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Code Issues Releases Activity

OP-1808 1.Make flight mode stick identification to be optional. 2. Refine some code.

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This commit is contained in:
samguns 2015-03-31 22:54:25 +08:00
parent 4bd2e889ce
commit 5b76f4f96b
2 changed files with 44 additions and 22 deletions
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54
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -416,18 +416,18 @@ void ConfigInputWidget::goToWizard()
// chooses a different TX type (which could otherwise result in // chooses a different TX type (which could otherwise result in
// unexpected TX channels being enabled) // unexpected TX channels being enabled)
manualSettingsData = manualSettingsObj->getData(); manualSettingsData = manualSettingsObj->getData();
previousManualSettingsData = manualSettingsData; memento.manualSettingsData = manualSettingsData;
flightModeSettingsData = flightModeSettingsObj->getData(); flightModeSettingsData = flightModeSettingsObj->getData();
previousFlightModeSettingsData = flightModeSettingsData; memento.flightModeSettingsData = flightModeSettingsData;
flightModeSettingsData.Arming = FlightModeSettings::ARMING_ALWAYSDISARMED; flightModeSettingsData.Arming = FlightModeSettings::ARMING_ALWAYSDISARMED;
flightModeSettingsObj->setData(flightModeSettingsData); flightModeSettingsObj->setData(flightModeSettingsData);
// Stash actuatorSettings // Stash actuatorSettings
actuatorSettingsData = actuatorSettingsObj->getData(); actuatorSettingsData = actuatorSettingsObj->getData();
previousActuatorSettingsData = actuatorSettingsData; memento.actuatorSettingsData = actuatorSettingsData;
// Stash systemSettings // Stash systemSettings
systemSettingsData = systemSettingsObj->getData(); systemSettingsData = systemSettingsObj->getData();
previousSystemSettingsData = systemSettingsData; memento.systemSettingsData = systemSettingsData;
// Now reset channel and actuator settings (disable outputs) // Now reset channel and actuator settings (disable outputs)
resetChannelSettings(); resetChannelSettings();
@ -469,10 +469,10 @@ void ConfigInputWidget::wzCancel()
ui->stackedWidget->setCurrentIndex(0); ui->stackedWidget->setCurrentIndex(0);
// Load settings back from beginning of wizard // Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData); manualSettingsObj->setData(memento.manualSettingsData);
flightModeSettingsObj->setData(previousFlightModeSettingsData); flightModeSettingsObj->setData(memento.flightModeSettingsData);
actuatorSettingsObj->setData(previousActuatorSettingsData); actuatorSettingsObj->setData(memento.actuatorSettingsData);
systemSettingsObj->setData(previousSystemSettingsData); systemSettingsObj->setData(memento.systemSettingsData);
} }
void ConfigInputWidget::registerControlActivity() void ConfigInputWidget::registerControlActivity()
@ -555,7 +555,7 @@ void ConfigInputWidget::wzNext()
restoreMdata(); restoreMdata();
// Load actuator settings back from beginning of wizard // Load actuator settings back from beginning of wizard
actuatorSettingsObj->setData(previousActuatorSettingsData); actuatorSettingsObj->setData(memento.actuatorSettingsData);
// Force flight mode neutral to middle and Throttle neutral at 4% // Force flight mode neutral to middle and Throttle neutral at 4%
adjustSpecialNeutrals(); adjustSpecialNeutrals();
@ -802,6 +802,12 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(identifyControls())); disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(identifyControls()));
wizardUi->wzNext->setEnabled(true); wizardUi->wzNext->setEnabled(true);
setTxMovement(nothing); setTxMovement(nothing);
/* If flight mode stick isn't identified, force flight mode number to be 1 */
manualSettingsData = manualSettingsObj->getData();
if (manualSettingsData.ChannelGroups[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] ==
ManualControlSettings::CHANNELGROUPS_NONE) {
forceOneFlightMode();
}
break; break;
case wizardIdentifyCenter: case wizardIdentifyCenter:
manualCommandData = manualCommandObj->getData(); manualCommandData = manualCommandObj->getData();
@ -882,21 +888,32 @@ void ConfigInputWidget::restoreMdata()
*/ */
void ConfigInputWidget::setChannel(int newChan) void ConfigInputWidget::setChannel(int newChan)
{ {
bool canBeSkipped(false);
if (newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE) { if (newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE) {
wizardUi->identifyStickInstructions->setText(QString(tr("Please enable throttle hold mode.\n\nMove the Collective Pitch stick."))); wizardUi->identifyStickInstructions->setText(QString(tr("<p>Please enable throttle hold mode.</p>"
"<p>Move the Collective Pitch stick.</p>")));
} else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE) { } else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE) {
wizardUi->identifyStickInstructions->setText(QString(tr("Please toggle the Flight Mode switch.\n\nFor switches you may have to repeat this rapidly."))); wizardUi->identifyStickInstructions->setText(QString(tr("<p>Please toggle the Flight Mode switch.</p>"
"<p>For switches you may have to repeat this rapidly.</p>"
"<p>Alternatively, you can click Next to skip this channel, but you will get only <b>ONE</b> Flight Mode.</p>")));
canBeSkipped = true;
} else if ((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE)) { } else if ((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE)) {
wizardUi->identifyStickInstructions->setText(QString(tr("Please disable throttle hold mode.\n\nMove the Throttle stick."))); wizardUi->identifyStickInstructions->setText(QString(tr("<p>Please disable throttle hold mode.</p>"
"<p>Move the Throttle stick.</p>")));
} else { } else {
wizardUi->identifyStickInstructions->setText(QString(tr("Please move each control one at a time according to the instructions and picture below.\n\n" wizardUi->identifyStickInstructions->setText(QString(tr("<p>Please move each control one at a time according to the instructions and picture below.</p>"
"Move the %1 stick.")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan))); "<p>Move the %1 stick.</p>")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
} }
if (manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory")) { if (manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory")) {
wizardUi->identifyStickInstructions->setText(wizardUi->identifyStickInstructions->text() + tr("<p>Alternatively, click Next to skip this channel.</p>"));
canBeSkipped = true;
}
if (true == canBeSkipped) {
wizardUi->wzNext->setEnabled(true); wizardUi->wzNext->setEnabled(true);
wizardUi->wzNext->setText(tr("Next / Skip")); wizardUi->wzNext->setText(tr("Next / Skip"));
wizardUi->identifyStickInstructions->setText(wizardUi->identifyStickInstructions->text() + tr(" Alternatively, click Next to skip this channel."));
} else { } else {
wizardUi->wzNext->setEnabled(false); wizardUi->wzNext->setEnabled(false);
} }
@ -1674,7 +1691,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
// Stash actuatorSettings // Stash actuatorSettings
actuatorSettingsData = actuatorSettingsObj->getData(); actuatorSettingsData = actuatorSettingsObj->getData();
previousActuatorSettingsData = actuatorSettingsData; memento.actuatorSettingsData = actuatorSettingsData;
// Disable all actuators // Disable all actuators
resetActuatorSettings(); resetActuatorSettings();
@ -1720,7 +1737,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
manualSettingsObj->setData(manualSettingsData); manualSettingsObj->setData(manualSettingsData);
// Load actuator settings back from beginning of manual calibration // Load actuator settings back from beginning of manual calibration
actuatorSettingsObj->setData(previousActuatorSettingsData); actuatorSettingsObj->setData(memento.actuatorSettingsData);
ui->configurationWizard->setEnabled(true); ui->configurationWizard->setEnabled(true);
ui->saveRCInputToRAM->setEnabled(true); ui->saveRCInputToRAM->setEnabled(true);
@ -1781,6 +1798,7 @@ void ConfigInputWidget::resetChannelSettings()
for (unsigned int channel = 0; channel < 9; channel++) { for (unsigned int channel = 0; channel < 9; channel++) {
manualSettingsData.ChannelGroups[channel] = ManualControlSettings::CHANNELGROUPS_NONE; manualSettingsData.ChannelGroups[channel] = ManualControlSettings::CHANNELGROUPS_NONE;
manualSettingsData.ChannelNumber[channel] = 0; manualSettingsData.ChannelNumber[channel] = 0;
manualSettingsData.FlightModeNumber = 3;
manualSettingsObj->setData(manualSettingsData); manualSettingsObj->setData(manualSettingsData);
} }
} }
@ -1819,7 +1837,7 @@ void ConfigInputWidget::resetActuatorSettings()
void ConfigInputWidget::forceOneFlightMode() void ConfigInputWidget::forceOneFlightMode()
{ {
manualCommandData = manualCommandObj->getData(); manualSettingsData = manualSettingsObj->getData();
manualSettingsData.FlightModeNumber = 1; manualSettingsData.FlightModeNumber = 1;
manualSettingsObj->setData(manualSettingsData); manualSettingsObj->setData(manualSettingsData);
} }

