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Code Issues Releases Activity

Merge branch 'next' of ssh://git.openpilot.org:22/OpenPilot into next

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This commit is contained in:
zedamota 2011-11-26 00:07:43 +00:00
commit 54bd0af16d
9 changed files with 824 additions and 1382 deletions
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2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -3139,6 +3139,7 @@
65F93D0712EE09290047DB36 /* uavtalk_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk_comms.c; sourceTree = "<group>"; };
65F93D0812EE09290047DB36 /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; };
65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = receiveractivity.xml; sourceTree = "<group>"; };
65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; };
65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
65FC66AB123F312A00B04F74 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
@ -7469,6 +7470,7 @@
65C35E6E12EFB2F3004811C2 /* positionactual.xml */,
65C35E6F12EFB2F3004811C2 /* positiondesired.xml */,
65C35E7012EFB2F3004811C2 /* ratedesired.xml */,
65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */,
652C856A132B6EA600BFCC70 /* sonaraltitude.xml */,
6536D47B1307962C0042A298 /* stabilizationdesired.xml */,
65C35E7112EFB2F3004811C2 /* stabilizationsettings.xml */,

22
ground/openpilotgcs/src/plugins/config/config.pro
View File

@ -1,7 +1,6 @@
TEMPLATE = lib
TARGET = Config
QT += svg
include(../../openpilotgcsplugin.pri)
include(../../libs/utils/utils.pri)
include(../../plugins/uavtalk/uavtalk.pri)
@ -10,9 +9,7 @@ include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavobjectutil/uavobjectutil.pri)
include(../../plugins/uavsettingsimportexport/uavsettingsimportexport.pri)
INCLUDEPATH += ../../libs/eigen
OTHER_FILES += Config.pluginspec
HEADERS += configplugin.h \
configgadgetconfiguration.h \
configgadgetwidget.h \
@ -39,8 +36,8 @@ HEADERS += configplugin.h \
smartsavebutton.h \
defaulthwsettingswidget.h \
inputchannelform.h \
configcamerastabilizationwidget.h
configcamerastabilizationwidget.h \
outputchannelform.h
SOURCES += configplugin.cpp \
configgadgetconfiguration.cpp \
configgadgetwidget.cpp \
@ -69,10 +66,9 @@ SOURCES += configplugin.cpp \
smartsavebutton.cpp \
defaulthwsettingswidget.cpp \
inputchannelform.cpp \
configcamerastabilizationwidget.cpp
FORMS += \
airframe.ui \
configcamerastabilizationwidget.cpp \
outputchannelform.cpp
FORMS += airframe.ui \
cc_hw_settings.ui \
pro_hw_settings.ui \
ahrs.ui \
@ -84,10 +80,6 @@ FORMS += \
defaultattitude.ui \
defaulthwsettings.ui \
inputchannelform.ui \
camerastabilization.ui
camerastabilization.ui \
outputchannelform.ui
RESOURCES += configgadget.qrc

72
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -293,6 +293,7 @@ void ConfigInputWidget::wzCancel()
if(wizardStep != wizardNone)
wizardTearDownStep(wizardStep);
wizardStep=wizardNone;
m_config->stackedWidget->setCurrentIndex(0);
// Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData);
@ -334,23 +335,8 @@ void ConfigInputWidget::wzNext()
wizardSetUpStep(wizardFinish);
break;
case wizardFinish:
setTxMovement(nothing);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
{
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
}
manualSettingsObj->setData(manualSettingsData);
m_config->stackedWidget->setCurrentIndex(0);
wizardStep=wizardNone;
m_config->stackedWidget->setCurrentIndex(0);
break;
default:
Q_ASSERT(0);
@ -463,15 +449,21 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
break;
case wizardIdentifyLimits:
{
dimOtherControls(false);
setTxMovement(nothing);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
fastMdata();
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
// Preserve the inverted status
if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
} else {
// Make this detect as still inverted
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
@ -481,13 +473,19 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
dimOtherControls(true);
setTxMovement(nothing);
extraWidgets.clear();
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
{
QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
if(!name.contains("Access") && !name.contains("Flight"))
{
QCheckBox * cb=new QCheckBox(name,this);
// Make sure checked status matches current one
cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
@ -496,16 +494,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
fastMdata();
break;
case wizardFinish:
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
dimOtherControls(true);
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
"This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
@ -559,6 +548,7 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
setTxMovement(nothing);
break;
case wizardIdentifyCenter:
manualCommandData=manualCommandObj->getData();
@ -568,14 +558,17 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
setTxMovement(nothing);
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
manualSettingsObj->setData(manualSettingsData);
