->MultirotorRevMixercheckBox->setChecked(false);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@ -500,7 +582,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
|
||||
setYawMixLevel( 1-value/1.27 );
|
||||
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
@ -526,7 +608,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
|
||||
setYawMixLevel( 1-value/1.27 );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
m_aircraft->mrRollMixLevel->setValue( value/1.27);
|
||||
@ -556,7 +638,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
//change channels
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
@ -589,7 +671,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
@ -617,7 +699,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( value/1.27 );
|
||||
setYawMixLevel( value/1.27 );
|
||||
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
@ -648,7 +730,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
//change channels
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
@ -660,7 +742,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
//change channels
|
||||
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
|
||||
@ -672,7 +754,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
//change channels
|
||||
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
|
||||
@ -705,7 +787,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
|
||||
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
|
||||
setYawMixLevel( floor(-value/1.27) );
|
||||
|
||||
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
|
||||
m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
|
||||
@ -732,6 +814,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
drawAirframe(frameType);
|
||||
}
|
||||
|
||||
|
||||
@ -959,7 +1043,8 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
|
||||
// and enable only the relevant channels:
|
||||
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
|
||||
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
|
||||
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
|
||||
invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
|
||||
double yFactor =invertMotors * (double)m_aircraft->mrYawMixLevel->value()/100;
|
||||
for (int i=0 ; i<8; i++) {
|
||||
if(mmList.at(i)->isEnabled())
|
||||
{
|
||||
|
||||
@ -64,9 +64,14 @@ private:
|
||||
void setupMotors(QList<QString> motorList);
|
||||
void setupQuadMotor(int channel, double roll, double pitch, double yaw);
|
||||
|
||||
float invertMotors;
|
||||
|
||||
virtual void ResetActuators(GUIConfigDataUnion* configData);
|
||||
static QStringList getChannelDescriptions();
|
||||
static const QString CHANNELBOXNAME;
|
||||
void setYawMixLevel(int);
|
||||
|
||||
void drawAirframe(QString multiRotorType);
|
||||
|
||||
private slots:
|
||||
virtual void setupUI(QString airframeType);
|
||||
|
||||
@ -13,6 +13,7 @@
|
||||
#include "relaytuningsettings.h"
|
||||
#include "relaytuning.h"
|
||||
#include "stabilizationsettings.h"
|
||||
#include "hwsettings.h"
|
||||
|
||||
ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
|
||||
ConfigTaskWidget(parent)
|
||||
@ -28,6 +29,9 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
|
||||
connect(m_autotune->rateTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
|
||||
connect(m_autotune->attitudeTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
|
||||
|
||||
addUAVObject("HwSettings");
|
||||
addWidget(m_autotune->enableAutoTune);
|
||||
|
||||
RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
|
||||
Q_ASSERT(relayTuning);
|
||||
if(relayTuning)
|
||||
@ -134,3 +138,25 @@ void ConfigAutotuneWidget::recomputeStabilization()
|
||||
m_autotune->pitchAttitudeKp->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP]));
|
||||
m_autotune->pitchAttitudeKi->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI]));
|
||||
}
|
||||
void ConfigAutotuneWidget::refreshWidgetsValues(UAVObject *obj)
|
||||
{
|
||||
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
|
||||
if(obj==hwSettings)
|
||||
{
|
||||
bool dirtyBack=isDirty();
|
||||
HwSettings::DataFields hwSettingsData = hwSettings->getData();
|
||||
m_autotune->enableAutoTune->setChecked(
|
||||
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_AUTOTUNE] == HwSettings::OPTIONALMODULES_ENABLED);
|
||||
setDirty(dirtyBack);
|
||||
}
|
||||
ConfigTaskWidget::refreshWidgetsValues(obj);
|
||||
}
|
||||
void ConfigAutotuneWidget::updateObjectsFromWidgets()
|
||||
{
|
||||
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
|
||||
HwSettings::DataFields hwSettingsData = hwSettings->getData();
|
||||
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_AUTOTUNE] =
|
||||
m_autotune->enableAutoTune->isChecked() ? HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
|
||||
hwSettings->setData(hwSettingsData);
|
||||
ConfigTaskWidget::updateObjectsFromWidgets();
|
||||
}
|
||||
|
||||
@ -51,7 +51,8 @@ private:
|
||||
signals:
|
||||
|
||||
public slots:
|
||||
|
||||
void refreshWidgetsValues(UAVObject *obj);
|
||||
void updateObjectsFromWidgets();
|
||||
private slots:
|
||||
void recomputeStabilization();
|
||||
void saveStabilization();
|
||||
|
||||
@ -215,6 +215,9 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
|
||||
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
|
||||
//Connect the multirotor motor reverse checkbox
|
||||
connect(m_aircraft->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
|
||||
|
||||
// Connect the help pushbutton
|
||||
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
|
||||
enableControls(false);
|
||||
@ -483,7 +486,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
|
||||
UAVObjectField *field = system->getField(QString("AirframeType"));
|
||||
Q_ASSERT(field);
|
||||
// At this stage, we will need to have some hardcoded settings in this code, this
|
||||
// is not ideal, but here you go.
|
||||
// is not ideal, but there you go.
