mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-21 11:54:15 +01:00
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
@ -81,17 +81,15 @@
|
||||
<attribute name="title">
|
||||
<string>Basic settings</string>
|
||||
</attribute>
|
||||
<layout class="QGridLayout" name="gridLayout_16">
|
||||
<layout class="QGridLayout" name="gridLayout_6">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>2</number>
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_6">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,1,1,0">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="SwashplateBox_2">
|
||||
<property name="sizePolicy">
|
||||
@ -824,29 +822,30 @@
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<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>40</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="1,1">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="ccpmPitchMixingBox">
|
||||
<item row="0" column="1">
|
||||
<widget class="QGroupBox" name="ccpmRevoMixingBox">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
@ -860,7 +859,140 @@
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>400</height>
|
||||
<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">
|
||||
@ -997,139 +1129,7 @@
|
||||
</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>
|
||||
</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>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<item row="0" column="3">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_9">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="ccpmSwashImageBox">
|
||||
@ -1219,13 +1219,13 @@
|
||||
</size>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
<enum>QFrame::Box</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="lineWidth">
|
||||
<number>0</number>
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
@ -1234,25 +1234,33 @@
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="backgroundBrush">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="25">
|
||||
<red>220</red>
|
||||
<green>220</green>
|
||||
<blue>220</blue>
|
||||
<brush brushstyle="DiagCrossPattern">
|
||||
<color alpha="50">
|
||||
<red>112</red>
|
||||
<green>184</green>
|
||||
<blue>138</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</property>
|
||||
<property name="foregroundBrush">
|
||||
<brush brushstyle="NoBrush">
|
||||
<color alpha="255">
|
||||
<red>0</red>
|
||||
<green>0</green>
|
||||
<blue>0</blue>
|
||||
<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::AlignHCenter|Qt::AlignTop</set>
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="resizeAnchor">
|
||||
<enum>QGraphicsView::AnchorViewCenter</enum>
|
||||
@ -1266,26 +1274,19 @@
|
||||
</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">
|
||||
<layout class="QGridLayout" name="gridLayout_7">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>2</number>
|
||||
<number>3</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">
|
||||
@ -1382,7 +1383,7 @@
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<item row="1" column="0">
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="CurveLabel1">
|
||||
@ -1443,7 +1444,7 @@
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<item row="2" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_6">
|
||||
<item>
|
||||
<widget class="QComboBox" name="CurveToGenerate">
|
||||
@ -1516,22 +1517,23 @@
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_7">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_11" stretch="3,1">
|
||||
<item row="3" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QTableWidget" name="CurveSettings">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Maximum" vsizetype="Expanding">
|
||||
<sizepolicy hsizetype="Maximum" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>142</width>
|
||||
<height>148</height>
|
||||
<width>250</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
@ -1800,28 +1802,6 @@
|
||||
</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">
|
||||
@ -1832,8 +1812,8 @@
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
<width>100</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
@ -1912,6 +1892,12 @@
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>100</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
@ -1973,8 +1959,8 @@
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_6">
|
||||
<item row="4" column="0">
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
@ -1984,28 +1970,589 @@
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
<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>
|
||||
<item>
|
||||
<widget class="QPushButton" name="SwashLvlStartButton">
|
||||
<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>Start</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="SwashLvlNextButton">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</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="text">
|
||||
<string>Next</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTextEdit" name="SwashLvlStepInstruction">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>150</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>220</width>
|
||||
<height>450</height>
|
||||
</size>
|
||||
</property>
|
||||
</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="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>Cancel</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QPushButton" name="SwashLvlFinishButton">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<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>Finish</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<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>
|
||||
</layout>
|
||||
<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="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="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::AlignCenter</set>
|
||||
</property>
|
||||
<property name="resizeAnchor">
|
||||
<enum>QGraphicsView::AnchorViewCenter</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="AdvancedTab">
|
||||
<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>
