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https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
OP-138 Multirotor mixer supports adjustment of weight of Roll/Pitch/Yaw on quad + and X configurations.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1937 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
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@ -69,7 +69,7 @@
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<item>
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<widget class="QStackedWidget" name="airframesWidget">
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<property name="currentIndex">
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<number>2</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="fixedWing">
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<property name="enabled">
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@ -444,7 +444,11 @@
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</widget>
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</item>
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<item>
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<widget class="QComboBox" name="multirotorFrameType"/>
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<widget class="QComboBox" name="multirotorFrameType">
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<property name="toolTip">
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<string>Select the Multirotor frame type here.</string>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer_5">
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@ -475,7 +479,163 @@
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</layout>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="5,2">
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<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,5,2">
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_20">
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<item>
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<widget class="QLabel" name="label_4">
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<property name="font">
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<font>
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<weight>75</weight>
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<bold>true</bold>
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</font>
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</property>
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<property name="text">
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<string>Mix Level</string>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_19">
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_22">
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<item>
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<widget class="QLabel" name="label_43">
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<property name="text">
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<string>100</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QSlider" name="mrRollMixLevel">
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<property name="toolTip">
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<string>Weight of Roll mixing in percent. Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
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</property>
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<property name="maximum">
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<number>100</number>
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</property>
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<property name="value">
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<number>100</number>
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</property>
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_42">
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<property name="text">
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<string>R</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_3">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="toolTip">
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<string>All checked sliders will move together.</string>
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</property>
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<property name="text">
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<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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</item>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_23">
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<item>
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<widget class="QLabel" name="label_44">
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<property name="text">
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<string>100</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QSlider" name="mrPitchMixLevel">
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<property name="toolTip">
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<string>Weight of Pitch mixing in percent. Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
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</property>
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<property name="maximum">
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<number>100</number>
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</property>
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<property name="value">
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<number>100</number>
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</property>
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_40">
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<property name="text">
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<string>P</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_2">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="text">
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<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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</item>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_21">
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<item>
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<widget class="QLabel" name="label_45">
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<property name="text">
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<string>50</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QSlider" name="mrYawMixLevel">
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<property name="toolTip">
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<string>Weight of Yaw mixing in percent. Typical value is 50% for + or X configuration on quads.</string>
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</property>
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<property name="maximum">
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<number>100</number>
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</property>
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<property name="value">
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<number>50</number>
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</property>
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_6">
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<property name="text">
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<string>Y</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="text">
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<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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</item>
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</layout>
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</item>
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</layout>
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</item>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0">
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<item>
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@ -1487,12 +1647,12 @@
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<slot>setNum(int)</slot>
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<hints>
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<hint type="sourcelabel">
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<x>284</x>
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<x>496</x>
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<y>171</y>
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</hint>
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<hint type="destinationlabel">
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<x>156</x>
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<y>170</y>
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<x>271</x>
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<y>171</y>
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</hint>
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</hints>
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</connection>
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@ -1503,12 +1663,60 @@
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<slot>setNum(int)</slot>
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<hints>
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<hint type="sourcelabel">
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<x>198</x>
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<y>234</y>
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<x>488</x>
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<y>262</y>
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</hint>
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<hint type="destinationlabel">
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<x>127</x>
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<y>235</y>
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<x>249</x>
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<y>262</y>
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</hint>
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</hints>
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</connection>
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<connection>
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<sender>mrPitchMixLevel</sender>
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<signal>valueChanged(int)</signal>
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<receiver>label_44</receiver>
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<slot>setNum(int)</slot>
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<hints>
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<hint type="sourcelabel">
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<x>76</x>
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<y>210</y>
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</hint>
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<hint type="destinationlabel">
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<x>80</x>
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<y>149</y>
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</hint>
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</hints>
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</connection>
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<connection>
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<sender>mrYawMixLevel</sender>
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<signal>valueChanged(int)</signal>
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<receiver>label_45</receiver>
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<slot>setNum(int)</slot>
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<hints>
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<hint type="sourcelabel">
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<x>119</x>
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<y>199</y>
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</hint>
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<hint type="destinationlabel">
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<x>108</x>
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<y>151</y>
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</hint>
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</hints>
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</connection>
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<connection>
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<sender>mrRollMixLevel</sender>
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<signal>valueChanged(int)</signal>
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<receiver>label_43</receiver>
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<slot>setNum(int)</slot>
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<hints>
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<hint type="sourcelabel">
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<x>39</x>
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<y>217</y>
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</hint>
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<hint type="destinationlabel">
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<x>43</x>
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<y>149</y>
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</hint>
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</hints>
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</connection>
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@ -335,6 +335,27 @@ void ConfigAirframeWidget::requestAircraftUpdate()
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field = obj->getField(QString("VTOLMotorW"));
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Q_ASSERT(field);
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m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
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// This assumes that all vectors are identical - if not, the user should use the
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// "custom" setting.
