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Code Issues Releases Activity

Removed commented code, as per reviewer comments. Made other small reviewer requested changes. Fixed bug with capitalization.

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This commit is contained in:
Laura Sebesta 2012-03-29 00:54:11 -04:00
parent 90e4686d70
commit 6461b91f18
6 changed files with 21 additions and 1895 deletions
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4
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file configccpmwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configfixedwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin

4
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file configccpmwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configgroundvehiclemwidget.cpp
* @author K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin

55
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file configccpmwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configmultirotorwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -66,11 +66,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(false);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(false);
// m_aircraft->multiMotorChannelBox5->setEnabled(false);
// m_aircraft->multiMotorChannelBox6->setEnabled(false);
// m_aircraft->multiMotorChannelBox7->setEnabled(false);
// m_aircraft->multiMotorChannelBox8->setEnabled(false);
m_aircraft->triYawChannelBox->setEnabled(true);
} else if (frameType == "QuadX" || frameType == "Quad X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
@ -88,11 +83,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(false);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(false);
// m_aircraft->multiMotorChannelBox6->setEnabled(false);
// m_aircraft->multiMotorChannelBox7->setEnabled(false);
// m_aircraft->multiMotorChannelBox8->setEnabled(false);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -112,11 +102,7 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(false);
// m_aircraft->multiMotorChannelBox6->setEnabled(false);
// m_aircraft->multiMotorChannelBox7->setEnabled(false);
// m_aircraft->multiMotorChannelBox8->setEnabled(false);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
@ -137,11 +123,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(false);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(true);
// m_aircraft->multiMotorChannelBox6->setEnabled(true);
// m_aircraft->multiMotorChannelBox7->setEnabled(false);
// m_aircraft->multiMotorChannelBox8->setEnabled(false);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33);
@ -162,11 +143,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(false);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(true);
// m_aircraft->multiMotorChannelBox6->setEnabled(true);
// m_aircraft->multiMotorChannelBox7->setEnabled(false);
// m_aircraft->multiMotorChannelBox8->setEnabled(false);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -188,11 +164,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(false);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(true);
// m_aircraft->multiMotorChannelBox6->setEnabled(true);
// m_aircraft->multiMotorChannelBox7->setEnabled(false);
// m_aircraft->multiMotorChannelBox8->setEnabled(false);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50);
@ -209,11 +180,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(true);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(true);
// m_aircraft->multiMotorChannelBox6->setEnabled(true);
// m_aircraft->multiMotorChannelBox7->setEnabled(true);
// m_aircraft->multiMotorChannelBox8->setEnabled(true);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
@ -229,11 +195,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(true);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(true);
// m_aircraft->multiMotorChannelBox6->setEnabled(true);
// m_aircraft->multiMotorChannelBox7->setEnabled(true);
// m_aircraft->multiMotorChannelBox8->setEnabled(true);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
@ -250,11 +211,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(true);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(true);
// m_aircraft->multiMotorChannelBox6->setEnabled(true);
// m_aircraft->multiMotorChannelBox7->setEnabled(true);
// m_aircraft->multiMotorChannelBox8->setEnabled(true);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
@ -271,11 +227,6 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
combobox->setEnabled(true);
}
// m_aircraft->multiMotorChannelBox4->setEnabled(true);
// m_aircraft->multiMotorChannelBox5->setEnabled(true);
// m_aircraft->multiMotorChannelBox6->setEnabled(true);
// m_aircraft->multiMotorChannelBox7->setEnabled(true);
// m_aircraft->multiMotorChannelBox8->setEnabled(true);