|
||||
QString frameType = field->getValue().toString();
|
||||
setupAirframeUI(frameType);
|
||||
|
||||
@ -766,6 +769,12 @@ void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
|
||||
box->setCurrentIndex(index);
|
||||
}
|
||||
|
||||
void ConfigVehicleTypeWidget::reverseMultirotorMotor(){
|
||||
QString frameType = m_aircraft->multirotorFrameType->currentText();
|
||||
m_multirotor->drawAirframe(frameType);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
WHAT DOES THIS DO???
|
||||
*/
|
||||
|
||||
@ -95,6 +95,7 @@ private slots:
|
||||
|
||||
void enableFFTest();
|
||||
void openHelp();
|
||||
void reverseMultirotorMotor();
|
||||
|
||||
protected:
|
||||
void showEvent(QShowEvent *event);
|
||||
|
||||
File diff suppressed because one or more lines are too long
|
Before Width: | Height: | Size: 407 KiB After Width: | Height: | Size: 758 KiB |
@ -6,8 +6,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>670</width>
|
||||
<height>693</height>
|
||||
<width>880</width>
|
||||
<height>672</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
@ -28,7 +28,7 @@
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_11">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
@ -110,8 +110,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>640</width>
|
||||
<height>610</height>
|
||||
<width>850</width>
|
||||
<height>572</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
@ -119,7 +119,7 @@
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="verticalSpacing">
|
||||
<number>6</number>
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<item row="1" column="0">
|
||||
<widget class="QGroupBox" name="groupBox_5">
|
||||
@ -149,47 +149,11 @@
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QPushButton" name="configurationWizard">
|
||||
<property name="text">
|
||||
<string>Start Configuration Wizard</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="runCalibration">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Run Calibration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_7">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>12</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="channelSettings">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@ -348,6 +312,98 @@
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QGroupBox" name="groupBox_3">
|
||||
<property name="title">
|
||||
<string>Calibration and Configuration Options</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_7">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_10">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="configurationWizard">
|
||||
<property name="text">
|
||||
<string>Start Configuration Wizard</string>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="autoDefault">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="default">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_7">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="runCalibration">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>210</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Manual Calibration</string>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_9">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
@ -359,9 +415,6 @@
|
||||
<string>Flight Mode Switch Settings</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_8">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
@ -442,29 +495,297 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>640</width>
|
||||
<height>610</height>
|
||||
<width>850</width>
|
||||
<height>572</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_7">
|
||||
<layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0">
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
<item row="1" column="0">
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string>Configure each stabilization mode for each axis</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1,0,1,0,1,0">
|
||||
<property name="leftMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<property name="horizontalSpacing">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item row="2" column="1">
|
||||
<spacer name="horizontalSpacer_11">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Minimum</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QComboBox" name="fmsSsPos3Roll">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="6">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>195</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>195</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<spacer name="horizontalSpacer_12">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_14">
|
||||
<property name="text">
|
||||
<string>Stabilized1</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="5">
|
||||
<spacer name="horizontalSpacer_13">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="3" column="6">
|
||||
<widget class="QComboBox" name="fmsSsPos3Yaw">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="text">
|
||||
<string>Stabilized2</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QComboBox" name="fmsSsPos3Pitch">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="6">
|
||||
<widget class="QComboBox" name="fmsSsPos2Yaw">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="4">
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QComboBox" name="fmsSsPos2Pitch">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="6">
|
||||
<widget class="QComboBox" name="fmsSsPos1Yaw">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>102</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QComboBox" name="fmsSsPos2Roll">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QComboBox" name="fmsSsPos1Roll">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>102</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QComboBox" name="fmsSsPos1Pitch">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>102</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="text">
