mirror of
https://bitbucket.org/librepilot/librepilot.git
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OP-299 Swashplate Levelling UI
Framework for levelling UI no functional code yet. Some general cleanup of ccpm code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2688 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew
andrew
parent
2c3e540637
commit
4434df6702
@ -81,1060 +81,2380 @@
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<attribute name="title">
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<string>Basic settings</string>
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</attribute>
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<layout class="QGridLayout" name="gridLayout_16">
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<layout class="QGridLayout" name="gridLayout_6">
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||||
<property name="margin">
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||||
<number>0</number>
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||||
<number>3</number>
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||||
</property>
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||||
<property name="spacing">
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||||
<number>2</number>
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<number>3</number>
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</property>
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<item row="0" column="0">
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<layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,1,1,0">
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<item>
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<widget class="QGroupBox" name="SwashplateBox_2">
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<property name="sizePolicy">
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||||
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
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||||
<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="title">
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<string>Outputs</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_18">
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<property name="horizontalSpacing">
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<number>3</number>
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</property>
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<property name="verticalSpacing">
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<number>2</number>
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</property>
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<property name="margin">
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<number>3</number>
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</property>
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<item row="2" column="1">
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<widget class="QComboBox" name="ccpmTailChannel">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>85</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>85</width>
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<height>16777215</height>
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</size>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QComboBox" name="ccpmEngineChannel">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>85</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>85</width>
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<height>16777215</height>
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</size>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QLabel" name="ccpmTailLabel">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>80</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>80</width>
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<height>16777215</height>
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</size>
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</property>
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<property name="text">
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<string>Tail Rotor</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="ccpmEngineLabel">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>80</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>80</width>
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<height>16777215</height>
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</size>
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</property>
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<property name="text">
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<string>Engine</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="SwashplateBox">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="title">
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<string>Swashplate Outputs</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_19">
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<property name="horizontalSpacing">
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<number>3</number>
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</property>
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<property name="verticalSpacing">
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<number>2</number>
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</property>
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<property name="margin">
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<number>3</number>
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</property>
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<item row="0" column="0">
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<widget class="QLabel" name="ccpmServoWLabel">
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<property name="enabled">
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<bool>true</bool>
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</property>
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
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<horstretch>1</horstretch>
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<verstretch>1</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>80</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>80</width>
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<height>16777215</height>
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</size>
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</property>
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<property name="text">
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<string>Servo W</string>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QComboBox" name="ccpmServoWChannel">
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<property name="enabled">
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<bool>true</bool>
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</property>
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>85</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>85</width>
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<height>16777215</height>
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</size>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QComboBox" name="ccpmServoXChannel">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>85</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>85</width>
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<height>16777215</height>
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</size>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QComboBox" name="ccpmServoYChannel">
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<property name="enabled">
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<bool>true</bool>
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</property>
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>85</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>85</width>
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<height>16777215</height>
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</size>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="ccpmServoXLabel">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
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<horstretch>1</horstretch>
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<verstretch>1</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>80</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>80</width>
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<height>16777215</height>
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</size>
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</property>
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<property name="text">
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<string>Servo X</string>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QComboBox" name="ccpmSingleServo">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>85</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>85</width>
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<height>16777215</height>
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</size>
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</property>
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<item>
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<property name="text">
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<string>Front</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Right</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Rear</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Left</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QLabel" name="ccpmServoZLabel_3">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
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<horstretch>1</horstretch>
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<verstretch>1</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>80</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>80</width>
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<height>16777215</height>
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</size>
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</property>
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<property name="text">
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<string>Single Servo</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QComboBox" name="ccpmServoZChannel">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>85</width>
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<height>0</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
|
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<width>85</width>
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<height>16777215</height>
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</size>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QLabel" name="ccpmServoZLabel">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
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<horstretch>1</horstretch>
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<verstretch>1</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>80</width>
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<height>0</height>
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||||
</size>
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</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>16777215</height>
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</size>
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</property>
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<property name="text">
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<string>Servo Z</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QLabel" name="ccpmServoYLabel">
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<property name="enabled">
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<bool>true</bool>
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</property>
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||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
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||||
<verstretch>1</verstretch>
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</sizepolicy>
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</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>16777215</height>
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||||
</size>
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||||
</property>
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||||
<property name="text">
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||||
<string>Servo Y</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
</layout>
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||||
</widget>
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</item>
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||||
<item>
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<widget class="QGroupBox" name="SwashplateBox_3">
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||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>70</width>
|
||||
<height>0</height>
|
||||
</size>
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||||
</property>
|
||||
<property name="title">
|
||||
<string>Swashplate Servo Angles</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_20">
|
||||
<property name="horizontalSpacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="verticalSpacing">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmAngleW">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="ccpmServoWLabel_2">
|
||||
<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="text">
|
||||
<string>Angle W</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="ccpmServoXLabel_2">
|
||||
<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="text">
|
||||
<string>Angle X</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="ccpmServoYLabel_2">
|
||||
<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="text">
|
||||
<string>Angle Y</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="ccpmServoZLabel_2">
|
||||
<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="text">
|
||||
<string>Angle Z</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<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="text">
|
||||
<string>CorrectionAngle</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmAngleX">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmCorrectionAngle">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmAngleZ">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmAngleY">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::MinimumExpanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QGroupBox" name="ccpmRevoMixingBox">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>600</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>REVO</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_14">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>100%</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="ccpmRevoSlider">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0%</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="ccpmREVOspinBox"/>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QGroupBox" name="ccpmPitchMixingBox">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>600</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>8</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>CCPM</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Collective</string>
|
||||
</property>
|
||||
<property name="scaledContents">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="ccpmCollectiveSlider">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Cyclic</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="ccpmCollectivespinBox">
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>50</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_9">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="ccpmSwashImageBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>600</width>
|
||||
<height>600</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Swashplate Layout</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignHCenter|Qt::AlignTop</set>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_10">
|
||||
<property name="horizontalSpacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QSplitter" name="splitter_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<widget class="QGraphicsView" name="SwashplateImage">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>500</width>
|
||||
<height>500</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::Box</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="lineWidth">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="horizontalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="backgroundBrush">
|
||||
<brush brushstyle="DiagCrossPattern">
|
||||
<color alpha="50">
|
||||
<red>112</red>
|
||||
<green>184</green>
|
||||
<blue>138</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</property>
|
||||
<property name="foregroundBrush">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>127</red>
|
||||
<green>127</green>
|
||||
<blue>127</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</property>
|
||||
<property name="sceneRect">
|
||||
<rectf>
|
||||
<x>0.000000000000000</x>
|
||||
<y>0.000000000000000</y>
|
||||
<width>400.000000000000000</width>
|
||||
<height>400.000000000000000</height>
|
||||
</rectf>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="resizeAnchor">
|
||||
<enum>QGraphicsView::AnchorViewCenter</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="CurveTab">
|
||||
<attribute name="title">
|
||||
<string>Curve settings</string>
|
||||
</attribute>
|
||||
<layout class="QGridLayout" name="gridLayout_7">
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_5">
|
||||
<item>
|
||||
<widget class="QComboBox" name="CurveType">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>10</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select aircraft type here</string>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Linear</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Flat</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Step</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Exp</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Log</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Custom</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Number of points</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="NumCurvePoints">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="CurveLabel1">
|
||||
<property name="text">
|
||||
<string>Min</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="CurveLabel2">
|
||||
<property name="text">
|
||||
<string>Max</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="CurveLabel3">
|
||||
<property name="text">
|
||||
<string>Step point</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="CurveValue1">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="CurveValue2">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QDoubleSpinBox" name="CurveValue3">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>50.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_6">
|
||||
<item>
|
||||
<widget class="QComboBox" name="CurveToGenerate">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>10</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select aircraft type here</string>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Throttle</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="ccpmGenerateCurve">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Generate curves based on settings</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><-- Generate Curve</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_6">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_6">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="SwashplateBox_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Outputs</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_18">
|
||||
<property name="horizontalSpacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="verticalSpacing">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="2" column="1">
|
||||
<widget class="QComboBox" name="ccpmTailChannel">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QComboBox" name="ccpmEngineChannel">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="ccpmTailLabel">
|
||||
<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="text">
|
||||
<string>Tail Rotor</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="ccpmEngineLabel">
|
||||
<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="text">
|
||||
<string>Engine</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QTableWidget" name="CurveSettings">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Maximum" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>250</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>250</width>
|
||||
<height>273</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>8</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAsNeeded</enum>
|
||||
</property>
|
||||
<property name="horizontalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAsNeeded</enum>
|
||||
</property>
|
||||
<property name="autoScroll">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="alternatingRowColors">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="cornerButtonEnabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<attribute name="horizontalHeaderCascadingSectionResizes">
|
||||
<bool>true</bool>
|
||||
</attribute>
|
||||
<attribute name="horizontalHeaderStretchLastSection">
|
||||
<bool>true</bool>
|
||||
</attribute>
|
||||
<attribute name="verticalHeaderDefaultSectionSize">
|
||||
<number>25</number>
|
||||
</attribute>
|
||||
<attribute name="verticalHeaderMinimumSectionSize">
|
||||
<number>25</number>
|
||||
</attribute>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>0%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>25%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>50%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>75%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>100%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>Throttle Curve</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</column>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>Blade Pitch Curve</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</column>
|
||||
<item row="0" column="0">
|
||||
<property name="text">
|
||||
<string>0.000</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="SwashplateBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Swashplate Outputs</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_19">
|
||||
<property name="horizontalSpacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="verticalSpacing">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="ccpmServoWLabel">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</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="text">
|
||||
<string>Servo W</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QComboBox" name="ccpmServoWChannel">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QComboBox" name="ccpmServoXChannel">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QComboBox" name="ccpmServoYChannel">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="ccpmServoXLabel">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</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="text">
|
||||
<string>Servo X</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QComboBox" name="ccpmSingleServo">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Front</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Right</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Rear</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Left</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="ccpmServoZLabel_3">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</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="text">