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);

2
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -28,7 +28,7 @@
#include "configahrswidget.h"
#include "configgadgetwidget.h"
#include "ConfigVehicleTypeWidget.h"
#include "configvehicletypewidget.h"
#include "configccattitudewidget.h"
#include "configinputwidget.h"
#include "configoutputwidget.h"

1849
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configvehicletypewidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author E. Lafargue, K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -128,7 +128,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
QStringList groundVehicleTypes;
groundVehicleTypes << "Turnable (car)" << "Differential (tank)" << "Motorcycle";
// groundVehicleTypes << "Turnable (car)";
m_aircraft->groundVehicleType->addItems(groundVehicleTypes);
m_aircraft->groundVehicleType->setCurrentIndex(0); //Set default model to "Turnable (car)"
@ -610,487 +609,23 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues()
if (frameType.startsWith("FixedWing")) {
// Retrieve fixed wing settings
if(1){
refreshFixedWingWidgetsValues(frameType);
}
// // Then retrieve how channels are setup
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
// field = obj->getField(QString("FixedWingThrottle"));
// Q_ASSERT(field);
// m_aircraft->fwEngineChannelBox->setCurrentIndex(m_aircraft->fwEngineChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingRoll1"));
// Q_ASSERT(field);
// m_aircraft->fwAileron1ChannelBox->setCurrentIndex(m_aircraft->fwAileron1ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingRoll2"));
// Q_ASSERT(field);
// m_aircraft->fwAileron2ChannelBox->setCurrentIndex(m_aircraft->fwAileron2ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingPitch1"));
// Q_ASSERT(field);
// m_aircraft->fwElevator1ChannelBox->setCurrentIndex(m_aircraft->fwElevator1ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingPitch2"));
// Q_ASSERT(field);
// m_aircraft->fwElevator2ChannelBox->setCurrentIndex(m_aircraft->fwElevator2ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingYaw1"));
// Q_ASSERT(field);
// m_aircraft->fwRudder1ChannelBox->setCurrentIndex(m_aircraft->fwRudder1ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingYaw2"));
// Q_ASSERT(field);
// m_aircraft->fwRudder2ChannelBox->setCurrentIndex(m_aircraft->fwRudder2ChannelBox->findText(field->getValue().toString()));
//
// if (frameType == "FixedWingElevon") {
// // If the airframe is elevon, restore the slider setting
// // Find the channel number for Elevon1 (FixedWingRoll1)
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int chMixerNumber = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
// field = obj->getField(mixerVectors.at(chMixerNumber));
// int ti = field->getElementNames().indexOf("Roll");
// m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
// ti = field->getElementNames().indexOf("Pitch");
// m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
// }
// }
// if (frameType == "FixedWingVtail") {
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int chMixerNumber = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
// if (chMixerNumber >=0) {
// field = obj->getField(mixerVectors.at(chMixerNumber));
// int ti = field->getElementNames().indexOf("Yaw");
// m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
// ti = field->getElementNames().indexOf("Pitch");
// m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
// }
// }
} else if (frameType == "Tri" ||
frameType == "QuadX" || frameType == "QuadP" ||
frameType == "Hexa" || frameType == "HexaCoax" || frameType == "HexaX" ||
frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP" || frameType == "OctoCoaxX" ) {
// Retrieve multirotor settings
if(1){
refreshMultiRotorWidgetsValues(frameType);
}
else{//
// //////////////////////////////////////////////////////////////////
// // Retrieve Multirotor settings
// //////////////////////////////////////////////////////////////////
//
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
// if (frameType == "QuadP") {
// // Motors 1/2/3/4 are: N / E / S / W
// field = obj->getField(QString("VTOLMotorN"));
// Q_ASSERT(field);
// m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorS"));
// Q_ASSERT(field);
// m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
//
// // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// // This assumes that all vectors are identical - if not, the user should use the
// // "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int tmpVal= m_aircraft->multiMotor1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = field->getDouble(i)/1.27;
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = (1-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotor2->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = -field->getDouble(i)/1.27;