restoreMdata();
setTxMovement(nothing);
break;
case wizardIdentifyInverted:
dimOtherControls(false);
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
@ -590,8 +583,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
restoreMdata();
break;
case wizardFinish:
dimOtherControls(false);
setTxMovement(nothing);
m_config->stackedWidget->setCurrentIndex(0);
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
@ -731,10 +724,19 @@ void ConfigInputWidget::identifyLimits()
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
// Non inverted channel
if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
} else {
// Inverted channel
if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
}
}
manualSettingsObj->setData(manualSettingsData);
}

448
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -1,13 +1,13 @@
/**
******************************************************************************
*
* @file configservowidget.cpp
* @file configoutputwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
* @brief Servo output configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -26,6 +26,7 @@
*/
#include "configoutputwidget.h"
#include "outputchannelform.h"
#include "uavtalk/telemetrymanager.h"
@ -39,6 +40,7 @@
#include <QDesktopServices>
#include <QUrl>
#include "actuatorcommand.h"
#include "actuatorsettings.h"
#include "systemalarms.h"
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
@ -57,99 +59,20 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
addUAVObject("ActuatorSettings");
// First of all, put all the channel widgets into lists, so that we can
// manipulate those:
// NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
outLabels << m_config->ch0OutValue
<< m_config->ch1OutValue
<< m_config->ch2OutValue
<< m_config->ch3OutValue
<< m_config->ch4OutValue
<< m_config->ch5OutValue
<< m_config->ch6OutValue
<< m_config->ch7OutValue
<< m_config->ch8OutValue
<< m_config->ch9OutValue;
outSliders << m_config->ch0OutSlider
<< m_config->ch1OutSlider
<< m_config->ch2OutSlider
<< m_config->ch3OutSlider
<< m_config->ch4OutSlider
<< m_config->ch5OutSlider
<< m_config->ch6OutSlider
<< m_config->ch7OutSlider
<< m_config->ch8OutSlider
<< m_config->ch9OutSlider;
outMin << m_config->ch0OutMin
<< m_config->ch1OutMin
<< m_config->ch2OutMin
<< m_config->ch3OutMin
<< m_config->ch4OutMin
<< m_config->ch5OutMin
<< m_config->ch6OutMin
<< m_config->ch7OutMin
<< m_config->ch8OutMin
<< m_config->ch9OutMin;
outMax << m_config->ch0OutMax
<< m_config->ch1OutMax
<< m_config->ch2OutMax
<< m_config->ch3OutMax
<< m_config->ch4OutMax
<< m_config->ch5OutMax
<< m_config->ch6OutMax
<< m_config->ch7OutMax
<< m_config->ch8OutMax
<< m_config->ch9OutMax;
reversals << m_config->ch0Rev
<< m_config->ch1Rev
<< m_config->ch2Rev
<< m_config->ch3Rev
<< m_config->ch4Rev
<< m_config->ch5Rev
<< m_config->ch6Rev
<< m_config->ch7Rev
<< m_config->ch8Rev
<< m_config->ch9Rev;
links << m_config->ch0Link
<< m_config->ch1Link
<< m_config->ch2Link
<< m_config->ch3Link
<< m_config->ch4Link
<< m_config->ch5Link
<< m_config->ch6Link
<< m_config->ch7Link
<< m_config->ch8Link
<< m_config->ch9Link;
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
// Now connect the channel out sliders to our signal to send updates in test mode
connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
addWidget(outMin[i]);
addWidget(outMax[i]);
addWidget(reversals[i]);
addWidget(outSliders[i]);
addWidget(links[i]);
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
{
OutputChannelForm *form = new OutputChannelForm(i, this, i==0);
connect(m_config->channelOutTest, SIGNAL(toggled(bool)),
form, SLOT(enableChannelTest(bool)));
connect(form, SIGNAL(channelChanged(int,int)),
this, SLOT(sendChannelTest(int,int)));
m_config->channelLayout->addWidget(form);
}
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
for (int i = 0; i < links.count(); i++)
links[i]->setChecked(false);
for (int i = 0; i < links.count(); i++)
connect(links[i], SIGNAL(toggled(bool)), this, SLOT(linkToggled(bool)));
refreshWidgetsValues();
firstUpdate = true;
@ -186,37 +109,6 @@ ConfigOutputWidget::~ConfigOutputWidget()
// ************************************
/**
Toggles the channel linked state for use in testing mode
*/
void ConfigOutputWidget::linkToggled(bool state)
{
Q_UNUSED(state)
// find the minimum slider value for the linked ones
int min = 10000;
int linked_count = 0;
for (int i = 0; i < outSliders.count(); i++)
{
if (!links[i]->checkState()) continue;
int value = outSliders[i]->value();
if (min > value) min = value;
linked_count++;
}
if (linked_count <= 0)
return; // no linked channels
if (!m_config->channelOutTest->checkState())
return; // we are not in Test Output mode
// set the linked channels to the same value
for (int i = 0; i < outSliders.count(); i++)
{
if (!links[i]->checkState()) continue;
outSliders[i]->setValue(min);
}
}
/**
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
@ -265,79 +157,43 @@ void ConfigOutputWidget::runChannelTests(bool state)
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryUpdatePeriod = 100;