|
||||
<string>Single Servo</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QComboBox" name="ccpmServoZChannel">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="ccpmServoZLabel">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</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="text">
|
||||
<string>Servo Z</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="ccpmServoYLabel">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</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="text">
|
||||
<string>Servo Y</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<item row="0" column="1">
|
||||
<property name="text">
|
||||
<string>0.000</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="SwashplateBox_3">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>70</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Swashplate Servo Angles</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_20">
|
||||
<property name="horizontalSpacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="verticalSpacing">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmAngleW">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="ccpmServoWLabel_2">
|
||||
<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="text">
|
||||
<string>Angle W</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="ccpmServoXLabel_2">
|
||||
<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="text">
|
||||
<string>Angle X</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="ccpmServoYLabel_2">
|
||||
<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="text">
|
||||
<string>Angle Y</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="ccpmServoZLabel_2">
|
||||
<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="text">
|
||||
<string>Angle Z</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<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="text">
|
||||
<string>CorrectionAngle</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmAngleX">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmCorrectionAngle">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmAngleZ">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ccpmAngleY">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>360.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>15.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<item row="1" column="0">
|
||||
<property name="text">
|
||||
<string>0.250</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</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 row="1" column="1">
|
||||
<property name="text">
|
||||
<string>0.250</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
</layout>
|
||||
<item row="2" column="0">
|
||||
<property name="text">
|
||||
<string>0.500</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<property name="text">
|
||||
<string>0.500</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<property name="text">
|
||||
<string>0.750</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<property name="text">
|
||||
<string>0.750</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<property name="text">
|
||||
<string>1.000</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<property name="text">
|
||||
<string>1.000</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="1,1">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="ccpmPitchMixingBox">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>400</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>8</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>CCPM</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<widget class="QGroupBox" name="ThrottleCurveBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="layoutDirection">
|
||||
<enum>Qt::LeftToRight</enum>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Throttle Curve</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="MixerCurveWidget" name="ThrottleCurve" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>50</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1000</width>
|
||||
<height>1000</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="PitchCurveBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Pitch Curve</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_5">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="MixerCurveWidget" name="PitchCurve" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>50</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1000</width>
|
||||
<height>1000</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Preferred</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="SwashPlateLevel">
|
||||
<attribute name="title">
|
||||
<string>Swashplate Levelling</string>
|
||||
</attribute>
|
||||
<layout class="QGridLayout" name="gridLayout_8">
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_8">
|
||||
<property name="leftMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="SwashLvlInstructionsBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>228</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Commands</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_9">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
<widget class="QPushButton" name="SwashLvlStartButton">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Collective</string>
|
||||
</property>
|
||||
<property name="scaledContents">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
<string>Start</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="ccpmCollectiveSlider">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_16">
|
||||
<widget class="QPushButton" name="SwashLvlNextButton">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Cyclic</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="ccpmCollectivespinBox">
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>50</number>
|
||||
<string>Next</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="ccpmRevoMixingBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>400</width>
|
||||
<height>400</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>REVO</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTextEdit" name="SwashLvlStepInstruction">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>150</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>220</width>
|
||||
<height>450</height>
|
||||
</size>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_14">
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<item row="0" column="0">
|
||||
<widget class="QPushButton" name="SwashLvlCancelButton">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>170</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>170</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>100%</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
<string>Cancel</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="ccpmRevoSlider">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_13">
|
||||
<item row="1" column="0">
|
||||
<widget class="QPushButton" name="SwashLvlFinishButton">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>170</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>170</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0%</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
<string>Finish</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="ccpmREVOspinBox"/>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_9">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="ccpmSwashImageBox">
|
||||
<widget class="QGroupBox" name="SwashLvlStatusBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Status</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_22">
|
||||
<property name="horizontalSpacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="verticalSpacing">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="1" column="0">
|
||||
<widget class="QListWidget" name="SwashLvlStepList">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>220</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>190</width>
|
||||
<height>125</height>
|
||||
</size>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Neutral</string>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset>
|
||||
<normaloff>:/configgadget/images/none.png</normaloff>
|
||||
<normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Max</string>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset>
|
||||
<normaloff>:/configgadget/images/none.png</normaloff>
|
||||
<normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Min</string>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset>
|
||||
<normaloff>:/configgadget/images/none.png</normaloff>
|
||||
<normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
|
||||
</property>
|
||||
<property name="flags">
|
||||
<set>ItemIsSelectable|ItemIsEnabled</set>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Verify</string>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset>
|
||||
<normaloff>:/configgadget/images/none.png</normaloff>
|
||||
<normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
|
||||
</property>
|
||||
<property name="flags">
|
||||
<set>ItemIsEnabled</set>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::MinimumExpanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QGroupBox" name="SwashLvlccpmSliderBox">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>600</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>8</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Position</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_5">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_17">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Max</string>
|
||||
</property>
|
||||
<property name="scaledContents">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_7">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="SwashLvlPositionSlider">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_8">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_18">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Min</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="SwashLvlPositionSpinBox">
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>50</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QGroupBox" name="SwashLvlccpmSwashImageBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>600</width>
|
||||
<height>600</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Swashplate Adjustment</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignHCenter|Qt::AlignTop</set>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_11">
|
||||
<property name="horizontalSpacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QSplitter" name="splitter_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<widget class="QGraphicsView" name="SwashLvlSwashplateImage">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
@ -1147,8 +2467,8 @@
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>600</width>
|
||||
<height>600</height>
|
||||
<width>500</width>
|
||||
<height>500</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
@ -1163,837 +2483,61 @@
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Swashplate Layout</string>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::Box</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="lineWidth">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="midLineWidth">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="horizontalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="backgroundBrush">
|
||||
<brush brushstyle="DiagCrossPattern">
|
||||
<color alpha="25">
|
||||
<red>126</red>
|
||||
<green>176</green>
|
||||
<blue>220</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</property>
|
||||
<property name="foregroundBrush">
|
||||
<brush brushstyle="NoBrush">
|
||||
<color alpha="255">
|
||||
<red>0</red>
|
||||
<green>0</green>
|
||||
<blue>0</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</property>
|
||||
<property name="sceneRect">
|
||||
<rectf>
|
||||
<x>0.000000000000000</x>
|
||||
<y>0.000000000000000</y>
|
||||
<width>400.000000000000000</width>
|
||||
<height>400.000000000000000</height>
|
||||
</rectf>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignHCenter|Qt::AlignTop</set>
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_10">
|
||||
<property name="horizontalSpacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QSplitter" name="splitter_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<widget class="QGraphicsView" name="SwashplateImage">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>500</width>
|
||||
<height>500</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="lineWidth">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="horizontalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="backgroundBrush">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="25">
|
||||
<red>220</red>
|
||||
<green>220</green>
|
||||
<blue>220</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</property>
|
||||
<property name="foregroundBrush">
|
||||
<brush brushstyle="NoBrush">
|
||||
<color alpha="255">
|
||||
<red>0</red>
|
||||
<green>0</green>
|
||||
<blue>0</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignHCenter|Qt::AlignTop</set>
|
||||
</property>
|
||||
<property name="resizeAnchor">
|
||||
<enum>QGraphicsView::AnchorViewCenter</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="CurveTab">
|
||||
<attribute name="title">
|
||||
<string>Curve settings</string>
|
||||
</attribute>
|
||||
<layout class="QGridLayout" name="gridLayout_15">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_5">
|
||||
<item>
|
||||
<widget class="QComboBox" name="CurveType">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>10</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select aircraft type here</string>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Linear</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Flat</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Step</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Exp</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Log</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Custom</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Number of points</string>
|
||||
<property name="resizeAnchor">
|
||||
<enum>QGraphicsView::AnchorViewCenter</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="NumCurvePoints">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="CurveLabel1">
|
||||
<property name="text">
|
||||
<string>Min</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="CurveLabel2">
|
||||
<property name="text">
|
||||
<string>Max</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="CurveLabel3">
|
||||
<property name="text">
|
||||
<string>Step point</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="CurveValue1">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="CurveValue2">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QDoubleSpinBox" name="CurveValue3">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>50.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_6">
|
||||
<item>
|
||||
<widget class="QComboBox" name="CurveToGenerate">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>10</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select aircraft type here</string>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Throttle</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="ccpmGenerateCurve">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Generate curves based on settings</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><-- Generate Curve</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_6">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_7">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_11" stretch="3,1">
|
||||
<item>
|
||||
<widget class="QTableWidget" name="CurveSettings">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Maximum" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>142</width>
|
||||
<height>148</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>250</width>
|
||||
<height>273</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>8</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAsNeeded</enum>
|
||||
</property>
|
||||
<property name="horizontalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAsNeeded</enum>
|
||||
</property>
|
||||
<property name="autoScroll">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="alternatingRowColors">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="cornerButtonEnabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<attribute name="horizontalHeaderCascadingSectionResizes">
|
||||
<bool>true</bool>
|
||||
</attribute>
|
||||
<attribute name="horizontalHeaderStretchLastSection">
|
||||
<bool>true</bool>
|
||||
</attribute>
|
||||
<attribute name="verticalHeaderDefaultSectionSize">
|
||||
<number>25</number>
|
||||
</attribute>
|
||||
<attribute name="verticalHeaderMinimumSectionSize">
|
||||
<number>25</number>
|
||||
</attribute>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>0%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>25%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>50%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>75%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>100%</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>none</string>
|
||||
</property>
|
||||
</row>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>Throttle Curve</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</column>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>Blade Pitch Curve</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</column>
|
||||
<item row="0" column="0">
|
||||
<property name="text">
|
||||
<string>0.000</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<property name="text">
|
||||
<string>0.000</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<property name="text">
|
||||
<string>0.250</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<property name="text">
|
||||
<string>0.250</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<property name="text">
|
||||
<string>0.500</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<property name="text">
|
||||
<string>0.500</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<property name="text">
|
||||
<string>0.750</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<property name="text">
|
||||
<string>0.750</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<property name="text">
|
||||
<string>1.000</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<property name="text">
|
||||
<string>1.000</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
<property name="textAlignment">
|
||||
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Preferred</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="ThrottleCurveBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="layoutDirection">
|
||||
<enum>Qt::LeftToRight</enum>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Throttle Curve</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="MixerCurveWidget" name="ThrottleCurve" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>50</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1000</width>
|
||||
<height>1000</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="PitchCurveBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Pitch Curve</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_5">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="MixerCurveWidget" name="PitchCurve" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>1</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>50</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1000</width>
|
||||
<height>1000</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_6">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Preferred</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
@ -2001,11 +2545,14 @@
|
||||
<attribute name="title">
|
||||
<string>Advanced settings</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_5">
|
||||
<layout class="QGridLayout" name="gridLayout_4">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<property name="spacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QTableWidget" name="ccpmAdvancedSettingsTable">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
||||
@ -2022,7 +2569,7 @@
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1000</width>
|
||||
<height>203</height>
|
||||
<height>300</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
@ -2402,7 +2949,7 @@
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<item row="1" column="0">
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
@ -2456,12 +3003,12 @@
|
||||
<slot>setValue(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>246</x>
|
||||
<y>309</y>
|
||||
<x>283</x>
|
||||
<y>400</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>259</x>
|
||||
<y>467</y>
|
||||
<x>294</x>
|
||||
<y>550</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
@ -2472,12 +3019,12 @@
|
||||
<slot>setValue(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>259</x>
|
||||
<y>467</y>
|
||||
<x>294</x>
|
||||
<y>550</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>243</x>
|
||||
<y>391</y>
|
||||
<x>283</x>
|
||||
<y>482</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
@ -2488,12 +3035,12 @@
|
||||
<slot>setValue(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>344</x>
|
||||
<y>467</y>
|
||||
<x>241</x>
|
||||
<y>550</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>326</x>
|
||||
<y>393</y>
|
||||
<x>230</x>
|
||||
<y>484</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
@ -2504,12 +3051,44 @@
|
||||
<slot>setValue(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>303</x>
|
||||
<y>222</y>
|
||||
<x>230</x>
|
||||
<y>313</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>344</x>
|
||||
<y>467</y>
|
||||
<x>241</x>
|
||||
<y>550</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>SwashLvlPositionSlider</sender>
|
||||
<signal>sliderMoved(int)</signal>
|
||||
<receiver>SwashLvlPositionSpinBox</receiver>
|
||||
<slot>setValue(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>276</x>
|
||||
<y>486</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>270</x>
|
||||
<y>537</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>SwashLvlPositionSpinBox</sender>
|
||||
<signal>valueChanged(int)</signal>
|
||||
<receiver>SwashLvlPositionSlider</receiver>
|
||||
<slot>setValue(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>257</x>
|
||||
<y>535</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>277</x>
|
||||
<y>401</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
|
||||
@ -1,1163 +1,1550 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configccpmwidget.cpp
|
||||
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief ccpm configuration panel
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "configccpmwidget.h"
|
||||
|
||||
#include <QDebug>
|
||||
#include <QStringList>
|
||||
#include <QtGui/QWidget>
|
||||
#include <QtGui/QTextEdit>
|
||||
#include <QtGui/QVBoxLayout>
|
||||
#include <QtGui/QPushButton>
|
||||
#include <math.h>
|
||||
|
||||
#define Pi 3.14159265358979323846
|
||||
|
||||
|
||||
ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||||
{
|
||||
m_ccpm = new Ui_ccpmWidget();
|
||||
m_ccpm->setupUi(this);
|
||||
|
||||
// Now connect the widget to the ManualControlCommand / Channel UAVObject
|
||||
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
|
||||
// Initialization of the swashplaye widget
|
||||
m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
|
||||
|
||||
QSvgRenderer *renderer = new QSvgRenderer();
|
||||
renderer->load(QString(":/configgadget/images/ccpm_setup.svg"));
|
||||
|
||||
|
||||
SwashplateImg = new QGraphicsSvgItem();
|
||||
SwashplateImg->setSharedRenderer(renderer);
|
||||
SwashplateImg->setElementId("Swashplate");
|
||||
SwashplateImg->setObjectName("Swashplate");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg);
|
||||
m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect());
|
||||
|
||||
m_ccpm->SwashplateImage->scale(.75,.75);
|
||||
|
||||