12
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -128,21 +128,25 @@ private:
ManualControlSettings *manualSettingsObj; ManualControlSettings *manualSettingsObj;
ManualControlSettings::DataFields manualSettingsData; ManualControlSettings::DataFields manualSettingsData;
ManualControlSettings::DataFields previousManualSettingsData;
ActuatorSettings *actuatorSettingsObj; ActuatorSettings *actuatorSettingsObj;
ActuatorSettings::DataFields actuatorSettingsData; ActuatorSettings::DataFields actuatorSettingsData;
ActuatorSettings::DataFields previousActuatorSettingsData;
FlightModeSettings *flightModeSettingsObj; FlightModeSettings *flightModeSettingsObj;
FlightModeSettings::DataFields flightModeSettingsData; FlightModeSettings::DataFields flightModeSettingsData;
FlightModeSettings::DataFields previousFlightModeSettingsData;
ReceiverActivity *receiverActivityObj; ReceiverActivity *receiverActivityObj;
ReceiverActivity::DataFields receiverActivityData; ReceiverActivity::DataFields receiverActivityData;
SystemSettings *systemSettingsObj; SystemSettings *systemSettingsObj;
SystemSettings::DataFields systemSettingsData; SystemSettings::DataFields systemSettingsData;
SystemSettings::DataFields previousSystemSettingsData;
typedef struct {
ManualControlSettings::DataFields manualSettingsData;
ActuatorSettings::DataFields actuatorSettingsData;
FlightModeSettings::DataFields flightModeSettingsData;
SystemSettings::DataFields systemSettingsData;
} Memento;
Memento memento;
QSvgRenderer *m_renderer; QSvgRenderer *m_renderer;