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// } else if (frameType == "QuadX") {
// // Motors 1/2/3/4 are: NW / NE / SE / SW
// field = obj->getField(QString("VTOLMotorNW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
//
// // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// // This assumes that all vectors are identical - if not, the user should use the
// // "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int tmpVal= m_aircraft->multiMotor1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = field->getDouble(i)/1.27;
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = 1-field->getDouble(i)/1.27;
// m_aircraft->mrYawMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = field->getDouble(i)/1.27;
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// } else if (frameType == "Hexa") {
// // Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
// field = obj->getField(QString("VTOLMotorN"));
// m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNE"));
// m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSE"));
// m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorS"));
// m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSW"));
// m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNW"));
// m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
//
// // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// // This assumes that all vectors are identical - if not, the user should use the
// // "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotor1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotor2->currentIndex()-1;
// if(tmpVal>-1)
// {
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(1-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// }
// } else if (frameType == "HexaX") {
// // Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
// field = obj->getField(QString("VTOLMotorNE"));
// m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorE"));
// m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSE"));
// m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSW"));
// m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorW"));
// m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNW"));
// m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
//
// // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// // This assumes that all vectors are identical - if not, the user should use the
// // "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotor1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotor2->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(1-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// } else if (frameType == "HexaCoax") {
// // Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
// field = obj->getField(QString("VTOLMotorNW"));
// m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorW"));
// m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNE"));
// m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorE"));
// m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorS"));
// m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSE"));
// m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
//
// // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// // This assumes that all vectors are identical - if not, the user should use the
// // "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotor1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(2*field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// } else if (frameType == "Octo" || frameType == "OctoV" ||
// frameType == "OctoCoaxP") {
// // Motors 1 to 8 are N / NE / E / etc
// field = obj->getField(QString("VTOLMotorN"));
// Q_ASSERT(field);
// m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorS"));
// Q_ASSERT(field);
// m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor7->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
//
// // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// // This assumes that all vectors are identical - if not, the user should use the
// // "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotor1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// if (frameType == "Octo") {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotor2->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// } else if (frameType == "OctoV") {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Yaw");
// double val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotor2->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Pitch");
// val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
//
// } else if (frameType == "OctoCoaxP") {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotor3->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