|
||||
|
||||
@ -33,15 +33,18 @@
|
||||
#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>();
|
||||
@ -49,6 +52,16 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||||
// 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"));
|
||||
|
||||
@ -58,56 +71,94 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||||
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);
|
||||
QPen pen; // creates a default pen
|
||||
|
||||
ServoWText = new QGraphicsTextItem();
|
||||
ServoWText->setDefaultTextColor(Qt::red);
|
||||
ServoWText->setPlainText(QString("-"));
|
||||
ServoWText->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoWText);
|
||||
pen.setStyle(Qt::DotLine);
|
||||
pen.setWidth(2);
|
||||
pen.setBrush(Qt::gray);
|
||||
pen.setCapStyle(Qt::RoundCap);
|
||||
pen.setJoinStyle(Qt::RoundJoin);
|
||||
|
||||
ServoXText = new QGraphicsTextItem();
|
||||
ServoXText->setDefaultTextColor(Qt::red);
|
||||
ServoXText->setPlainText(QString("-"));
|
||||
ServoXText->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoXText);
|
||||
QList<QString> ServoNames;
|
||||
ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ;
|
||||
|
||||
ServoYText = new QGraphicsTextItem();
|
||||
ServoYText->setDefaultTextColor(Qt::red);
|
||||
ServoYText->setPlainText(QString("-"));
|
||||
ServoYText->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoYText);
|
||||
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
|
||||
{
|
||||
ServoLines[i] = m_ccpm->SwashLvlSwashplateImage->scene()->addLine(0,0,100*i,i*i*100,pen);
|
||||
|
||||
ServoZText = new QGraphicsTextItem();
|
||||
ServoZText->setDefaultTextColor(Qt::red);
|
||||
ServoZText->setPlainText(QString("-"));
|
||||
ServoZText->setFont(serifFont);
|
||||
m_ccpm->SwashplateImage->scene()->addItem(ServoZText);
|
||||
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);
|
||||
@ -178,6 +229,11 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||||
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()));
|
||||
@ -601,8 +657,8 @@ void ConfigccpmWidget::GenerateCurve()
|
||||
|
||||
void ConfigccpmWidget::ccpmSwashplateUpdate()
|
||||
{
|
||||
double angle,CorrectionAngle,x,y,CenterX,CenterY;
|
||||
int used;
|
||||
double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,CenterX,CenterY;
|
||||
int used[CCPM_MAX_SWASH_SERVOS],i;
|
||||
|
||||
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
|
||||
|
||||
@ -613,50 +669,109 @@ void ConfigccpmWidget::ccpmSwashplateUpdate()
|
||||
|
||||
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()));
|
||||
ServoW->setVisible(used!=0);
|
||||
ServoWText->setVisible(used!=0);
|
||||
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;
|
||||
ServoW->setPos(x, y);
|
||||
Servos[0]->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServoWText->setPos(x, y);
|
||||
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()));
|
||||
ServoX->setVisible(used!=0);
|
||||
ServoXText->setVisible(used!=0);
|
||||
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;
|
||||
ServoX->setPos(x, y);
|
||||
Servos[1]->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServoXText->setPos(x, y);
|
||||
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()));
|
||||
ServoY->setVisible(used!=0);
|
||||
ServoYText->setVisible(used!=0);
|
||||
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;
|
||||
ServoY->setPos(x, y);
|
||||
Servos[2]->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServoYText->setPos(x, y);
|
||||
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()));
|
||||
ServoZ->setVisible(used!=0);
|
||||
ServoZText->setVisible(used!=0);
|
||||
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;
|
||||
ServoZ->setPos(x, y);
|
||||
Servos[3]->setPos(x, y);
|
||||
x=CenterX-(170.00*sin(angle))-10.00;
|
||||
y=CenterY+(170.00*cos(angle))-10.00;
|
||||
ServoZText->setPos(x, y);
|
||||
|
||||
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);
|
||||
@ -699,10 +814,10 @@ void ConfigccpmWidget::UpdateMixer()
|
||||
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 ));
|
||||
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
|
||||
@ -741,7 +856,7 @@ void ConfigccpmWidget::UpdateMixer()
|
||||
{//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,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
|
||||
|
||||
@ -786,6 +901,8 @@ void ConfigccpmWidget::requestccpmUpdate()
|
||||
int HeadRotation,temp;
|
||||
int isCCPM=0;
|
||||
|
||||
if (userConfigurationInProgress)return;
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
int i,j;
|
||||
@ -914,7 +1031,7 @@ void ConfigccpmWidget::requestccpmUpdate()
|
||||
//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);
|
||||
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)
|
||||
{
|
||||
@ -1053,6 +1170,8 @@ void ConfigccpmWidget::sendccpmUpdate()
|
||||
UAVObjectField *field;
|
||||
UAVDataObject* obj;
|
||||
|
||||
if (userConfigurationInProgress)return;
|
||||
ShowDisclaimer(1);
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
|
||||
@ -1131,6 +1250,8 @@ void ConfigccpmWidget::sendccpmUpdate()
|
||||
*/
|
||||
void ConfigccpmWidget::saveccpmUpdate()
|
||||
{
|
||||
if (userConfigurationInProgress)return;
|
||||
ShowDisclaimer(0);
|
||||
// Send update so that the latest value is saved
|
||||
sendccpmUpdate();
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
@ -1161,3 +1282,269 @@ void ConfigccpmWidget::showEvent(QShowEvent *event)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
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);
|
||||
|
||||
}
|
||||
*/
|
||||
|
||||
@ -37,6 +37,8 @@
|
||||
#include <QtGui/QWidget>
|
||||
#include <QList>
|
||||
|
||||
#define CCPM_MAX_SWASH_SERVOS 4
|
||||
|
||||
class Ui_Widget;
|
||||
|
||||
class ConfigccpmWidget: public ConfigTaskWidget
|
||||
@ -51,16 +53,24 @@ 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 *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();
|
||||
@ -72,6 +82,14 @@ private:
|
||||
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();
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user