|
||||
<string>Stabilized3</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="7">
|
||||
<spacer name="horizontalSpacer_14">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>230</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>230</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
@ -636,7 +957,7 @@
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>140</height>
|
||||
<height>160</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
@ -679,6 +1000,9 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
|
||||
</item>
|
||||
<item row="0" column="2" rowspan="3">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||||
<property name="spacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QComboBox" name="fmsModePos1">
|
||||
<property name="focusPolicy">
|
||||
@ -858,194 +1182,17 @@ channel value for each flight mode.</string>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>100</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Configure each stabilization mode for each axis</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="horizontalSpacing">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="text">
|
||||
<string>Stabilized3</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QComboBox" name="fmsSsPos1Roll">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>102</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QComboBox" name="fmsSsPos3Pitch">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QComboBox" name="fmsSsPos3Yaw">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QComboBox" name="fmsSsPos2Pitch">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_14">
|
||||
<property name="text">
|
||||
<string>Stabilized1</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QComboBox" name="fmsSsPos3Roll">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QComboBox" name="fmsSsPos1Yaw">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>102</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QComboBox" name="fmsSsPos2Yaw">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QComboBox" name="fmsSsPos2Roll">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="text">
|
||||
<string>Stabilized2</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QComboBox" name="fmsSsPos1Pitch">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>102</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
@ -1057,9 +1204,6 @@ margin:1px;</string>
|
||||
<string>Arming Settings</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_12">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
@ -1140,14 +1284,11 @@ margin:1px;</string>
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>640</width>
|
||||
<height>610</height>
|
||||
<width>850</width>
|
||||
<height>572</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
|
||||
@ -14,9 +14,6 @@
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
@ -120,12 +117,12 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>668</width>
|
||||
<height>671</height>
|
||||
<height>654</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
@ -148,12 +145,12 @@
|
||||
<string>Output Update Speed</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="horizontalSpacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
@ -528,15 +525,9 @@ Leave at 50Hz for fixed wing.</string>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="channelLayout">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetDefaultConstraint</enum>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>965</width>
|
||||
<height>797</height>
|
||||
<height>687</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
@ -505,9 +505,6 @@
|
||||
<string>Basic</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
@ -603,24 +600,15 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>935</width>
|
||||
<height>714</height>
|
||||
<width>937</width>
|
||||
<height>595</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0">
|
||||
<property name="spacing">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="leftMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item>
|
||||
@ -640,7 +628,7 @@
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>181</height>
|
||||
<height>195</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
@ -3496,7 +3484,7 @@ value as the Kp.</string>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>181</height>
|
||||
<height>195</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -6866,9 +6854,6 @@ border-radius: 5;</string>
|
||||
<string>Advanced</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
@ -6952,17 +6937,14 @@ border-radius: 5;</string>
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>935</width>
|
||||
<height>714</height>
|
||||
<width>540</width>
|
||||
<height>663</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_16">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
@ -6977,7 +6959,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>210</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
@ -10299,7 +10281,7 @@ Then lower the value by 20% or so.</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>170</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
@ -13429,7 +13411,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>195</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
@ -16792,9 +16774,6 @@ border-radius: 5;</string>
|
||||
<string>Expert</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
@ -16881,14 +16860,11 @@ border-radius: 5;</string>
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>935</width>