//
// }
// }
// } else if (frameType == "OctoCoaxX") {
// // Motors 1 to 8 are N / NE / E / etc
// field = obj->getField(QString("VTOLMotorNW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorN"));
// Q_ASSERT(field);
// m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorS"));
// Q_ASSERT(field);
// m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorSW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor7->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
//
// // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// // This assumes that all vectors are identical - if not, the user should use the
// // "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotor1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// } else if (frameType == "Tri") {
// // Motors 1 to 8 are N / NE / E / etc
// field = obj->getField(QString("VTOLMotorNW"));
// Q_ASSERT(field);
// m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorNE"));
// Q_ASSERT(field);
// m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
// field = obj->getField(QString("VTOLMotorS"));
// Q_ASSERT(field);
// m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingYaw1"));
// Q_ASSERT(field);
// m_aircraft->triYawChannelBoxBox->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
//
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotor1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(2*field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
//
// }
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// // Now, retrieve the Feedforward values:
// field = obj->getField(QString("FeedForward"));
// Q_ASSERT(field);
// m_aircraft->feedForwardSlider->setValue(field->getDouble()*100);
// field = obj->getField(QString("AccelTime"));
// Q_ASSERT(field);
// m_aircraft->accelTime->setValue(field->getDouble());
// field = obj->getField(QString("DecelTime"));
// Q_ASSERT(field);
// m_aircraft->decelTime->setValue(field->getDouble());
// field = obj->getField(QString("MaxAccel"));
// Q_ASSERT(field);
// m_aircraft->maxAccelSlider->setValue(field->getDouble());
}
// Retrieve multirotor settings
refreshMultiRotorWidgetsValues(frameType);
} else if (frameType == "HeliCP") {
m_aircraft->widget_3->requestccpmUpdate();
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Helicopter"));//"Helicopter"
} else if (frameType.startsWith("GroundVehicle")) {
// Retrieve ground vehicle settings
if(1){
refreshGroundVehicleWidgetsValues(frameType);
}
refreshGroundVehicleWidgetsValues(frameType);
// //THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE
// // Then retrieve channel setup values
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
// field = obj->getField(QString("FixedWingThrottle"));
// Q_ASSERT(field);
// m_aircraft->fwEngineChannelBox->setCurrentIndex(m_aircraft->fwEngineChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingRoll1"));
// Q_ASSERT(field);
// m_aircraft->fwAileron1ChannelBox->setCurrentIndex(m_aircraft->fwAileron1ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingRoll2"));
// Q_ASSERT(field);
// m_aircraft->fwAileron2ChannelBox->setCurrentIndex(m_aircraft->fwAileron2ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingPitch1"));
// Q_ASSERT(field);
// m_aircraft->fwElevator1ChannelBox->setCurrentIndex(m_aircraft->fwElevator1ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingPitch2"));
// Q_ASSERT(field);
// m_aircraft->fwElevator2ChannelBox->setCurrentIndex(m_aircraft->fwElevator2ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingYaw1"));
// Q_ASSERT(field);
// m_aircraft->fwRudder1ChannelBox->setCurrentIndex(m_aircraft->fwRudder1ChannelBox->findText(field->getValue().toString()));
// field = obj->getField(QString("FixedWingYaw2"));
// Q_ASSERT(field);
// m_aircraft->fwRudder2ChannelBox->setCurrentIndex(m_aircraft->fwRudder2ChannelBox->findText(field->getValue().toString()));
//
// if (frameType == "GroundDifferential") {
// //CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE
// // If the airframe is differential, restore the slider setting
// // Find the channel number for Elevon1 (FixedWingRoll1)
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int chMixerNumber = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
// field = obj->getField(mixerVectors.at(chMixerNumber));
// int ti = field->getElementNames().indexOf("Roll");
// m_aircraft->differentialSteeringSlider1->setValue(field->getDouble(ti)*100);
//
// ti = field->getElementNames().indexOf("Pitch");
// m_aircraft->differentialSteeringSlider2->setValue(field->getDouble(ti)*100);
// }
// }
// if (frameType == "GroundMotorcycle") {
// //CURRENTLY BROKEN UNTIL WE DECIDE HOW MOTORCYCLE SHOULD BEHAVE
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int chMixerNumber = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