// Prevent stupid users from touching the minimum & maximum ranges while
// moving the sliders. Thanks Ivan for the tip :)
foreach (QSpinBox* box, outMin) {
box->setEnabled(false);
}
foreach (QSpinBox* box, outMax) {
box->setEnabled(false);
}
foreach (QCheckBox* box, reversals) {
box->setEnabled(false);
}
}
else
{
wasItMe=false;
mdata = accInitialData; // Restore metadata
foreach (QSpinBox* box, outMin) {
box->setEnabled(true);
}
foreach (QSpinBox* box, outMax) {
box->setEnabled(true);
}
foreach (QCheckBox* box, reversals) {
box->setEnabled(true);
}
}
obj->setMetadata(mdata);
obj->updated();
}
OutputChannelForm* ConfigOutputWidget::getOutputChannelForm(const int index) const
{
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if( outputChannelForm->index() == index)
return outputChannelForm;
}
// no OutputChannelForm found with given index
return NULL;
}
/**
* Set the label for a channel output assignement
*/
void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
{
//FIXME: use signal/ slot approach
UAVObjectField* field = obj->getField(str);
QStringList options = field->getOptions();
switch (options.indexOf(field->getValue().toString())) {
case 0:
m_config->ch0Output->setText(str);
break;
case 1:
m_config->ch1Output->setText(str);
break;
case 2:
m_config->ch2Output->setText(str);
break;
case 3:
m_config->ch3Output->setText(str);
break;
case 4:
m_config->ch4Output->setText(str);
break;
case 5:
m_config->ch5Output->setText(str);
break;
case 6:
m_config->ch6Output->setText(str);
break;
case 7:
m_config->ch7Output->setText(str);
break;
case 8:
m_config->ch8Output->setText(str);
break;
case 9:
m_config->ch9Output->setText(str);
break;
}
int index = options.indexOf(field->getValue().toString());
OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
if(outputChannelForm)
outputChannelForm->setAssignment(str);
}
/**
@ -345,63 +201,36 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
*/
void ConfigOutputWidget::setSpinningArmed(bool val)
{
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
if (!obj) return;
UAVObjectField *field = obj->getField("MotorsSpinWhileArmed");
if (!field) return;
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(val)
field->setValue("TRUE");
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
field->setValue("FALSE");
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
*/
void ConfigOutputWidget::sendChannelTest(int value)
void ConfigOutputWidget::sendChannelTest(int index, int value)
{
int in_value = value;
if (!m_config->channelOutTest->isChecked())
return;
QSlider *ob = (QSlider *)QObject::sender();
if (!ob) return;
int index = outSliders.indexOf(ob);
if (index < 0) return;
if(index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM)
return;
if (reversals[index]->isChecked())
value = outMin[index]->value() - value + outMax[index]->value(); // the chsnnel is reversed
// update the label
outLabels[index]->setText(QString::number(value));
if (links[index]->checkState())
{ // the channel is linked to other channels
// set the linked channels to the same value
for (int i = 0; i < outSliders.count(); i++)
{
if (i == index) continue;
if (!links[i]->checkState()) continue;
int val = in_value;
if (val < outSliders[i]->minimum()) val = outSliders[i]->minimum();
if (val > outSliders[i]->maximum()) val = outSliders[i]->maximum();
if (outSliders[i]->value() == val) continue;
outSliders[i]->setValue(val);
outLabels[i]->setText(QString::number(val));
}
}
if (!m_config->channelOutTest->isChecked())
return;
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
if (!obj) return;
UAVObjectField *channel = obj->getField("Channel");
if (!channel) return;
channel->setValue(value, index);
obj->updated();
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
Q_ASSERT(actuatorCommand);
ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
actuatorCommandFields.Channel[index] = value;
actuatorCommand->setData(actuatorCommandFields);
}
@ -416,14 +245,21 @@ void ConfigOutputWidget::sendChannelTest(int value)
void ConfigOutputWidget::refreshWidgetsValues()
{
bool dirty=isDirty();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Reset all channel assignements:
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
outLabels[i]->setText("-");
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
outputChannelForm->setAssignment("-");
}
// Get the channel assignements:
// FIXME: Use static accessor method for retrieving channel assignments
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(objManager);
// Get the channel assignements:
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
QList<UAVObjectField*> fieldList = obj->getFields();
@ -433,15 +269,17 @@ void ConfigOutputWidget::refreshWidgetsValues()
}
}
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Get the SpinWhileArmed setting
UAVObjectField *field = obj->getField(QString("MotorsSpinWhileArmed"));
m_config->spinningArmed->setChecked(field->getValue().toString().contains("TRUE"));
m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
// Get Output rates for both banks
