rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity

OP-1423 Use the TxPIDSettings::PIDsOptions enum instead of string comparisons

Browse Source
This commit is contained in:
Stefan Karlsson 2014-08-05 19:31:26 +02:00
parent b285df98c7
commit 4754e62a8e
2 changed files with 99 additions and 69 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

164
ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
View File

@ -55,9 +55,9 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_txpid->Apply, SIGNAL(clicked()), this, SLOT(applySettings()));
connect(m_txpid->Save, SIGNAL(clicked()), this, SLOT(saveSettings()));
connect(m_txpid->PID1, SIGNAL(currentTextChanged(QString)), this, SLOT(updateSpinBoxProperties(const QString &)));
connect(m_txpid->PID2, SIGNAL(currentTextChanged(QString)), this, SLOT(updateSpinBoxProperties(const QString &)));
connect(m_txpid->PID3, SIGNAL(currentTextChanged(QString)), this, SLOT(updateSpinBoxProperties(const QString &)));
connect(m_txpid->PID1, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
connect(m_txpid->PID2, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
connect(m_txpid->PID3, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
addWidgetBinding("TxPIDSettings", "BankNumber", m_txpid->pidBank, 0, 1, true);
@ -97,75 +97,105 @@ ConfigTxPIDWidget::~ConfigTxPIDWidget()
}
template <class StabilizationSettingsBankX>
static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, const QString & pidOption)
static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, int pidOption)
{
if (pidOption == "Disabled") {
switch (pidOption) {
case TxPIDSettings::PIDS_DISABLED:
return 0.0f;
} else if (pidOption == "Roll Rate.Kp") {
return bank->getRollRatePID_Kp();
} else if (pidOption == "Pitch Rate.Kp") {
return bank->getPitchRatePID_Kp();
} else if (pidOption == "Roll+Pitch Rate.Kp") {
return bank->getRollRatePID_Kp();
} else if (pidOption == "Yaw Rate.Kp") {
return bank->getYawRatePID_Kp();
} else if (pidOption == "Roll Rate.Ki") {
return bank->getRollRatePID_Ki();
} else if (pidOption == "Pitch Rate.Ki") {
return bank->getPitchRatePID_Ki();
} else if (pidOption == "Roll+Pitch Rate.Ki") {
return bank->getRollRatePID_Ki();
} else if (pidOption == "Yaw Rate.Ki") {
return bank->getYawRatePID_Ki();
} else if (pidOption == "Roll Rate.Kd") {
return bank->getRollRatePID_Kd();
} else if (pidOption == "Pitch Rate.Kd") {
return bank->getPitchRatePID_Kd();
} else if (pidOption == "Roll+Pitch Rate.Kd") {
return bank->getRollRatePID_Kd();
} else if (pidOption == "Yaw Rate.Kd") {
return bank->getYawRatePID_Kd();
} else if (pidOption == "Roll Rate.ILimit") {
return bank->getRollRatePID_ILimit();
} else if (pidOption == "Pitch Rate.ILimit") {
return bank->getPitchRatePID_ILimit();
} else if (pidOption == "Roll+Pitch Rate.ILimit") {
return bank->getRollRatePID_ILimit();
} else if (pidOption == "Yaw Rate.ILimit") {
return bank->getYawRatePID_ILimit();
} else if (pidOption == "Roll Attitude.Kp") {
return bank->getRollPI_Kp();
} else if (pidOption == "Pitch Attitude.Kp") {
return bank->getPitchPI_Kp();
} else if (pidOption == "Roll+Pitch Attitude.Kp") {
return bank->getRollPI_Kp();
} else if (pidOption == "Yaw Attitude.Kp") {
return bank->getYawPI_Kp();
} else if (pidOption == "Roll Attitude.Ki") {
return bank->getRollPI_Ki();
} else if (pidOption == "Pitch Attitude.Ki") {
return bank->getPitchPI_Ki();
} else if (pidOption == "Roll+Pitch Attitude.Ki") {
return bank->getRollPI_Ki();
} else if (pidOption == "Yaw Attitude.Ki") {
return bank->getYawPI_Ki();
} else if (pidOption == "Roll Attitude.ILimit") {
return bank->getRollPI_ILimit();