// if (chMixerNumber >=0) {
// field = obj->getField(mixerVectors.at(chMixerNumber));
// int ti = field->getElementNames().indexOf("Yaw");
// m_aircraft->differentialSteeringSlider1->setValue(field->getDouble(ti)*100);
//
// ti = field->getElementNames().indexOf("Pitch");
// m_aircraft->differentialSteeringSlider2->setValue(field->getDouble(ti)*100);
// }
// }
} else if (frameType == "Custom") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Custom"));
}
@ -1109,71 +644,9 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
bool dirty=isDirty();
if(frameType == "FixedWing" || frameType == "Elevator aileron rudder" ||
frameType == "FixedWingElevon" || frameType == "Elevon" ||
frameType == "FixedWingVtail" || frameType == "Vtail"){
frameType == "FixedWingElevon" || frameType == "Elevon" ||
frameType == "FixedWingVtail" || frameType == "Vtail"){
setupFixedWingUI(frameType);
// }
// else if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
// // Setup the UI
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
// m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
// m_aircraft->fwRudder1ChannelBox->setEnabled(true);
// m_aircraft->fwRudder1Label->setEnabled(true);
// m_aircraft->fwRudder2ChannelBox->setEnabled(true);
// m_aircraft->fwRudder2Label->setEnabled(true);
// m_aircraft->fwElevator1ChannelBox->setEnabled(true);
// m_aircraft->fwElevator1Label->setEnabled(true);
// m_aircraft->fwElevator2ChannelBox->setEnabled(true);
// m_aircraft->fwElevator2Label->setEnabled(true);
// m_aircraft->fwAileron1ChannelBox->setEnabled(true);
// m_aircraft->fwAileron1Label->setEnabled(true);
// m_aircraft->fwAileron2ChannelBox->setEnabled(true);
// m_aircraft->fwAileron2Label->setEnabled(true);
//
// m_aircraft->fwAileron1Label->setText("Aileron 1");
// m_aircraft->fwAileron2Label->setText("Aileron 2");
// m_aircraft->fwElevator1Label->setText("Elevator 1");
// m_aircraft->fwElevator2Label->setText("Elevator 2");
// m_aircraft->elevonMixBox->setHidden(true);
//
// } else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
// m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevon"));
// m_aircraft->fwAileron1Label->setText("Elevon 1");
// m_aircraft->fwAileron2Label->setText("Elevon 2");
// m_aircraft->fwElevator1ChannelBox->setEnabled(false);
// m_aircraft->fwElevator1Label->setEnabled(false);
// m_aircraft->fwElevator2ChannelBox->setEnabled(false);
// m_aircraft->fwElevator2Label->setEnabled(false);
// m_aircraft->fwRudder1ChannelBox->setEnabled(true);
// m_aircraft->fwRudder1Label->setEnabled(true);
// m_aircraft->fwRudder2ChannelBox->setEnabled(true);
// m_aircraft->fwRudder2Label->setEnabled(true);
// m_aircraft->fwElevator1Label->setText("Elevator 1");
// m_aircraft->fwElevator2Label->setText("Elevator 2");
// m_aircraft->elevonMixBox->setHidden(false);
// m_aircraft->elevonLabel1->setText("Roll");
// m_aircraft->elevonLabel2->setText("Pitch");
//
// } else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
// m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Vtail"));
// m_aircraft->fwRudder1ChannelBox->setEnabled(false);
// m_aircraft->fwRudder1Label->setEnabled(false);
// m_aircraft->fwRudder2ChannelBox->setEnabled(false);
// m_aircraft->fwRudder2Label->setEnabled(false);
// m_aircraft->fwElevator1ChannelBox->setEnabled(true);
// m_aircraft->fwElevator1Label->setEnabled(true);
// m_aircraft->fwElevator1Label->setText("Vtail 1");
// m_aircraft->fwElevator2Label->setText("Vtail 2");
// m_aircraft->elevonMixBox->setHidden(false);
// m_aircraft->fwElevator2ChannelBox->setEnabled(true);
// m_aircraft->fwElevator2Label->setEnabled(true);
// m_aircraft->fwAileron1Label->setText("Aileron 1");
// m_aircraft->fwAileron2Label->setText("Aileron 2");
// m_aircraft->elevonLabel1->setText("Rudder");
// m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "Tri" || frameType == "Tricopter Y" ||
frameType == "QuadX" || frameType == "Quad X" ||
frameType == "QuadP" || frameType == "Quad +" ||
@ -1187,190 +660,10 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
//Call multi-rotor setup UI
setupMultiRotorUI(frameType);
}
// } else if (frameType == "QuadX" || frameType == "Quad X") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad X"));
// quad->setElementId("quad-X");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(false);
// m_aircraft->multiMotor6->setEnabled(false);
// m_aircraft->multiMotor7->setEnabled(false);
// m_aircraft->multiMotor8->setEnabled(false);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(50);
// m_aircraft->mrPitchMixLevel->setValue(50);
// m_aircraft->mrYawMixLevel->setValue(50);
// } else if (frameType == "QuadP" || frameType == "Quad +") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad +"));
