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OP-138 Hexacopter support in the config gadget. NOT TESTED on a real frame, do it at your own risk... and report, please!
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1939 ebee16cc-31ac-478f-84a7-5cbb03baadba
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@ -32,6 +32,7 @@
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#include <QtGui/QTextEdit>
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#include <QtGui/QVBoxLayout>
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#include <QtGui/QPushButton>
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#include <math.h>
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@ -388,28 +389,49 @@ void ConfigAirframeWidget::requestAircraftUpdate()
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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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Q_ASSERT(field);
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m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
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// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
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field = obj->getField(QString("VTOLMotorN"));
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Q_ASSERT(field);
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m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
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m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorNE"));
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Q_ASSERT(field);
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m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
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m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorSE"));
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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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m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorS"));
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Q_ASSERT(field);
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m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorSW"));
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Q_ASSERT(field);
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m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorNW"));
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Q_ASSERT(field);
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m_aircraft->multiMotor6->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 = floor(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 = floor(-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 = floor(1-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 == "Octo") {
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// Motors 1 to 8 are N / NE / E / etc
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field = obj->getField(QString("VTOLMotorN"));
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@ -554,6 +576,9 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
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m_aircraft->multiMotor6->setEnabled(true);
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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(33);
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m_aircraft->mrYawMixLevel->setValue(33);
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} else if (frameType == "Octo" || frameType == "Octocopter") {
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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("Octocopter"));
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@ -1047,6 +1072,92 @@ bool ConfigAirframeWidget::setupQuad(bool pLayout)
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}
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/**
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Set up a Quad-X or Quad-P
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*/
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bool ConfigAirframeWidget::setupHexa()
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{
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// Check coherence:
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// - Four engines have to be defined
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if (m_aircraft->multiMotor1->currentText() == "None" ||
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m_aircraft->multiMotor2->currentText() == "None" ||
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m_aircraft->multiMotor3->currentText() == "None" ||
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m_aircraft->multiMotor4->currentText() == "None" ||
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m_aircraft->multiMotor5->currentText() == "None" ||
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m_aircraft->multiMotor6->currentText() == "None") {
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m_aircraft->mrStatusLabel->setText("ERROR: Assign 6 motor channels");
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return false;
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}
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resetActuators();
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
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Q_ASSERT(obj);
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UAVObjectField *field;
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// Save the actuator channels for motor 1 to 6 (N/NE/SE/S/SW/NW)
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field = obj->getField("VTOLMotorN");
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Q_ASSERT(field);
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field->setValue(m_aircraft->multiMotor1->currentText());
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field = obj->getField("VTOLMotorNE");
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Q_ASSERT(field);
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field->setValue(m_aircraft->multiMotor2->currentText());
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field = obj->getField("VTOLMotorSE");
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Q_ASSERT(field);
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field->setValue(m_aircraft->multiMotor3->currentText());
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field = obj->getField("VTOLMotorS");
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Q_ASSERT(field);
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field->setValue(m_aircraft->multiMotor4->currentText());
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field = obj->getField("VTOLMotorSW");
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Q_ASSERT(field);
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field->setValue(m_aircraft->multiMotor5->currentText());
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field = obj->getField("VTOLMotorNW");
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Q_ASSERT(field);
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field->setValue(m_aircraft->multiMotor6->currentText());
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obj->updated(); // Save...
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// Now, setup the mixer:
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obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(obj);
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// 1. Assign the servo/motor/none for each channel
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// Disable all
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foreach(QString mixer, mixerTypes) {
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field = obj->getField(mixer);
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Q_ASSERT(field);
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field->setValue("Disabled");
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}
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// and set only the relevant channels:
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// Motor 1 to 6, P Layout:
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// pitch roll yaw
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// 1 { 0.3 , 0 ,-0.3 // N CW
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// 2 { 0.3 ,-0.5 , 0.3 // NE CCW
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// 3 {-0.3 ,-0.5 ,-0.3 // SE CW
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// 4 {-0.3 , 0 , 0.3 // S CCW
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// 5 {-0.3 , 0.5 ,-0.3 // SW CW
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// 6 { 0.3 , 0.5 , 0.3 // NW CCW
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//
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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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setupQuadMotor(channel, pFactor, 0, -yFactor);
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channel = m_aircraft->multiMotor2->currentIndex()-1;
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setupQuadMotor(channel, pFactor, -rFactor, yFactor);
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channel = m_aircraft->multiMotor3->currentIndex()-1;
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setupQuadMotor(channel, -pFactor, -rFactor, -yFactor);
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channel = m_aircraft->multiMotor4->currentIndex()-1;
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setupQuadMotor(channel, -pFactor, 0, yFactor);
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channel = m_aircraft->multiMotor5->currentIndex()-1;
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setupQuadMotor(channel, -pFactor, rFactor, -yFactor);
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channel = m_aircraft->multiMotor6->currentIndex()-1;
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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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return true;
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}
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/**
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Sends the config to the board (airframe type)
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@ -1109,6 +1220,7 @@ void ConfigAirframeWidget::sendAircraftUpdate()
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setupQuad(false);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
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airframeType = "Hexa";
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setupHexa();
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
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airframeType = "Octo";
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}
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@ -51,6 +51,8 @@ private:
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bool setupFrameElevon();
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bool setupFrameVtail();
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bool setupQuad(bool pLayout);
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bool setupHexa();
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bool setupOcto();
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void resetField(UAVObjectField * field);
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void resetMixer (MixerCurveWidget *mixer, int numElements);
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@ -32,11 +32,11 @@
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@ -967,7 +967,7 @@
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@ -1018,7 +1018,7 @@
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@ -1105,17 +1105,9 @@
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