|
||||
<height>714</height>
|
||||
<width>802</width>
|
||||
<height>607</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_9">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
@ -16903,7 +16879,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>150</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
@ -19508,7 +19484,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>180</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
@ -21916,7 +21892,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>150</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>789</width>
|
||||
<height>615</height>
|
||||
<height>484</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
@ -113,8 +113,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>759</width>
|
||||
<height>532</height>
|
||||
<width>745</width>
|
||||
<height>469</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
|
||||
@ -46,7 +46,6 @@
|
||||
|
||||
#include "uavtalk/telemetrymanager.h"
|
||||
#include "uavobject.h"
|
||||
#include "uavobjectmanager.h"
|
||||
|
||||
#include "positionactual.h"
|
||||
#include "homelocation.h"
|
||||
@ -590,6 +589,7 @@ void OPMapGadgetWidget::updatePosition()
|
||||
VelocityActual *velocityActualObj = VelocityActual::GetInstance(obm);
|
||||
Gyros *gyrosObj = Gyros::GetInstance(obm);
|
||||
|
||||
Q_ASSERT(attitudeActualObj);
|
||||
Q_ASSERT(positionActualObj);
|
||||
Q_ASSERT(velocityActualObj);
|
||||
Q_ASSERT(gyrosObj);
|
||||
@ -941,11 +941,11 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitu
|
||||
if (longitude > 180) longitude = 180;
|
||||
else
|
||||
if (longitude < -180) longitude = -180;
|
||||
else if(altitude != altitude) altitude=0;
|
||||
|
||||
// *********
|
||||
|
||||
m_home_position.coord = internals::PointLatLng(latitude, longitude);
|
||||
m_home_position.altitude = altitude;
|
||||
|
||||
m_map->Home->SetCoord(m_home_position.coord);
|
||||
m_map->Home->SetAltitude(altitude);
|
||||
@ -1659,7 +1659,15 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
|
||||
if (!m_widget || !m_map)
|
||||
return;
|
||||
|
||||
setHome(m_context_menu_lat_lon,0);
|
||||
float altitude=0;
|
||||
bool ok;
|
||||
|
||||
//Get desired HomeLocation altitude from dialog box.
|
||||
//TODO: Populate box with altitude already in HomeLocation UAVO
|
||||
altitude = QInputDialog::getDouble(this, tr("Set home altitude"),
|
||||
tr("In [m], referenced to WGS84:"), altitude, -100, 100000, 2, &ok);
|
||||
|
||||
setHome(m_context_menu_lat_lon, altitude);
|
||||
|
||||
setHomeLocationObject(); // update the HomeLocation UAVObject
|
||||
}
|
||||
|
||||
@ -281,15 +281,7 @@ void OsgEarthItemRenderer::initScene()
|
||||
|
||||
//setup caching
|
||||
osgEarth::MapNode *mapNode = osgEarth::MapNode::findMapNode(m_model.get());
|
||||
if (mapNode) {
|
||||
osgEarth::TMSCacheOptions cacheOptions;
|
||||
//cacheOptions.cacheOnly() = true;
|
||||
QString cacheDir = Utils::PathUtils().GetStoragePath()+QLatin1String("osgEarth_cache");
|
||||
cacheOptions.setPath(cacheDir.toStdString());
|
||||
osgEarth::Cache *cache= new osgEarth::TMSCache(cacheOptions);
|
||||
|
||||
mapNode->getMap()->setCache(cache);
|
||||
} else {
|
||||
if (!mapNode) {
|
||||
qWarning() << Q_FUNC_INFO << sceneFile << " doesn't look like an osgEarth file";
|
||||
}
|
||||
|
||||
|
||||
@ -126,9 +126,6 @@ public slots:
|
||||
signals:
|
||||
void frameReady();
|
||||
|
||||
private slots:
|
||||
void updateFBO();
|
||||
|
||||
private:
|
||||
enum { FboCount = 3 };
|
||||
OsgEarthItem *m_item;
|
||||
|
||||
@ -35,7 +35,10 @@
|
||||
#include <QEventLoop>
|
||||
#include <QTimer>
|
||||
#include <objectpersistence.h>
|
||||
#include <firmwareiapobj.h>
|
||||
|
||||
#include "firmwareiapobj.h"
|
||||
#include "homelocation.h"
|
||||
#include "gpsposition.h"
|
||||
|
||||
// ******************************
|
||||
// constructor/destructor
|
||||
@ -48,6 +51,18 @@ UAVObjectUtilManager::UAVObjectUtilManager()
|
||||
failureTimer.setSingleShot(true);
|
||||
failureTimer.setInterval(1000);
|
||||
connect(&failureTimer, SIGNAL(timeout()),this,SLOT(objectPersistenceOperationFailed()));
|
||||
|
||||
pm = NULL;
|
||||
obm = NULL;
|
||||
obum = NULL;
|
||||
|
||||
pm = ExtensionSystem::PluginManager::instance();
|
||||
if (pm)
|
||||
{
|
||||
obm = pm->getObject<UAVObjectManager>();
|
||||
obum = pm->getObject<UAVObjectUtilManager>();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
UAVObjectUtilManager::~UAVObjectUtilManager()
|
||||
@ -67,10 +82,8 @@ UAVObjectUtilManager::~UAVObjectUtilManager()
|
||||
|
||||
|
||||
UAVObjectManager* UAVObjectUtilManager::getObjectManager() {
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
|
||||
Q_ASSERT(objMngr);
|
||||
return objMngr;
|
||||
Q_ASSERT(obm);
|
||||
return obm;
|
||||
}
|
||||
|
||||
|
||||
@ -107,7 +120,7 @@ void UAVObjectUtilManager::saveNextObject()
|
||||
|
||||
// Get next object from the queue
|
||||
UAVObject* obj = queue.head();
|
||||
qDebug() << "Request board to save object " << obj->getName();
|
||||
qDebug() << "Send save object request to board " << obj->getName();
|
||||
|
||||
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
|
||||
connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
|
||||
@ -233,16 +246,7 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
|
||||
{
|
||||
FirmwareIAPObj::DataFields dummy;
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
Q_ASSERT(pm);
|
||||
if (!pm)
|
||||
return dummy;
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
Q_ASSERT(om);
|
||||
if (!om)
|
||||
return dummy;
|
||||
|
||||
FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
|
||||
FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(obm);
|
||||
Q_ASSERT(firmwareIap);