ServoW = new QGraphicsSvgItem();
|
||||
ServoW->setSharedRenderer(renderer);
|
||||
ServoW->setElementId("ServoW");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoW);
|
||||
|
||||
ServoX = new QGraphicsSvgItem();
|
||||
ServoX->setSharedRenderer(renderer);
|
||||
ServoX->setElementId("ServoX");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoX);
|
||||
|
||||
ServoY = new QGraphicsSvgItem();
|
||||
ServoY->setSharedRenderer(renderer);
|
||||
ServoY->setElementId("ServoY");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoY);
|
||||
|
||||
ServoZ = new QGraphicsSvgItem();
|
||||
ServoZ->setSharedRenderer(renderer);
|
||||
ServoZ->setElementId("ServoZ");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoZ);
|
||||
|
||||
QFont serifFont("Times", 16, QFont::Bold);
|
||||
|
||||
ServoWText = new QGraphicsTextItem();
|
||||
ServoWText->setDefaultTextColor(Qt::red);
|
||||
ServoWText->setPlainText(QString("-"));
|
||||
ServoWText->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoWText);
|
||||
|
||||
ServoXText = new QGraphicsTextItem();
|
||||
ServoXText->setDefaultTextColor(Qt::red);
|
||||
ServoXText->setPlainText(QString("-"));
|
||||
ServoXText->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoXText);
|
||||
|
||||
ServoYText = new QGraphicsTextItem();
|
||||
ServoYText->setDefaultTextColor(Qt::red);
|
||||
ServoYText->setPlainText(QString("-"));
|
||||
ServoYText->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoYText);
|
||||
|
||||
ServoZText = new QGraphicsTextItem();
|
||||
ServoZText->setDefaultTextColor(Qt::red);
|
||||
ServoZText->setPlainText(QString("-"));
|
||||
ServoZText->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoZText);
|
||||
|
||||
m_ccpm->PitchCurve->setMin(-1);
|
||||
|
||||
resetMixer(m_ccpm->PitchCurve, 5);
|
||||
resetMixer(m_ccpm->ThrottleCurve, 5);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
QStringList channels;
|
||||
channels << "Channel1" << "Channel2" <<
|
||||
"Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None" ;
|
||||
m_ccpm->ccpmEngineChannel->addItems(channels);
|
||||
m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmTailChannel->addItems(channels);
|
||||
m_ccpm->ccpmTailChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoWChannel->addItems(channels);
|
||||
m_ccpm->ccpmServoWChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoXChannel->addItems(channels);
|
||||
m_ccpm->ccpmServoXChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoYChannel->addItems(channels);
|
||||
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->addItems(channels);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
|
||||
QStringList Types;
|
||||
Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ;
|
||||
m_ccpm->ccpmType->addItems(Types);
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
|
||||
requestccpmUpdate();
|
||||
UpdateCurveSettings();
|
||||
|
||||
|
||||
//disable changing number of points in curves until UAVObjects have more than 5
|
||||
m_ccpm->NumCurvePoints->setEnabled(0);
|
||||
|
||||
UpdateType();
|
||||
|
||||
//connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
|
||||
//connect(m_ccpm->saveccpmToRAM, SIGNAL(clicked()), this, SLOT(sendccpmUpdate()));
|
||||
//connect(m_ccpm->getccpmCurrent, SIGNAL(clicked()), this, SLOT(requestccpmUpdate()));
|
||||
connect(m_ccpm->ccpmGenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
|
||||
connect(m_ccpm->NumCurvePoints, SIGNAL(valueChanged(int)), this, SLOT(UpdateCurveSettings()));
|
||||
connect(m_ccpm->CurveToGenerate, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
|
||||
connect(m_ccpm->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
|
||||
connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
|
||||
connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
|
||||
connect(m_ccpm->CurveSettings, SIGNAL(cellChanged (int, int)), this, SLOT(UpdateCurveWidgets()));
|
||||
connect(m_ccpm->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType()));
|
||||
|
||||
|
||||
|
||||
connect(m_ccpm->PitchCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updatePitchCurveValue(QList<double>,double)));
|
||||
connect(m_ccpm->ThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateThrottleCurveValue(QList<double>,double)));
|
||||
|
||||
|
||||
|
||||
// connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
|
||||
|
||||
}
|
||||
|
||||
ConfigccpmWidget::~ConfigccpmWidget()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::UpdateType()
|
||||
{
|
||||
int TypeInt,SingleServoIndex;
|
||||
QString TypeText;
|
||||
double AdjustmentAngle=0;
|
||||
|
||||
|
||||
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
|
||||
TypeText = m_ccpm->ccpmType->currentText();
|
||||
SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
|
||||
|
||||
//set visibility of user settings
|
||||
m_ccpm->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0);
|
||||
m_ccpm->ccpmAdvancedSettingsTable->clearFocus();;
|
||||
|
||||
m_ccpm->ccpmAngleW->setEnabled(TypeInt==1);
|
||||
m_ccpm->ccpmAngleX->setEnabled(TypeInt==1);
|
||||
m_ccpm->ccpmAngleY->setEnabled(TypeInt==1);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1);
|
||||
m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1);
|
||||
|
||||
m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmSingleServo->setEnabled(TypeInt>1);
|
||||
|
||||
m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmCollectivespinBox->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmRevoSlider->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmREVOspinBox->setEnabled(TypeInt>0);
|
||||
|
||||
AdjustmentAngle=SingleServoIndex*90;
|
||||
|
||||
m_ccpm->CurveToGenerate->setEnabled(1);
|
||||
m_ccpm->CurveSettings->setColumnHidden(1,0);
|
||||
m_ccpm->PitchCurve->setVisible(1);
|
||||
//m_ccpm->customThrottleCurve2Value->setVisible(1);
|
||||
//m_ccpm->label_41->setVisible(1);
|
||||
|
||||
//set values for pre defined heli types
|
||||
if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
|
||||
{
|
||||
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
|
||||
m_ccpm->ccpmAngleY->setValue(0);
|
||||
m_ccpm->ccpmAngleZ->setValue(0);
|
||||
m_ccpm->ccpmAngleY->setEnabled(0);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||||
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoYChannel->setEnabled(0);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||||
m_ccpm->ccpmCorrectionAngle->setValue(0);
|
||||
|
||||
}
|
||||
if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
|
||||
{
|
||||
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360));
|
||||
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360));
|
||||
m_ccpm->ccpmAngleZ->setValue(0);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||||
m_ccpm->ccpmCorrectionAngle->setValue(0);
|
||||
|
||||
}
|
||||
if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
|
||||
{
|
||||
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360));
|
||||
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360));
|
||||
m_ccpm->ccpmAngleZ->setValue(0);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||||
m_ccpm->ccpmCorrectionAngle->setValue(0);
|
||||
|
||||
}
|
||||
if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0)
|
||||
{
|
||||
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
|
||||
m_ccpm->ccpmAngleY->setValue(0);
|
||||
m_ccpm->ccpmAngleZ->setValue(0);
|
||||
m_ccpm->ccpmAngleY->setEnabled(0);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||||
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoYChannel->setEnabled(0);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||||
m_ccpm->ccpmCorrectionAngle->setValue(0);
|
||||
|
||||
m_ccpm->ccpmCollectivespinBox->setEnabled(0);
|
||||
m_ccpm->ccpmCollectiveSlider->setEnabled(0);
|
||||
m_ccpm->ccpmCollectivespinBox->setValue(0);
|
||||
m_ccpm->ccpmCollectiveSlider->setValue(0);
|
||||
m_ccpm->CurveToGenerate->setCurrentIndex(0);
|
||||
m_ccpm->CurveToGenerate->setEnabled(0);
|
||||
m_ccpm->CurveSettings->setColumnHidden(1,1);
|
||||
m_ccpm->PitchCurve->setVisible(0);
|
||||
//m_ccpm->customThrottleCurve2Value->setVisible(0);
|
||||
//m_ccpm->label_41->setVisible(0);
|
||||
}
|
||||
|
||||
|
||||
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
|
||||
for (int i=0;i<6;i++) {
|
||||
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()-
|
||||
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
|
||||
}
|
||||
|
||||
//update UI
|
||||
ccpmSwashplateUpdate();
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
Resets a mixer curve
|
||||
*/
|
||||
void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
|
||||
{
|
||||
QList<double> curveValues;
|
||||
for (double i=0; i<numElements; i++) {
|
||||
curveValues.append(i/(numElements-1));
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
mixer->initCurve(curveValues);
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::UpdateCurveWidgets()
|
||||
{
|
||||
int NumCurvePoints,i,Changed;
|
||||
QList<double> curveValues;
|
||||
QList<double> OldCurveValues;
|
||||
double ThisValue;
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
|
||||
curveValues.clear();
|
||||
Changed=0;
|
||||
OldCurveValues=m_ccpm->ThrottleCurve->getCurve();
|
||||
for (i=0; i<NumCurvePoints; i++)
|
||||
{
|
||||
ThisValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
|
||||
curveValues.append(ThisValue);
|
||||
if (ThisValue!=OldCurveValues.at(i))Changed=1;
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
if (Changed==1)m_ccpm->ThrottleCurve->setCurve(curveValues);
|
||||
|
||||
curveValues.clear();
|
||||
Changed=0;
|
||||
OldCurveValues=m_ccpm->PitchCurve->getCurve();
|
||||
for (i=0; i<NumCurvePoints; i++)
|
||||
{
|
||||
ThisValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
|
||||
curveValues.append(ThisValue);
|
||||
if (ThisValue!=OldCurveValues.at(i))Changed=1;
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues);
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
|
||||
{
|
||||
int NumCurvePoints,i;
|
||||
double CurrentValue;
|
||||
QList<double> internalCurveValues;
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
internalCurveValues=m_ccpm->PitchCurve->getCurve();
|
||||
|
||||
for (i=0; i<internalCurveValues.length(); i++)
|
||||
{
|
||||
CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
|
||||
if (CurrentValue!=internalCurveValues[i])
|
||||
{
|
||||
m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
|
||||
{
|
||||
int NumCurvePoints,i;
|
||||
double CurrentValue;
|
||||
QList<double> internalCurveValues;
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
internalCurveValues=m_ccpm->ThrottleCurve->getCurve();
|
||||
|
||||
for (i=0; i<internalCurveValues.length(); i++)
|
||||
{
|
||||
CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
|
||||
if (CurrentValue!=internalCurveValues[i])
|
||||
{
|
||||
m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void ConfigccpmWidget::UpdateCurveSettings()
|
||||
{
|
||||
int NumCurvePoints,i;
|
||||
double scale;
|
||||
QString CurveType;
|
||||
QStringList vertHeaders;
|
||||
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
CurveType=m_ccpm->CurveType->currentText();
|
||||
|
||||
vertHeaders << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" ;
|
||||
for (i=0;i<NumCurvePoints;i++)
|
||||
{
|
||||
scale =((double)i/(double)(NumCurvePoints-1));
|
||||
vertHeaders[i] = tr( "%1%" ).arg(100.00*scale, 0, 'f', 1);
|
||||
}
|
||||
m_ccpm->CurveSettings->setVerticalHeaderLabels( vertHeaders );
|
||||
|
||||
if (m_ccpm->CurveToGenerate->currentIndex()==0)
|
||||
{
|
||||
m_ccpm->CurveValue1->setMinimum(0.0);
|
||||
m_ccpm->CurveValue2->setMinimum(0.0);
|
||||
m_ccpm->CurveValue3->setMinimum(0.0);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_ccpm->CurveValue1->setMinimum(-1.0);
|
||||
m_ccpm->CurveValue2->setMinimum(-1.0);
|
||||
m_ccpm->CurveValue3->setMinimum(0.0);
|
||||
}
|
||||
m_ccpm->CurveValue1->setMaximum(1.0);
|
||||
m_ccpm->CurveValue2->setMaximum(1.0);
|
||||
m_ccpm->CurveValue3->setMaximum(100.0);
|
||||
m_ccpm->CurveValue1->setSingleStep(0.1);
|
||||
m_ccpm->CurveValue2->setSingleStep(0.1);
|
||||
m_ccpm->CurveValue3->setSingleStep(1.0);
|
||||
m_ccpm->CurveValue1->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
|
||||
m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
|
||||
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
|
||||
|
||||
if ( CurveType.compare("Flat")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Value");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setVisible(false);
|
||||
m_ccpm->CurveValue2->setVisible(false);
|
||||
m_ccpm->CurveLabel3->setVisible(false);
|
||||
m_ccpm->CurveValue3->setVisible(false);
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Linear")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Min");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setText("Max");
|
||||
m_ccpm->CurveLabel2->setVisible(true);
|
||||
m_ccpm->CurveValue2->setVisible(true);
|
||||
m_ccpm->CurveLabel3->setVisible(false);
|
||||
m_ccpm->CurveValue3->setVisible(false);
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Step")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Min");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setText("Max");
|
||||
m_ccpm->CurveLabel2->setVisible(true);
|
||||
m_ccpm->CurveValue2->setVisible(true);
|
||||
m_ccpm->CurveLabel3->setText("Step at");
|
||||
m_ccpm->CurveLabel3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setVisible(true);
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Exp")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Min");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setText("Max");
|
||||
m_ccpm->CurveLabel2->setVisible(true);
|
||||
m_ccpm->CurveValue2->setVisible(true);
|
||||
m_ccpm->CurveLabel3->setText("Strength");
|
||||
m_ccpm->CurveLabel3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setMinimum(1.0);
|
||||
m_ccpm->CurveValue3->setMaximum(100.0);
|
||||
m_ccpm->CurveValue3->setSingleStep(1.0);
|
||||
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Log")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Min");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setText("Max");
|
||||
m_ccpm->CurveLabel2->setVisible(true);
|
||||
m_ccpm->CurveValue2->setVisible(true);
|
||||
m_ccpm->CurveLabel3->setText("Strength");
|
||||
m_ccpm->CurveLabel3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setMinimum(1.0);
|
||||
m_ccpm->CurveValue3->setMaximum(100.0);
|
||||
m_ccpm->CurveValue3->setSingleStep(1.0);
|
||||
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Custom")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setVisible(false);
|
||||
m_ccpm->CurveValue1->setVisible(false);
|
||||
m_ccpm->CurveLabel2->setVisible(false);
|
||||
m_ccpm->CurveValue2->setVisible(false);
|
||||
m_ccpm->CurveLabel3->setVisible(false);
|
||||
m_ccpm->CurveValue3->setVisible(false);
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(false);
|
||||
m_ccpm->CurveToGenerate->setVisible(false);
|
||||
}
|
||||
UpdateCurveWidgets();
|
||||
|
||||
}
|
||||
void ConfigccpmWidget::GenerateCurve()
|
||||
{
|
||||
int NumCurvePoints,CurveToGenerate,i;
|
||||
double value1, value2, value3, scale;
|
||||
QString CurveType;
|
||||
QTableWidgetItem *item;
|
||||
double newValue;
|
||||
|
||||
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
value1=m_ccpm->CurveValue1->value();
|
||||
value2=m_ccpm->CurveValue2->value();
|
||||
value3=m_ccpm->CurveValue3->value();
|
||||
CurveToGenerate=m_ccpm->CurveToGenerate->currentIndex();
|
||||
CurveType=m_ccpm->CurveType->currentText();
|
||||
|
||||
|
||||
|
||||
for (i=0;i<NumCurvePoints;i++)
|
||||
{
|
||||
scale =((double)i/(double)(NumCurvePoints-1));
|
||||
item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
|
||||
|
||||
if ( CurveType.compare("Flat")==0)
|
||||
{
|
||||
//item->setText( tr( "%1" ).arg( value1 ) );
|
||||
item->setText(QString().sprintf("%.3f",value1));
|
||||
}
|
||||
if ( CurveType.compare("Linear")==0)
|
||||
{
|
||||
newValue =value1 +(scale*(value2-value1));
|
||||
//item->setText( tr( "%1" ).arg(value1 +(scale*(value2-value1))) );
|
||||
item->setText(QString().sprintf("%.3f",newValue));
|
||||
}
|
||||
if ( CurveType.compare("Step")==0)
|
||||
{
|
||||
if (scale*100<value3)
|
||||
{
|
||||
//item->setText( tr( "%1" ).arg(value1) );
|
||||
item->setText(QString().sprintf("%.3f",value1));
|
||||
}
|
||||
else
|
||||
{
|
||||
//item->setText( tr( "%1" ).arg(value2) );
|
||||
item->setText(QString().sprintf("%.3f",value2));
|
||||
}
|
||||
}
|
||||
if ( CurveType.compare("Exp")==0)
|
||||
{
|
||||
newValue =value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1));
|
||||
//item->setText( tr( "%1" ).arg(value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1))) );
|
||||
item->setText(QString().sprintf("%.3f",newValue));
|
||||
}
|
||||
if ( CurveType.compare("Log")==0)
|
||||
{
|
||||
newValue = value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1));
|
||||
//item->setText( tr( "%1" ).arg(value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1))) );
|
||||
item->setText(QString().sprintf("%.3f",newValue));
|
||||
}
|
||||
}
|
||||
for (i=NumCurvePoints;i<10;i++)
|
||||
{
|
||||
item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
|
||||
item->setText( tr( "" ) );
|
||||
}
|
||||
UpdateCurveWidgets();
|
||||
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::ccpmSwashplateUpdate()
|
||||
{
|
||||
double angle,CorrectionAngle,x,y,CenterX,CenterY;
|
||||
int used;
|
||||
|
||||
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
|
||||
|
||||
//CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x();
|
||||
// CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y();
|
||||
CenterX=200;
|
||||
CenterY=220;
|
||||
|
||||
SwashplateImg->setPos(CenterX-200,CenterY-200);
|
||||
|
||||
used=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
|
||||
ServoW->setVisible(used!=0);
|
||||
ServoWText->setVisible(used!=0);
|
||||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
|
||||
x=CenterX-(200.00*sin(angle))-10.00;
|
||||
y=CenterY+(200.00*cos(angle))-10.00;
|
||||
ServoW->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServoWText->setPos(x, y);
|
||||
|
||||
used=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
|
||||
ServoX->setVisible(used!=0);
|
||||
ServoXText->setVisible(used!=0);
|
||||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
|
||||
x=CenterX-(200.00*sin(angle))-10.00;
|
||||
y=CenterY+(200.00*cos(angle))-10.00;
|
||||
ServoX->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServoXText->setPos(x, y);
|
||||
|
||||
used=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
|
||||
ServoY->setVisible(used!=0);
|
||||
ServoYText->setVisible(used!=0);
|
||||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
|
||||
x=CenterX-(200.00*sin(angle))-10.00;
|
||||
y=CenterY+(200.00*cos(angle))-10.00;
|
||||
ServoY->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServoYText->setPos(x, y);
|
||||
|
||||
used=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
|
||||
ServoZ->setVisible(used!=0);
|
||||
ServoZText->setVisible(used!=0);
|
||||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00;
|
||||
x=CenterX-(200.00*sin(angle))-10.00;
|
||||
y=CenterY+(200.00*cos(angle))-10.00;
|
||||
ServoZ->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServoZText->setPos(x, y);
|
||||
|
||||
//m_ccpm->SwashplateImage->centerOn (CenterX, CenterY);
|
||||
|
||||
//m_ccpm->SwashplateImage->fitInView(SwashplateImg, Qt::KeepAspectRatio);
|
||||
|
||||
UpdateMixer();
|
||||
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::UpdateMixer()
|
||||
{
|
||||
int i,j,Type,ThisEnable[6];
|
||||
float CollectiveConstant,CorrectionAngle,ThisAngle[6];
|
||||
//QTableWidgetItem *newItem;// = new QTableWidgetItem();
|
||||
QString Channel;
|
||||
|
||||
Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
|
||||
CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
|
||||
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
|
||||
|
||||
|
||||
if (Type>0)
|
||||
{//not advanced settings
|
||||
//get the channel data from the ui
|
||||
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
|
||||
MixerChannelData[1] = m_ccpm->ccpmTailChannel->currentIndex();
|
||||
MixerChannelData[2] = m_ccpm->ccpmServoWChannel->currentIndex();
|
||||
MixerChannelData[3] = m_ccpm->ccpmServoXChannel->currentIndex();
|
||||
MixerChannelData[4] = m_ccpm->ccpmServoYChannel->currentIndex();
|
||||
MixerChannelData[5] = m_ccpm->ccpmServoZChannel->currentIndex();
|
||||
|
||||
//get the angle data from the ui
|
||||
ThisAngle[2] = m_ccpm->ccpmAngleW->value();
|
||||
ThisAngle[3] = m_ccpm->ccpmAngleX->value();
|
||||
ThisAngle[4] = m_ccpm->ccpmAngleY->value();
|
||||
ThisAngle[5] = m_ccpm->ccpmAngleZ->value();
|
||||
|
||||
//get the angle data from the ui
|
||||
ThisEnable[2] = m_ccpm->ccpmServoWChannel->isEnabled();
|
||||
ThisEnable[3] = m_ccpm->ccpmServoXChannel->isEnabled();
|
||||
ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled();
|
||||
ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled();
|
||||
|
||||
ServoWText->setPlainText(QString("%1").arg( MixerChannelData[2]+1 ));
|
||||
ServoXText->setPlainText(QString("%1").arg( MixerChannelData[3]+1 ));
|
||||
ServoYText->setPlainText(QString("%1").arg( MixerChannelData[4]+1 ));
|
||||
ServoZText->setPlainText(QString("%1").arg( MixerChannelData[5]+1 ));
|
||||
|
||||
|
||||
//go through the user data and update the mixer matrix
|
||||
for (i=0;i<6;i++)
|
||||
{
|
||||
/*
|
||||
data.Mixer0Type = 0;//Disabled,Motor,Servo
|
||||
data.Mixer0Vector[0] = 0;//ThrottleCurve1
|
||||
data.Mixer0Vector[1] = 0;//ThrottleCurve2
|
||||
data.Mixer0Vector[2] = 0;//Roll
|
||||
data.Mixer0Vector[3] = 0;//Pitch
|
||||
data.Mixer0Vector[4] = 0;//Yaw
|
||||
|
||||
*/
|
||||
if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2)))
|
||||
{
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 ));
|
||||
//config the vector
|
||||
if (i==0)
|
||||
{//motor-engine
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
|
||||
}
|
||||
if (i==1)
|
||||
{//tailrotor
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw
|
||||
}
|
||||
if (i>1)
|
||||
{//Swashplate
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (j=0;j<6;j++) m_ccpm->ccpmAdvancedSettingsTable->item(i,j)->setText(QString("-"));
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{//advanced settings
|
||||
for (i=0;i<6;i++)
|
||||
{
|
||||
Channel =m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->text();
|
||||
if (Channel == "-") Channel = QString("9");
|
||||
MixerChannelData[i]= Channel.toInt();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
/**************************
|
||||
* ccpm settings
|
||||
**************************/
|
||||
/**
|
||||
Request the current value of the SystemSettings which holds the ccpm type
|
||||
*/
|
||||
void ConfigccpmWidget::requestccpmUpdate()
|
||||
{
|
||||
#define MaxAngleError 2
|
||||
int MixerDataFromHeli[8][5];
|
||||
QString MixerOutputType[8];
|
||||
int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],CalcAngles[4],ServoCurve2[4];
|
||||
int NumServos=0;
|
||||
double Collective=0.0;
|
||||
double a1,a2;
|
||||
int HeadRotation,temp;
|
||||
int isCCPM=0;
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
int i,j;
|
||||
UAVObjectField *field;
|
||||
UAVDataObject* obj;
|
||||
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(obj);
|
||||
|
||||
//go through the user data and update the mixer matrix
|
||||
for (i=0;i<8;i++)
|
||||
{
|
||||
field = obj->getField(tr( "Mixer%1Vector" ).arg(i+1));
|
||||
//config the vector
|
||||
for (j=0;j<5;j++)
|
||||
{
|
||||
MixerDataFromHeli[i][j] = field->getValue(j).toInt();
|
||||
//field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j);
|
||||
}
|
||||
}
|
||||
for (i=0;i<8;i++)
|
||||
{
|
||||
field = obj->getField(tr( "Mixer%1Type" ).arg(i+1));
|
||||
MixerOutputType[i] = field->getValue().toString();
|
||||
}
|
||||
|
||||
EngineChannel =-1;
|
||||
TailRotorChannel =-1;
|
||||
for (j=0;j<5;j++)
|
||||
{
|
||||
ServoChannels[j]=8;
|
||||
ServoCurve2[j]=0;
|
||||
ServoAngles[j]=0;
|
||||
SortAngles[j]=j;
|
||||
}
|
||||
|
||||
NumServos=0;
|
||||
//process the data from Heli and try to figure out the settings...
