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Code Issues Releases Activity

Merge branch 'next' into ins

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This commit is contained in:
James Cotton 2011-09-12 18:57:11 -05:00
commit 400ba3bd47
36 changed files with 2167 additions and 482 deletions
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15
HISTORY.txt
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@ -1,5 +1,20 @@
Short summary of changes. For a complete list see the git log.
2011-09-12
Max rate now ONLY applies to attitude and axis lock mode. Manual rate is the
only term that limits the rate mode now (and in axis lock when you push stick
only manual rate applies). Also integrals are reset when unused.
2011-09-09
Some large updates to the input system. Now multiple receivers can be
connected at once. A wizard was added for configuring the input channels. A
specific collective pitch channel was added.
2011-09-04
Improvements to the failsafe handling code for inputs. PWM power off is now
detected properly. Powering on transmitter for Spektrum Satellite no longer
causes a glitch on servos.
2011-08-10
Added Camera Stabilization and a gui to configure this. This is a software
selectable module from the GUI. However, a restart is required to make it

15
MILESTONES.txt
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@ -82,7 +82,7 @@ C: Sami Korhonen (Sambas)
D: February 2011
V: http://vimeo.com/20159015
M: First Position Hold on a Fixed Wing
M: First CopterControl Position Hold on a Fixed Wing
C: Eric Price (Corvus Corax)
D: March 2011
V: http://www.youtube.com/watch?v=QtaefhmGbio
@ -146,6 +146,12 @@ M: First CopterControl Flybared Heli funnel (4:18), loop (5:35)
C: Sergey Solodennikov (alconaft43)
D: August 2011
V: http://www.youtube.com/watch?v=8SrfIS7OkB4
M: First CopterControl Return to Base Fixed Wing
C: Eric Price (Corvus Corax)
D: AUgust 2011
V: http://www.youtube.com/watch?v=CugI0oBSQn8
M: First Altitude Hold using Sonar
C:
@ -170,11 +176,11 @@ V:
An incomplete list of some future Milestones is below:
* First Y6 CopterControl flight
* First Helicopter flight with OpenPilot
* First Helicopter flight with OpenPilot Pro
* First fixed wing navigation flight on CopterControl
* First successful flight using the GCS only and no RC TX
* First use of Magic Waypoint
* First Flybarless Helicopter flight with OpenPilot
* First Flybarless Helicopter flight with OpenPilot Pro
* First fixed wing navigation flight
* First Multirotor navigation flight
* First Helicopter navigation flight
@ -183,4 +189,3 @@ An incomplete list of some future Milestones is below:
* First "Follow Me" navigation flight
* First Channel Crossing with OpenPilot

4
Makefile
View File

@ -183,13 +183,13 @@ qt_sdk_clean:
ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03
.PHONY: arm_sdk_install
arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package8734/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_URL := https://sourcery.mentor.com/sgpp/lite/arm/portal/package8736/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
# order-only prereq on directory existance:
arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
arm_sdk_install: arm_sdk_clean
# download the source only if it's newer than what we already have
$(V1) wget -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
# binary only release so just extract it
$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"

BIN
artwork/Font/OpenPilot.ttf
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Binary file not shown.

7
flight/CopterControl/System/pios_board.c
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@ -1028,6 +1028,13 @@ void PIOS_Board_Init(void) {
if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif /* PIOS_INCLUDE_SBUS */
break;

7
flight/Modules/Actuator/actuator.c
View File

@ -42,7 +42,7 @@
#include "mixersettings.h"
#include "mixerstatus.h"
#include "cameradesired.h"
#include "manualcontrolcommand.h"
// Private constants
#define MAX_QUEUE_SIZE 2
@ -238,6 +238,11 @@ static void actuatorTask(void* parameters)
case MIXERSETTINGS_CURVE2SOURCE_YAW:
curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_COLLECTIVE:
ManualControlCommandCollectiveGet(&curve2);
curve2 = MixerCurve(curve2,mixerSettings.ThrottleCurve2,
MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2:

7
flight/Modules/ManualControl/inc/manualcontrol.h
View File

@ -105,4 +105,11 @@ int32_t ManualControlInitialize();
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#define assumptions_channelcount ( \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNUMBER_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM ) )
#endif // MANUALCONTROL_H

21
flight/Modules/ManualControl/manualcontrol.c
View File

@ -101,7 +101,7 @@ static struct rcvr_activity_fsm activity_fsm;
static void resetRcvrActivity(struct rcvr_activity_fsm * fsm);
static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm);
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode && assumptions_channelcount)
/**
* Module starting
@ -278,6 +278,7 @@ static void manualControlTask(void *parameters)
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
cmd.Collective = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
@ -316,6 +317,11 @@ static void manualControlTask(void *parameters)
cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT)
cmd.Collective = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE];
AccessoryDesiredData accessory;
// Set Accessory 0
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] !=
@ -398,8 +404,9 @@ static void resetRcvrActivity(struct rcvr_activity_fsm * fsm)
}
static void updateRcvrActivitySample(uint32_t rcvr_id, uint16_t samples[], uint8_t max_channels) {
for (uint8_t channel = 0; channel < max_channels; channel++) {
samples[channel] = PIOS_RCVR_Read(rcvr_id, channel);
for (uint8_t channel = 1; channel <= max_channels; channel++) {
// Subtract 1 because channels are 1 indexed
samples[channel - 1] = PIOS_RCVR_Read(rcvr_id, channel);
}
}
@ -408,12 +415,12 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
bool activity_updated = false;
/* Compare the current value to the previous sampled value */
for (uint8_t channel = 0;
channel < RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP;
for (uint8_t channel = 1;
channel <= RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP;
channel++) {
uint16_t delta;
uint16_t prev = fsm->prev[channel];
uint16_t curr = PIOS_RCVR_Read(rcvr_id, channel);
uint16_t prev = fsm->prev[channel - 1]; // Subtract 1 because channels are 1 indexed
uint16_t curr = PIOS_RCVR_Read(rcvr_id, channel);
if (curr > prev) {
delta = curr - prev;
} else {

29
flight/Modules/Stabilization/stabilization.c
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@ -235,6 +235,9 @@ static void stabilizationTask(void* parameters)
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[i] = attitudeDesiredAxis[i];
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i].iAccumulator = 0;
axis_lock_accum[i] = 0;
break;
@ -249,11 +252,20 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i].iAccumulator = 0;
axis_lock_accum[i] = 0;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[i];
axis_lock_accum[i] = 0;
break;
@ -272,6 +284,12 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
}
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[i];
break;
}
}
@ -284,11 +302,6 @@ static void stabilizationTask(void* parameters)
//Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++)
{
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
@ -306,14 +319,20 @@ static void stabilizationTask(void* parameters)
case ROLL:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_ROLL].iAccumulator = 0;
pids[PID_ROLL].iAccumulator = 0;
break;
case PITCH:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_PITCH].iAccumulator = 0;
pids[PID_PITCH].iAccumulator = 0;
break;
case YAW:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_YAW].iAccumulator = 0;
pids[PID_YAW].iAccumulator = 0;
break;
}
break;

6
flight/PiOS/Common/pios_rcvr.c
View File

@ -87,6 +87,12 @@ out_fail:
*/
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
// Publicly facing API uses channel 1 for first channel
if(channel == 0)
return PIOS_RCVR_INVALID;
else
channel--;
if (rcvr_id == 0)
return PIOS_RCVR_NODRIVER;