|
||||
if (!firmwareIap)
|
||||
return dummy;
|
||||
@ -306,121 +310,47 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
|
||||
|
||||
int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
|
||||
{
|
||||
double ECEF[3];
|
||||
double RNE[9];
|
||||
double Be[3];
|
||||
UAVObjectField *field;
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
|
||||
if (Utils::HomeLocationUtil().getDetails(LLA, ECEF, RNE, Be) < 0)
|
||||
return -1; // error
|
||||
Q_ASSERT (Utils::HomeLocationUtil().getDetails(LLA, Be) >= 0);
|
||||
|
||||
// ******************
|
||||
// save the new settings
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -2;
|
||||
HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
|
||||
Q_ASSERT(homeLocation != NULL);
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -3;
|
||||
HomeLocation::DataFields homeLocationData = homeLocation->getData();
|
||||
homeLocationData.Latitude = LLA[0] * 1e7;
|
||||
homeLocationData.Longitude = LLA[1] * 1e7;
|
||||
homeLocationData.Altitude = LLA[2];
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
|
||||
if (!obj) return -4;
|
||||
homeLocationData.Be[0] = Be[0];
|
||||
homeLocationData.Be[1] = Be[1];
|
||||
homeLocationData.Be[2] = Be[2];
|
||||
|
||||
UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
|
||||
if (!ECEF_field) return -5;
|
||||
homeLocationData.Set = HomeLocation::SET_TRUE;
|
||||
|
||||
UAVObjectField *RNE_field = obj->getField(QString("RNE"));
|
||||
if (!RNE_field) return -6;
|
||||
|
||||
UAVObjectField *Be_field = obj->getField(QString("Be"));
|
||||
if (!Be_field) return -7;
|
||||
|
||||
field = obj->getField("Latitude");
|
||||
if (!field) return -8;
|
||||
field->setDouble(LLA[0] * 10e6);
|
||||
|
||||
field = obj->getField("Longitude");
|
||||
if (!field) return -9;
|
||||
field->setDouble(LLA[1] * 10e6);
|
||||
|
||||
field = obj->getField("Altitude");
|
||||
if (!field) return -10;
|
||||
field->setDouble(LLA[2]);
|
||||
|
||||
for (int i = 0; i < 3; i++)
|
||||
ECEF_field->setDouble(ECEF[i] * 100, i);
|
||||
|
||||
for (int i = 0; i < 9; i++)
|
||||
RNE_field->setDouble(RNE[i], i);
|
||||
|
||||
for (int i = 0; i < 3; i++)
|
||||
Be_field->setDouble(Be[i], i);
|
||||
|
||||
field = obj->getField("Set");
|
||||
if (!field) return -11;
|
||||
field->setValue("TRUE");
|
||||
|
||||
obj->updated();
|
||||
|
||||
// ******************
|
||||
// save the new setting to SD card
|
||||
homeLocation->setData(homeLocationData);
|
||||
|
||||
if (save_to_sdcard)
|
||||
saveObjectToSD(obj);
|
||||
saveObjectToSD(homeLocation);
|
||||
|
||||
// ******************
|
||||
// debug
|
||||
/*
|
||||
qDebug() << "setting HomeLocation UAV Object .. " << endl;
|
||||
QString s;
|
||||
s = " LAT:" + QString::number(LLA[0], 'f', 7) + " LON:" + QString::number(LLA[1], 'f', 7) + " ALT:" + QString::number(LLA[2], 'f', 1);
|
||||
qDebug() << s << endl;
|
||||
s = " ECEF "; for (int i = 0; i < 3; i++) s += " " + QString::number((int)(ECEF[i] * 100));
|
||||
qDebug() << s << endl;
|
||||
s = " RNE "; for (int i = 0; i < 9; i++) s += " " + QString::number(RNE[i], 'f', 7);
|
||||
qDebug() << s << endl;
|
||||
s = " Be "; for (int i = 0; i < 3; i++) s += " " + QString::number(Be[i], 'f', 2);
|
||||
qDebug() << s << endl;
|
||||
*/
|
||||
// ******************
|
||||
|
||||
return 0; // OK
|
||||
return 0;
|
||||
}
|
||||
|
||||
int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
|
||||
{
|
||||
UAVObjectField *field;
|
||||
HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
|
||||
Q_ASSERT(homeLocation != NULL);
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
HomeLocation::DataFields homeLocationData = homeLocation->getData();
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -1;
|
||||
set = homeLocationData.Set;
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -2;
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
|
||||
if (!obj) return -3;
|
||||
|
||||
// obj->requestUpdate();
|
||||
|
||||
field = obj->getField("Set");
|
||||
if (!field) return -4;
|
||||
set = field->getValue().toBool();
|
||||
|
||||
field = obj->getField("Latitude");
|
||||
if (!field) return -5;
|
||||
LLA[0] = field->getDouble() * 1e-7;
|
||||
|
||||
field = obj->getField("Longitude");
|
||||
if (!field) return -6;
|
||||
LLA[1] = field->getDouble() * 1e-7;
|
||||
|
||||
field = obj->getField("Altitude");
|
||||
if (!field) return -7;
|
||||
LLA[2] = field->getDouble();
|
||||
LLA[0] = homeLocationData.Latitude*1e-7;
|
||||
LLA[1] = homeLocationData.Longitude*1e-7;
|
||||
LLA[2] = homeLocationData.Altitude;
|
||||
|
||||
if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
|
||||
else
|
||||
@ -439,88 +369,20 @@ int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
|
||||
return 0; // OK
|
||||
}
|
||||
|
||||
int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
|
||||
{
|
||||
UAVObjectField *field;
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -1;
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -2;
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
|
||||
if (!obj) return -3;
|
||||
|
||||
// obj->requestUpdate();
|
||||
|
||||
field = obj->getField("Set");
|
||||
if (!field) return -4;
|
||||
set = field->getValue().toBool();
|
||||
|
||||
field = obj->getField("Latitude");
|
||||
if (!field) return -5;
|
||||
LLA[0] = field->getDouble() * 1e-7;
|
||||
|
||||
field = obj->getField("Longitude");
|
||||
if (!field) return -6;
|
||||
LLA[1] = field->getDouble() * 1e-7;
|
||||
|
||||
field = obj->getField("Altitude");
|
||||
if (!field) return -7;
|
||||
LLA[2] = field->getDouble();
|
||||
|
||||
field = obj->getField(QString("ECEF"));
|
||||
if (!field) return -8;
|
||||
for (int i = 0; i < 3; i++)
|
||||
ECEF[i] = field->getDouble(i);