|
||||
for (i=0;i<8;i++)
|
||||
{
|
||||
//check if this is the engine... Throttle only
|
||||
if ((MixerOutputType[i].compare("Motor")==0)&&
|
||||
(MixerDataFromHeli[i][0]>0)&&//ThrottleCurve1
|
||||
(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
|
||||
(MixerDataFromHeli[i][2]==0)&&//Roll
|
||||
(MixerDataFromHeli[i][3]==0)&&//Pitch
|
||||
(MixerDataFromHeli[i][4]==0))//Yaw
|
||||
{
|
||||
EngineChannel = i;
|
||||
m_ccpm->ccpmEngineChannel->setCurrentIndex(i);
|
||||
|
||||
}
|
||||
//check if this is the tail rotor... REVO and YAW
|
||||
if ((MixerOutputType[i].compare("Servo")==0)&&
|
||||
//(MixerDataFromHeli[i][0]!=0)&&//ThrottleCurve1
|
||||
(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
|
||||
(MixerDataFromHeli[i][2]==0)&&//Roll
|
||||
(MixerDataFromHeli[i][3]==0)&&//Pitch
|
||||
(MixerDataFromHeli[i][4]!=0))//Yaw
|
||||
{
|
||||
TailRotorChannel = i;
|
||||
m_ccpm->ccpmTailChannel->setCurrentIndex(i);
|
||||
m_ccpm->ccpmRevoSlider->setValue((MixerDataFromHeli[i][0]*100)/127);
|
||||
m_ccpm->ccpmREVOspinBox->setValue((MixerDataFromHeli[i][0]*100)/127);
|
||||
}
|
||||
//check if this is a swashplate servo... Throttle is zero
|
||||
if ((MixerOutputType[i].compare("Servo")==0)&&
|
||||
(MixerDataFromHeli[i][0]==0)&&//ThrottleCurve1
|
||||
//(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
|
||||
//(MixerDataFromHeli[i][2]==0)&&//Roll
|
||||
//(MixerDataFromHeli[i][3]==0)&&//Pitch
|
||||
(MixerDataFromHeli[i][4]==0))//Yaw
|
||||
{
|
||||
ServoChannels[NumServos] = i;//record the channel for this servo
|
||||
ServoCurve2[NumServos]=MixerDataFromHeli[i][1];//record the ThrottleCurve2 contribution to this servo
|
||||
ServoAngles[NumServos]=NumServos*45;//make this 0 for the final version
|
||||
|
||||
//if (NumServos==0)m_ccpm->ccpmServoWChannel->setCurrentIndex(i);
|
||||
//if (NumServos==1)m_ccpm->ccpmServoXChannel->setCurrentIndex(i);
|
||||
//if (NumServos==2)m_ccpm->ccpmServoYChannel->setCurrentIndex(i);
|
||||
//if (NumServos==3)m_ccpm->ccpmServoZChannel->setCurrentIndex(i);
|
||||
NumServos++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//just call it user angles for now....
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles"));
|
||||
|
||||
if (NumServos>1)
|
||||
{
|
||||
if((ServoCurve2[0]==0)&&(ServoCurve2[1]==0)&&(ServoCurve2[2]==0)&&(ServoCurve2[3]==0))
|
||||
{
|
||||
//fixed pitch heli
|
||||
isCCPM=0;
|
||||
m_ccpm->ccpmCollectiveSlider->setValue(0);
|
||||
Collective = 0.0;
|
||||
}
|
||||
if(ServoCurve2[0]==ServoCurve2[1])
|
||||
{
|
||||
if ((NumServos<3)||(ServoCurve2[1]==ServoCurve2[2]))
|
||||
{
|
||||
if ((NumServos<4)||(ServoCurve2[2]==ServoCurve2[3]))
|
||||
{//all the servos have the same ThrottleCurve2 setting so this must be a CCPM config
|
||||
isCCPM=1;
|
||||
Collective = ((double)ServoCurve2[0]*100.00)/127.00;
|
||||
m_ccpm->ccpmCollectiveSlider->setValue((int)Collective);
|
||||
m_ccpm->ccpmCollectivespinBox->setValue((int)Collective);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{//must be a custom config... "Custom - Advanced Settings"
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - Advanced Settings"));
|
||||
}
|
||||
|
||||
HeadRotation=0;
|
||||
//calculate the angles
|
||||
for(j=0;j<NumServos;j++)
|
||||
{
|
||||
//MixerDataFromHeli[i][2]=(127.0*(1-CollectiveConstant)*sin((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
|
||||
//MixerDataFromHeli[i][3]=(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
|
||||
a1=((double)MixerDataFromHeli[ServoChannels[j]][2]/(1.27*(100.0-Collective)));
|
||||
a2=((double)MixerDataFromHeli[ServoChannels[j]][3]/(1.27*(100.0-Collective)));
|
||||
ServoAngles[j]=fmod(360.0+atan2(a1,a2)/(Pi/180.00),360.0);
|
||||
//check the angles for one being a multiple of 90deg
|
||||
if (fmod(ServoAngles[j],90)<MaxAngleError)
|
||||
{
|
||||
HeadRotation=ServoAngles[j]/90;
|
||||
}
|
||||
|
||||
}
|
||||
//set the head rotation
|
||||
m_ccpm->ccpmSingleServo->setCurrentIndex(HeadRotation);
|
||||
|
||||
//calculate the un rotated angles
|
||||
for(j=0;j<NumServos;j++)
|
||||
{
|
||||
CalcAngles[j] = fmod(360.0+ServoAngles[j]-(double)HeadRotation*90.0,360.0);
|
||||
}
|
||||
//sort the calc angles do the smallest is first...brute force...
|
||||
for(i=0;i<5;i++)
|
||||
for(j=0;j<NumServos-1;j++)
|
||||
{
|
||||
if (CalcAngles[SortAngles[j]] > CalcAngles[SortAngles[j+1]])
|
||||
{//swap the sorted angles
|
||||
temp = SortAngles[j];
|
||||
SortAngles[j]=SortAngles[j+1];
|
||||
SortAngles[j+1]=temp;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
m_ccpm->ccpmAngleW->setValue(ServoAngles[SortAngles[0]]);
|
||||
m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]);
|
||||
m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]);
|
||||
m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]);
|
||||
|
||||
m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]);
|
||||
m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]);
|
||||
m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]);
|
||||
|
||||
|
||||
//Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ;
|
||||
|
||||
|
||||
//check this against known combinations
|
||||
if (NumServos==2)
|
||||
{
|
||||
if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[1]]-90)<MaxAngleError))
|
||||
{// two servo 90º
|
||||
if (isCCPM)
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 2 Servo 90º"));
|
||||
UpdateType();
|
||||
}
|
||||
else
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 2 Servo 90º"));
|
||||
UpdateType();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
if (NumServos==3)
|
||||
{
|
||||
if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[1]]-120)<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[2]]-240)<MaxAngleError))
|
||||
{// three servo 120º
|
||||
if (isCCPM)
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 3 Servo 120º"));
|
||||
UpdateType();
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 3 Servo 120º"));
|
||||
UpdateType();
|
||||
}
|
||||
|
||||
}
|
||||
else if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[1]]-140)<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[2]]-220)<MaxAngleError))
|
||||
{// three servo 140º
|
||||
if (isCCPM)
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 3 Servo 140º"));
|
||||
UpdateType();
|
||||
}
|
||||
else
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 3 Servo 140º"));
|
||||
UpdateType();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
if (NumServos==4)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//get the settings for the curve from the mixer settings
|
||||
field = obj->getField(QString("ThrottleCurve1"));
|
||||
for (i=0;i<5;i++)
|
||||
{
|
||||
m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",field->getValue(i).toDouble()));
|
||||
//m_ccpm->CurveSettings->item(i, 0)->setText(field->getValue(i).toString());
|
||||
}
|
||||
field = obj->getField(QString("ThrottleCurve2"));
|
||||
for (i=0;i<5;i++)
|
||||
{
|
||||
m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",field->getValue(i).toDouble()));
|
||||
//m_ccpm->CurveSettings->item(i, 1)->setText(field->getValue(i).toString());
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
ccpmSwashplateUpdate();
|
||||
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
Sends the config to the board (ccpm type)
|
||||
*/
|
||||
void ConfigccpmWidget::sendccpmUpdate()
|
||||
{
|
||||
int i,j;
|
||||
UAVObjectField *field;
|
||||
UAVDataObject* obj;
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
|
||||
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(obj);
|
||||
|
||||
UpdateMixer();
|
||||
|
||||
//clear the output types
|
||||
for (i=0;i<8;i++)
|
||||
{
|
||||
field = obj->getField(tr( "Mixer%1Type" ).arg( i+1 ));
|
||||
//clear the mixer type
|
||||
field->setValue("Disabled");
|
||||
}
|
||||
|
||||
|
||||
//go through the user data and update the mixer matrix
|
||||
for (i=0;i<6;i++)
|
||||
{
|
||||
/*
|
||||
data.Mixer0Type = 0;//Disabled,Motor,Servo
|
||||
data.Mixer0Vector[0] = 0;//ThrottleCurve1
|
||||
data.Mixer0Vector[1] = 0;//ThrottleCurve2
|
||||
data.Mixer0Vector[2] = 0;//Roll
|
||||
data.Mixer0Vector[3] = 0;//Pitch
|
||||
data.Mixer0Vector[4] = 0;//Yaw
|
||||
|
||||
*/
|
||||
if (MixerChannelData[i]<8)
|
||||
{
|
||||
//select the correct mixer for this config element
|
||||
field = obj->getField(tr( "Mixer%1Type" ).arg( MixerChannelData[i]+1 ));
|
||||
//set the mixer type
|
||||
if (i==0)
|
||||
{
|
||||
field->setValue("Motor");
|
||||
}
|
||||
else
|
||||
{
|
||||
field->setValue("Servo");
|
||||
}
|
||||
|
||||
//select the correct mixer for this config element
|
||||
field = obj->getField(tr( "Mixer%1Vector" ).arg( MixerChannelData[i]+1 ));
|
||||
//config the vector
|
||||
for (j=0;j<5;j++)
|
||||
{
|
||||
field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//get the user data for the curve into the mixer settings
|
||||
field = obj->getField(QString("ThrottleCurve1"));
|
||||
for (i=0;i<5;i++)
|
||||
{
|
||||
field->setValue(m_ccpm->CurveSettings->item(i, 0)->text().toDouble(),i);
|
||||
}
|
||||
field = obj->getField(QString("ThrottleCurve2"));
|
||||
for (i=0;i<5;i++)
|
||||
{
|
||||
field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i);
|
||||
}
|
||||
|
||||
obj->updated();
|
||||
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
Send ccpm type to the board and request saving to SD card
|
||||
*/
|
||||
void ConfigccpmWidget::saveccpmUpdate()
|
||||
{
|
||||
// Send update so that the latest value is saved
|
||||
sendccpmUpdate();
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(obj);
|
||||
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::resizeEvent(QResizeEvent* event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
// Make the custom table columns autostretch:
|
||||
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
|
||||
for (int i=0;i<6;i++) {
|
||||
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()-
|
||||
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
|
||||
}
|
||||
|
||||
}
|
||||
void ConfigccpmWidget::showEvent(QShowEvent *event)
|
||||
{
|
||||
Q_UNUSED(event)
|
||||
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
|
||||
for (int i=0;i<6;i++) {
|
||||
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()-
|
||||
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configccpmwidget.cpp
|
||||
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief ccpm configuration panel
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "configccpmwidget.h"
|
||||
|
||||
#include <QDebug>
|
||||
#include <QStringList>
|
||||
#include <QtGui/QWidget>
|
||||
#include <QtGui/QTextEdit>
|
||||
#include <QtGui/QVBoxLayout>
|
||||
#include <QtGui/QPushButton>
|
||||
#include <math.h>
|
||||
#include <QMessageBox>
|
||||
|
||||
#define Pi 3.14159265358979323846
|
||||
|
||||
|
||||
ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||||
{
|
||||
int i;
|
||||
m_ccpm = new Ui_ccpmWidget();
|
||||
m_ccpm->setupUi(this);
|
||||
userConfigurationInProgress=0;
|
||||
SwashLvlState=0;
|
||||
// Now connect the widget to the ManualControlCommand / Channel UAVObject
|
||||
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
|
||||
// Initialization of the swashplaye widget
|
||||
m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
|
||||
|
||||
m_ccpm->SwashLvlSwashplateImage->setScene(m_ccpm->SwashplateImage->scene());
|
||||
m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-30,500,500);
|
||||
m_ccpm->SwashLvlSwashplateImage->scale(.85,.85);
|
||||
|
||||
//m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect());
|
||||
m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500);
|
||||
m_ccpm->SwashplateImage->scale(.85,.85);
|
||||
|
||||
|
||||
|
||||
QSvgRenderer *renderer = new QSvgRenderer();
|
||||
renderer->load(QString(":/configgadget/images/ccpm_setup.svg"));
|
||||
|
||||
|
||||
SwashplateImg = new QGraphicsSvgItem();
|
||||
SwashplateImg->setSharedRenderer(renderer);
|
||||
SwashplateImg->setElementId("Swashplate");
|
||||
SwashplateImg->setObjectName("Swashplate");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg);
|
||||
|
||||
QFont serifFont("Times", 16, QFont::Bold);
|
||||
QPen pen; // creates a default pen
|
||||
|
||||
pen.setStyle(Qt::DotLine);
|
||||
pen.setWidth(2);
|
||||
pen.setBrush(Qt::gray);
|
||||
pen.setCapStyle(Qt::RoundCap);
|
||||
pen.setJoinStyle(Qt::RoundJoin);
|
||||
|
||||
QList<QString> ServoNames;
|
||||
ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ;
|
||||
|
||||
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
|
||||
{
|
||||
ServoLines[i] = m_ccpm->SwashLvlSwashplateImage->scene()->addLine(0,0,100*i,i*i*100,pen);
|
||||
|
||||
Servos[i] = new QGraphicsSvgItem();
|
||||
Servos[i]->setSharedRenderer(renderer);
|
||||
Servos[i]->setElementId(ServoNames.at(i));
|
||||
m_ccpm->SwashplateImage->scene()->addItem(Servos[i]);
|
||||
|
||||
ServosText[i] = new QGraphicsTextItem();
|
||||
ServosText[i]->setDefaultTextColor(Qt::red);
|
||||
ServosText[i]->setPlainText(QString("-"));
|
||||
ServosText[i]->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]);
|
||||
|
||||
|
||||
SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView
|
||||
m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]);
|
||||
//SwashLvlSpinBoxes[i]->move(i*50+50,20);
|
||||
//SwashLvlSpinBoxes[i]->resize(40,20);
|
||||
//SwashLvlSpinBoxes[i]->heightForWidth()
|
||||
SwashLvlSpinBoxes[i]->setFixedSize(50,20);
|
||||
SwashLvlSpinBoxes[i]->setMaximum(10000);
|
||||
SwashLvlSpinBoxes[i]->setMinimum(0);
|
||||
SwashLvlSpinBoxes[i]->setValue(0);
|
||||
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
Servos[0] = new QGraphicsSvgItem();
|
||||
Servos[0]->setSharedRenderer(renderer);
|
||||
Servos[0]->setElementId("ServoW");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(Servos[0]);