field = obj->getField(QString("ChannelUpdateFreq"));
m_config->outputRate1->setValue(actuatorSettingsData.ChannelUpdateFreq[0]);
m_config->outputRate2->setValue(actuatorSettingsData.ChannelUpdateFreq[1]);
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
m_config->outputRate1->setValue(field->getValue(0).toInt());
m_config->outputRate2->setValue(field->getValue(1).toInt());
if (utilMngr) {
int board = utilMngr->getBoardModel();
if ((board & 0xff00) == 1024) {
@ -454,8 +292,8 @@ void ConfigOutputWidget::refreshWidgetsValues()
m_config->outputRate2->setEnabled(true);
m_config->outputRate3->setEnabled(true);
m_config->outputRate4->setEnabled(true);
m_config->outputRate3->setValue(field->getValue(2).toInt());
m_config->outputRate4->setValue(field->getValue(3).toInt());
m_config->outputRate3->setValue(actuatorSettingsData.ChannelUpdateFreq[2]);
m_config->outputRate4->setValue(actuatorSettingsData.ChannelUpdateFreq[3]);
} else if ((board & 0xff00) == 256 ) {
// Mainboard family
m_config->outputRate1->setEnabled(true);
@ -471,34 +309,18 @@ void ConfigOutputWidget::refreshWidgetsValues()
}
}
// Get Channel ranges:
for (int i=0;i<ActuatorCommand::CHANNEL_NUMELEM;i++) {
field = obj->getField(QString("ChannelMin"));
int minValue = field->getValue(i).toInt();
outMin[i]->setValue(minValue);
field = obj->getField(QString("ChannelMax"));
int maxValue = field->getValue(i).toInt();
outMax[i]->setValue(maxValue);
if (maxValue>minValue) {
outSliders[i]->setMinimum(minValue);
outSliders[i]->setMaximum(maxValue);
reversals[i]->setChecked(false);
} else {
outSliders[i]->setMinimum(maxValue);
outSliders[i]->setMaximum(minValue);
reversals[i]->setChecked(true);
}
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
outputChannelForm->minmax(minValue, maxValue);
int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
outputChannelForm->neutral(neutral);
}
field = obj->getField(QString("ChannelNeutral"));
for (int i=0; i<ActuatorCommand::CHANNEL_NUMELEM; i++) {
int value = field->getValue(i).toInt();
outSliders[i]->setValue(value);
outLabels[i]->setText(QString::number(value));
}
setDirty(dirty);
}
/**
@ -506,105 +328,27 @@ void ConfigOutputWidget::refreshWidgetsValues()
*/
void ConfigOutputWidget::updateObjectsFromWidgets()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Now send channel ranges:
UAVObjectField * field = obj->getField(QString("ChannelMax"));
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outMax[i]->value(),i);
}
field = obj->getField(QString("ChannelMin"));
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outMin[i]->value(),i);
}
field = obj->getField(QString("ChannelNeutral"));
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outSliders[i]->value(),i);
}
field = obj->getField(QString("ChannelUpdateFreq"));
field->setValue(m_config->outputRate1->value(),0);
field->setValue(m_config->outputRate2->value(),1);
field->setValue(m_config->outputRate3->value(),2);
field->setValue(m_config->outputRate4->value(),3);
}
/**
Sets the minimum/maximum value of the channel 0 to seven output sliders.
Have to do it here because setMinimum is not a slot.
One added trick: if the slider is at its min when the value
is changed, then keep it on the min.
*/
void ConfigOutputWidget::setChOutRange()
{
QSpinBox *spinbox = (QSpinBox*)QObject::sender();
int index = outMin.indexOf(spinbox); // This is the channel number
if (index < 0)
index = outMax.indexOf(spinbox); // We can't know if the signal came from min or max
QSlider *slider = outSliders[index];
int oldMini = slider->minimum();
// int oldMaxi = slider->maximum();
if (outMin[index]->value()<outMax[index]->value())
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
slider->setRange(outMin[index]->value(), outMax[index]->value());
reversals[index]->setChecked(false);
}
else
{
slider->setRange(outMax[index]->value(), outMin[index]->value());
reversals[index]->setChecked(true);
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
}
if (slider->value() == oldMini)
slider->setValue(slider->minimum());
// if (slider->value() == oldMaxi)
// slider->setValue(slider->maximum()); // this can be dangerous if it happens to be controlling a motor at the time!
}
/**
Reverses the channel when the checkbox is clicked
*/
void ConfigOutputWidget::reverseChannel(bool state)
{
QCheckBox *checkbox = (QCheckBox*)QObject::sender();
int index = reversals.indexOf(checkbox); // This is the channel number
// Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
// the situations below can happen!
if (state && (outMax[index]->value()<outMin[index]->value()))
return;
if (!state && (outMax[index]->value()>outMin[index]->value()))
return;
// Now, swap the min & max values (only on the spinboxes, the slider
// does not change!
int temp = outMax[index]->value();
outMax[index]->setValue(outMin[index]->value());
outMin[index]->setValue(temp);
// Also update the channel value
// This is a trick to force the slider to update its value and
// emit the right signal itself, because our sendChannelTest(int) method
// relies on the object sender's identity.