|
||||
|
||||
field = obj->getField(QString("RNE"));
|
||||
if (!field) return -9;
|
||||
for (int i = 0; i < 9; i++)
|
||||
RNE[i] = field->getDouble(i);
|
||||
|
||||
field = obj->getField(QString("Be"));
|
||||
if (!field) return -10;
|
||||
for (int i = 0; i < 3; i++)
|
||||
Be[i] = field->getDouble(i);
|
||||
|
||||
return 0; // OK
|
||||
}
|
||||
|
||||
// ******************************
|
||||
// GPS
|
||||
|
||||
int UAVObjectUtilManager::getGPSPosition(double LLA[3])
|
||||
{
|
||||
UAVObjectField *field;
|
||||
GPSPosition *gpsPosition = GPSPosition::GetInstance(obm);
|
||||
Q_ASSERT(gpsPosition != NULL);
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
GPSPosition::DataFields gpsPositionData = gpsPosition->getData();
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -1;
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -2;
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("GPSPosition")));
|
||||
if (!obj) return -3;
|
||||
|
||||
// obj->requestUpdate();
|
||||
|
||||
field = obj->getField(QString("Latitude"));
|
||||
if (!field) return -4;
|
||||
LLA[0] = field->getDouble() * 1e-7;
|
||||
|
||||
field = obj->getField(QString("Longitude"));
|
||||
if (!field) return -5;
|
||||
LLA[1] = field->getDouble() * 1e-7;
|
||||
|
||||
field = obj->getField(QString("Altitude"));
|
||||
if (!field) return -6;
|
||||
LLA[2] = field->getDouble();
|
||||
LLA[0] = gpsPositionData.Latitude;
|
||||
LLA[1] = gpsPositionData.Longitude;
|
||||
LLA[2] = gpsPositionData.Altitude;
|
||||
|
||||
if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
|
||||
else
|
||||
@ -539,94 +401,6 @@ int UAVObjectUtilManager::getGPSPosition(double LLA[3])
|
||||
return 0; // OK
|
||||
}
|
||||
|
||||
// ******************************
|
||||
// telemetry port
|
||||
|
||||
int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
|
||||
{
|
||||
UAVObjectField *field;
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
|
||||
// ******************
|
||||
// save the new settings
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -1;
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -2;
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("/*TelemetrySettings*/")));
|
||||
if (!obj) return -3;
|
||||
|
||||
field = obj->getField(QString("Speed"));
|
||||
if (!field) return -4;
|
||||
field->setValue(speed);
|
||||
|
||||
obj->updated();
|
||||
|
||||
// ******************
|
||||
// save the new setting to SD card
|
||||
|
||||
if (save_to_sdcard)
|
||||
saveObjectToSD(obj);
|
||||
|
||||
// ******************
|
||||
|
||||
return 0; // OK
|
||||
}
|
||||
|
||||
int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
|
||||
{
|
||||
UAVObjectField *field;
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -1;
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -2;
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
|
||||
if (!obj) return -3;
|
||||
|
||||
// obj->requestUpdate();
|
||||
|
||||
field = obj->getField(QString("Speed"));
|
||||
if (!field) return -4;
|
||||
speed = field->getValue().toString();
|
||||
|
||||
return 0; // OK
|
||||
}
|
||||
|
||||
int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
|
||||
{
|
||||
UAVObjectField *field;
|
||||
|
||||
QMutexLocker locker(mutex);
|
||||
|
||||
if (!comboBox) return -1;
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
if (!pm) return -2;
|
||||
|
||||
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
||||
if (!om) return -3;
|
||||
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
|
||||
if (!obj) return -4;
|
||||
|
||||
// obj->requestUpdate();
|
||||
|
||||
field = obj->getField(QString("Speed"));
|
||||
if (!field) return -5;
|
||||
comboBox->addItems(field->getOptions());
|
||||
|
||||
return 0; // OK
|
||||
}
|
||||
|
||||
deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
|
||||
{
|
||||
deviceDescriptorStruct ret;
|
||||
|
||||
@ -55,14 +55,9 @@ public:
|
||||
|
||||
int setHomeLocation(double LLA[3], bool save_to_sdcard);
|
||||
int getHomeLocation(bool &set, double LLA[3]);
|
||||
int getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
|
||||
|
||||
int getGPSPosition(double LLA[3]);
|
||||
|
||||
int setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard);
|
||||
int getTelemetrySerialPortSpeed(QString &speed);
|
||||
int getTelemetrySerialPortSpeeds(QComboBox *comboBox);
|
||||
|
||||
int getBoardModel();
|
||||
QByteArray getBoardCPUSerial();
|
||||
quint32 getFirmwareCRC();
|
||||
@ -84,6 +79,10 @@ private:
|
||||
void saveNextObject();
|
||||
QTimer failureTimer;
|
||||
|
||||
ExtensionSystem::PluginManager *pm;
|
||||
UAVObjectManager *obm;
|
||||
UAVObjectUtilManager *obum;
|
||||
|
||||
private slots:
|
||||
//void transactionCompleted(UAVObject *obj, bool success);
|
||||
void objectPersistenceTransactionCompleted(UAVObject* obj, bool success);
|
||||
|
||||
@ -161,6 +161,9 @@ int main(int argc, char *argv[])
|
||||
QString res = parser->parseXML(xmlstr, filename);
|
||||
|
||||
if (!res.isNull()) {
|
||||
if (!verbose) {
|
||||
cout << "Error in XML file: " << fileinfo.fileName().toStdString() << endl;
|
||||
}
|
||||
cout << "Error parsing " << res.toStdString() << endl;
|
||||
return RETURN_ERR_XML;
|
||||
}
|
||||
|
||||
@ -213,6 +213,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
|
||||
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
|
||||
|
||||
// Make sure that required elements were found
|
||||
if ( !fieldFound )
|
||||
return QString("Object::field element is missing");
|
||||
|
||||
if ( !accessFound )
|
||||
return QString("Object::access element is missing");
|
||||
|
||||
@ -381,11 +384,38 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
// Get name attribute
|
||||