|
||||
|
||||
Servos[1] = new QGraphicsSvgItem();
|
||||
Servos[1]->setSharedRenderer(renderer);
|
||||
Servos[1]->setElementId("ServoX");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(Servos[1]);
|
||||
|
||||
Servos[2] = new QGraphicsSvgItem();
|
||||
Servos[2]->setSharedRenderer(renderer);
|
||||
Servos[2]->setElementId("ServoY");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(Servos[2]);
|
||||
|
||||
Servos[3] = new QGraphicsSvgItem();
|
||||
Servos[3]->setSharedRenderer(renderer);
|
||||
Servos[3]->setElementId("ServoZ");
|
||||
m_ccpm->SwashplateImage->scene()->addItem(Servos[3]);
|
||||
|
||||
|
||||
ServosText[0] = new QGraphicsTextItem();
|
||||
ServosText[0]->setDefaultTextColor(Qt::red);
|
||||
ServosText[0]->setPlainText(QString("-"));
|
||||
ServosText[0]->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServosText[0]);
|
||||
|
||||
ServosText[1] = new QGraphicsTextItem();
|
||||
ServosText[1]->setDefaultTextColor(Qt::red);
|
||||
ServosText[1]->setPlainText(QString("-"));
|
||||
ServosText[1]->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServosText[1]);
|
||||
|
||||
ServosText[2] = new QGraphicsTextItem();
|
||||
ServosText[2]->setDefaultTextColor(Qt::red);
|
||||
ServosText[2]->setPlainText(QString("-"));
|
||||
ServosText[2]->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServosText[2]);
|
||||
|
||||
ServosText[3] = new QGraphicsTextItem();
|
||||
ServosText[3]->setDefaultTextColor(Qt::red);
|
||||
ServosText[3]->setPlainText(QString("-"));
|
||||
ServosText[3]->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServosText[3]);
|
||||
*/
|
||||
m_ccpm->PitchCurve->setMin(-1);
|
||||
|
||||
resetMixer(m_ccpm->PitchCurve, 5);
|
||||
resetMixer(m_ccpm->ThrottleCurve, 5);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
QStringList channels;
|
||||
channels << "Channel1" << "Channel2" <<
|
||||
"Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None" ;
|
||||
m_ccpm->ccpmEngineChannel->addItems(channels);
|
||||
m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmTailChannel->addItems(channels);
|
||||
m_ccpm->ccpmTailChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoWChannel->addItems(channels);
|
||||
m_ccpm->ccpmServoWChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoXChannel->addItems(channels);
|
||||
m_ccpm->ccpmServoXChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoYChannel->addItems(channels);
|
||||
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->addItems(channels);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
|
||||
QStringList Types;
|
||||
Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ;
|
||||
m_ccpm->ccpmType->addItems(Types);
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
|
||||
requestccpmUpdate();
|
||||
UpdateCurveSettings();
|
||||
|
||||
|
||||
//disable changing number of points in curves until UAVObjects have more than 5
|
||||
m_ccpm->NumCurvePoints->setEnabled(0);
|
||||
|
||||
UpdateType();
|
||||
|
||||
//connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
|
||||
//connect(m_ccpm->saveccpmToRAM, SIGNAL(clicked()), this, SLOT(sendccpmUpdate()));
|
||||
//connect(m_ccpm->getccpmCurrent, SIGNAL(clicked()), this, SLOT(requestccpmUpdate()));
|
||||
connect(m_ccpm->ccpmGenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
|
||||
connect(m_ccpm->NumCurvePoints, SIGNAL(valueChanged(int)), this, SLOT(UpdateCurveSettings()));
|
||||
connect(m_ccpm->CurveToGenerate, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
|
||||
connect(m_ccpm->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
|
||||
connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||||
connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
|
||||
connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
|
||||
connect(m_ccpm->CurveSettings, SIGNAL(cellChanged (int, int)), this, SLOT(UpdateCurveWidgets()));
|
||||
connect(m_ccpm->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType()));
|
||||
|
||||
|
||||
|
||||
connect(m_ccpm->PitchCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updatePitchCurveValue(QList<double>,double)));
|
||||
connect(m_ccpm->ThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateThrottleCurveValue(QList<double>,double)));
|
||||
|
||||
connect(m_ccpm->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed()));
|
||||
connect(m_ccpm->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed()));
|
||||
connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
|
||||
connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
|
||||
|
||||
|
||||
|
||||
// connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
|
||||
|
||||
}
|
||||
|
||||
ConfigccpmWidget::~ConfigccpmWidget()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::UpdateType()
|
||||
{
|
||||
int TypeInt,SingleServoIndex;
|
||||
QString TypeText;
|
||||
double AdjustmentAngle=0;
|
||||
|
||||
|
||||
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
|
||||
TypeText = m_ccpm->ccpmType->currentText();
|
||||
SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
|
||||
|
||||
//set visibility of user settings
|
||||
m_ccpm->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0);
|
||||
m_ccpm->ccpmAdvancedSettingsTable->clearFocus();;
|
||||
|
||||
m_ccpm->ccpmAngleW->setEnabled(TypeInt==1);
|
||||
m_ccpm->ccpmAngleX->setEnabled(TypeInt==1);
|
||||
m_ccpm->ccpmAngleY->setEnabled(TypeInt==1);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1);
|
||||
m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1);
|
||||
|
||||
m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmSingleServo->setEnabled(TypeInt>1);
|
||||
|
||||
m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmCollectivespinBox->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmRevoSlider->setEnabled(TypeInt>0);
|
||||
m_ccpm->ccpmREVOspinBox->setEnabled(TypeInt>0);
|
||||
|
||||
AdjustmentAngle=SingleServoIndex*90;
|
||||
|
||||
m_ccpm->CurveToGenerate->setEnabled(1);
|
||||
m_ccpm->CurveSettings->setColumnHidden(1,0);
|
||||
m_ccpm->PitchCurve->setVisible(1);
|
||||
//m_ccpm->customThrottleCurve2Value->setVisible(1);
|
||||
//m_ccpm->label_41->setVisible(1);
|
||||
|
||||
//set values for pre defined heli types
|
||||
if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
|
||||
{
|
||||
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
|
||||
m_ccpm->ccpmAngleY->setValue(0);
|
||||
m_ccpm->ccpmAngleZ->setValue(0);
|
||||
m_ccpm->ccpmAngleY->setEnabled(0);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||||
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoYChannel->setEnabled(0);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||||
m_ccpm->ccpmCorrectionAngle->setValue(0);
|
||||
|
||||
}
|
||||
if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
|
||||
{
|
||||
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360));
|
||||
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360));
|
||||
m_ccpm->ccpmAngleZ->setValue(0);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||||
m_ccpm->ccpmCorrectionAngle->setValue(0);
|
||||
|
||||
}
|
||||
if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
|
||||
{
|
||||
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360));
|
||||
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360));
|
||||
m_ccpm->ccpmAngleZ->setValue(0);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||||
m_ccpm->ccpmCorrectionAngle->setValue(0);
|
||||
|
||||
}
|
||||
if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0)
|
||||
{
|
||||
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
|
||||
m_ccpm->ccpmAngleY->setValue(0);
|
||||
m_ccpm->ccpmAngleZ->setValue(0);
|
||||
m_ccpm->ccpmAngleY->setEnabled(0);
|
||||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||||
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||||
m_ccpm->ccpmServoYChannel->setEnabled(0);
|
||||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||||
m_ccpm->ccpmCorrectionAngle->setValue(0);
|
||||
|
||||
m_ccpm->ccpmCollectivespinBox->setEnabled(0);
|
||||
m_ccpm->ccpmCollectiveSlider->setEnabled(0);
|
||||
m_ccpm->ccpmCollectivespinBox->setValue(0);
|
||||
m_ccpm->ccpmCollectiveSlider->setValue(0);
|
||||
m_ccpm->CurveToGenerate->setCurrentIndex(0);
|
||||
m_ccpm->CurveToGenerate->setEnabled(0);
|
||||
m_ccpm->CurveSettings->setColumnHidden(1,1);
|
||||
m_ccpm->PitchCurve->setVisible(0);
|
||||
//m_ccpm->customThrottleCurve2Value->setVisible(0);
|
||||
//m_ccpm->label_41->setVisible(0);
|
||||
}
|
||||
|
||||
|
||||
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
|
||||
for (int i=0;i<6;i++) {
|
||||
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()-
|
||||
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
|
||||
}
|
||||
|
||||
//update UI
|
||||
ccpmSwashplateUpdate();
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
Resets a mixer curve
|
||||
*/
|
||||
void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
|
||||
{
|
||||
QList<double> curveValues;
|
||||
for (double i=0; i<numElements; i++) {
|
||||
curveValues.append(i/(numElements-1));
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
mixer->initCurve(curveValues);
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::UpdateCurveWidgets()
|
||||
{
|
||||
int NumCurvePoints,i,Changed;
|
||||
QList<double> curveValues;
|
||||
QList<double> OldCurveValues;
|
||||
double ThisValue;
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
|
||||
curveValues.clear();
|
||||
Changed=0;
|
||||
OldCurveValues=m_ccpm->ThrottleCurve->getCurve();
|
||||
for (i=0; i<NumCurvePoints; i++)
|
||||
{
|
||||
ThisValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
|
||||
curveValues.append(ThisValue);
|
||||
if (ThisValue!=OldCurveValues.at(i))Changed=1;
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
if (Changed==1)m_ccpm->ThrottleCurve->setCurve(curveValues);
|
||||
|
||||
curveValues.clear();
|
||||
Changed=0;
|
||||
OldCurveValues=m_ccpm->PitchCurve->getCurve();
|
||||
for (i=0; i<NumCurvePoints; i++)
|
||||
{
|
||||
ThisValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
|
||||
curveValues.append(ThisValue);
|
||||
if (ThisValue!=OldCurveValues.at(i))Changed=1;
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues);
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
|
||||
{
|
||||
int NumCurvePoints,i;
|
||||
double CurrentValue;
|
||||
QList<double> internalCurveValues;
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
internalCurveValues=m_ccpm->PitchCurve->getCurve();
|
||||
|
||||
for (i=0; i<internalCurveValues.length(); i++)
|
||||
{
|
||||
CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
|
||||
if (CurrentValue!=internalCurveValues[i])
|
||||
{
|
||||
m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
|
||||
{
|
||||
int NumCurvePoints,i;
|
||||
double CurrentValue;
|
||||
QList<double> internalCurveValues;
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
internalCurveValues=m_ccpm->ThrottleCurve->getCurve();
|
||||
|
||||
for (i=0; i<internalCurveValues.length(); i++)
|
||||
{
|
||||
CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
|
||||
if (CurrentValue!=internalCurveValues[i])
|
||||
{
|
||||
m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void ConfigccpmWidget::UpdateCurveSettings()
|
||||
{
|
||||
int NumCurvePoints,i;
|
||||
double scale;
|
||||
QString CurveType;
|
||||
QStringList vertHeaders;
|
||||
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
CurveType=m_ccpm->CurveType->currentText();
|
||||
|
||||
vertHeaders << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" ;
|
||||
for (i=0;i<NumCurvePoints;i++)
|
||||
{
|
||||
scale =((double)i/(double)(NumCurvePoints-1));
|
||||
vertHeaders[i] = tr( "%1%" ).arg(100.00*scale, 0, 'f', 1);
|
||||
}
|
||||
m_ccpm->CurveSettings->setVerticalHeaderLabels( vertHeaders );
|
||||
|
||||
if (m_ccpm->CurveToGenerate->currentIndex()==0)
|
||||
{
|
||||
m_ccpm->CurveValue1->setMinimum(0.0);
|
||||
m_ccpm->CurveValue2->setMinimum(0.0);
|
||||
m_ccpm->CurveValue3->setMinimum(0.0);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_ccpm->CurveValue1->setMinimum(-1.0);
|
||||
m_ccpm->CurveValue2->setMinimum(-1.0);
|
||||
m_ccpm->CurveValue3->setMinimum(0.0);
|
||||
}
|
||||
m_ccpm->CurveValue1->setMaximum(1.0);
|
||||
m_ccpm->CurveValue2->setMaximum(1.0);
|
||||
m_ccpm->CurveValue3->setMaximum(100.0);
|
||||
m_ccpm->CurveValue1->setSingleStep(0.1);
|
||||
m_ccpm->CurveValue2->setSingleStep(0.1);
|
||||
m_ccpm->CurveValue3->setSingleStep(1.0);
|
||||
m_ccpm->CurveValue1->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
|
||||
m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
|
||||
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
|
||||
|
||||
if ( CurveType.compare("Flat")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Value");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setVisible(false);
|
||||
m_ccpm->CurveValue2->setVisible(false);
|
||||
m_ccpm->CurveLabel3->setVisible(false);
|
||||
m_ccpm->CurveValue3->setVisible(false);
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Linear")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Min");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setText("Max");
|
||||
m_ccpm->CurveLabel2->setVisible(true);
|
||||
m_ccpm->CurveValue2->setVisible(true);
|
||||
m_ccpm->CurveLabel3->setVisible(false);
|
||||
m_ccpm->CurveValue3->setVisible(false);
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Step")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Min");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setText("Max");
|
||||
m_ccpm->CurveLabel2->setVisible(true);
|
||||
m_ccpm->CurveValue2->setVisible(true);
|
||||
m_ccpm->CurveLabel3->setText("Step at");
|
||||
m_ccpm->CurveLabel3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setVisible(true);