28
flight/PiOS/STM32F10x/pios_sbus.c
View File

@ -34,8 +34,6 @@
#if defined(PIOS_INCLUDE_SBUS)
/* Global Variables */
/* Provide a RCVR driver */
static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
@ -65,21 +63,17 @@ static void reset_channels(void)
/**
* unroll_channels() function computes channel_data[] from received_data[]
* For efficiency it unrolls first 8 channels without loops. If other
* 8 channels are needed they can be unrolled using the same code
* starting from s[11] instead of s[0]. Two extra digital channels are
* accessible using (s[22] & SBUS_FLAG_DGx) logical expressions.
* For efficiency it unrolls first 8 channels without loops and does the
* same for other 8 channels. Also 2 discrete channels will be set.
*/
static void unroll_channels(void)
{
uint8_t *s = received_data;
uint16_t *d = channel_data;
#if (SBUS_NUMBER_OF_CHANNELS != 8)
#error Current S.Bus code unrolls only first 8 channels
#endif
#define F(v,s) ((v) >> s) & 0x7ff
/* unroll channels 1-8 */
*d++ = F(s[0] | s[1] << 8, 0);
*d++ = F(s[1] | s[2] << 8, 3);
*d++ = F(s[2] | s[3] << 8 | s[4] << 16, 6);
@ -88,6 +82,20 @@ static void unroll_channels(void)
*d++ = F(s[6] | s[7] << 8 | s[8] << 16, 7);
*d++ = F(s[8] | s[9] << 8, 2);
*d++ = F(s[9] | s[10] << 8, 5);
/* unroll channels 9-16 */
*d++ = F(s[11] | s[12] << 8, 0);
*d++ = F(s[12] | s[13] << 8, 3);
*d++ = F(s[13] | s[14] << 8 | s[15] << 16, 6);
*d++ = F(s[15] | s[16] << 8, 1);
*d++ = F(s[16] | s[17] << 8, 4);
*d++ = F(s[17] | s[18] << 8 | s[19] << 16, 7);
*d++ = F(s[19] | s[20] << 8, 2);
*d++ = F(s[20] | s[21] << 8, 5);
/* unroll discrete channels 17 and 18 */
*d++ = (s[22] & SBUS_FLAG_DC1) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
*d++ = (s[22] & SBUS_FLAG_DC2) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
}
/**

18
flight/PiOS/inc/pios_sbus_priv.h
View File

@ -44,8 +44,8 @@
* 1 byte - 0x0f (start of frame byte)
* 22 bytes - channel data (11 bit/channel, 16 channels, LSB first)
* 1 byte - bit flags:
* 0x01 - digital channel 1,
* 0x02 - digital channel 2,
* 0x01 - discrete channel 1,
* 0x02 - discrete channel 2,
* 0x04 - lost frame flag,
* 0x08 - failsafe flag,
* 0xf0 - reserved
@ -54,16 +54,20 @@
#define SBUS_FRAME_LENGTH (1+22+1+1)
#define SBUS_SOF_BYTE 0x0f
#define SBUS_EOF_BYTE 0x00
#define SBUS_FLAG_DG1 0x01
#define SBUS_FLAG_DG2 0x02
#define SBUS_FLAG_DC1 0x01
#define SBUS_FLAG_DC2 0x02
#define SBUS_FLAG_FL 0x04
#define SBUS_FLAG_FS 0x08
/*
* S.Bus protocol provides up to 16 analog and 2 digital channels.
* Only 8 channels are currently supported by the OpenPilot.
* S.Bus protocol provides 16 proportional and 2 discrete channels.
* Do not change unless driver code is updated accordingly.
*/
#define SBUS_NUMBER_OF_CHANNELS 8
#define SBUS_NUMBER_OF_CHANNELS (16 + 2)
/* Discrete channels represented as bits, provide values for them */
#define SBUS_VALUE_MIN 352
#define SBUS_VALUE_MAX 1696
/*
* S.Bus configuration programmable invertor

78
ground/openpilotgcs/src/plugins/config/ccpm.ui
View File

@ -880,7 +880,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="ccpmLinkRoll">
<property name="text">
<string>Link Roll/Pitch</string>
@ -890,7 +890,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="ccpmLinkCyclic">
<property name="text">
<string>Link Cyclic/Collective</string>
@ -900,80 +900,6 @@
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="ccpmCollectiveChannelBox">
<property name="sizeConstraint">
<enum>QLayout::SetNoConstraint</enum>
</property>
<item>
<widget class="QLabel" name="ccpmCollectiveChLabel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Collective Ch</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="ccpmCollectiveChannel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>

1
ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
View File

@ -2173,7 +2173,6 @@ void ConfigAirframeWidget::addToDirtyMonitor()
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivePassthrough);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkRoll);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkCyclic);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRevoSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmREVOspinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveSlider);

17
ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
View File

@ -147,9 +147,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
UAVObjectField * curve2source = mixerSettings->getField("Curve2Source");
Q_ASSERT(curve2source);
m_ccpm->ccpmCollectiveChannel->addItems(curve2source->getOptions());
m_ccpm->ccpmCollectiveChannel->setCurrentIndex(0);
QStringList channels;
channels << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
"Channel5" << "Channel6" << "Channel7" << "Channel8" << "None";
@ -219,7 +216,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
@ -1016,9 +1012,6 @@ void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
//correction angle
GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value();
//CollectiveChannel
GUIConfigData.heli.CollectiveChannel = m_ccpm->ccpmCollectiveChannel->currentIndex();
//update sliders
if (useCCPM)
{
@ -1058,10 +1051,7 @@ void ConfigccpmWidget::UpdateCCPMUIFromOptions()
//correction angle
m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle);
//CollectiveChannel
m_ccpm->ccpmCollectiveChannel->setCurrentIndex(GUIConfigData.heli.CollectiveChannel);
//update sliders
m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0);
@ -1092,9 +1082,6 @@ void ConfigccpmWidget::SetUIComponentVisibilities()
m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmCollectiveChLabel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmCollectiveChannel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState);
@ -1316,7 +1303,7 @@ void ConfigccpmWidget::sendccpmUpdate()
//MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
//check if we are using throttle or directly from a channel...
if (GUIConfigData.heli.ccpmCollectivePassthroughState)
mixerSettingsData.Curve2Source = GUIConfigData.heli.CollectiveChannel;
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE;
else
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE;

1
ground/openpilotgcs/src/plugins/config/configccpmwidget.h
View File

@ -57,7 +57,6 @@ typedef struct {
uint ccpmCollectivePassthroughState:1;
uint ccpmLinkCyclicState:1;
uint ccpmLinkRollState:1;
uint CollectiveChannel:3;//20bits
uint SliderValue0:7;
uint SliderValue1:7;
uint SliderValue2:7;//41bits

1
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -169,6 +169,7 @@ void ConfigGadgetWidget::onAutopilotConnect() {
void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
{
Q_UNUSED(i);
*proceed=true;
ConfigTaskWidget * wid=qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
if(!wid)