} else if (pidOption == "Pitch Attitude.ILimit") {
return bank->getPitchPI_ILimit();
} else if (pidOption == "Roll+Pitch Attitude.ILimit") {
return bank->getRollPI_ILimit();
} else if (pidOption == "Yaw Attitude.ILimit") {
return bank->getYawPI_ILimit();
}
qDebug() << "getDefaultValueForOption: Incorrect PID option" << pidOption;
return 0.0f;
case TxPIDSettings::PIDS_ROLLRATEKP:
return bank->getRollRatePID_Kp();
case TxPIDSettings::PIDS_PITCHRATEKP:
return bank->getPitchRatePID_Kp();
case TxPIDSettings::PIDS_ROLLPITCHRATEKP:
return bank->getRollRatePID_Kp();
case TxPIDSettings::PIDS_YAWRATEKP:
return bank->getYawRatePID_Kp();
case TxPIDSettings::PIDS_ROLLRATEKI:
return bank->getRollRatePID_Ki();
case TxPIDSettings::PIDS_PITCHRATEKI:
return bank->getPitchRatePID_Ki();
case TxPIDSettings::PIDS_ROLLPITCHRATEKI:
return bank->getRollRatePID_Ki();
case TxPIDSettings::PIDS_YAWRATEKI:
return bank->getYawRatePID_Ki();
case TxPIDSettings::PIDS_ROLLRATEKD:
return bank->getRollRatePID_Kd();
case TxPIDSettings::PIDS_PITCHRATEKD:
return bank->getPitchRatePID_Kd();
case TxPIDSettings::PIDS_ROLLPITCHRATEKD:
return bank->getRollRatePID_Kd();
case TxPIDSettings::PIDS_YAWRATEKD:
return bank->getYawRatePID_Kd();
case TxPIDSettings::PIDS_ROLLRATEILIMIT:
return bank->getRollRatePID_ILimit();
case TxPIDSettings::PIDS_PITCHRATEILIMIT:
return bank->getPitchRatePID_ILimit();
case TxPIDSettings::PIDS_ROLLPITCHRATEILIMIT:
return bank->getRollRatePID_ILimit();
case TxPIDSettings::PIDS_YAWRATEILIMIT:
return bank->getYawRatePID_ILimit();
case TxPIDSettings::PIDS_ROLLATTITUDEKP:
return bank->getRollPI_Kp();
case TxPIDSettings::PIDS_PITCHATTITUDEKP:
return bank->getPitchPI_Kp();
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKP:
return bank->getRollPI_Kp();
case TxPIDSettings::PIDS_YAWATTITUDEKP:
return bank->getYawPI_Kp();
case TxPIDSettings::PIDS_ROLLATTITUDEKI:
return bank->getRollPI_Ki();
case TxPIDSettings::PIDS_PITCHATTITUDEKI:
return bank->getPitchPI_Ki();
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKI:
return bank->getRollPI_Ki();
case TxPIDSettings::PIDS_YAWATTITUDEKI:
return bank->getYawPI_Ki();
case TxPIDSettings::PIDS_ROLLATTITUDEILIMIT:
return bank->getRollPI_ILimit();
case TxPIDSettings::PIDS_PITCHATTITUDEILIMIT:
return bank->getPitchPI_ILimit();
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEILIMIT:
return bank->getRollPI_ILimit();
case TxPIDSettings::PIDS_YAWATTITUDEILIMIT:
return bank->getYawPI_ILimit();
default:
qDebug() << "getDefaultValueForOption: Incorrect PID option" << pidOption;
return 0.0f;
}
}
float ConfigTxPIDWidget::getDefaultValueForPidOption(const QString & pidOption)
float ConfigTxPIDWidget::getDefaultValueForPidOption(int pidOption)
{
if (pidOption == "GyroTau") {
if (pidOption == TxPIDSettings::PIDS_GYROTAU) {
StabilizationSettings *stab = qobject_cast<StabilizationSettings *>(getObject(QString("StabilizationSettings")));
return stab->getGyroTau();
}
@ -187,7 +217,7 @@ float ConfigTxPIDWidget::getDefaultValueForPidOption(const QString & pidOption)
}
}
void ConfigTxPIDWidget::updateSpinBoxProperties(const QString & selectedPidOption)
void ConfigTxPIDWidget::updateSpinBoxProperties(int selectedPidOption)
{
QObject *PIDx = sender();

4
ground/openpilotgcs/src/plugins/config/configtxpidwidget.h
View File

@ -40,8 +40,8 @@ private:
Ui_TxPIDWidget *m_txpid;
private slots:
void updateSpinBoxProperties(const QString & selectedPidOption);
float getDefaultValueForPidOption(const QString & pidOption);
void updateSpinBoxProperties(int selectedPidOption);
float getDefaultValueForPidOption(int pidOption);
void refreshValues();
void applySettings();
void saveSettings();