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Exp")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Min");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setText("Max");
|
||||
m_ccpm->CurveLabel2->setVisible(true);
|
||||
m_ccpm->CurveValue2->setVisible(true);
|
||||
m_ccpm->CurveLabel3->setText("Strength");
|
||||
m_ccpm->CurveLabel3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setMinimum(1.0);
|
||||
m_ccpm->CurveValue3->setMaximum(100.0);
|
||||
m_ccpm->CurveValue3->setSingleStep(1.0);
|
||||
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Log")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setText("Min");
|
||||
m_ccpm->CurveLabel1->setVisible(true);
|
||||
m_ccpm->CurveValue1->setVisible(true);
|
||||
m_ccpm->CurveLabel2->setText("Max");
|
||||
m_ccpm->CurveLabel2->setVisible(true);
|
||||
m_ccpm->CurveValue2->setVisible(true);
|
||||
m_ccpm->CurveLabel3->setText("Strength");
|
||||
m_ccpm->CurveLabel3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setVisible(true);
|
||||
m_ccpm->CurveValue3->setMinimum(1.0);
|
||||
m_ccpm->CurveValue3->setMaximum(100.0);
|
||||
m_ccpm->CurveValue3->setSingleStep(1.0);
|
||||
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||||
m_ccpm->CurveToGenerate->setVisible(true);
|
||||
}
|
||||
if ( CurveType.compare("Custom")==0)
|
||||
{
|
||||
m_ccpm->CurveLabel1->setVisible(false);
|
||||
m_ccpm->CurveValue1->setVisible(false);
|
||||
m_ccpm->CurveLabel2->setVisible(false);
|
||||
m_ccpm->CurveValue2->setVisible(false);
|
||||
m_ccpm->CurveLabel3->setVisible(false);
|
||||
m_ccpm->CurveValue3->setVisible(false);
|
||||
m_ccpm->ccpmGenerateCurve->setVisible(false);
|
||||
m_ccpm->CurveToGenerate->setVisible(false);
|
||||
}
|
||||
UpdateCurveWidgets();
|
||||
|
||||
}
|
||||
void ConfigccpmWidget::GenerateCurve()
|
||||
{
|
||||
int NumCurvePoints,CurveToGenerate,i;
|
||||
double value1, value2, value3, scale;
|
||||
QString CurveType;
|
||||
QTableWidgetItem *item;
|
||||
double newValue;
|
||||
|
||||
|
||||
//get the user settings
|
||||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||||
value1=m_ccpm->CurveValue1->value();
|
||||
value2=m_ccpm->CurveValue2->value();
|
||||
value3=m_ccpm->CurveValue3->value();
|
||||
CurveToGenerate=m_ccpm->CurveToGenerate->currentIndex();
|
||||
CurveType=m_ccpm->CurveType->currentText();
|
||||
|
||||
|
||||
|
||||
for (i=0;i<NumCurvePoints;i++)
|
||||
{
|
||||
scale =((double)i/(double)(NumCurvePoints-1));
|
||||
item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
|
||||
|
||||
if ( CurveType.compare("Flat")==0)
|
||||
{
|
||||
//item->setText( tr( "%1" ).arg( value1 ) );
|
||||
item->setText(QString().sprintf("%.3f",value1));
|
||||
}
|
||||
if ( CurveType.compare("Linear")==0)
|
||||
{
|
||||
newValue =value1 +(scale*(value2-value1));
|
||||
//item->setText( tr( "%1" ).arg(value1 +(scale*(value2-value1))) );
|
||||
item->setText(QString().sprintf("%.3f",newValue));
|
||||
}
|
||||
if ( CurveType.compare("Step")==0)
|
||||
{
|
||||
if (scale*100<value3)
|
||||
{
|
||||
//item->setText( tr( "%1" ).arg(value1) );
|
||||
item->setText(QString().sprintf("%.3f",value1));
|
||||
}
|
||||
else
|
||||
{
|
||||
//item->setText( tr( "%1" ).arg(value2) );
|
||||
item->setText(QString().sprintf("%.3f",value2));
|
||||
}
|
||||
}
|
||||
if ( CurveType.compare("Exp")==0)
|
||||
{
|
||||
newValue =value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1));
|
||||
//item->setText( tr( "%1" ).arg(value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1))) );
|
||||
item->setText(QString().sprintf("%.3f",newValue));
|
||||
}
|
||||
if ( CurveType.compare("Log")==0)
|
||||
{
|
||||
newValue = value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1));
|
||||
//item->setText( tr( "%1" ).arg(value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1))) );
|
||||
item->setText(QString().sprintf("%.3f",newValue));
|
||||
}
|
||||
}
|
||||
for (i=NumCurvePoints;i<10;i++)
|
||||
{
|
||||
item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
|
||||
item->setText( tr( "" ) );
|
||||
}
|
||||
UpdateCurveWidgets();
|
||||
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::ccpmSwashplateUpdate()
|
||||
{
|
||||
double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,CenterX,CenterY;
|
||||
int used[CCPM_MAX_SWASH_SERVOS],i;
|
||||
|
||||
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
|
||||
|
||||
//CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x();
|
||||
// CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y();
|
||||
CenterX=200;
|
||||
CenterY=220;
|
||||
|
||||
SwashplateImg->setPos(CenterX-200,CenterY-200);
|
||||
|
||||
used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
|
||||
used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
|
||||
used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
|
||||
used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
|
||||
angle[0]=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
|
||||
angle[1]=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
|
||||
angle[2]=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
|
||||
angle[3]=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00;
|
||||
|
||||
|
||||
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
|
||||
{
|
||||
x=CenterX-(200.00*sin(angle[i]))-10.00;
|
||||
y=CenterY+(200.00*cos(angle[i]))-10.00;
|
||||
Servos[i]->setPos(x, y);
|
||||
Servos[i]->setVisible(used[i]!=0);
|
||||
|
||||
x=CenterX-(170.00*sin(angle[i]))-10.00;
|
||||
y=CenterY+(170.00*cos(angle[i]))-10.00;
|
||||
ServosText[i]->setPos(x, y);
|
||||
ServosText[i]->setVisible(used[i]!=0);
|
||||
|
||||
x=CenterX-(205.00*sin(angle[i]))+25;
|
||||
y=CenterY+(205.00*cos(angle[i]))+2;
|
||||
SwashLvlSpinBoxes[i]->move(x,y);
|
||||
SwashLvlSpinBoxes[i]->setVisible(used[i]!=0);
|
||||
|
||||
|
||||
x=CenterX-(220.00*sin(angle[i]));
|
||||
y=CenterY+(220.00*cos(angle[i]));
|
||||
ServoLines[i]->setLine(CenterX,CenterY,x,y);
|
||||
ServoLines[i]->setVisible(used[i]!=0);
|
||||
}
|
||||
|
||||
/*
|
||||
used=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
|
||||
Servos[0]->setVisible(used!=0);
|
||||
ServosText[0]->setVisible(used!=0);
|
||||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
|
||||
x=CenterX-(200.00*sin(angle))-10.00;
|
||||
y=CenterY+(200.00*cos(angle))-10.00;
|
||||
Servos[0]->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServosText[0]->setPos(x, y);
|
||||
x=CenterX-(220.00*sin(angle));
|
||||
y=CenterY+(220.00*cos(angle));
|
||||
SwashLvlSpinBoxes[0]->move(x,y);
|
||||
SwashLvlSpinBoxes[0]->setVisible(used!=0);
|
||||
ServoLines[0]->setLine(CenterX,CenterY,x,y);
|
||||
ServoLines[0]->setVisible(used!=0);
|
||||
|
||||
used=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
|
||||
Servos[1]->setVisible(used!=0);
|
||||
ServosText[1]->setVisible(used!=0);
|
||||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
|
||||
x=CenterX-(200.00*sin(angle))-10.00;
|
||||
y=CenterY+(200.00*cos(angle))-10.00;
|
||||
Servos[1]->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServosText[1]->setPos(x, y);
|
||||
x=CenterX-(220.00*sin(angle));
|
||||
y=CenterY+(220.00*cos(angle));
|
||||
SwashLvlSpinBoxes[1]->move(x,y);
|
||||
SwashLvlSpinBoxes[1]->setVisible(used!=0);
|
||||
ServoLines[1]->setLine(CenterX,CenterY,x,y);
|
||||
ServoLines[1]->setVisible(used!=0);
|
||||
|
||||
used=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
|
||||
Servos[2]->setVisible(used!=0);
|
||||
ServosText[2]->setVisible(used!=0);
|
||||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
|
||||
x=CenterX-(200.00*sin(angle))-10.00;
|
||||
y=CenterY+(200.00*cos(angle))-10.00;
|
||||
Servos[2]->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServosText[2]->setPos(x, y);
|
||||
x=CenterX-(220.00*sin(angle));
|
||||
y=CenterY+(220.00*cos(angle));
|
||||
SwashLvlSpinBoxes[2]->move(x,y);
|
||||
SwashLvlSpinBoxes[2]->setVisible(used!=0);
|
||||
ServoLines[2]->setLine(CenterX,CenterY,x,y);
|
||||
ServoLines[2]->setVisible(used!=0);
|
||||
|
||||
used=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
|
||||
Servos[3]->setVisible(used!=0);
|
||||
ServosText[3]->setVisible(used!=0);
|
||||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00;
|
||||
x=CenterX-(200.00*sin(angle))-10.00;
|
||||
y=CenterY+(200.00*cos(angle))-10.00;
|
||||
Servos[3]->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServosText[3]->setPos(x, y);
|
||||
x=CenterX-(220.00*sin(angle));
|
||||
y=CenterY+(220.00*cos(angle));
|
||||
SwashLvlSpinBoxes[3]->move(x,y);
|
||||
SwashLvlSpinBoxes[3]->setVisible(used!=0);
|
||||
ServoLines[3]->setLine(CenterX,CenterY,x,y);
|
||||
ServoLines[3]->setVisible(used!=0);
|
||||
*/
|
||||
//m_ccpm->SwashplateImage->centerOn (CenterX, CenterY);
|
||||
|
||||
//m_ccpm->SwashplateImage->fitInView(SwashplateImg, Qt::KeepAspectRatio);
|
||||
|
||||
UpdateMixer();
|
||||
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::UpdateMixer()
|
||||
{
|
||||
int i,j,Type,ThisEnable[6];
|
||||
float CollectiveConstant,CorrectionAngle,ThisAngle[6];
|
||||
//QTableWidgetItem *newItem;// = new QTableWidgetItem();
|
||||
QString Channel;
|
||||
|
||||
Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
|
||||
CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
|
||||
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
|
||||
|
||||
|
||||
if (Type>0)
|
||||
{//not advanced settings
|
||||
//get the channel data from the ui
|
||||
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
|
||||
MixerChannelData[1] = m_ccpm->ccpmTailChannel->currentIndex();
|
||||
MixerChannelData[2] = m_ccpm->ccpmServoWChannel->currentIndex();
|
||||
MixerChannelData[3] = m_ccpm->ccpmServoXChannel->currentIndex();
|
||||
MixerChannelData[4] = m_ccpm->ccpmServoYChannel->currentIndex();
|
||||
MixerChannelData[5] = m_ccpm->ccpmServoZChannel->currentIndex();
|
||||
|
||||
//get the angle data from the ui
|
||||
ThisAngle[2] = m_ccpm->ccpmAngleW->value();
|
||||
ThisAngle[3] = m_ccpm->ccpmAngleX->value();
|
||||
ThisAngle[4] = m_ccpm->ccpmAngleY->value();
|
||||
ThisAngle[5] = m_ccpm->ccpmAngleZ->value();
|
||||
|
||||
//get the angle data from the ui
|
||||
ThisEnable[2] = m_ccpm->ccpmServoWChannel->isEnabled();
|
||||
ThisEnable[3] = m_ccpm->ccpmServoXChannel->isEnabled();
|
||||
ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled();
|
||||
ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled();
|
||||
|
||||
ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2]+1 ));
|
||||
ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3]+1 ));
|
||||
ServosText[2]->setPlainText(QString("%1").arg( MixerChannelData[4]+1 ));
|
||||
ServosText[3]->setPlainText(QString("%1").arg( MixerChannelData[5]+1 ));
|
||||
|
||||
|
||||
//go through the user data and update the mixer matrix
|
||||
for (i=0;i<6;i++)
|
||||
{
|
||||
/*
|
||||
data.Mixer0Type = 0;//Disabled,Motor,Servo
|
||||
data.Mixer0Vector[0] = 0;//ThrottleCurve1
|
||||
data.Mixer0Vector[1] = 0;//ThrottleCurve2
|
||||
data.Mixer0Vector[2] = 0;//Roll
|
||||
data.Mixer0Vector[3] = 0;//Pitch
|
||||
data.Mixer0Vector[4] = 0;//Yaw
|
||||
|
||||
*/
|
||||
if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2)))
|
||||
{
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 ));
|
||||
//config the vector
|
||||
if (i==0)
|
||||
{//motor-engine
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
|
||||
}
|
||||
if (i==1)
|
||||
{//tailrotor
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw
|
||||
}
|
||||
if (i>1)
|
||||
{//Swashplate
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin((180+CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
|
||||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (j=0;j<6;j++) m_ccpm->ccpmAdvancedSettingsTable->item(i,j)->setText(QString("-"));
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{//advanced settings
|
||||
for (i=0;i<6;i++)
|
||||
{
|
||||
Channel =m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->text();
|
||||
if (Channel == "-") Channel = QString("9");
|
||||
MixerChannelData[i]= Channel.toInt();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
/**************************
|
||||
* ccpm settings
|
||||
**************************/
|
||||
/**
|
||||
Request the current value of the SystemSettings which holds the ccpm type
|
||||
*/
|
||||
void ConfigccpmWidget::requestccpmUpdate()
|
||||
{
|
||||
#define MaxAngleError 2
|
||||
int MixerDataFromHeli[8][5];
|
||||
QString MixerOutputType[8];
|
||||
int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],CalcAngles[4],ServoCurve2[4];
|
||||
int NumServos=0;
|
||||
double Collective=0.0;
|
||||
double a1,a2;
|
||||
int HeadRotation,temp;
|
||||
int isCCPM=0;
|
||||
|
||||
if (userConfigurationInProgress)return;
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
int i,j;
|
||||
UAVObjectField *field;
|
||||
UAVDataObject* obj;
|
||||
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(obj);
|
||||
|
||||
//go through the user data and update the mixer matrix
|
||||
for (i=0;i<8;i++)
|
||||
{
|
||||
field = obj->getField(tr( "Mixer%1Vector" ).arg(i+1));
|
||||
//config the vector
|
||||
for (j=0;j<5;j++)
|
||||
{
|
||||
MixerDataFromHeli[i][j] = field->getValue(j).toInt();
|
||||
//field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j);
|
||||
}
|
||||
}
|
||||
for (i=0;i<8;i++)
|
||||
{
|
||||
field = obj->getField(tr( "Mixer%1Type" ).arg(i+1));
|
||||
MixerOutputType[i] = field->getValue().toString();
|
||||
}
|
||||
|
||||
EngineChannel =-1;
|
||||
TailRotorChannel =-1;
|
||||
for (j=0;j<5;j++)
|
||||
{
|
||||
ServoChannels[j]=8;
|
||||
ServoCurve2[j]=0;
|
||||
ServoAngles[j]=0;
|
||||
SortAngles[j]=j;
|
||||
}
|
||||
|
||||
NumServos=0;
|
||||
//process the data from Heli and try to figure out the settings...