if (outSliders[index]->value()<outSliders[index]->maximum()) {
outSliders[index]->setValue(outSliders[index]->value()+1);
outSliders[index]->setValue(outSliders[index]->value()-1);
} else {
outSliders[index]->setValue(outSliders[index]->value()-1);
outSliders[index]->setValue(outSliders[index]->value()+1);
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->outputRate1->value();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->outputRate2->value();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->outputRate3->value();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->outputRate4->value();
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
void ConfigOutputWidget::openHelp()

18
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -1,13 +1,13 @@
/**
******************************************************************************
*
* @file configservowidget.h
* @file configoutputwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
* @brief Servo output configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -37,6 +37,7 @@
#include <QList>
class Ui_OutputWidget;
class OutputChannelForm;
class ConfigOutputWidget: public ConfigTaskWidget
{
@ -56,18 +57,12 @@ private:
void assignChannel(UAVDataObject *obj, QString str);
void assignOutputChannel(UAVDataObject *obj, QString str);
OutputChannelForm* getOutputChannelForm(const int index) const;
int mccDataRate;
UAVObject::Metadata accInitialData;
QList<QSlider*> outSliders;
QList<QSpinBox*> outMin;
QList<QSpinBox*> outMax;
QList<QCheckBox*> reversals;
QList<QCheckBox*> links;
QList<QLabel*> outLabels;
bool firstUpdate;
bool wasItMe;
@ -77,10 +72,7 @@ private slots:
virtual void refreshWidgetsValues();
void updateObjectsFromWidgets();
void runChannelTests(bool state);
void sendChannelTest(int value);
void setChOutRange();
void reverseChannel(bool state);
void linkToggled(bool state);
void sendChannelTest(int index, int value);
void setSpinningArmed(bool val);
void openHelp();
protected:

968
ground/openpilotgcs/src/plugins/config/output.ui
View File

@ -210,933 +210,7 @@ Leave at 50Hz for fixed wing.</string>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_2">
<item row="1" column="0">
<widget class="QLabel" name="actuator0Label">
<property name="text">
<string>Channel 1:</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="ch0OutMin">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum PWM value, beware of not overdriving your servo.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSlider" name="ch0OutSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QSpinBox" name="ch0OutMax">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum PWM value, beware of not overdriving your servo.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QLabel" name="ch0OutValue">
<property name="toolTip">
<string>Current value of slider.</string>
</property>
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QCheckBox" name="ch0Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="7">
<widget class="QCheckBox" name="ch0Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="0" column="6">
<widget class="QLabel" name="label">
<property name="text">
<string>Rev.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="actuator1Label">
<property name="text">
<string>Channel 2:</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="ch1OutMin">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QSlider" name="ch1OutSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QSpinBox" name="ch1OutMax">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="2" column="5">
<widget class="QLabel" name="ch1OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QCheckBox" name="ch1Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="7">
<widget class="QCheckBox" name="ch1Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="actuator2Label">
<property name="text">
<string>Channel 3:</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="ch2OutMin">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSlider" name="ch2OutSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QSpinBox" name="ch2OutMax">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="3" column="5">
<widget class="QLabel" name="ch2OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="3" column="6">
<widget class="QCheckBox" name="ch2Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="7">
<widget class="QCheckBox" name="ch2Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="actuator3Label">
<property name="text">
<string>Channel 4:</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="ch3OutMin">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QSlider" name="ch3OutSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QSpinBox" name="ch3OutMax">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="4" column="5">
<widget class="QLabel" name="ch3OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="4" column="6">
<widget class="QCheckBox" name="ch3Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="7">
<widget class="QCheckBox" name="ch3Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="actuator4Label">
<property name="text">
<string>Channel 5:</string>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="ch4OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSlider" name="ch4OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="5" column="4">
<widget class="QSpinBox" name="ch4OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="5" column="5">
<widget class="QLabel" name="ch4OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="5" column="6">
<widget class="QCheckBox" name="ch4Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="7">
<widget class="QCheckBox" name="ch4Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="actuator5Label">
<property name="text">
<string>Channel 6:</string>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QSpinBox" name="ch5OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QSlider" name="ch5OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QSpinBox" name="ch5OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="6" column="5">
<widget class="QLabel" name="ch5OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="6" column="6">
<widget class="QCheckBox" name="ch5Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="7">
<widget class="QCheckBox" name="ch5Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="actuator6Label">
<property name="text">
<string>Channel 7:</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="actuator7Label">
<property name="text">
