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Code Issues Releases Activity

LP-65 Heli tab : Custom values refreshed - Check unused/duplicate output channels

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This commit is contained in:
Laurent Lalanne 2015-07-28 12:24:46 +02:00
parent 9a886d6d72
commit 538e0925a8
4 changed files with 134 additions and 112 deletions
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36
ground/openpilotgcs/src/plugins/config/airframe_ccpm.ui
View File

@ -1050,7 +1050,7 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>200</width> <width>220</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
@ -1098,13 +1098,13 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>120</width>
<height>25</height> <height>25</height>
</size> </size>
</property> </property>
@ -1120,13 +1120,13 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>120</width>
<height>25</height> <height>25</height>
</size> </size>
</property> </property>
@ -1195,7 +1195,7 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>200</width> <width>220</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
@ -1265,13 +1265,13 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>120</width>
<height>25</height> <height>25</height>
</size> </size>
</property> </property>
@ -1287,13 +1287,13 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>120</width>
<height>25</height> <height>25</height>
</size> </size>
</property> </property>
@ -1312,13 +1312,13 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>120</width>
<height>25</height> <height>25</height>
</size> </size>
</property> </property>
@ -1359,13 +1359,13 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>120</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -1426,13 +1426,13 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>85</width> <width>100</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>120</width>
<height>25</height> <height>25</height>
</size> </size>
</property> </property>
@ -1504,7 +1504,7 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>200</width> <width>220</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
@ -1844,7 +1844,7 @@ margin:1px;
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>200</width> <width>220</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>

196
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -254,7 +254,7 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) :
connect(m_aircraft->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); connect(m_aircraft->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_aircraft->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); connect(m_aircraft->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
connect(m_aircraft->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); connect(m_aircraft->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
connect(m_aircraft->TabObject, SIGNAL(currentChanged(QWidget *)), this, SLOT(UpdateType())); connect(m_aircraft->TabObject, SIGNAL(currentChanged(int)), this, SLOT(UpdateType()));
connect(m_aircraft->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed())); connect(m_aircraft->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed()));
connect(m_aircraft->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed())); connect(m_aircraft->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed()));
@ -384,42 +384,14 @@ QString ConfigCcpmWidget::updateConfigObjectsFromWidgets()
void ConfigCcpmWidget::UpdateType() void ConfigCcpmWidget::UpdateType()
{ {
int TypeInt, SingleServoIndex, NumServosDefined; int SingleServoIndex, NumServosDefined;
double AdjustmentAngle = 0; double AdjustmentAngle = 0;
SetUIComponentVisibilities(); SetUIComponentVisibilities();
TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
TypeText = m_aircraft->ccpmType->currentText(); TypeText = m_aircraft->ccpmType->currentText();
SingleServoIndex = m_aircraft->ccpmSingleServo->currentIndex(); SingleServoIndex = m_aircraft->ccpmSingleServo->currentIndex();
// set visibility of user settings (When Custom)
m_aircraft->ccpmAdvancedSettingsTable->setEnabled(TypeInt == 0);
// Clear advanced settings table if not Custom selected (Keep previous settings)
if (TypeText.compare(QString::fromUtf8("Custom - Advanced Settings"), Qt::CaseInsensitive) != 0) {
