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Code Issues Releases Activity

LP-454 Fix comments and Throttle curve values

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This commit is contained in:
Laurent Lalanne 2016-12-20 11:43:23 +01:00
parent 7f53274c74
commit 5066ac42e2
2 changed files with 17 additions and 22 deletions
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29
ground/gcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -122,7 +122,7 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
initMixerCurves(frameType);
@ -143,12 +143,12 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("First rudder");
m_aircraft->gvSteering2Label->setText("Second rudder");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve1");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(false);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
initMixerCurves(frameType);
@ -181,7 +181,6 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->gvMotor1Label->setText("Left motor");
m_aircraft->gvMotor2Label->setText("Right motor");
@ -193,9 +192,11 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->differentialSteeringSlider2->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve1");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2 ");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(false);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
initMixerCurves(frameType);
@ -205,8 +206,8 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
(is_Boat && (frameTypeSaved->getValue().toString() != "GroundVehicleDifferentialBoat"))) {
m_aircraft->differentialSteeringSlider1->setValue(100);
m_aircraft->differentialSteeringSlider2->setValue(100);
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0, 0.0);
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0, 0.0);
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 0.8, 0.0);
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 0.8, 0.0);
}
} else if (frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle") {
// Motorcycle
@ -228,7 +229,7 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve1");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(false);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
@ -257,12 +258,12 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Rear steering");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve1");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(false);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
initMixerCurves(frameType);
@ -510,13 +511,13 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
// left motor
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yawmotor1);
// right motor
channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yawmotor2);
// Output success message

10
ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -944,7 +944,6 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
mSettings->setMixerValueRoll((qint8)100);
mSettings->setMixerValuePitch((qint8)100);
mSettings->setMixerValueYaw((qint8)100);
maxThrottle = 1;
break;
case VehicleConfigurationSource::VEHICLE_HELI:
break;
@ -955,14 +954,11 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
mSettings->setMixerValueRoll((qint8)100);
mSettings->setMixerValuePitch((qint8)100);
mSettings->setMixerValueYaw((qint8)100);
maxThrottle = 1;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_CAR:
mSettings->setMixerValueRoll((qint8)100);
mSettings->setMixerValuePitch((qint8)100);
mSettings->setMixerValueYaw((qint8)100);
maxThrottle = 1;
minThrottle = 0;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL:
mSettings->setMixerValueRoll((qint8)100);
@ -975,8 +971,6 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
mSettings->setMixerValueRoll((qint8)100);
mSettings->setMixerValuePitch((qint8)100);
mSettings->setMixerValueYaw((qint8)100);
maxThrottle = 1;
minThrottle = 0;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL_BOAT:
mSettings->setMixerValueRoll((qint8)100);
@ -995,7 +989,7 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
break;
}
// Apply Throttle curve max 90% for Multis, 100% for FixedWing/car/Motorbike, 80% for Tank
// Apply Throttle curve 0-100% for all vehicles except differential vehicles at 0-80%
QString throttlePattern = "ThrottleCurve%1";
for (int i = 1; i <= 2; i++) {
UAVObjectField *field = mSettings->getField(throttlePattern.arg(i));
@ -1216,7 +1210,7 @@ void VehicleConfigurationHelper::resetVehicleConfig()
for (int i = 1; i <= 2; i++) {
UAVObjectField *field = mSettings->getField(throttlePattern.arg(i));
Q_ASSERT(field);
// Set default curve at 90% max for Multirotors
// Set default 0 -100% Throttle curve
for (quint32 i = 0; i < field->getNumElements(); i++) {
field->setValue(i * (1.0f / (field->getNumElements() - 1)), i);
}