959
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -46,7 +46,7 @@
#define STICK_MIN_MOVE -8
#define STICK_MAX_MOVE 8
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false),goWizard(NULL)
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
@ -56,11 +56,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
int index=0;
unsigned int index=0;
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
inputChannelForm * inp=new inputChannelForm(this,index==0);
m_config->advancedPage->layout()->addWidget(inp);
m_config->channelSettings->layout()->addWidget(inp);
inp->ui->channelName->setText(name);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inp->ui->channelGroup,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inp->ui->channelNumber,index);
@ -69,12 +70,9 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index);
++index;
}
goWizard=new QPushButton(tr("Start Wizard"),this);
m_config->advancedPage->layout()->addWidget(goWizard);
connect(goWizard,SIGNAL(clicked()),this,SLOT(goToNormalWizard()));
goSimpleWizard=new QPushButton(tr("Start Simple Wizard"),this);
m_config->advancedPage->layout()->addWidget(goSimpleWizard);
connect(goSimpleWizard,SIGNAL(clicked()),this,SLOT(goToSimpleWizard()));
connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
@ -98,8 +96,6 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
addWidget(goWizard);
addWidget(goSimpleWizard);
enableControls(false);
populateWidgets();
@ -227,6 +223,25 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
animate=new QTimer(this);
connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
}
void ConfigInputWidget::resetTxControls()
{
@ -257,16 +272,6 @@ void ConfigInputWidget::openHelp()
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
}
void ConfigInputWidget::goToSimpleWizard()
{
isSimple=true;
goToWizard();
}
void ConfigInputWidget::goToNormalWizard()
{
isSimple=false;
goToWizard();
}
void ConfigInputWidget::goToWizard()
{
QMessageBox msgBox;
@ -275,7 +280,7 @@ void ConfigInputWidget::goToWizard()
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
setupWizardWidget(wizardWelcome);
wizardSetUpStep(wizardWelcome);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
}
@ -284,228 +289,51 @@ void ConfigInputWidget::wzCancel()
dimOtherControls(false);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
m_config->stackedWidget->setCurrentIndex(0);
foreach (QWidget * wd, extraWidgets)
{
if(wd)
delete wd;
}
extraWidgets.clear();
switch(wizardStep)
{
case wizardWelcome:
break;
case wizardChooseMode:
break;
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
break;
case wizardIdentifyCenter:
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
break;
case wizardIdentifyInverted:
break;
case wizardFinish:
break;
default:
break;
}
wizardStep=wizardWelcome;
if(wizardStep != wizardNone)
wizardTearDownStep(wizardStep);
wizardStep=wizardNone;
// Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData);
}
void ConfigInputWidget::wzNext()
{
setupWizardWidget(wizardStep+1);
}
// In identify sticks mode the next button can indicate
// channel advance
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
void ConfigInputWidget::wzBack()
{
setupWizardWidget(wizardStep-1);
}
void ConfigInputWidget::setupWizardWidget(int step)
{
if(step==wizardWelcome)
{
m_config->graphicsView->setVisible(false);
setTxMovement(nothing);
if(wizardStep==wizardChooseMode)
{
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
// State transitions for next button
switch(wizardStep) {
case wizardWelcome:
wizardSetUpStep(wizardChooseMode);
break;
case wizardChooseMode:
wizardSetUpStep(wizardChooseType);
break;
case wizardChooseType:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifySticks:
nextChannel();
if(currentChannelNum==-1) { // Gone through all channels
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardIdentifyCenter);
}
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
manualSettingsObj->setData(manualSettingsData);
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
"Please follow the instructions on the screen and only move your controls when asked to.\n"
"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
"At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
m_config->stackedWidget->setCurrentIndex(1);
m_config->wzBack->setEnabled(false);
wizardStep=wizardWelcome;
}
else if(step==wizardChooseMode)
{
m_config->graphicsView->setVisible(true);
setTxMovement(nothing);
if(wizardStep==wizardIdentifySticks)
{
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
}
m_config->wzText->setText(tr("Please choose your transmiter type.\n"
"Mode 1 means your throttle stick is on the right\n"
"Mode 2 means your throttle stick is on the left\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
mode2->setChecked(true);
extraWidgets.clear();
extraWidgets.append(mode1);
extraWidgets.append(mode2);
m_config->checkBoxesLayout->layout()->addWidget(mode1);
m_config->checkBoxesLayout->layout()->addWidget(mode2);
wizardStep=wizardChooseMode;
}
else if(step==wizardIdentifySticks && !isSimple)
{
usedChannels.clear();
if(wizardStep==wizardChooseMode)
{
QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
}
wizardStep=wizardIdentifySticks;
currentCommand=0;
setMoveFromCommand(currentCommand);
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand)));
manualSettingsData=manualSettingsObj->getData();
connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(false);
}
else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
{
if(wizardStep==wizardChooseMode)
{
QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
}
setTxMovement(centerAll);
if(wizardStep==wizardIdentifySticks)
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
else
{
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
}
wizardStep=wizardIdentifyCenter;
m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
}
else if(step==wizardIdentifyLimits)
{
dimOtherControls(false);
setTxMovement(moveAll);
if(wizardStep==wizardIdentifyCenter)
{
wizardStep=wizardIdentifyLimits;
manualCommandData=manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
{
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
}
if(wizardStep==wizardIdentifyInverted)
{
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
}
extraWidgets.clear();
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
wizardStep=wizardIdentifyLimits;
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
UAVObject::Metadata mdata= manualCommandObj->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
}
else if(step==wizardIdentifyInverted)
{
dimOtherControls(true);
setTxMovement(nothing);
if(wizardStep==wizardIdentifyLimits)
{
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
}
extraWidgets.clear();
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
if(!name.contains("Access") && !name.contains("Flight"))
{
QCheckBox * cb=new QCheckBox(name,this);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
wizardStep=wizardIdentifyInverted;
m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
}
else if(step==wizardFinish)
{
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
wizardStep=wizardFinish;
extraWidgets.clear();
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
"This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
}
else if(step==wizardFinish+1)
{
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyInverted);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardFinish);
break;
case wizardFinish:
setTxMovement(nothing);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
@ -522,14 +350,560 @@ void ConfigInputWidget::setupWizardWidget(int step)
}
manualSettingsObj->setData(manualSettingsData);
m_config->stackedWidget->setCurrentIndex(0);
wizardStep=wizardWelcome;
wizardStep=wizardNone;
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wzBack()
{
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
// State transitions for next button
switch(wizardStep) {
case wizardChooseMode:
wizardSetUpStep(wizardWelcome);
break;
case wizardChooseType:
wizardSetUpStep(wizardChooseMode);
break;
case wizardIdentifySticks:
prevChannel();
if(currentChannelNum == -1) {
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardChooseType);
}
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyCenter);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardFinish:
wizardSetUpStep(wizardIdentifyInverted);
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
{
switch(step) {
case wizardWelcome:
m_config->graphicsView->setVisible(false);
setTxMovement(nothing);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
previousManualSettingsData = manualSettingsData;
manualSettingsObj->setData(manualSettingsData);
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
"Please follow the instructions on the screen and only move your controls when asked to.\n"
"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
"At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
m_config->stackedWidget->setCurrentIndex(1);
m_config->wzBack->setEnabled(false);
break;
case wizardChooseMode:
{
m_config->graphicsView->setVisible(true);
setTxMovement(nothing);
m_config->wzText->setText(tr("Please choose your transmiter type.\n"
"Mode 1 means your throttle stick is on the right\n"
"Mode 2 means your throttle stick is on the left\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
mode2->setChecked(true);
extraWidgets.clear();
extraWidgets.append(mode1);
extraWidgets.append(mode2);
m_config->checkBoxesLayout->layout()->addWidget(mode1);
m_config->checkBoxesLayout->layout()->addWidget(mode2);
}
break;
case wizardChooseType:
{
m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
"Acro means normal transmitter\n"
"Heli means there is a collective pitch and throttle input\n"
"If you are using a heli transmitter please engage throttle hold now please.\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
typeAcro->setChecked(true);
typeHeli->setChecked(false);
extraWidgets.clear();
extraWidgets.append(typeAcro);
extraWidgets.append(typeHeli);
m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
wizardStep=wizardChooseType;
}
break;
case wizardIdentifySticks:
usedChannels.clear();
currentChannelNum=-1;
nextChannel();
manualSettingsData=manualSettingsObj->getData();
connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(false);
break;
case wizardIdentifyCenter:
setTxMovement(centerAll);
m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
break;
case wizardIdentifyLimits:
{
dimOtherControls(false);
setTxMovement(moveAll);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
fastMdata();
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
}
break;
case wizardIdentifyInverted:
dimOtherControls(true);
setTxMovement(nothing);
extraWidgets.clear();
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
if(!name.contains("Access") && !name.contains("Flight"))
{
QCheckBox * cb=new QCheckBox(name,this);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
fastMdata();
break;
case wizardFinish:
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
"This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
fastMdata();
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
{
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
}
manualSettingsObj->setData(manualSettingsData);
break;
default:
Q_ASSERT(0);
}
wizardStep = step;
}
void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
{
QRadioButton * mode, * type;
Q_ASSERT(step == wizardStep);
switch(step) {
case wizardWelcome:
break;
case wizardChooseMode:
mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardChooseType:
type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(type->isChecked())
transmitterType=acro;
else
transmitterType=heli;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
break;
case wizardIdentifyCenter:
manualCommandData=manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
{
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
restoreMdata();
break;
case wizardIdentifyInverted:
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
case wizardFinish:
setTxMovement(nothing);
m_config->stackedWidget->setCurrentIndex(0);
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
default:
Q_ASSERT(0);
}
}
/**
* Set manual control command to fast updates