m_aircraft->ccpmAdvancedSettingsTable->clearFocus();
}
m_aircraft->ccpmAngleW->setEnabled(TypeInt == 1);
m_aircraft->ccpmAngleX->setEnabled(TypeInt == 1);
m_aircraft->ccpmAngleY->setEnabled(TypeInt == 1);
m_aircraft->ccpmAngleZ->setEnabled(TypeInt == 1);
m_aircraft->ccpmCorrectionAngle->setEnabled(TypeInt != 0);
m_aircraft->ccpmServoWChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmServoXChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmServoYChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmServoZChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmSingleServo->setEnabled(TypeInt > 1);
m_aircraft->ccpmEngineChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmTailChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmCollectiveSlider->setEnabled(TypeInt > 0);
m_aircraft->ccpmCollectivespinBox->setEnabled(TypeInt > 0);
m_aircraft->ccpmRevoSlider->setEnabled(TypeInt > 0);
m_aircraft->ccpmREVOspinBox->setEnabled(TypeInt > 0);
AdjustmentAngle = SingleServoIndex * 90; AdjustmentAngle = SingleServoIndex * 90;
m_aircraft->PitchCurve->setVisible(1); m_aircraft->PitchCurve->setVisible(1);
@ -671,7 +643,11 @@ void ConfigCcpmWidget::UpdateMixer()
float ThisAngle[6]; float ThisAngle[6];
QString Channel; QString Channel;
if (throwConfigError(QString("HeliCP"))) { int TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
// Don't check config if Custom, exit if currently updatingToHardware
// Avoid updating custom table if saving data to board
if ((throwConfigError(TypeInt) && TypeInt != 0) || updatingToHardware) {
return; return;
} }
GUIConfigDataUnion config = getConfigData(); GUIConfigDataUnion config = getConfigData();
@ -694,8 +670,7 @@ void ConfigCcpmWidget::UpdateMixer()
; ;
} }
} }
int TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
if (TypeInt != 0) { // not advanced settings
// get the channel data from the ui // get the channel data from the ui
MixerChannelData[0] = m_aircraft->ccpmEngineChannel->currentIndex(); MixerChannelData[0] = m_aircraft->ccpmEngineChannel->currentIndex();
MixerChannelData[1] = m_aircraft->ccpmTailChannel->currentIndex(); MixerChannelData[1] = m_aircraft->ccpmTailChannel->currentIndex();
@ -704,6 +679,9 @@ void ConfigCcpmWidget::UpdateMixer()
MixerChannelData[4] = m_aircraft->ccpmServoYChannel->currentIndex(); MixerChannelData[4] = m_aircraft->ccpmServoYChannel->currentIndex();
MixerChannelData[5] = m_aircraft->ccpmServoZChannel->currentIndex(); MixerChannelData[5] = m_aircraft->ccpmServoZChannel->currentIndex();
QTableWidget *table = m_aircraft->ccpmAdvancedSettingsTable;
if (TypeInt != 0) { // not advanced settings
// get the angle data from the ui // get the angle data from the ui
ThisAngle[2] = m_aircraft->ccpmAngleW->value(); ThisAngle[2] = m_aircraft->ccpmAngleW->value();
ThisAngle[3] = m_aircraft->ccpmAngleX->value(); ThisAngle[3] = m_aircraft->ccpmAngleX->value();
@ -722,11 +700,9 @@ void ConfigCcpmWidget::UpdateMixer()
ServosText[3]->setPlainText(QString("%1").arg(MixerChannelData[5])); ServosText[3]->setPlainText(QString("%1").arg(MixerChannelData[5]));
// go through the user data and update the mixer matrix // go through the user data and update the mixer matrix
QTableWidget *table = m_aircraft->ccpmAdvancedSettingsTable;
for (int i = 0; i < 6; i++) { for (int i = 0; i < 6; i++) {
if ((MixerChannelData[i] > 0) && ((ThisEnable[i]) || (i < 2))) { if (((MixerChannelData[i] > 0) && ThisEnable[i]) || (i < 2)) {
table->item(i, 0)->setText(QString("%1").arg(MixerChannelData[i])); table->item(i, 0)->setText(QString("%1").arg(MixerChannelData[i]));
// Generate the mixer vector // Generate the mixer vector
if (i == 0) { // main motor-engine if (i == 0) { // main motor-engine
table->item(i, 1)->setText(QString("%1").arg(127)); // ThrottleCurve1 table->item(i, 1)->setText(QString("%1").arg(127)); // ThrottleCurve1
@ -787,14 +763,34 @@ void ConfigCcpmWidget::UpdateMixer()
} }
} else { } else {
// advanced settings // advanced settings
QTableWidget *table = m_aircraft->ccpmAdvancedSettingsTable; UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Populate custom mixer table from board values
for (int i = 0; i < 6; i++) { for (int i = 0; i < 6; i++) {
Channel = table->item(i, 0)->text(); if (MixerChannelData[i] > 0) {
if (Channel == "-") { // Channel number