|
||||
for (i=0;i<8;i++)
|
||||
{
|
||||
//check if this is the engine... Throttle only
|
||||
if ((MixerOutputType[i].compare("Motor")==0)&&
|
||||
(MixerDataFromHeli[i][0]>0)&&//ThrottleCurve1
|
||||
(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
|
||||
(MixerDataFromHeli[i][2]==0)&&//Roll
|
||||
(MixerDataFromHeli[i][3]==0)&&//Pitch
|
||||
(MixerDataFromHeli[i][4]==0))//Yaw
|
||||
{
|
||||
EngineChannel = i;
|
||||
m_ccpm->ccpmEngineChannel->setCurrentIndex(i);
|
||||
|
||||
}
|
||||
//check if this is the tail rotor... REVO and YAW
|
||||
if ((MixerOutputType[i].compare("Servo")==0)&&
|
||||
//(MixerDataFromHeli[i][0]!=0)&&//ThrottleCurve1
|
||||
(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
|
||||
(MixerDataFromHeli[i][2]==0)&&//Roll
|
||||
(MixerDataFromHeli[i][3]==0)&&//Pitch
|
||||
(MixerDataFromHeli[i][4]!=0))//Yaw
|
||||
{
|
||||
TailRotorChannel = i;
|
||||
m_ccpm->ccpmTailChannel->setCurrentIndex(i);
|
||||
m_ccpm->ccpmRevoSlider->setValue((MixerDataFromHeli[i][0]*100)/127);
|
||||
m_ccpm->ccpmREVOspinBox->setValue((MixerDataFromHeli[i][0]*100)/127);
|
||||
}
|
||||
//check if this is a swashplate servo... Throttle is zero
|
||||
if ((MixerOutputType[i].compare("Servo")==0)&&
|
||||
(MixerDataFromHeli[i][0]==0)&&//ThrottleCurve1
|
||||
//(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
|
||||
//(MixerDataFromHeli[i][2]==0)&&//Roll
|
||||
//(MixerDataFromHeli[i][3]==0)&&//Pitch
|
||||
(MixerDataFromHeli[i][4]==0))//Yaw
|
||||
{
|
||||
ServoChannels[NumServos] = i;//record the channel for this servo
|
||||
ServoCurve2[NumServos]=MixerDataFromHeli[i][1];//record the ThrottleCurve2 contribution to this servo
|
||||
ServoAngles[NumServos]=NumServos*45;//make this 0 for the final version
|
||||
|
||||
//if (NumServos==0)m_ccpm->ccpmServoWChannel->setCurrentIndex(i);
|
||||
//if (NumServos==1)m_ccpm->ccpmServoXChannel->setCurrentIndex(i);
|
||||
//if (NumServos==2)m_ccpm->ccpmServoYChannel->setCurrentIndex(i);
|
||||
//if (NumServos==3)m_ccpm->ccpmServoZChannel->setCurrentIndex(i);
|
||||
NumServos++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//just call it user angles for now....
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles"));
|
||||
|
||||
if (NumServos>1)
|
||||
{
|
||||
if((ServoCurve2[0]==0)&&(ServoCurve2[1]==0)&&(ServoCurve2[2]==0)&&(ServoCurve2[3]==0))
|
||||
{
|
||||
//fixed pitch heli
|
||||
isCCPM=0;
|
||||
m_ccpm->ccpmCollectiveSlider->setValue(0);
|
||||
Collective = 0.0;
|
||||
}
|
||||
if(ServoCurve2[0]==ServoCurve2[1])
|
||||
{
|
||||
if ((NumServos<3)||(ServoCurve2[1]==ServoCurve2[2]))
|
||||
{
|
||||
if ((NumServos<4)||(ServoCurve2[2]==ServoCurve2[3]))
|
||||
{//all the servos have the same ThrottleCurve2 setting so this must be a CCPM config
|
||||
isCCPM=1;
|
||||
Collective = ((double)ServoCurve2[0]*100.00)/127.00;
|
||||
m_ccpm->ccpmCollectiveSlider->setValue((int)Collective);
|
||||
m_ccpm->ccpmCollectivespinBox->setValue((int)Collective);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{//must be a custom config... "Custom - Advanced Settings"
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - Advanced Settings"));
|
||||
}
|
||||
|
||||
HeadRotation=0;
|
||||
//calculate the angles
|
||||
for(j=0;j<NumServos;j++)
|
||||
{
|
||||
//MixerDataFromHeli[i][2]=(127.0*(1-CollectiveConstant)*sin((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
|
||||
//MixerDataFromHeli[i][3]=(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
|
||||
a1=((double)MixerDataFromHeli[ServoChannels[j]][2]/(1.27*(100.0-Collective)));
|
||||
a2=((double)MixerDataFromHeli[ServoChannels[j]][3]/(1.27*(100.0-Collective)));
|
||||
ServoAngles[j]=fmod(360.0+atan2(-a1,a2)/(Pi/180.00),360.0);
|
||||
//check the angles for one being a multiple of 90deg
|
||||
if (fmod(ServoAngles[j],90)<MaxAngleError)
|
||||
{
|
||||
HeadRotation=ServoAngles[j]/90;
|
||||
}
|
||||
|
||||
}
|
||||
//set the head rotation
|
||||
m_ccpm->ccpmSingleServo->setCurrentIndex(HeadRotation);
|
||||
|
||||
//calculate the un rotated angles
|
||||
for(j=0;j<NumServos;j++)
|
||||
{
|
||||
CalcAngles[j] = fmod(360.0+ServoAngles[j]-(double)HeadRotation*90.0,360.0);
|
||||
}
|
||||
//sort the calc angles do the smallest is first...brute force...
|
||||
for(i=0;i<5;i++)
|
||||
for(j=0;j<NumServos-1;j++)
|
||||
{
|
||||
if (CalcAngles[SortAngles[j]] > CalcAngles[SortAngles[j+1]])
|
||||
{//swap the sorted angles
|
||||
temp = SortAngles[j];
|
||||
SortAngles[j]=SortAngles[j+1];
|
||||
SortAngles[j+1]=temp;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
m_ccpm->ccpmAngleW->setValue(ServoAngles[SortAngles[0]]);
|
||||
m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]);
|
||||
m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]);
|
||||
m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]);
|
||||
|
||||
m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]);
|
||||
m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]);
|
||||
m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]);
|
||||
m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]);
|
||||
|
||||
|
||||
//Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ;
|
||||
|
||||
|
||||
//check this against known combinations
|
||||
if (NumServos==2)
|
||||
{
|
||||
if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[1]]-90)<MaxAngleError))
|
||||
{// two servo 90º
|
||||
if (isCCPM)
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 2 Servo 90º"));
|
||||
UpdateType();
|
||||
}
|
||||
else
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 2 Servo 90º"));
|
||||
UpdateType();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
if (NumServos==3)
|
||||
{
|
||||
if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[1]]-120)<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[2]]-240)<MaxAngleError))
|
||||
{// three servo 120º
|
||||
if (isCCPM)
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 3 Servo 120º"));
|
||||
UpdateType();
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 3 Servo 120º"));
|
||||
UpdateType();
|
||||
}
|
||||
|
||||
}
|
||||
else if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[1]]-140)<MaxAngleError)&&
|
||||
(fabs(CalcAngles[SortAngles[2]]-220)<MaxAngleError))
|
||||
{// three servo 140º
|
||||
if (isCCPM)
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 3 Servo 140º"));
|
||||
UpdateType();
|
||||
}
|
||||
else
|
||||
{
|
||||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 3 Servo 140º"));
|
||||
UpdateType();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
if (NumServos==4)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//get the settings for the curve from the mixer settings
|
||||
field = obj->getField(QString("ThrottleCurve1"));
|
||||
for (i=0;i<5;i++)
|
||||
{
|
||||
m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",field->getValue(i).toDouble()));
|
||||
//m_ccpm->CurveSettings->item(i, 0)->setText(field->getValue(i).toString());
|
||||
}
|
||||
field = obj->getField(QString("ThrottleCurve2"));
|
||||
for (i=0;i<5;i++)
|
||||
{
|
||||
m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",field->getValue(i).toDouble()));
|
||||
//m_ccpm->CurveSettings->item(i, 1)->setText(field->getValue(i).toString());
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
ccpmSwashplateUpdate();
|
||||
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
Sends the config to the board (ccpm type)
|
||||
*/
|
||||
void ConfigccpmWidget::sendccpmUpdate()
|
||||
{
|
||||
int i,j;
|
||||
UAVObjectField *field;
|
||||
UAVDataObject* obj;
|
||||
|
||||
if (userConfigurationInProgress)return;
|
||||
ShowDisclaimer(1);
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
|
||||
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(obj);
|
||||
|
||||
UpdateMixer();
|
||||
|
||||
//clear the output types
|
||||
for (i=0;i<8;i++)
|
||||
{
|
||||
field = obj->getField(tr( "Mixer%1Type" ).arg( i+1 ));
|
||||
//clear the mixer type
|
||||
field->setValue("Disabled");
|
||||
}
|
||||
|
||||
|
||||
//go through the user data and update the mixer matrix
|
||||
for (i=0;i<6;i++)
|
||||
{
|
||||
/*
|
||||
data.Mixer0Type = 0;//Disabled,Motor,Servo
|
||||
data.Mixer0Vector[0] = 0;//ThrottleCurve1
|
||||
data.Mixer0Vector[1] = 0;//ThrottleCurve2
|
||||
data.Mixer0Vector[2] = 0;//Roll
|
||||
data.Mixer0Vector[3] = 0;//Pitch
|
||||
data.Mixer0Vector[4] = 0;//Yaw
|
||||
|
||||
*/
|
||||
if (MixerChannelData[i]<8)
|
||||
{
|
||||
//select the correct mixer for this config element
|
||||
field = obj->getField(tr( "Mixer%1Type" ).arg( MixerChannelData[i]+1 ));
|
||||
//set the mixer type
|
||||
if (i==0)
|
||||
{
|
||||
field->setValue("Motor");
|
||||
}
|
||||
else
|
||||
{
|
||||
field->setValue("Servo");
|
||||
}
|
||||
|
||||
//select the correct mixer for this config element
|
||||
field = obj->getField(tr( "Mixer%1Vector" ).arg( MixerChannelData[i]+1 ));
|
||||
//config the vector
|
||||
for (j=0;j<5;j++)
|
||||
{
|
||||
field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//get the user data for the curve into the mixer settings
|
||||
field = obj->getField(QString("ThrottleCurve1"));
|
||||
for (i=0;i<5;i++)
|
||||
{
|
||||
field->setValue(m_ccpm->CurveSettings->item(i, 0)->text().toDouble(),i);
|
||||
}
|
||||
field = obj->getField(QString("ThrottleCurve2"));
|
||||
for (i=0;i<5;i++)
|
||||
{
|
||||
field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i);
|
||||
}
|
||||
|
||||
obj->updated();
|
||||
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
Send ccpm type to the board and request saving to SD card
|
||||
*/
|
||||
void ConfigccpmWidget::saveccpmUpdate()
|
||||
{
|
||||
if (userConfigurationInProgress)return;
|
||||
ShowDisclaimer(0);
|
||||
// Send update so that the latest value is saved
|
||||
sendccpmUpdate();
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(obj);
|
||||
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::resizeEvent(QResizeEvent* event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
// Make the custom table columns autostretch:
|
||||
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
|
||||
for (int i=0;i<6;i++) {
|
||||
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()-
|
||||
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
|
||||
}
|
||||
|
||||
}
|
||||
void ConfigccpmWidget::showEvent(QShowEvent *event)
|
||||
{
|
||||
Q_UNUSED(event)
|
||||
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
|
||||
for (int i=0;i<6;i++) {
|
||||
m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()-
|
||||
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void ConfigccpmWidget::SwashLvlStartButtonPressed()
|
||||
{
|
||||
QMessageBox msgBox;
|
||||
//int i;
|
||||
msgBox.setText("Swashplate Leveling Routine");
|
||||
msgBox.setInformativeText("You are about to start the Swashplate levelling routine. \nThis process will start by downloading the current configuration from the GCS to the OP hardware and will adjust your configuration at various stages.\nThe final state of your system should match the current configuration in the GCS config gadget.\nPlease ensure all ccpm settings in the GCS are correct before continuing.\nIf this process is interrupted, then the state of your OP board may not match the GCS configuration.\nAfter completing this process, please check all settings before attempting to fly.\n\nPlease disconnect your motor to ensure it will not spin up.\n\n\n Do you wish to proceed?");
|
||||
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
|
||||
msgBox.setDefaultButton(QMessageBox::Cancel);
|
||||
msgBox.setIcon(QMessageBox::Information);
|
||||
int ret = msgBox.exec();
|
||||
|
||||
switch (ret) {
|
||||
case QMessageBox::Yes:
|
||||
// Yes was clicked
|
||||
SwashLvlState=0;
|
||||
userConfigurationInProgress=1;
|
||||
|
||||
m_ccpm->SwashLvlStartButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlNextButton->setEnabled(true);
|
||||
m_ccpm->SwashLvlCancelButton->setEnabled(true);
|
||||
m_ccpm->SwashLvlFinishButton->setEnabled(false);
|
||||
//clear status check boxes
|
||||
m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked);
|
||||
m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked);
|
||||
m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked);
|
||||
m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked);
|
||||
|
||||
|
||||
//download the current settings to the OP hw
|
||||
sendccpmUpdate();
|
||||
|
||||
//save off the old ActuatorSettings for the swashplate servos
|
||||
|
||||
//copy to new Actuator settings.