*/
void ConfigInputWidget::fastMdata()
{
manualControlMdata = manualCommandObj->getMetadata();
UAVObject::Metadata mdata = manualControlMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
}
/**
* Restore previous update settings for manual control data
*/
void ConfigInputWidget::restoreMdata()
{
manualCommandObj->setMetadata(manualControlMdata);
}
//void ConfigInputWidget::setupWizardWidget(int step)
//{
// if(step==wizardWelcome)
// {
// m_config->graphicsView->setVisible(false);
// setTxMovement(nothing);
// if(wizardStep==wizardChooseMode)
// {
// delete extraWidgets.at(0);
// delete extraWidgets.at(1);
// extraWidgets.clear();
// }
// manualSettingsData=manualSettingsObj->getData();
// manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
// manualSettingsObj->setData(manualSettingsData);
// m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
// "Please follow the instructions on the screen and only move your controls when asked to.\n"
// "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
// "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
// m_config->stackedWidget->setCurrentIndex(1);
// m_config->wzBack->setEnabled(false);
// wizardStep=wizardWelcome;
// }
// else if(step==wizardChooseMode)
// {
// m_config->graphicsView->setVisible(true);
// setTxMovement(nothing);
// if(wizardStep==wizardIdentifySticks)
// {
// disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
// m_config->wzNext->setEnabled(true);
// }
// m_config->wzText->setText(tr("Please choose your transmiter type.\n"
// "Mode 1 means your throttle stick is on the right\n"
// "Mode 2 means your throttle stick is on the left\n"));
// m_config->wzBack->setEnabled(true);
// QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
// QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
// mode2->setChecked(true);
// extraWidgets.clear();
// extraWidgets.append(mode1);
// extraWidgets.append(mode2);
// m_config->checkBoxesLayout->layout()->addWidget(mode1);
// m_config->checkBoxesLayout->layout()->addWidget(mode2);
// wizardStep=wizardChooseMode;
// }
// else if(step==wizardChooseType)
// {
// if(wizardStep==wizardChooseMode)
// {
// QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
// if(mode->isChecked())
// transmitterMode=mode1;
// else
// transmitterMode=mode2;
// delete extraWidgets.at(0);
// delete extraWidgets.at(1);
// extraWidgets.clear();
// }
// m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
// "Acro means normal transmitter\n"
// "Heli means there is a collective pitch and throttle input\n"));
// m_config->wzBack->setEnabled(true);
// QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
// QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
// typeAcro->setChecked(true);
// typeHeli->setChecked(false);
// extraWidgets.clear();
// extraWidgets.append(typeAcro);
// extraWidgets.append(typeHeli);
// m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
// m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
// wizardStep=wizardChooseType;
// } else if(step==wizardIdentifySticks && !isSimple) {
// usedChannels.clear();
// if(wizardStep==wizardChooseType)
// {
// qDebug() << "Chosing type";
// QRadioButton * type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
// if(type->isChecked())
// transmitterType=acro;
// else
// transmitterType=heli;
// qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType;
// delete extraWidgets.at(0);
// delete extraWidgets.at(1);
// extraWidgets.clear();
// }
// wizardStep=wizardIdentifySticks;
// currentCommand=0;
// getChannelFromStep(currentCommand);
// manualSettingsData=manualSettingsObj->getData();
// connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
// m_config->wzNext->setEnabled(false);
// }
// else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
// {
// setTxMovement(centerAll);
// if(wizardStep==wizardIdentifySticks)
// disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
// else
// {
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
// manualSettingsObj->setData(manualSettingsData);
// manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
// }
// wizardStep=wizardIdentifyCenter;
// m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
// }
// else if(step==wizardIdentifyLimits)
// {
// dimOtherControls(false);
// setTxMovement(moveAll);
// if(wizardStep==wizardIdentifyCenter)
// {
// wizardStep=wizardIdentifyLimits;
// manualCommandData=manualCommandObj->getData();
// manualSettingsData=manualSettingsObj->getData();
// for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
// {
// manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
// }
// manualSettingsObj->setData(manualSettingsData);
// }
// if(wizardStep==wizardIdentifyInverted)
// {
// foreach(QWidget * wd,extraWidgets)
// {
// QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
// if(cb)
// {
// disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
// delete cb;
// }
// }
// }
// extraWidgets.clear();
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
// wizardStep=wizardIdentifyLimits;
// m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
// UAVObject::Metadata mdata= manualCommandObj->getMetadata();
// mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
// mdata.flightTelemetryUpdatePeriod = 150;
// manualCommandObj->setMetadata(mdata);
// manualSettingsData=manualSettingsObj->getData();
// for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
// {
// manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
// manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
// }
// connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
// }
// else if(step==wizardIdentifyInverted)
// {
// dimOtherControls(true);
// setTxMovement(nothing);
// if(wizardStep==wizardIdentifyLimits)
// {
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
// manualSettingsObj->setData(manualSettingsData);
// }
// extraWidgets.clear();
// foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
// {
// if(!name.contains("Access") && !name.contains("Flight"))
// {
// QCheckBox * cb=new QCheckBox(name,this);
// extraWidgets.append(cb);
// m_config->checkBoxesLayout->layout()->addWidget(cb);
// connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
// }
// }
// connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
// wizardStep=wizardIdentifyInverted;
// m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
// }
// else if(step==wizardFinish)
// {
// foreach(QWidget * wd,extraWidgets)
// {
// QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
// if(cb)
// {
// disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
// delete cb;
// }
// }
// wizardStep=wizardFinish;
// extraWidgets.clear();
// m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
// "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
// }
// else if(step==wizardFinish+1)
// {
// setTxMovement(nothing);
// manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
// manualSettingsData=manualSettingsObj->getData();
// manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
// manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
// ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
// manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
// if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
// (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
// {
// manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
// (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
// }
// manualSettingsObj->setData(manualSettingsData);
// m_config->stackedWidget->setCurrentIndex(0);
// wizardStep=wizardWelcome;
// }
//}
/**
* Set the display to indicate which channel the person should move
*/
void ConfigInputWidget::setChannel(int newChan)
{
if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
m_config->wzText->setText(QString(tr("Please flick the flight mode switch. For switches you may have to repeat this rapidly.")));
else
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory"))
m_config->wzNext->setEnabled(true);
setMoveFromCommand(newChan);
currentChannelNum = newChan;
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* next channel based on heli or acro mode
*/
void ConfigInputWidget::nextChannel()
{
QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
if(currentChannelNum == -1) {
setChannel(order[0]);
return;
}
for (int i = 0; i < order.length() - 1; i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i+1]);
return;
}
}
currentChannelNum = -1; // hit end of list
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* previous channel based on heli or acro mode
*/
void ConfigInputWidget::prevChannel()
{
QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
// No previous from unset channel or next state
if(currentChannelNum == -1)
return;
for (int i = 1; i < order.length(); i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i-1]);
usedChannels.removeLast();
return;
}
}
currentChannelNum = -1; // hit end of list
}
void ConfigInputWidget::identifyControls()
{
static int debounce=0;
receiverActivityData=receiverActivityObj->getData();
if(receiverActivityData.ActiveChannel==255)
return;
@ -547,26 +921,18 @@ void ConfigInputWidget::identifyControls()
debounce=0;
usedChannels.append(lastChannel);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.ChannelGroups[currentCommand]=currentChannel.group;
manualSettingsData.ChannelNumber[currentCommand]=currentChannel.number;
manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
manualSettingsObj->setData(manualSettingsData);
}
else
return;
}
++currentCommand;
setMoveFromCommand(currentCommand);
if(currentCommand>ManualControlSettings::CHANNELGROUPS_NUMELEM-1)
{
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
}
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getFields().at(0)->getElementNames().at(currentCommand)));
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Accessory"))
{
m_config->wzNext->setEnabled(true);
}
m_config->wzText->clear();
setTxMovement(nothing);
QTimer::singleShot(300, this, SLOT(wzNext()));
}
void ConfigInputWidget::identifyLimits()
@ -605,6 +971,13 @@ void ConfigInputWidget::setMoveFromCommand(int command)
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
{
if(transmitterMode==mode2)
setTxMovement(moveLeftVerticalStick);
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
{
setTxMovement(moveFlightMode);
@ -912,11 +1285,9 @@ void ConfigInputWidget::dimOtherControls(bool value)
void ConfigInputWidget::enableControls(bool enable)
{
if(goWizard)
{
goWizard->setEnabled(enable);
goSimpleWizard->setEnabled(enable);
}
m_config->configurationWizard->setEnabled(enable);
m_config->runCalibration->setEnabled(enable);
ConfigTaskWidget::enableControls(enable);
}
@ -978,3 +1349,73 @@ void ConfigInputWidget::moveFMSlider()
m_config->fmsSlider->setValue(0);
}
}
void ConfigInputWidget::updateCalibration()
{
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if((!reverse[i] && manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i]) ||
(reverse[i] && manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i]))
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if((!reverse[i] && manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i]) ||
(reverse[i] && manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i]))
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
manualSettingsObj->updated();
}
void ConfigInputWidget::simpleCalibration(bool enable)
{
if (enable) {
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
manualCommandData = manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
manualSettingsObj->setData(manualSettingsData);
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
fastMdata();
connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
} else {
manualCommandData = manualCommandObj->getData();
manualSettingsData = manualSettingsObj->getData();
restoreMdata();
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
// Force flight mode neutral to middle
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
// Force throttle to be near min
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
manualSettingsObj->setData(manualSettingsData);
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
}
}