Channel = QString((int)ConfigCcpmWidget::CHANNEL_NUMELEM + 1); table->item(i, 0)->setText(QString("%1").arg(MixerChannelData[i]));
// Throttle1
table->item(i, 1)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
// Throttle2
table->item(i, 2)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
// Roll
table->item(i, 3)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
VehicleConfig::MIXERVECTOR_ROLL)));
// Pitch
table->item(i, 4)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
VehicleConfig::MIXERVECTOR_PITCH)));
// Yaw
table->item(i, 5)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
VehicleConfig::MIXERVECTOR_YAW)));
} else {
for (int j = 0; j < 6; j++) {
table->item(i, j)->setText(QString("-"));
}
} }
MixerChannelData[i] = Channel.toInt();
} }
} }
} }
@ -893,6 +889,31 @@ void ConfigCcpmWidget::SetUIComponentVisibilities()
m_aircraft->SwashLvlStepList->item(1)->setBackground(Qt::transparent); m_aircraft->SwashLvlStepList->item(1)->setBackground(Qt::transparent);
m_aircraft->SwashLvlStepList->item(2)->setBackground(Qt::transparent); m_aircraft->SwashLvlStepList->item(2)->setBackground(Qt::transparent);
m_aircraft->SwashLvlStepList->item(3)->setBackground(Qt::transparent); m_aircraft->SwashLvlStepList->item(3)->setBackground(Qt::transparent);
// Enable / disable by TypeInt : 0 is custom
int TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
// set visibility of user settings (When Custom)
m_aircraft->ccpmAdvancedSettingsTable->setEnabled(TypeInt == 0);
m_aircraft->ccpmAngleW->setEnabled(TypeInt == 1);
m_aircraft->ccpmAngleX->setEnabled(TypeInt == 1);
m_aircraft->ccpmAngleY->setEnabled(TypeInt == 1);
m_aircraft->ccpmAngleZ->setEnabled(TypeInt == 1);
m_aircraft->ccpmCorrectionAngle->setEnabled(TypeInt != 0);
m_aircraft->ccpmServoWChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmServoXChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmServoYChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmServoZChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmSingleServo->setEnabled(TypeInt > 1);
m_aircraft->ccpmEngineChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmTailChannel->setEnabled(TypeInt > 0);
m_aircraft->ccpmCollectiveSlider->setEnabled(TypeInt > 0);
m_aircraft->ccpmCollectivespinBox->setEnabled(TypeInt > 0);
m_aircraft->ccpmRevoSlider->setEnabled(TypeInt > 0);
m_aircraft->ccpmREVOspinBox->setEnabled(TypeInt > 0);
} }
/** /**
@ -942,6 +963,14 @@ void ConfigCcpmWidget::setMixer()
{ {
int i, j; int i, j;
int TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
// Don't check config if Custom, exit if currently updatingToHardware
// Avoid mixer changes if something wrong in config
if ((throwConfigError(TypeInt) && TypeInt != 0) || updatingToHardware) {
return;
}
if (SwashLvlConfigurationInProgress) { if (SwashLvlConfigurationInProgress) {
return; return;
} }
@ -986,10 +1015,11 @@ void ConfigCcpmWidget::setMixer()
&mixerSettingsData.Mixer12Type &mixerSettingsData.Mixer12Type
}; };
// reset all to Disabled // reset all outputs to Disabled
for (i = 0; i < 8; i++) { for (i = 0; i < (int)ConfigCcpmWidget::CHANNEL_NUMELEM; i++) {
*mixerTypes[i] = 0; *mixerTypes[i] = 0;
} }
// go through the user data and update the mixer matrix // go through the user data and update the mixer matrix
for (i = 0; i < 6; i++) { for (i = 0; i < 6; i++) {
if ((MixerChannelData[i] > 0) && (MixerChannelData[i] < (int)ConfigCcpmWidget::CHANNEL_NUMELEM + 1)) { if ((MixerChannelData[i] > 0) && (MixerChannelData[i] < (int)ConfigCcpmWidget::CHANNEL_NUMELEM + 1)) {
@ -1560,52 +1590,44 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
/** /**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured. This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/ */
bool ConfigCcpmWidget::throwConfigError(QString airframeType) bool ConfigCcpmWidget::throwConfigError(int TypeInt)
{ {
Q_UNUSED(airframeType);
bool error = false; bool error = false;
if ((m_aircraft->ccpmServoWChannel->currentIndex() == 0) && (m_aircraft->ccpmServoWChannel->isVisible())) { // Custom no need check
m_aircraft->ccpmServoWLabel->setText("<font color=red>" + m_aircraft->ccpmServoWLabel->text() + "</font>"); if (TypeInt == 0) {
error = true; return error;
} else { }
m_aircraft->ccpmServoWLabel->setText(QTextEdit(m_aircraft->ccpmServoWLabel->text()).toPlainText());