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obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(obj);
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int eng= m_aircraft->multiMotor1->currentIndex()-1;
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// eng will be -1 if value is set to "None"
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if (eng > -1) {
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field = obj->getField(mixerVectors.at(eng));
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int i = field->getElementNames().indexOf("Pitch");
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double val = field->getDouble(i)/1.27;
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m_aircraft->mrPitchMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Yaw");
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val = (1-field->getDouble(i)/1.27);
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m_aircraft->mrYawMixLevel->setValue(val);
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eng = m_aircraft->multiMotor2->currentIndex()-1;
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field = obj->getField(mixerVectors.at(eng));
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i = field->getElementNames().indexOf("Roll");
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val = -field->getDouble(i)/1.27;
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m_aircraft->mrRollMixLevel->setValue(val);
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}
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} else if (frameType == "QuadX") {
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// Motors 1/2/3/4 are: NW / NE / SE / SW
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field = obj->getField(QString("VTOLMotorNW"));
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@ -349,7 +370,26 @@ void ConfigAirframeWidget::requestAircraftUpdate()
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field = obj->getField(QString("VTOLMotorSW"));
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Q_ASSERT(field);
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m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
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// This assumes that all vectors are identical - if not, the user should use the
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// "custom" setting.
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obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(obj);
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int eng= m_aircraft->multiMotor1->currentIndex()-1;
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// eng will be -1 if value is set to "None"
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if (eng > -1) {
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field = obj->getField(mixerVectors.at(eng));
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int i = field->getElementNames().indexOf("Pitch");
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double val = field->getDouble(i)/1.27;
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m_aircraft->mrPitchMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Yaw");
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val = 1-field->getDouble(i)/1.27;
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m_aircraft->mrYawMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Roll");
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val = field->getDouble(i)/1.27;
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m_aircraft->mrRollMixLevel->setValue(val);
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}
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} else if (frameType == "Hexa") {
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// Motors 1/2/3 4/5/6 are: NW / N / NE and SE / S / SW
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field = obj->getField(QString("VTOLMotorNW"));
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@ -488,6 +528,9 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
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m_aircraft->multiMotor6->setEnabled(false);
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m_aircraft->multiMotor7->setEnabled(false);
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m_aircraft->multiMotor8->setEnabled(false);
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m_aircraft->mrRollMixLevel->setValue(50);
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m_aircraft->mrPitchMixLevel->setValue(50);
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m_aircraft->mrYawMixLevel->setValue(50);
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} else if (frameType == "QuadP" || frameType == "Quad +") {
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m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
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m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad +"));
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@ -498,6 +541,9 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
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m_aircraft->multiMotor6->setEnabled(false);
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m_aircraft->multiMotor7->setEnabled(false);
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m_aircraft->multiMotor8->setEnabled(false);
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m_aircraft->mrRollMixLevel->setValue(100);
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m_aircraft->mrPitchMixLevel->setValue(100);
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m_aircraft->mrYawMixLevel->setValue(50);
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} else if (frameType == "Hexa" || frameType == "Hexacopter") {
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m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
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m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter"));
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@ -979,18 +1025,21 @@ bool ConfigAirframeWidget::setupQuad(bool pLayout)
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// {0 ,-1 ,0.5 //Right motor(CCW)
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// {-1 ,0 ,-0.5 //Rear motor (CW)
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// {0 ,1 ,0.5 //Left motor (CCW)
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double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
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double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
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double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
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int channel = m_aircraft->multiMotor1->currentIndex()-1;
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pLayout ? setupQuadMotor(channel, 1, 0, -0.5)
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: setupQuadMotor(channel, 0.5, 0.5, -0.5);
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pLayout ? setupQuadMotor(channel, pFactor, 0, -yFactor)
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: setupQuadMotor(channel, pFactor, rFactor, -yFactor);
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channel = m_aircraft->multiMotor2->currentIndex()-1;
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pLayout ? setupQuadMotor(channel, 0, -1, 0.5)
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: setupQuadMotor(channel, 0.5, -0.5, 0.5);
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pLayout ? setupQuadMotor(channel, 0, -rFactor, yFactor)
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: setupQuadMotor(channel, pFactor, -rFactor, yFactor);
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channel = m_aircraft->multiMotor3->currentIndex()-1;
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pLayout ? setupQuadMotor(channel, -1, 0, -0.5)
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: setupQuadMotor(channel, -0.5, -0.5, -0.5);
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pLayout ? setupQuadMotor(channel, -pFactor, 0, -yFactor)
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: setupQuadMotor(channel, -pFactor, -rFactor, -yFactor);
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channel = m_aircraft->multiMotor4->currentIndex()-1;
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pLayout ? setupQuadMotor(channel, 0, 1, 0.5)
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: setupQuadMotor(channel, -0.5, 0.5, 0.5);
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pLayout ? setupQuadMotor(channel, 0, rFactor, yFactor)
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: setupQuadMotor(channel, -pFactor, rFactor, yFactor);
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obj->updated();
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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