32
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -52,22 +52,24 @@ class ConfigInputWidget: public ConfigTaskWidget
public:
ConfigInputWidget(QWidget *parent = 0);
~ConfigInputWidget();
enum wizardSteps{wizardWelcome,wizardChooseMode,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish};
enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish,wizardNone};
enum txMode{mode1,mode2};
enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
enum txMovementType{vertical,horizontal,jump,mix};
enum txType {acro, heli};
public slots:
private:
bool growing;
bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
txMovements currentMovement;
int movePos;
void setTxMovement(txMovements movement);
Ui_InputWidget *m_config;
wizardSteps wizardStep;
void setupWizardWidget(int step);
QList<QWidget*> extraWidgets;
txMode transmitterMode;
txType transmitterType;
struct channelsStruct
{
bool operator ==(const channelsStruct& rhs) const
@ -82,12 +84,16 @@ private:
QEventLoop * loop;
bool skipflag;
uint currentCommand;
int currentChannelNum;
QList<int> heliChannelOrder;
QList<int> acroChannelOrder;
ManualControlCommand * manualCommandObj;
ManualControlCommand::DataFields manualCommandData;
UAVObject::Metadata manualControlMdata;
ManualControlSettings * manualSettingsObj;
ManualControlSettings::DataFields manualSettingsData;
ManualControlSettings::DataFields previousManualSettingsData;
ReceiverActivity * receiverActivityObj;
ReceiverActivity::DataFields receiverActivityData;
@ -116,16 +122,22 @@ private:
QTimer * animate;
void resetTxControls();
void setMoveFromCommand(int command);
QPushButton * goWizard;
QPushButton * goSimpleWizard;
bool isSimple;
void goToWizard();
void fastMdata();
void restoreMdata();
void setChannel(int);
void nextChannel();
void prevChannel();
void wizardSetUpStep(enum wizardSteps);
void wizardTearDownStep(enum wizardSteps);
private slots:
void wzNext();
void wzBack();
void wzCancel();
void goToNormalWizard();
void goToSimpleWizard();
void goToWizard();
void openHelp();
void identifyControls();
void identifyLimits();
@ -134,6 +146,8 @@ private slots:
void dimOtherControls(bool value);
void moveFMSlider();
void invertControls();
void simpleCalibration(bool state);
void updateCalibration();
protected:
void resizeEvent(QResizeEvent *event);
virtual void enableControls(bool enable);