|
||||
|
||||
//store swashplate actuator numbers in array for levelling routine use...
|
||||
//int ccpmServosChannel[CCPM_MAX_SWASH_SERVOS];
|
||||
//ccpmServosChannel[0]=m_ccpm->ccpmServoWChannel->currentIndex();
|
||||
//ccpmServosChannel[1]=m_ccpm->ccpmServoXChannel;
|
||||
//ccpmServosChannel[2]=m_ccpm->ccpmServoYChannel;
|
||||
//ccpmServosChannel[3]=m_ccpm->ccpmServoZChannel;
|
||||
|
||||
//int used[CCPM_MAX_SWASH_SERVOS];
|
||||
|
||||
|
||||
//remove Flight control of ActuatorCommand
|
||||
//runChannelTests(true);
|
||||
|
||||
//goto the first step
|
||||
SwashLvlNextButtonPressed();
|
||||
break;
|
||||
case QMessageBox::Cancel:
|
||||
// Cancel was clicked
|
||||
SwashLvlState=0;
|
||||
userConfigurationInProgress=0;
|
||||
|
||||
m_ccpm->SwashLvlStartButton->setEnabled(true);
|
||||
m_ccpm->SwashLvlNextButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlCancelButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlFinishButton->setEnabled(false);
|
||||
break;
|
||||
default:
|
||||
// should never be reached
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
void ConfigccpmWidget::SwashLvlNextButtonPressed()
|
||||
{
|
||||
ShowDisclaimer(2);
|
||||
SwashLvlState++;
|
||||
//int i;
|
||||
|
||||
|
||||
|
||||
|
||||
switch (SwashLvlState)
|
||||
{
|
||||
case 0:
|
||||
break;
|
||||
case 1: //Neutral levelling
|
||||
m_ccpm->SwashLvlStepList->setCurrentRow(0);
|
||||
//set swashplate servos to Neutral values
|
||||
//set spin boxes to neutral values
|
||||
/*for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
|
||||
{
|
||||
used[i]=((ccpmServosChannel[i]->currentIndex()<8)&&(ccpmServosChannel[i]->isEnabled()));
|
||||
if (used[i])SwashLvlSpinBoxes[ccpmServosChannel[i]->currentIndex()]->setValue(i);
|
||||
}*/
|
||||
//change control mode to gcs control / disarmed
|
||||
//set throttle to 0
|
||||
//disable position slider
|
||||
m_ccpm->SwashLvlPositionSlider->setEnabled(false);
|
||||
m_ccpm->SwashLvlPositionSpinBox->setEnabled(false);
|
||||
//set position slider to 50%
|
||||
m_ccpm->SwashLvlPositionSlider->setValue(50);
|
||||
m_ccpm->SwashLvlPositionSpinBox->setValue(50);
|
||||
//issue user instructions
|
||||
m_ccpm->SwashLvlStepInstruction->setText("Neutral levelling");
|
||||
break;
|
||||
case 2: //Max levelling
|
||||
//check Neutral status as complete
|
||||
m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Checked);
|
||||
m_ccpm->SwashLvlStepList->setCurrentRow(1);
|
||||
//set swashplate servos to Max values
|
||||
//set spin boxes to max values
|
||||
//set position slider to 100%
|
||||
m_ccpm->SwashLvlPositionSlider->setValue(100);
|
||||
m_ccpm->SwashLvlPositionSpinBox->setValue(100);
|
||||
//issue user instructions
|
||||
m_ccpm->SwashLvlStepInstruction->setText("Max levelling");
|
||||
break;
|
||||
case 3: //Min levelling
|
||||
//check Max status as complete
|
||||
m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Checked);
|
||||
m_ccpm->SwashLvlStepList->setCurrentRow(2);
|
||||
//set swashplate servos to Min values
|
||||
//set spin boxes to min values
|
||||
//set position slider to 0%
|
||||
m_ccpm->SwashLvlPositionSlider->setValue(0);
|
||||
m_ccpm->SwashLvlPositionSpinBox->setValue(0);
|
||||
//issue user instructions
|
||||
m_ccpm->SwashLvlStepInstruction->setText("Min levelling");
|
||||
break;
|
||||
case 4: //levelling verification
|
||||
//check Min status as complete
|
||||
m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Checked);
|
||||
m_ccpm->SwashLvlStepList->setCurrentRow(3);
|
||||
//enable position slider
|
||||
m_ccpm->SwashLvlPositionSlider->setEnabled(true);
|
||||
m_ccpm->SwashLvlPositionSpinBox->setEnabled(true);
|
||||
//issue user instructions
|
||||
m_ccpm->SwashLvlStepInstruction->setText("levelling verification");
|
||||
break;
|
||||
case 5: //levelling complete
|
||||
//check verify status as complete
|
||||
m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Checked);
|
||||
//issue user instructions
|
||||
m_ccpm->SwashLvlStepInstruction->setText("levelling complete");
|
||||
//disable position slider
|
||||
m_ccpm->SwashLvlPositionSlider->setEnabled(false);
|
||||
m_ccpm->SwashLvlPositionSpinBox->setEnabled(false);
|
||||
|
||||
m_ccpm->SwashLvlStartButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlNextButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlCancelButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlFinishButton->setEnabled(true);
|
||||
|
||||
default:
|
||||
//restore collective/cyclic setting
|
||||
//restore pitch curve
|
||||
//clear spin boxes
|
||||
//change control mode to gcs control (OFF) / disarmed
|
||||
//issue user confirmation
|
||||
break;
|
||||
}
|
||||
}
|
||||
void ConfigccpmWidget::SwashLvlCancelButtonPressed()
|
||||
{
|
||||
SwashLvlState=0;
|
||||
m_ccpm->SwashLvlStartButton->setEnabled(true);
|
||||
m_ccpm->SwashLvlNextButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlCancelButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlFinishButton->setEnabled(false);
|
||||
|
||||
//restore old Actuator Settings
|
||||
|
||||
//restore Flight control of ActuatorCommand
|
||||
//runChannelTests(false);
|
||||
|
||||
userConfigurationInProgress=0;
|
||||
}
|
||||
|
||||
|
||||
void ConfigccpmWidget::SwashLvlFinishButtonPressed()
|
||||
{
|
||||
ShowDisclaimer(0);
|
||||
ShowDisclaimer(2);
|
||||
m_ccpm->SwashLvlStartButton->setEnabled(true);
|
||||
m_ccpm->SwashLvlNextButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlCancelButton->setEnabled(false);
|
||||
m_ccpm->SwashLvlFinishButton->setEnabled(false);
|
||||
|
||||
//save new Actuator Settings
|
||||
|
||||
//restore Flight control of ActuatorCommand
|
||||
//runChannelTests(false);
|
||||
|
||||
userConfigurationInProgress=0;
|
||||
}
|
||||
|
||||
int ConfigccpmWidget::ShowDisclaimer(int messageID)
|
||||
{
|
||||
QMessageBox msgBox;
|
||||
msgBox.setText("Warning!!!");
|
||||
int ret;
|
||||
switch (messageID) {
|
||||
case 0:
|
||||
// Basic disclaimer
|
||||
msgBox.setInformativeText("This code has many configurations.\n\nPlease double check all settings before attempting flight!");
|
||||
msgBox.setStandardButtons(QMessageBox::Ok);
|
||||
msgBox.setDefaultButton(QMessageBox::Ok);
|
||||
msgBox.setIcon(QMessageBox::Information);
|
||||
ret = msgBox.exec();
|
||||
return 0;
|
||||
break;
|
||||
case 1:
|
||||
// Not Tested disclaimer
|
||||
msgBox.setInformativeText("The CCPM mixer code has not been used to fly a helicopter!\n\nUse it at your own risk!\n\nDo you wish to continue?");
|
||||
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
|
||||
msgBox.setDefaultButton(QMessageBox::Cancel);
|
||||
msgBox.setIcon(QMessageBox::Warning);
|
||||
ret = msgBox.exec();
|
||||
switch (ret)
|
||||
{
|
||||
case QMessageBox::Cancel: return -1;
|
||||
case QMessageBox::Yes: return 0;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
// DO NOT use
|
||||
msgBox.setInformativeText("The CCPM swashplate levelling code is NOT complete!\n\nDO NOT use it for flight!");
|
||||
msgBox.setStandardButtons(QMessageBox::Ok);
|
||||
msgBox.setDefaultButton(QMessageBox::Ok);
|
||||
msgBox.setIcon(QMessageBox::Critical);
|
||||
ret = msgBox.exec();
|
||||
return 0;
|
||||
break;
|
||||
default:
|
||||
// should never be reached
|
||||
break;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
Toggles the channel testing mode by making the GCS take over
|
||||
the ActuatorCommand objects
|
||||
*/
|
||||
/*void ConfigccpmWidget::runChannelTests(bool state)
|
||||
{
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorCommand")));
|
||||
UAVObject::Metadata mdata = obj->getMetadata();
|
||||
if (state)
|
||||
{
|
||||
accInitialData = mdata;
|
||||
mdata.flightAccess = UAVObject::ACCESS_READONLY;
|
||||
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
|
||||
mdata.gcsTelemetryAcked = false;
|
||||
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
|
||||
mdata.gcsTelemetryUpdatePeriod = 100;
|
||||
}
|
||||
else
|
||||
{
|
||||
mdata = accInitialData; // Restore metadata
|
||||
}
|
||||
obj->setMetadata(mdata);
|
||||
|
||||
}
|
||||
*/
|
||||
|
||||
@ -1,85 +1,103 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configccpmtwidget.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief ccpm configuration panel
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#ifndef CONFIGccpmWIDGET_H
|
||||
#define CONFIGccpmWIDGET_H
|
||||
|
||||
#include "ui_ccpm.h"
|
||||
#include "configtaskwidget.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "uavobjectmanager.h"
|
||||
#include "uavobject.h"
|
||||
#include <QtSvg/QSvgRenderer>
|
||||
#include <QtSvg/QGraphicsSvgItem>
|
||||
#include <QtGui/QWidget>
|
||||
#include <QList>
|
||||
|
||||
class Ui_Widget;
|
||||
|
||||
class ConfigccpmWidget: public ConfigTaskWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
ConfigccpmWidget(QWidget *parent = 0);
|
||||
~ConfigccpmWidget();
|
||||
|
||||
private:
|
||||
Ui_ccpmWidget *m_ccpm;
|
||||
QGraphicsSvgItem *SwashplateImg;
|
||||
QGraphicsSvgItem *CurveImg;
|
||||
QGraphicsSvgItem *ServoW;
|
||||
QGraphicsSvgItem *ServoX;
|
||||
QGraphicsSvgItem *ServoY;
|
||||
QGraphicsSvgItem *ServoZ;
|
||||
QGraphicsTextItem *ServoWText;
|
||||
QGraphicsTextItem *ServoXText;
|
||||
QGraphicsTextItem *ServoYText;
|
||||
QGraphicsTextItem *ServoZText;
|
||||
|
||||
int MixerChannelData[6];
|
||||
|
||||
private slots:
|
||||
void ccpmSwashplateUpdate();
|
||||
void UpdateCurveSettings();
|
||||
void GenerateCurve();
|
||||
void UpdateMixer();
|
||||
void UpdateType();
|
||||
void resetMixer(MixerCurveWidget *mixer, int numElements);
|
||||
void UpdateCurveWidgets();
|
||||
void updatePitchCurveValue(QList<double>,double);
|
||||
void updateThrottleCurveValue(QList<double>,double);
|
||||
public slots:
|
||||
void requestccpmUpdate();
|
||||
void sendccpmUpdate();
|
||||
void saveccpmUpdate();
|
||||
protected:
|
||||
void showEvent(QShowEvent *event);
|
||||
void resizeEvent(QResizeEvent *event);
|
||||
|
||||
};
|
||||
|
||||
#endif // CONFIGccpmWIDGET_H
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configccpmtwidget.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief ccpm configuration panel
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#ifndef CONFIGccpmWIDGET_H
|
||||
#define CONFIGccpmWIDGET_H
|
||||
|
||||
#include "ui_ccpm.h"
|
||||
#include "configtaskwidget.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "uavobjectmanager.h"
|
||||
#include "uavobject.h"
|
||||
#include <QtSvg/QSvgRenderer>
|
||||
#include <QtSvg/QGraphicsSvgItem>
|
||||
#include <QtGui/QWidget>
|
||||
#include <QList>
|
||||
|
||||
#define CCPM_MAX_SWASH_SERVOS 4
|
||||
|
||||
class Ui_Widget;
|
||||
|
||||
class ConfigccpmWidget: public ConfigTaskWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
ConfigccpmWidget(QWidget *parent = 0);
|
||||
~ConfigccpmWidget();
|
||||
|
||||
private:
|
||||
Ui_ccpmWidget *m_ccpm;
|
||||
QGraphicsSvgItem *SwashplateImg;
|
||||
QGraphicsSvgItem *CurveImg;
|
||||
//QGraphicsSvgItem *ServoW;
|
||||
//QGraphicsSvgItem *ServoX;
|
||||
//QGraphicsSvgItem *ServoY;
|
||||
//QGraphicsSvgItem *ServoZ;
|
||||
//QGraphicsTextItem *ServoWText;
|
||||
//QGraphicsTextItem *ServoXText;
|
||||
//QGraphicsTextItem *ServoYText;
|
||||
//QGraphicsTextItem *ServoZText;
|
||||
QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS];
|
||||
QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS];
|
||||
QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS];
|
||||
QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS];
|
||||
|
||||
bool userConfigurationInProgress;
|
||||
int SwashLvlState;
|
||||
|
||||
int MixerChannelData[6];
|
||||
int ShowDisclaimer(int messageID);
|
||||
|
||||
private slots:
|
||||
void ccpmSwashplateUpdate();
|
||||
void UpdateCurveSettings();
|
||||
void GenerateCurve();
|
||||
void UpdateMixer();
|
||||
void UpdateType();
|
||||
void resetMixer(MixerCurveWidget *mixer, int numElements);
|
||||
void UpdateCurveWidgets();
|
||||
void updatePitchCurveValue(QList<double>,double);
|
||||
void updateThrottleCurveValue(QList<double>,double);
|
||||
|
||||
void SwashLvlStartButtonPressed();
|
||||
void SwashLvlNextButtonPressed();
|
||||
void SwashLvlCancelButtonPressed();
|
||||
void SwashLvlFinishButtonPressed();
|
||||
|
||||
//void runChannelTests(bool state);
|
||||
|
||||
public slots:
|
||||
void requestccpmUpdate();
|
||||
void sendccpmUpdate();
|
||||
void saveccpmUpdate();
|
||||
protected:
|
||||
void showEvent(QShowEvent *event);
|
||||
void resizeEvent(QResizeEvent *event);
|
||||
|
||||
};
|
||||
|
||||
#endif // CONFIGccpmWIDGET_H
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user