} QList<QComboBox *> comboChannelsName;
comboChannelsName << m_aircraft->ccpmEngineChannel << m_aircraft->ccpmTailChannel << m_aircraft->ccpmServoWChannel
if ((m_aircraft->ccpmServoXChannel->currentIndex() == 0) && (m_aircraft->ccpmServoXChannel->isVisible())) { << m_aircraft->ccpmServoXChannel << m_aircraft->ccpmServoYChannel << m_aircraft->ccpmServoZChannel;
m_aircraft->ccpmServoXLabel->setText("<font color=red>" + m_aircraft->ccpmServoXLabel->text() + "</font>"); QString channelNames = "";
error = true;
} else { for (int i = 0; i < 6; i++) {
m_aircraft->ccpmServoXLabel->setText(QTextEdit(m_aircraft->ccpmServoXLabel->text()).toPlainText()); QComboBox *combobox = comboChannelsName[i];
} if (combobox && (combobox->isVisible())) {
if (combobox->currentText() == "None") {
if ((m_aircraft->ccpmServoYChannel->currentIndex() == 0) && (m_aircraft->ccpmServoYChannel->isVisible())) { int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
m_aircraft->ccpmServoYLabel->setText("<font color=red>" + m_aircraft->ccpmServoYLabel->text() + "</font>"); QPixmap pixmap(size, size);
error = true; pixmap.fill(QColor("red"));
} else { combobox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
m_aircraft->ccpmServoYLabel->setText(QTextEdit(m_aircraft->ccpmServoYLabel->text()).toPlainText()); error = true;
} } else if (channelNames.contains(combobox->currentText(), Qt::CaseInsensitive)) {
int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
if ((m_aircraft->ccpmServoZChannel->currentIndex() == 0) && (m_aircraft->ccpmServoZChannel->isVisible())) { QPixmap pixmap(size, size);
m_aircraft->ccpmServoZLabel->setText("<font color=red>" + m_aircraft->ccpmServoZLabel->text() + "</font>"); pixmap.fill(QColor("orange"));
error = true; combobox->setItemData(combobox->currentIndex(), pixmap, Qt::DecorationRole); // Set color palettes
} else { combobox->setToolTip(tr("Channel already used"));
m_aircraft->ccpmServoZLabel->setText(QTextEdit(m_aircraft->ccpmServoZLabel->text()).toPlainText()); error = true;
} } else {
for (int index = 0; index < (int)ConfigCcpmWidget::CHANNEL_NUMELEM; index++) {
if ((m_aircraft->ccpmEngineChannel->currentIndex() == 0) && (m_aircraft->ccpmEngineChannel->isEnabled())) { combobox->setItemData(index, 0, Qt::DecorationRole); // Reset all color palettes
m_aircraft->ccpmEngineLabel->setText("<font color=red>" + m_aircraft->ccpmEngineLabel->text() + "</font>"); combobox->setToolTip("");
} else { }
m_aircraft->ccpmEngineLabel->setText(QTextEdit(m_aircraft->ccpmEngineLabel->text()).toPlainText()); }
} channelNames += (combobox->currentText() == "None") ? "" : combobox->currentText();
}
if ((m_aircraft->ccpmTailChannel->currentIndex() == 0) && (m_aircraft->ccpmTailChannel->isEnabled())) { }
m_aircraft->ccpmTailLabel->setText("<font color=red>" + m_aircraft->ccpmTailLabel->text() + "</font>");
error = true;
} else {
m_aircraft->ccpmTailLabel->setText(QTextEdit(m_aircraft->ccpmTailLabel->text()).toPlainText());
}
return error; return error;
} }

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -112,7 +112,7 @@ private:
private slots: private slots:
virtual void setupUI(QString airframeType); virtual void setupUI(QString airframeType);
virtual bool throwConfigError(QString airframeType); virtual bool throwConfigError(int TypeInt);
void ccpmSwashplateUpdate(); void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw(); void ccpmSwashplateRedraw();

4
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -60,7 +60,7 @@ typedef struct {
} __attribute__((packed)) multiGUISettingsStruct; } __attribute__((packed)) multiGUISettingsStruct;
typedef struct { typedef struct {
uint SwashplateType : 3; uint SwashplateType : 4;
uint FirstServoIndex : 2; uint FirstServoIndex : 2;
uint CorrectionAngle : 9; uint CorrectionAngle : 9;
uint ccpmCollectivePassthroughState : 1; uint ccpmCollectivePassthroughState : 1;
@ -75,7 +75,7 @@ typedef struct {
uint ServoIndexZ : 4; // 57 bits uint ServoIndexZ : 4; // 57 bits
uint Throttle : 4; uint Throttle : 4;
uint Tail : 4; // 65bits uint Tail : 4; // 65bits
quint32 padding : 31; // 96 bits quint32 padding : 30; // 96 bits
quint32 padding1; // 128 bits quint32 padding1; // 128 bits
} __attribute__((packed)) heliGUISettingsStruct; } __attribute__((packed)) heliGUISettingsStruct;