// quad->setElementId("quad-plus");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(false);
// m_aircraft->multiMotor6->setEnabled(false);
// m_aircraft->multiMotor7->setEnabled(false);
// m_aircraft->multiMotor8->setEnabled(false);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(100);
// m_aircraft->mrPitchMixLevel->setValue(100);
// m_aircraft->mrYawMixLevel->setValue(50);
// } else if (frameType == "Hexa" || frameType == "Hexacopter") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter"));
// quad->setElementId("quad-hexa");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(true);
// m_aircraft->multiMotor6->setEnabled(true);
// m_aircraft->multiMotor7->setEnabled(false);
// m_aircraft->multiMotor8->setEnabled(false);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(50);
// m_aircraft->mrPitchMixLevel->setValue(33);
// m_aircraft->mrYawMixLevel->setValue(33);
// } else if (frameType == "Octo" || frameType == "Octocopter") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter"));
// quad->setElementId("quad-octo");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(true);
// m_aircraft->multiMotor6->setEnabled(true);
// m_aircraft->multiMotor7->setEnabled(true);
// m_aircraft->multiMotor8->setEnabled(true);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(33);
// m_aircraft->mrPitchMixLevel->setValue(33);
// m_aircraft->mrYawMixLevel->setValue(25);
// } else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter X"));
// quad->setElementId("quad-hexa-H");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(true);
// m_aircraft->multiMotor6->setEnabled(true);
// m_aircraft->multiMotor7->setEnabled(false);
// m_aircraft->multiMotor8->setEnabled(false);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(33);
// m_aircraft->mrPitchMixLevel->setValue(50);
// m_aircraft->mrYawMixLevel->setValue(33);
//
// } else if (frameType == "OctoV" || frameType == "Octocopter V") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter V"));
// quad->setElementId("quad-octo-v");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(true);
// m_aircraft->multiMotor6->setEnabled(true);
// m_aircraft->multiMotor7->setEnabled(true);
// m_aircraft->multiMotor8->setEnabled(true);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(25);
// m_aircraft->mrPitchMixLevel->setValue(25);
// m_aircraft->mrYawMixLevel->setValue(25);
//
// } else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax +"));
// quad->setElementId("octo-coax-P");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(true);
// m_aircraft->multiMotor6->setEnabled(true);
// m_aircraft->multiMotor7->setEnabled(true);
// m_aircraft->multiMotor8->setEnabled(true);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(100);
// m_aircraft->mrPitchMixLevel->setValue(100);
// m_aircraft->mrYawMixLevel->setValue(50);
//
// } else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax X"));
// quad->setElementId("octo-coax-X");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(true);
// m_aircraft->multiMotor6->setEnabled(true);
// m_aircraft->multiMotor7->setEnabled(true);
// m_aircraft->multiMotor8->setEnabled(true);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(50);
// m_aircraft->mrPitchMixLevel->setValue(50);
// m_aircraft->mrYawMixLevel->setValue(50);
//
// } else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
// quad->setElementId("hexa-coax");
// m_aircraft->multiMotor4->setEnabled(true);
// m_aircraft->multiMotor5->setEnabled(true);
// m_aircraft->multiMotor6->setEnabled(true);
// m_aircraft->multiMotor7->setEnabled(false);
// m_aircraft->multiMotor8->setEnabled(false);
// m_aircraft->triYawChannelBox->setEnabled(false);
// m_aircraft->mrRollMixLevel->setValue(100);
// m_aircraft->mrPitchMixLevel->setValue(50);
// m_aircraft->mrYawMixLevel->setValue(66);
//
// } else if (frameType == "Tri" || frameType == "Tricopter Y") {
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
// m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Tricopter Y"));
// quad->setElementId("tri");
// m_aircraft->multiMotor4->setEnabled(false);
// m_aircraft->multiMotor5->setEnabled(false);
// m_aircraft->multiMotor6->setEnabled(false);
// m_aircraft->multiMotor7->setEnabled(false);
// m_aircraft->multiMotor8->setEnabled(false);
// m_aircraft->triYawChannelBox->setEnabled(true);
//
else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)" ||
frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)" ||
frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
setupGroundVehicleUI(frameType);
//// } else if (m_aircraft->aircraftType->currentText() == "Ground") {
// m_aircraft->differentialSteeringMixBox->setHidden(true);
// //STILL NEEDS WORK
// // Setup the UI
// m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Ground"));
//