15
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
View File

@ -48,7 +48,9 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
UAVObject *obj=NULL;
UAVObjectField *_field=NULL;
obj = objManager->getObject(QString(object));
Q_ASSERT(obj);
_field = obj->getField(QString(field));
Q_ASSERT(_field);
addUAVObjectToWidgetRelation(object,field,widget,_field->getElementNames().indexOf(index));
}
@ -59,6 +61,7 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
if(!object.isEmpty())
{
obj = objManager->getObject(QString(object));
Q_ASSERT(obj);
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
}
//smartsave->addObject(obj);
@ -182,6 +185,10 @@ void ConfigTaskWidget::populateWidgets()
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
}
setDirty(dirtyBack);
}
@ -207,6 +214,10 @@ void ConfigTaskWidget::refreshWidgetsValues()
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
}
setDirty(dirtyBack);
}
@ -231,6 +242,10 @@ void ConfigTaskWidget::updateObjectsFromWidgets()
{
ow->field->setValue(cb->value()* ow->scale,ow->index);
}
else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
{
ow->field->setValue(cb->value()* ow->scale,ow->index);
}
}
}

40
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -30,7 +30,38 @@
<number>1</number>
</property>
<widget class="QWidget" name="advancedPage">
<layout class="QVBoxLayout" name="verticalLayout_4"/>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<layout class="QVBoxLayout" name="channelSettings"/>
</item>
<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="text">
<string>Run Calibration</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="wizard">
<layout class="QVBoxLayout" name="verticalLayout_5">
@ -48,13 +79,6 @@
<height>70</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>TextLabel</string>
</property>

96
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
View File

@ -1,6 +1,8 @@
#include "inputchannelform.h"
#include "ui_inputchannelform.h"
#include "manualcontrolsettings.h"
inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
QWidget(parent),
ui(new Ui::inputChannelForm)
@ -21,9 +23,103 @@ inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
delete ui->legend4;
delete ui->legend5;
}
connect(ui->channelMin,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
connect(ui->channelMax,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
connect(ui->channelGroup,SIGNAL(currentIndexChanged(int)),this,SLOT(groupUpdated()));
connect(ui->channelNeutral,SIGNAL(valueChanged(int)), this, SLOT(neutralUpdated(int)));
// This is awkward but since we want the UI to be a dropdown but the field is not an enum
// it breaks the UAUVObject widget relation of the task gadget. Running the data through
// a spin box fixes this
connect(ui->channelNumberDropdown,SIGNAL(currentIndexChanged(int)),this,SLOT(channelDropdownUpdated(int)));
connect(ui->channelNumber,SIGNAL(valueChanged(int)),this,SLOT(channelNumberUpdated(int)));
}
inputChannelForm::~inputChannelForm()
{
delete ui;
}
/**
* Update the direction of the slider and boundaries
*/
void inputChannelForm::minMaxUpdated()
{
bool reverse = ui->channelMin->value() > ui->channelMax->value();
if(reverse) {
ui->channelNeutral->setMinimum(ui->channelMax->value());
ui->channelNeutral->setMaximum(ui->channelMin->value());
} else {
ui->channelNeutral->setMinimum(ui->channelMin->value());
ui->channelNeutral->setMaximum(ui->channelMax->value());
}
ui->channelRev->setChecked(reverse);
ui->channelNeutral->setInvertedAppearance(reverse);
ui->channelNeutral->setInvertedControls(reverse);
}
void inputChannelForm::neutralUpdated(int newval)
{
ui->neutral->setText(QString::number(newval));
}
/**
* Update the channel options based on the selected receiver type
*
* I fully admit this is terrible practice to embed data within UI
* like this. Open to suggestions. JC 2011-09-07
*/
void inputChannelForm::groupUpdated()
{
ui->channelNumberDropdown->clear();
ui->channelNumberDropdown->addItem("Disabled");
quint8 count = 0;
switch(ui->channelGroup->currentIndex()) {
case -1: // Nothing selected
count = 0;
break;
case ManualControlSettings::CHANNELGROUPS_PWM:
count = 8; // Need to make this 6 for CC
break;
case ManualControlSettings::CHANNELGROUPS_PPM:
case ManualControlSettings::CHANNELGROUPS_SPEKTRUM1:
case ManualControlSettings::CHANNELGROUPS_SPEKTRUM2:
count = 12;
break;
case ManualControlSettings::CHANNELGROUPS_SBUS:
count = 18;
break;
case ManualControlSettings::CHANNELGROUPS_GCS:
count = 5;
case ManualControlSettings::CHANNELGROUPS_NONE:
count = 0;
break;
default:
Q_ASSERT(0);
}
for (int i = 0; i < count; i++)
ui->channelNumberDropdown->addItem(QString(tr("Chan %1").arg(i+1)));
ui->channelNumber->setMaximum(count);
ui->channelNumber->setMinimum(0);
}
/**
* Update the dropdown from the hidden control
*/
void inputChannelForm::channelDropdownUpdated(int newval)
{
ui->channelNumber->setValue(newval);
}
/**
* Update the hidden control from the dropdown
*/
void inputChannelForm::channelNumberUpdated(int newval)
{
ui->channelNumberDropdown->setCurrentIndex(newval);
}

7
ground/openpilotgcs/src/plugins/config/inputchannelform.h
View File

@ -16,6 +16,13 @@ public:
~inputChannelForm();
friend class ConfigInputWidget;
private slots:
void minMaxUpdated();
void neutralUpdated(int);
void groupUpdated();
void channelDropdownUpdated(int);
void channelNumberUpdated(int);
private:
Ui::inputChannelForm *ui;
};