QDomNamedNodeMap elemAttributes = childNode.attributes();
|
||||
QDomNode elemAttr = elemAttributes.namedItem("name");
|
||||
if ( elemAttr.isNull() )
|
||||
if (elemAttr.isNull()) {
|
||||
return QString("Object:field:name attribute is missing");
|
||||
}
|
||||
QString name = elemAttr.nodeValue();
|
||||
|
||||
field->name = elemAttr.nodeValue();
|
||||
|
||||
// Check to see is this field is a clone of another
|
||||
// field that has already been declared
|
||||
elemAttr = elemAttributes.namedItem("cloneof");
|
||||
if (!elemAttr.isNull()) {
|
||||
QString parentName = elemAttr.nodeValue();
|
||||
if (!parentName.isEmpty()) {
|
||||
foreach(FieldInfo * parent, info->fields) {
|
||||
if (parent->name == parentName) {
|
||||
// clone from this parent
|
||||
*field = *parent; // safe shallow copy, no ptrs in struct
|
||||
field->name = name; // set our name
|
||||
// Add field to object
|
||||
info->fields.append(field);
|
||||
// Done
|
||||
return QString();
|
||||
}
|
||||
}
|
||||
return QString("Object:field::cloneof parent unknown");
|
||||
}
|
||||
else {
|
||||
return QString("Object:field:cloneof attribute is empty");
|
||||
}
|
||||
}
|
||||
else {
|
||||
// this field is not a clone, so remember its name
|
||||
field->name = name;
|
||||
}
|
||||
|
||||
// Get units attribute
|
||||
elemAttr = elemAttributes.namedItem("units");
|
||||
@ -410,6 +440,8 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
}
|
||||
|
||||
// Get numelements or elementnames attribute
|
||||
field->numElements = 0;
|
||||
// Look for element names as an attribute first
|
||||
elemAttr = elemAttributes.namedItem("elementnames");
|
||||
if ( !elemAttr.isNull() ) {
|
||||
// Get element names
|
||||
@ -422,9 +454,26 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
field->defaultElementNames = false;
|
||||
}
|
||||
else {
|
||||
// Look for a list of child elementname nodes
|
||||
QDomNode listNode = childNode.firstChildElement("elementnames");
|
||||
if (!listNode.isNull()) {
|
||||
for (QDomElement node = listNode.firstChildElement("elementname");
|
||||
!node.isNull(); node = node.nextSiblingElement("elementname")) {
|
||||
QDomNode name = node.firstChild();
|
||||
if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
|
||||
field->elementNames.append(name.nodeValue());
|
||||
}
|
||||
}
|
||||
field->numElements = field->elementNames.length();
|
||||
field->defaultElementNames = false;
|
||||
}
|
||||
}
|
||||
// If no element names were found, then fall back to looking
|
||||
// for the number of elements in the 'elements' attribute
|
||||
if (field->numElements == 0) {
|
||||
elemAttr = elemAttributes.namedItem("elements");
|
||||
if ( elemAttr.isNull() ) {
|
||||
return QString("Object:field:elements and Object:field:elementnames attribute is missing");
|
||||
return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
|
||||
}
|
||||
else {
|
||||
field->numElements = elemAttr.nodeValue().toInt();
|
||||
@ -434,20 +483,35 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
field->defaultElementNames = true;
|
||||
}
|
||||
}
|
||||
// Get options attribute (only if an enum type)
|
||||
// Get options attribute or child elements (only if an enum type)
|
||||
if (field->type == FIELDTYPE_ENUM) {
|
||||
|
||||
// Get options attribute
|
||||
// Look for options attribute
|
||||
elemAttr = elemAttributes.namedItem("options");
|
||||
if ( elemAttr.isNull() )
|
||||
return QString("Object:field:options attribute is missing");
|
||||
|
||||
if (!elemAttr.isNull()) {
|
||||
QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
|
||||
for (int n = 0; n < options.length(); ++n)
|
||||
for (int n = 0; n < options.length(); ++n) {
|
||||
options[n] = options[n].trimmed();
|
||||
|
||||
}
|
||||
field->options = options;
|
||||
}
|
||||
else {
|
||||
// Look for a list of child 'option' nodes
|
||||
QDomNode listNode = childNode.firstChildElement("options");
|
||||
if (!listNode.isNull()) {
|
||||
for (QDomElement node = listNode.firstChildElement("option");
|
||||
!node.isNull(); node = node.nextSiblingElement("option")) {
|
||||
QDomNode name = node.firstChild();
|
||||
if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
|
||||
field->options.append(name.nodeValue());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (field->options.length() == 0) {
|
||||
return QString("Object:field:options attribute/element is missing");
|
||||
}
|
||||
}
|
||||
|
||||
// Get the default value attribute (required for settings objects, optional for the rest)
|
||||
elemAttr = elemAttributes.namedItem("defaultvalue");
|
||||
@ -466,12 +530,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
|
||||
return QString("Object:field:incorrect number of default values");
|
||||
|
||||
/*support legacy single default for multiple elements
|
||||
We sould really issue a warning*/
|
||||
We should really issue a warning*/
|
||||
for(int ct=1; ct< field->numElements; ct++)
|
||||
defaults.append(defaults[0]);
|
||||
}
|
||||
field->defaultValues = defaults;
|
||||
}
|
||||
|
||||
// Limits attribute
|
||||
elemAttr = elemAttributes.namedItem("limits");
|
||||
if ( elemAttr.isNull() ) {
|
||||
field->limitValues=QString();
|
||||
|
||||
@ -5,29 +5,76 @@
|
||||
<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
|
||||
<field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer9Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer9Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer10Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer10Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
|
||||
<field name="Curve2Source" units="" type="enum" elements="1" defaultvalue="Throttle">
|
||||
<options>
|
||||
<option>Throttle</option>
|
||||
<option>Roll</option>