// m_aircraft->gvSteering1Label->setEnabled(true);
// m_aircraft->gvSteering1Label->setEnabled(true);
// m_aircraft->gvSteering2Label->setEnabled(true);
// m_aircraft->gvSteering2Label->setEnabled(true);
// m_aircraft->gvMotor1ChannelBox->setEnabled(true);
// m_aircraft->gvMotor1Label->setEnabled(true);
// m_aircraft->gvAileron1ChannelBox->setEnabled(true);
// m_aircraft->gvAileron1Label->setEnabled(true);
// m_aircraft->gvAileron2ChannelBox->setEnabled(true);
// m_aircraft->gvAileron2Label->setEnabled(true);
//
// if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"){
// m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Differential (tank)"));
// m_aircraft->gvMotor2ChannelBox->setEnabled(true);
// m_aircraft->gvMotor2Label->setEnabled(true);
//
// m_aircraft->gvMotor1Label->setText("Left motor");
// m_aircraft->gvMotor2Label->setText("Right motor");
// m_aircraft->differentialSteeringMixBox->setHidden(false);
// }
// else if (frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle"){
// m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Motorcycle"));
// m_aircraft->gvMotor2ChannelBox->setEnabled(false);
// m_aircraft->gvMotor2Label->setEnabled(false);
//
// m_aircraft->gvMotor1Label->setText("Motor");
// m_aircraft->gvMotor2Label->setText("Elevator 2");
// m_aircraft->differentialSteeringMixBox->setHidden(true);
// }
// else {
// m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Turnable (car)"));
//
// m_aircraft->gvMotor2ChannelBox->setEnabled(true);
// m_aircraft->gvMotor2Label->setEnabled(true);
//
// m_aircraft->gvMotor1Label->setText("Front motor");
// m_aircraft->gvMotor2Label->setText("Rear motor");
// m_aircraft->differentialSteeringMixBox->setHidden(true);
// }
}
//SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST???
@ -1380,6 +673,7 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
setDirty(dirty);
}
/**
Reset the contents of a field
*/
@ -1390,6 +684,7 @@ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
}
}
/**
Reset actuator values
*/
@ -1407,821 +702,6 @@ void ConfigVehicleTypeWidget::resetActuators()
}
}
}
//
///**
// Setup Elevator/Aileron/Rudder airframe.
//
// If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
//
// Returns False if impossible to create the mixer.
// */
//bool ConfigVehicleTypeWidget::setupFrameFixedWing()
//{
// // Check coherence:
// // - At least Pitch and either Roll or Yaw
// if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
// m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
// ((m_aircraft->fwAileron1ChannelBox->currentText() == "None") &&
// (m_aircraft->fwRudder1ChannelBox->currentText() == "None"))) {
// // TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
// return false;
// }
// // Now setup the channels:
// resetActuators();
//
// UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
//
// // Elevator
// UAVObjectField *field = obj->getField("FixedWingPitch1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwElevator1ChannelBox->currentText());
// field = obj->getField("FixedWingPitch2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwElevator2ChannelBox->currentText());
// // Aileron
// field = obj->getField("FixedWingRoll1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
// field = obj->getField("FixedWingRoll2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// // Rudder
// field = obj->getField("FixedWingYaw1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
// // Throttle
// field = obj->getField("FixedWingThrottle");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwEngineChannelBox->currentText());
//
// obj->updated();
//
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// // ... and compute the matrix:
// // In order to make code a bit nicer, we assume:
// // - ChannelBox dropdowns start with 'None', then 0 to 7
//
// // 1. Assign the servo/motor/none for each channel
// // Disable all
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// field->setValue("Disabled");
// }
// // and set only the relevant channels:
// // Engine
// int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(tmpVal));
// // First of all reset the vector
// resetField(field);
// int ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
//
// // Rudder
// tmpVal = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if rudder is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(127, ti);
// } // Else: we have no rudder, only ailerons, we're fine with it.
//
// // Ailerons
// tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(127, ti);
// // Only set Aileron 2 if Aileron 1 is defined
// tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(127, ti);
// }
// } // Else we have no ailerons. Our consistency check guarantees we have
// // rudder in this case, so we're fine with it too.