249
ground/openpilotgcs/src/plugins/config/inputchannelform.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>404</width>
<height>43</height>
<width>543</width>
<height>49</height>
</rect>
</property>
<property name="windowTitle">
@ -26,47 +26,7 @@
<property name="verticalSpacing">
<number>0</number>
</property>
<item row="0" column="3">
<widget class="QLabel" name="legend2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Number</string>
</property>
</widget>
</item>
<item row="0" column="4">
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@ -129,13 +127,132 @@
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<string>Rev</string>
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</size>
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<string/>
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<spacer name="horizontalSpacer">
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<enum>Qt::Horizontal</enum>
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<enum>QSizePolicy::Fixed</enum>
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<width>10</width>
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<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
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<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
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<property name="sizeHint" stdset="0">
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hardware/beta/CopterControl Mag & Pressure/Assembly/CC Mag & Pressure 3D Top.pdf Normal file
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hardware/beta/CopterControl Mag & Pressure/Assembly/CC Mag & Pressure Assembly.pdf Normal file
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hardware/beta/CopterControl Mag & Pressure/BOM/CC Mag & Pressure BOM.xls Normal file
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hardware/beta/CopterControl Mag & Pressure/CopterControl Mag & Pressure Schematic.pdf Normal file
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hardware/beta/CopterControl Mag & Pressure/CopterControl Mag & Pressure.PcbDoc Normal file
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Configuration5_Item1=BoardEdgeRoutToolDia=2000000|GenerateBoardEdgeRout=False|GenerateDrilledSlotsG85=False|GenerateSeparatePlatedNonPlatedFiles=True|NumberOfDecimals=5|NumberOfUnits=2|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Record=DrillView|Units=Imperial|ZeroesMode=SuppressTrailingZeroes
OutputType6=ODB
OutputName6=ODB++ Files
OutputDocumentPath6=
OutputVariantName6=
OutputDefault6=0
OutputType7=Plane
OutputName7=Power-Plane Prints
OutputDocumentPath7=
OutputVariantName7=
OutputDefault7=0
PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=Letter|PrintScaleMode=1
OutputType8=Test Points
OutputName8=Test Point Report
OutputDocumentPath8=
OutputVariantName8=
OutputDefault8=0
OutputType9=Gerber
OutputName9=Gerber Files
OutputDocumentPath9=
OutputVariantName9=
OutputDefault9=0
Configuration9_Name1=OutputConfigurationParameter1
Configuration9_Item1=AddToAllPlots.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|CentrePlots=False|DrillDrawingSymbol=GraphicsSymbol|DrillDrawingSymbolSize=500000|EmbeddedApertures=True|FilmBorderSize=10000000|FilmXSize=200000000|FilmYSize=160000000|FlashAllFills=False|FlashPadShapes=True|G54OnApertureChange=False|GenerateDRCRulesFile=True|GenerateReliefShapes=True|GerberUnit=Imperial|IncludeUnconnectedMidLayerPads=False|LeadingAndTrailingZeroesMode=SuppressLeadingZeroes|MaxApertureSize=2500000|MinusApertureTolerance=50|Mirror.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|MirrorDrillDrawingPlots=False|MirrorDrillGuidePlots=False|NumberOfDecimals=5|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Panelize=False|Plot.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean,16973830~1,16973832~1,16973834~1,16777217~1,16842751~1,16973835~1,16973833~1,16973831~1,16908289~1,16973837~1,16973848~1,16973849~1|PlotPositivePlaneLayers=False|PlotUsedDrillDrawingLayerPairs=True|PlotUsedDrillGuideLayerPairs=True|PlusApertureTolerance=50|Record=GerberView|SoftwareArcs=False|Sorted=False
[OutputGroup6]
Name=Report Outputs
Description=
TargetPrinter=Microsoft XPS Document Writer
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=BOM_PartType
OutputName1=Bill of Materials
OutputDocumentPath1=
OutputVariantName1=
OutputDefault1=0
PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=Letter|PrintScaleMode=1
Configuration1_Name1=Filter
Configuration1_Item1=545046300E5446696C74657257726170706572000D46696C7465722E416374697665090F46696C7465722E43726974657269610A04000000000000000000
Configuration1_Name2=General
Configuration1_Item2=OpenExported=True|AddToProject=False|ForceFit=False|NotFitted=False|Database=False|IncludePCBData=False|ShowExportOptions=True|TemplateFilename=..\Altium\BOM OpenPilot.xlt|BatchMode=5|FormWidth=1456|FormHeight=598|SupplierProdQty=1|SupplierAutoQty=True|SupplierUseCachedPricing=True|SupplierCurrency=<none>
Configuration1_Name3=GroupOrder
Configuration1_Item3=Supplier Part Number 1=True|Comment=True|Footprint=True
Configuration1_Name4=OutputConfigurationParameter1
Configuration1_Item4=Record=BOMPrintView|ShowNoERC=True|ShowParamSet=True|ShowProbe=True|ShowBlanket=True|ExpandDesignator=True|ExpandNetLabel=False|ExpandPort=False|ExpandSheetNum=False|ExpandDocNum=False
Configuration1_Name5=SortOrder
Configuration1_Item5=Designator=Up|Comment=Up|Footprint=Up
Configuration1_Name6=VisibleOrder
Configuration1_Item6=Comment=100|Description=100|Designator=100|Footprint=100|LibRef=100|Quantity=100|Manufacturer 1=100|Manufacturer Part Number 1=100|Supplier 1=100|Supplier Order Qty 1=100|Supplier Part Number 1=100|Supplier Stock 1=100|Supplier Subtotal 1=100|Supplier Unit Price 1=100|Value=100
OutputType2=ComponentCrossReference
OutputName2=Component Cross Reference Report
OutputDocumentPath2=
OutputVariantName2=
OutputDefault2=0
OutputType3=Design Rules Check
OutputName3=Design Rules Check
OutputDocumentPath3=
OutputVariantName3=
OutputDefault3=0
PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=Letter|PrintScaleMode=1
OutputType4=Electrical Rules Check
OutputName4=Electrical Rules Check
OutputDocumentPath4=
OutputVariantName4=
OutputDefault4=0
PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=Letter|PrintScaleMode=1
OutputType5=ReportHierarchy
OutputName5=Report Project Hierarchy
OutputDocumentPath5=
OutputVariantName5=
OutputDefault5=0
OutputType6=Script
OutputName6=Script Output
OutputDocumentPath6=
OutputVariantName6=
OutputDefault6=0
OutputType7=SimpleBOM
OutputName7=Simple BOM
OutputDocumentPath7=
OutputVariantName7=
OutputDefault7=0
OutputType8=SinglePinNetReporter
OutputName8=Report Single Pin Nets
OutputDocumentPath8=
OutputVariantName8=
OutputDefault8=0
[OutputGroup7]
Name=Other Outputs
Description=
TargetPrinter=Microsoft XPS Document Writer
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=Text Print
OutputName1=Text Print
OutputDocumentPath1=
OutputVariantName1=
OutputDefault1=0
PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=Letter|PrintScaleMode=1
OutputType2=Text Print
OutputName2=Text Print
OutputDocumentPath2=
OutputVariantName2=
OutputDefault2=0
PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType3=Text Print
OutputName3=Text Print
OutputDocumentPath3=
OutputVariantName3=
OutputDefault3=0
PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType4=Text Print
OutputName4=Text Print
OutputDocumentPath4=
OutputVariantName4=
OutputDefault4=0
PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType5=Text Print
OutputName5=Text Print
OutputDocumentPath5=
OutputVariantName5=
OutputDefault5=0
PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType6=Text Print
OutputName6=Text Print
OutputDocumentPath6=
OutputVariantName6=
OutputDefault6=0
PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType7=Text Print
OutputName7=Text Print
OutputDocumentPath7=
OutputVariantName7=
OutputDefault7=0
PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType8=Text Print
OutputName8=Text Print
OutputDocumentPath8=
OutputVariantName8=
OutputDefault8=0
PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType9=Text Print
OutputName9=Text Print
OutputDocumentPath9=
OutputVariantName9=
OutputDefault9=0
PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType10=Text Print
OutputName10=Text Print
OutputDocumentPath10=
OutputVariantName10=
OutputDefault10=0
PageOptions10=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType11=Text Print
OutputName11=Text Print
OutputDocumentPath11=
OutputVariantName11=
OutputDefault11=0
PageOptions11=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType12=Text Print