|
||||
<option>Pitch</option>
|
||||
<option>Yaw</option>
|
||||
<option>Collective</option>
|
||||
<option>Accessory0</option>
|
||||
<option>Accessory1</option>
|
||||
<option>Accessory2</option>
|
||||
<option>Accessory3</option>
|
||||
<option>Accessory4</option>
|
||||
<option>Accessory5</option>
|
||||
</options>
|
||||
</field>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" defaultvalue="Disabled">
|
||||
<options>
|
||||
<option>Disabled</option>
|
||||
<option>Motor</option>
|
||||
<option>Servo</option>
|
||||
<option>CameraRoll</option>
|
||||
<option>CameraPitch</option>
|
||||
<option>CameraYaw</option>
|
||||
<option>Accessory0</option>
|
||||
<option>Accessory1</option>
|
||||
<option>Accessory2</option>
|
||||
<option>Accessory3</option>
|
||||
<option>Accessory4</option>
|
||||
<option>Accessory5</option>
|
||||
</options>
|
||||
</field>
|
||||
<field name="Mixer1Vector" units="" type="int8" defaultvalue="0">
|
||||
<elementnames>
|
||||
<elementname>ThrottleCurve1</elementname>
|
||||
<elementname>ThrottleCurve2</elementname>
|
||||
<elementname>Roll</elementname>
|
||||
<elementname>Pitch</elementname>
|
||||
<elementname>Yaw</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
|
||||
<field name="Mixer2Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer2Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer3Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer3Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer4Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer4Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer5Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer5Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer6Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer6Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer7Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer7Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer8Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer8Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer9Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer9Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<field name="Mixer10Type" cloneof="Mixer1Type"/>
|
||||
<field name="Mixer10Vector" cloneof="Mixer1Vector"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
@ -1,9 +1,79 @@
|
||||
<xml>
|
||||
<object name="TaskInfo" singleinstance="true" settings="false">
|
||||
<description>Task information</description>
|
||||
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
|
||||
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
|
||||
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
|
||||
<field name="StackRemaining" units="bytes" type="uint16">
|
||||
<elementnames>
|
||||
<elementname>System</elementname>
|
||||
<elementname>Actuator</elementname>
|
||||
<elementname>Attitude</elementname>
|
||||
<elementname>Sensors</elementname>
|
||||
<elementname>TelemetryTx</elementname>
|
||||
<elementname>TelemetryTxPri</elementname>
|
||||
<elementname>TelemetryRx</elementname>
|
||||
<elementname>GPS</elementname>
|
||||
<elementname>ManualControl</elementname>
|
||||
<elementname>Altitude</elementname>
|
||||
<elementname>Stabilization</elementname>
|
||||
<elementname>AltitudeHold</elementname>
|
||||
<elementname>Guidance</elementname>
|
||||
<elementname>FlightPlan</elementname>
|
||||
<elementname>Com2UsbBridge</elementname>
|
||||
<elementname>Usb2ComBridge</elementname>
|
||||
<elementname>OveroSync</elementname>
|
||||
<elementname>Autotune</elementname>
|
||||
<elementname>EventDispatcher</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
<field name="Running" units="bool" type="enum">
|
||||
<elementnames>
|
||||
<elementname>System</elementname>
|
||||
<elementname>Actuator</elementname>
|
||||
<elementname>Attitude</elementname>
|
||||
<elementname>Sensors</elementname>
|
||||
<elementname>TelemetryTx</elementname>
|
||||
<elementname>TelemetryTxPri</elementname>
|
||||
<elementname>TelemetryRx</elementname>
|
||||
<elementname>GPS</elementname>
|
||||
<elementname>ManualControl</elementname>
|
||||
<elementname>Altitude</elementname>
|
||||
<elementname>Stabilization</elementname>
|
||||
<elementname>AltitudeHold</elementname>
|
||||
<elementname>Guidance</elementname>
|
||||
<elementname>FlightPlan</elementname>
|
||||
<elementname>Com2UsbBridge</elementname>
|
||||
<elementname>Usb2ComBridge</elementname>
|
||||
<elementname>OveroSync</elementname>
|
||||
<elementname>Autotune</elementname>
|
||||
<elementname>EventDispatcher</elementname>
|
||||
</elementnames>
|
||||
<options>
|
||||
<option>False</option>
|
||||
<option>True</option>
|
||||
</options>
|
||||
</field>
|
||||
<field name="RunningTime" units="%" type="uint8">
|
||||
<elementnames>
|
||||
<elementname>System</elementname>
|
||||
<elementname>Actuator</elementname>
|
||||
<elementname>Attitude</elementname>
|
||||
<elementname>Sensors</elementname>
|
||||
<elementname>TelemetryTx</elementname>
|
||||
<elementname>TelemetryTxPri</elementname>
|
||||
<elementname>TelemetryRx</elementname>
|
||||
<elementname>GPS</elementname>
|
||||
<elementname>ManualControl</elementname>
|
||||
<elementname>Altitude</elementname>
|
||||
<elementname>Stabilization</elementname>
|
||||
<elementname>AltitudeHold</elementname>
|
||||
<elementname>Guidance</elementname>
|
||||
<elementname>FlightPlan</elementname>
|
||||
<elementname>Com2UsbBridge</elementname>
|
||||
<elementname>Usb2ComBridge</elementname>
|
||||
<elementname>OveroSync</elementname>
|
||||
<elementname>Autotune</elementname>
|
||||
<elementname>EventDispatcher</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="periodic" period="10000"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user