<string>Channel 8:</string>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QSpinBox" name="ch6OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QSlider" name="ch6OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="7" column="4">
<widget class="QSpinBox" name="ch6OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="7" column="5">
<widget class="QLabel" name="ch6OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="7" column="6">
<widget class="QCheckBox" name="ch6Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="7">
<widget class="QCheckBox" name="ch6Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QSpinBox" name="ch7OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="8" column="3">
<widget class="QSlider" name="ch7OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="8" column="4">
<widget class="QSpinBox" name="ch7OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="8" column="5">
<widget class="QLabel" name="ch7OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="8" column="6">
<widget class="QCheckBox" name="ch7Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="7">
<widget class="QCheckBox" name="ch7Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="ch0Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="ch1Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="ch2Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="ch3Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="ch4Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="ch5Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="ch6Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="ch7Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Assignment</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Neutral (slowest for motor)</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="actuator8Label">
<property name="text">
<string>Channel 9:</string>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="actuator9Label">
<property name="text">
<string>Channel 10:</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="ch8Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="ch9Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QSpinBox" name="ch8OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="10" column="2">
<widget class="QSpinBox" name="ch9OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="9" column="3">
<widget class="QSlider" name="ch8OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="10" column="3">
<widget class="QSlider" name="ch9OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="9" column="4">
<widget class="QSpinBox" name="ch8OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="10" column="4">
<widget class="QSpinBox" name="ch9OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="9" column="5">
<widget class="QLabel" name="ch8OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="10" column="5">
<widget class="QLabel" name="ch9OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="9" column="6">
<widget class="QCheckBox" name="ch8Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="6">
<widget class="QCheckBox" name="ch9Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="7">
<widget class="QCheckBox" name="ch8Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="7">
<widget class="QCheckBox" name="ch9Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
<layout class="QVBoxLayout" name="channelLayout"/>
</item>
<item>
<spacer name="verticalSpacer_2">
@ -1281,46 +355,6 @@ Applies and Saves all settings to SD</string>
<tabstop>outputRate2</tabstop>
<tabstop>outputRate3</tabstop>
<tabstop>outputRate4</tabstop>
<tabstop>ch0OutMin</tabstop>
<tabstop>ch0OutMax</tabstop>
<tabstop>ch1OutMin</tabstop>
<tabstop>ch1OutMax</tabstop>
<tabstop>ch2OutMin</tabstop>
<tabstop>ch2OutMax</tabstop>
<tabstop>ch3OutMin</tabstop>
<tabstop>ch3OutMax</tabstop>
<tabstop>ch4OutMin</tabstop>
<tabstop>ch4OutMax</tabstop>
<tabstop>ch5OutMin</tabstop>
<tabstop>ch5OutMax</tabstop>
<tabstop>ch6OutMin</tabstop>
<tabstop>ch6OutMax</tabstop>
<tabstop>ch7OutMin</tabstop>
<tabstop>ch7OutMax</tabstop>
<tabstop>ch0OutSlider</tabstop>
<tabstop>ch0Rev</tabstop>
<tabstop>ch0Link</tabstop>
<tabstop>ch1OutSlider</tabstop>
<tabstop>ch1Rev</tabstop>
<tabstop>ch1Link</tabstop>
<tabstop>ch2OutSlider</tabstop>
<tabstop>ch2Rev</tabstop>
<tabstop>ch2Link</tabstop>
<tabstop>ch3OutSlider</tabstop>
<tabstop>ch3Rev</tabstop>
<tabstop>ch3Link</tabstop>
<tabstop>ch4OutSlider</tabstop>
<tabstop>ch4Rev</tabstop>
<tabstop>ch4Link</tabstop>
<tabstop>ch5OutSlider</tabstop>
<tabstop>ch5Rev</tabstop>
<tabstop>ch5Link</tabstop>
<tabstop>ch6OutSlider</tabstop>
<tabstop>ch6Rev</tabstop>
<tabstop>ch6Link</tabstop>
<tabstop>ch7OutSlider</tabstop>
<tabstop>ch7Rev</tabstop>
<tabstop>ch7Link</tabstop>
<tabstop>channelOutTest</tabstop>
<tabstop>saveRCOutputToRAM</tabstop>
<tabstop>saveRCOutputToSD</tabstop>

297
ground/openpilotgcs/src/plugins/config/outputchannelform.cpp Normal file
View File

@ -0,0 +1,297 @@
/**
******************************************************************************
*
* @file outputchannelform.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo output configuration form for the config output gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "outputchannelform.h"
#include "configoutputwidget.h"
OutputChannelForm::OutputChannelForm(const int index, QWidget *parent, const bool showLegend) :
QWidget(parent),
ui(),
m_index(index),
m_inChannelTest(false)
{
ui.setupUi(this);
if(!showLegend)
{
// Remove legend
QGridLayout *grid_layout = dynamic_cast<QGridLayout*>(layout());
Q_ASSERT(grid_layout);
for (int col = 0; col < grid_layout->columnCount(); col++)
{ // remove every item in first row
QLayoutItem *item = grid_layout->itemAtPosition(0, col);
if (!item) continue;
// get widget from layout item
QWidget *legend_widget = item->widget();
if (!legend_widget) continue;
// delete widget
grid_layout->removeWidget(legend_widget);
delete legend_widget;
}
}
// The convention for OP is Channel 1 to Channel 10.
ui.actuatorNumber->setText(QString("%1:").arg(m_index+1));
// Register for ActuatorSettings changes:
connect(ui.actuatorMin, SIGNAL(editingFinished()),
this, SLOT(setChannelRange()));
connect(ui.actuatorMax, SIGNAL(editingFinished()),
this, SLOT(setChannelRange()));
connect(ui.actuatorRev, SIGNAL(toggled(bool)),
this, SLOT(reverseChannel(bool)));
// Now connect the channel out sliders to our signal to send updates in test mode
connect(ui.actuatorNeutral, SIGNAL(valueChanged(int)),
this, SLOT(sendChannelTest(int)));
ui.actuatorLink->setChecked(false);
connect(ui.actuatorLink, SIGNAL(toggled(bool)),
this, SLOT(linkToggled(bool)));
}
OutputChannelForm::~OutputChannelForm()
{
// Do nothing
}
/**
* Restrict UI to protect users from accidental misuse.