OutputName12=Text Print
OutputDocumentPath12=
OutputVariantName12=
OutputDefault12=0
PageOptions12=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType13=Text Print
OutputName13=Text Print
OutputDocumentPath13=
OutputVariantName13=
OutputDefault13=0
PageOptions13=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType14=Text Print
OutputName14=Text Print
OutputDocumentPath14=
OutputVariantName14=
OutputDefault14=0
PageOptions14=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType15=Text Print
OutputName15=Text Print
OutputDocumentPath15=
OutputVariantName15=
OutputDefault15=0
PageOptions15=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType16=Text Print
OutputName16=Text Print
OutputDocumentPath16=
OutputVariantName16=
OutputDefault16=0
PageOptions16=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType17=Text Print
OutputName17=Text Print
OutputDocumentPath17=
OutputVariantName17=
OutputDefault17=0
PageOptions17=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType18=Text Print
OutputName18=Text Print
OutputDocumentPath18=
OutputVariantName18=
OutputDefault18=0
PageOptions18=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType19=Text Print
OutputName19=Text Print
OutputDocumentPath19=
OutputVariantName19=
OutputDefault19=0
PageOptions19=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType20=Text Print
OutputName20=Text Print
OutputDocumentPath20=
OutputVariantName20=
OutputDefault20=0
PageOptions20=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType21=Text Print
OutputName21=Text Print
OutputDocumentPath21=
OutputVariantName21=
OutputDefault21=0
PageOptions21=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType22=Text Print
OutputName22=Text Print
OutputDocumentPath22=
OutputVariantName22=
OutputDefault22=0
PageOptions22=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType23=Text Print
OutputName23=Text Print
OutputDocumentPath23=
OutputVariantName23=
OutputDefault23=0
PageOptions23=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType24=Text Print
OutputName24=Text Print
OutputDocumentPath24=
OutputVariantName24=
OutputDefault24=0
PageOptions24=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType25=Text Print
OutputName25=Text Print
OutputDocumentPath25=
OutputVariantName25=
OutputDefault25=0
PageOptions25=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType26=Text Print
OutputName26=Text Print
OutputDocumentPath26=
OutputVariantName26=
OutputDefault26=0
PageOptions26=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType27=Text Print
OutputName27=Text Print
OutputDocumentPath27=
OutputVariantName27=
OutputDefault27=0
PageOptions27=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType28=Text Print
OutputName28=Text Print
OutputDocumentPath28=
OutputVariantName28=
OutputDefault28=0
PageOptions28=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
[Modification Levels]
Type1=1
Type2=1
Type3=1
Type4=1
Type5=1
Type6=1
Type7=1
Type8=1
Type9=1
Type10=1
Type11=1
Type12=1
Type13=1
Type14=1
Type15=1
Type16=1
Type17=1
Type18=1
Type19=1
Type20=1
Type21=1
Type22=1
Type23=1
Type24=1
Type25=1
Type26=1
Type27=1
Type28=1
Type29=1
Type30=1
Type31=1
Type32=1
Type33=1
Type34=1
Type35=1
Type36=1
Type37=1
Type38=1
Type39=1
Type40=1
Type41=1
Type42=1
Type43=1
Type44=1
Type45=1
Type46=1
Type47=1
Type48=1
Type49=1
Type50=1
Type51=1
Type52=1
Type53=1
Type54=1
Type55=1
Type56=1
Type57=1
Type58=1
Type59=1
Type60=1
Type61=1
Type62=1
Type63=1
Type64=1
Type65=1
Type66=1
Type67=1
Type68=1
[Difference Levels]
Type1=1
Type2=1
Type3=1
Type4=1
Type5=1
Type6=1
Type7=1
Type8=1
Type9=1
Type10=1
Type11=1
Type12=1
Type13=1
Type14=1
Type15=1
Type16=1
Type17=1
Type18=1
Type19=1
Type20=1
Type21=1
Type22=1
Type23=1
Type24=1
Type25=1
Type26=1
Type27=1
Type28=1
Type29=1
Type30=1
Type31=1
Type32=1
Type33=1
Type34=1
Type35=1
Type36=1
[Electrical Rules Check]
Type1=1
Type2=1
Type3=2
Type4=1
Type5=2
Type6=2
Type7=1
Type8=1
Type9=1
Type10=1
Type11=2
Type12=2
Type13=2
Type14=1
Type15=1
Type16=1
Type17=1
Type18=1
Type19=1
Type20=1
Type21=1
Type22=1
Type23=1
Type24=1
Type25=2
Type26=2
Type27=2
Type28=1
Type29=1
Type30=1
Type31=1
Type32=2
Type33=2
Type34=2
Type35=1
Type36=2
Type37=1
Type38=2
Type39=2
Type40=2
Type41=0
Type42=2
Type43=1
Type44=1
Type45=2
Type46=1
Type47=2
Type48=2
Type49=1
Type50=2
Type51=1
Type52=1
Type53=1
Type54=1
Type55=1
Type56=2
Type57=1
Type58=1
Type59=0
Type60=1
Type61=2
Type62=2
Type63=1
Type64=0
Type65=2
Type66=3
Type67=2
Type68=2
Type69=1
Type70=2
Type71=2
Type72=2
Type73=2
Type74=1
Type75=2
Type76=1
Type77=1
Type78=1
Type79=1
Type80=2
Type81=3
Type82=3
Type83=3
Type84=3
Type85=3
Type86=2
Type87=2
Type88=2
Type89=1
Type90=1
Type91=3
Type92=3
Type93=2
Type94=2
Type95=2
Type96=2
Type97=2
Type98=0
[ERC Connection Matrix]
L1=NNNNNNNNNNNWNNNWW
L2=NNWNNNNWWWNWNWNWN
L3=NWEENEEEENEWNEEWN
L4=NNENNNWEENNWNENWN
L5=NNNNNNNNNNNNNNNNN
L6=NNENNNNEENNWNENWN
L7=NNEWNNWEENNWNENWN
L8=NWEENEENEEENNEENN
L9=NWEENEEEENEWNEEWW
L10=NWNNNNNENNEWNNEWN
L11=NNENNNNEEENWNENWN
L12=WWWWNWWNWWWNWWWNN
L13=NNNNNNNNNNNWNNNWW
L14=NWEENEEEENEWNEEWW
L15=NNENNNNEEENWNENWW
L16=WWWWNWWNWWWNWWWNW
L17=WNNNNNNNWNNNWWWWN
[Annotate]
SortOrder=3
MatchParameter1=Comment
MatchStrictly1=1
MatchParameter2=Library Reference
MatchStrictly2=1
PhysicalNamingFormat=$Component_$RoomName
GlobalIndexSortOrder=3
[PrjClassGen]
CompClassManualEnabled=0
CompClassManualRoomEnabled=0
NetClassAutoBusEnabled=1
NetClassAutoCompEnabled=0
NetClassAutoNamedHarnessEnabled=0
NetClassManualEnabled=1
[LibraryUpdateOptions]
SelectedOnly=0
PartTypes=0
FullReplace=1
UpdateDesignatorLock=1
UpdatePartIDLock=1
DoGraphics=1
DoParameters=1
DoModels=1
AddParameters=0
RemoveParameters=0
AddModels=1
RemoveModels=1
UpdateCurrentModels=1
[DatabaseUpdateOptions]
SelectedOnly=0
PartTypes=0
[Comparison Options]
ComparisonOptions0=Kind=Net|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
ComparisonOptions1=Kind=Net Class|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
ComparisonOptions2=Kind=Component Class|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
ComparisonOptions3=Kind=Rule|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
ComparisonOptions4=Kind=Differential Pair|MinPercent=50|MinMatch=1|ShowMatch=0|Confirm=0|UseName=0|InclAllRules=0
[SmartPDF]
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hardware/beta/CopterControl Mag & Pressure/CopterControl Mag & Pressure.SchDoc Normal file
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hardware/beta/CopterControl Mag & Pressure/Gerbers/Gerbers for CopterControl Mag & Pressure.zip Normal file
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shared/uavobjectdefinition/manualcontrolcommand.xml
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@ -2,11 +2,12 @@
<object name="ManualControlCommand" singleinstance="true" settings="false">
<description>The output from the @ref ManualControlModule which descodes the receiver inputs. Overriden by GCS for fly-by-wire control.</description>
<field name="Connected" units="" type="enum" elements="1" options="False,True"/>
<field name="Roll" units="%" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<field name="Roll" units="%" type="float" elements="1"/>
<field name="Pitch" units="%" type="float" elements="1"/>
<field name="Yaw" units="%" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<field name="Channel" units="us" type="uint16" elements="8"/>
<field name="Collective" units="%" type="float" elements="1"/>
<field name="Channel" units="us" type="uint16" elements="9"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="2000"/>

12
shared/uavobjectdefinition/manualcontrolsettings.xml
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@ -2,16 +2,16 @@
<object name="ManualControlSettings" singleinstance="true" settings="true">
<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
<field name="ChannelGroups" units="Channel Group" type="enum"
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"
options="PWM,PPM,Spektrum1,Spektrum2,S.Bus,GCS,None" defaultvalue="None"/>
<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="255"
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="ChannelNeutral" units="us" type="int16" defaultvalue="1500"
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
elementnames="Roll,Pitch,Yaw,Throttle,FlightMode,Accessory0,Accessory1,Accessory2"/>
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>

2
shared/uavobjectdefinition/mixersettings.xml
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@ -6,7 +6,7 @@
<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,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
<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"/>