*/
void OutputChannelForm::enableChannelTest(bool state)
{
if (m_inChannelTest == state) return;
m_inChannelTest = state;
if(m_inChannelTest)
{
// Prevent stupid users from touching the minimum & maximum ranges while
// moving the sliders. Thanks Ivan for the tip :)
ui.actuatorMin->setEnabled(false);
ui.actuatorMax->setEnabled(false);
ui.actuatorRev->setEnabled(false);
}
else
{
ui.actuatorMin->setEnabled(true);
ui.actuatorMax->setEnabled(true);
ui.actuatorRev->setEnabled(true);
}
}
/**
* Toggles the channel linked state for use in testing mode
*/
void OutputChannelForm::linkToggled(bool state)
{
Q_UNUSED(state)
if (!m_inChannelTest)
return; // we are not in Test Output mode
// find the minimum slider value for the linked ones
if (!parent()) return;
int min = 10000;
int linked_count = 0;
QList<OutputChannelForm*> outputChannelForms = parent()->findChildren<OutputChannelForm*>();
// set the linked channels of the parent widget to the same value
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if (!outputChannelForm->ui.actuatorLink->checkState())
continue;
if (this == outputChannelForm)
continue;
int value = outputChannelForm->ui.actuatorNeutral->value();
if(min > value) min = value;
linked_count++;
}
if (linked_count <= 0)
return; // no linked channels
// set the linked channels to the same value
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if (!outputChannelForm->ui.actuatorLink->checkState())
continue;
outputChannelForm->ui.actuatorNeutral->setValue(min);
}
}
/**
* Set maximal channel value.
*/
void OutputChannelForm::max(int maximum)
{
minmax(ui.actuatorMin->value(), maximum);
}
/**
* Set minimal channel value.
*/
void OutputChannelForm::min(int minimum)
{
minmax(minimum, ui.actuatorMax->value());
}
/**
* Set minimal and maximal channel value.
*/
void OutputChannelForm::minmax(int minimum, int maximum)
{
ui.actuatorMin->setValue(minimum);
ui.actuatorMax->setValue(maximum);
setChannelRange();
if(ui.actuatorMin->value() > ui.actuatorMax->value())
ui.actuatorRev->setChecked(true);
else
ui.actuatorRev->setChecked(false);
}
/**
* Set neutral of channel.
*/
void OutputChannelForm::neutral(int value)
{
ui.actuatorNeutral->setValue(value);
}
/**
* Set the channel assignment label.
*/
void OutputChannelForm::setAssignment(const QString &assignment)
{
ui.actuatorName->setText(assignment);
}
/**
* Sets the minimum/maximum value of the channel output sliders.
* Have to do it here because setMinimum is not a slot.
*
* One added trick: if the slider is at its min when the value
* is changed, then keep it on the min.
*/
void OutputChannelForm::setChannelRange()
{
int oldMini = ui.actuatorNeutral->minimum();
// int oldMaxi = ui.actuatorNeutral->maximum();
if (ui.actuatorMin->value() < ui.actuatorMax->value())
{
ui.actuatorNeutral->setRange(ui.actuatorMin->value(), ui.actuatorMax->value());
ui.actuatorRev->setChecked(false);
}
else
{
ui.actuatorNeutral->setRange(ui.actuatorMax->value(), ui.actuatorMin->value());
ui.actuatorRev->setChecked(true);
}
if (ui.actuatorNeutral->value() == oldMini)
ui.actuatorNeutral->setValue(ui.actuatorNeutral->minimum());
// if (ui.actuatorNeutral->value() == oldMaxi)
// ui.actuatorNeutral->setValue(ui.actuatorNeutral->maximum()); // this can be dangerous if it happens to be controlling a motor at the time!
}
/**
* Reverses the channel when the checkbox is clicked
*/
void OutputChannelForm::reverseChannel(bool state)
{
// Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
// the situations below can happen!
if (state && (ui.actuatorMax->value() < ui.actuatorMin->value()))
return;
if (!state && (ui.actuatorMax->value() > ui.actuatorMin->value()))
return;
// Now, swap the min & max values (only on the spinboxes, the slider
// does not change!
int temp = ui.actuatorMax->value();
ui.actuatorMax->setValue(ui.actuatorMin->value());
ui.actuatorMin->setValue(temp);
// Also update the channel value
// This is a trick to force the slider to update its value and
// emit the right signal itself, because our sendChannelTest(int) method
// relies on the object sender's identity.
if (ui.actuatorNeutral->value() < ui.actuatorNeutral->maximum())
{
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value()+1);
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value()-1);
}
else
{
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value()-1);
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value()+1);
}
}
/**
* Emits the channel value which will be send to the UAV to move the servo.
* Returns immediately if we are not in testing mode.
*/
void OutputChannelForm::sendChannelTest(int value)
{
int in_value = value;
QSlider *ob = (QSlider *)QObject::sender();
if (!ob) return;
if (ui.actuatorRev->isChecked())
value = ui.actuatorMin->value() - value + ui.actuatorMax->value(); // the channel is reversed
// update the label
ui.actuatorValue->setText(QString::number(value));
if (ui.actuatorLink->checkState() && parent())
{ // the channel is linked to other channels
QList<OutputChannelForm*> outputChannelForms = parent()->findChildren<OutputChannelForm*>();
// set the linked channels of the parent widget to the same value
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if (this == outputChannelForm) continue;
if (!outputChannelForm->ui.actuatorLink->checkState()) continue;
int val = in_value;
if (val < outputChannelForm->ui.actuatorNeutral->minimum())
val = outputChannelForm->ui.actuatorNeutral->minimum();
if (val > outputChannelForm->ui.actuatorNeutral->maximum())
val = outputChannelForm->ui.actuatorNeutral->maximum();
if (outputChannelForm->ui.actuatorNeutral->value() == val) continue;
outputChannelForm->ui.actuatorNeutral->setValue(val);
outputChannelForm->ui.actuatorValue->setText(QString::number(val));
}
}
if (!m_inChannelTest)
return; // we are not in Test Output mode
emit channelChanged(index(), value);
}

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ground/openpilotgcs/src/plugins/config/outputchannelform.h Normal file
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@ -0,0 +1,92 @@
/**
******************************************************************************
*
* @file outputchannelform.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo output configuration form for the config output gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OUTPUTCHANNELFORM_H
#define OUTPUTCHANNELFORM_H
#include <QWidget>
#include "ui_outputchannelform.h"
class ConfigInputWidget;
class OutputChannelForm : public QWidget
{
Q_OBJECT
public:
explicit OutputChannelForm(const int index, QWidget *parent = NULL, const bool showLegend = false);
~OutputChannelForm();
friend class ConfigInputWidget;
void setAssignment(const QString &assignment);
int index() const;
public slots:
void max(int maximum);
int max() const;
void min(int minimum);
int min() const;
void minmax(int minimum, int maximum);
void neutral(int value);
int neutral() const;
void enableChannelTest(bool state);
signals:
void channelChanged(int index, int value);
private:
Ui::outputChannelForm ui;
/// Channel index
int m_index;
bool m_inChannelTest;
private slots:
void linkToggled(bool state);
void reverseChannel(bool state);
void sendChannelTest(int value);
void setChannelRange();
};
inline int OutputChannelForm::index() const
{
return m_index;
}
inline int OutputChannelForm::max() const
{
return ui.actuatorMax->value();
}
inline int OutputChannelForm::min() const
{
return ui.actuatorMin->value();
}
inline int OutputChannelForm::neutral() const
{
return ui.actuatorNeutral->value();
}
#endif // OUTPUTCHANNELFORM_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>outputChannelForm</class>
<widget class="QWidget" name="outputChannelForm">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>562</width>
<height>49</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="topMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<number>1</number>
</property>
<item row="1" column="0">
<widget class="QLabel" name="actuatorNumber">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Channel Number</string>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="actuatorName">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="actuatorMin">
<property name="toolTip">
<string>Minimum PWM value, beware of not overdriving your servo.</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="1" column="3">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="4">
<widget class="QSlider" name="actuatorNeutral">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="6">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="9">
<widget class="QCheckBox" name="actuatorRev">
<property name="toolTip">
<string>Check to invert the channel.</string>
</property>
</widget>
</item>
<item row="1" column="10">
<widget class="QCheckBox" name="actuatorLink">
<property name="toolTip">
<string>Output mode</string>
</property>
</widget>
</item>
<item row="1" column="8">
<widget class="QSpinBox" name="actuatorMax">
<property name="toolTip">
<string>Maximum PWM value, beware of not overdriving your servo.</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="legend0">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Assignment</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="legend1">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="legend2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Neutral (slowest for motor)</string>
</property>
</widget>
</item>
<item row="0" column="8">
<widget class="QLabel" name="legend3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item row="0" column="9">
<widget class="QLabel" name="legend4">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Rev.</string>
</property>
</widget>
</item>
<item row="0" column="10">
<widget class="QLabel" name="legend5">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QLabel" name="actuatorValue">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Current value of slider.</string>
</property>
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="legend6">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>#</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="margin">
<number>0</number>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>