//
// // Elevator
// tmpVal = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue(127, ti);
// // Only set Elevator 2 if it is defined
// tmpVal = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue(127, ti);
// }
//
// obj->updated();
// m_aircraft->fwStatusLabel->setText("Mixer generated");
//
// return true;
//}
//
///**
// Setup Elevon
// */
//bool ConfigVehicleTypeWidget::setupFrameElevon()
//{
// // Check coherence:
// // - At least Aileron1 and Aileron 2, and engine
// if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
// m_aircraft->fwAileron1ChannelBox->currentText() == "None" ||
// m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
// // TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
// return false;
// }
//
// resetActuators();
// UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
//
// // Elevons
// UAVObjectField *field = obj->getField("FixedWingRoll1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
// field = obj->getField("FixedWingRoll2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// // Rudder 1 (can be None)
// field = obj->getField("FixedWingYaw1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
// // Rudder 2 (can be None)
// field = obj->getField("FixedWingYaw2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwRudder2ChannelBox->currentText());
// // Throttle
// field = obj->getField("FixedWingThrottle");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwEngineChannelBox->currentText());
//
// obj->updated();
//
// // Save the curve:
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// // ... and compute the matrix:
// // In order to make code a bit nicer, we assume:
// // - ChannelBox dropdowns start with 'None', then 0 to 7
//
// // 1. Assign the servo/motor/none for each channel
// // Disable all
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// field->setValue("Disabled");
// }
// // and set only the relevant channels:
// // Engine
// int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(tmpVal));
// // First of all reset the vector
// resetField(field);
// int ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
//
// // Rudder 1
// tmpVal = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if rudder 1 is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(127, ti);
// } // Else: we have no rudder, only elevons, we're fine with it.
//
// // Rudder 2
// tmpVal = m_aircraft->fwRudder2ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if rudder 2 is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(-127, ti);
// } // Else: we have no rudder, only elevons, we're fine with it.
//
// tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
// }
//
// tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
// }
//
// obj->updated();
// m_aircraft->fwStatusLabel->setText("Mixer generated");
// return true;
//}
//
//
///**
// Setup VTail
// */
//bool ConfigVehicleTypeWidget::setupFrameVtail()
//{
// // Check coherence:
// // - At least Pitch1 and Pitch2, and engine
// if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
// m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
// m_aircraft->fwElevator2ChannelBox->currentText() == "None") {
// // TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
// return false;
// }
//
// resetActuators();
// UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
//
// // Elevons
// UAVObjectField *field = obj->getField("FixedWingPitch1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwElevator1ChannelBox->currentText());
// field = obj->getField("FixedWingPitch2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwElevator2ChannelBox->currentText());
// field = obj->getField("FixedWingRoll1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
// field = obj->getField("FixedWingRoll2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
//
// // Throttle
// field = obj->getField("FixedWingThrottle");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwEngineChannelBox->currentText());
//
// obj->updated();
//
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// // ... and compute the matrix:
// // In order to make code a bit nicer, we assume:
// // - ChannelBox dropdowns start with 'None', then 0 to 7
//
// // 1. Assign the servo/motor/none for each channel
// // Disable all
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// field->setValue("Disabled");
// }
// // and set only the relevant channels:
// // Engine
// int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(tmpVal));
// // First of all reset the vector
// resetField(field);
// int ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
//
// tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(127,ti);
// }
//
// tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(-127,ti);
// }
//
// // Now compute the VTail
// tmpVal = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
//
// tmpVal = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
//
// obj->updated();
// m_aircraft->fwStatusLabel->setText("Mixer generated");
// return true;
//}
///**
// Setup steerable ground vehicle.
//
// If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
//
// Returns False if impossible to create the mixer.
// */
//bool ConfigVehicleTypeWidget::setupGroundVehicle()
//{
// // Check coherence:
// // - At least Pitch and either Roll or Yaw
// if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
// m_aircraft->gvMotor2ChannelBox->currentText() == "None") ||
// (m_aircraft->gvSteering1ChannelBox->currentText() == "None" &&
// m_aircraft->gvSteering2ChannelBox->currentText() == "None")) {
// // TODO: explain the problem in the UI
// m_aircraft->gvStatusLabel->setText("<font color='red'>ERROR: check channel assignments</font>");
// if(m_aircraft->gvMotor1ChannelBox->currentText() == "None" && m_aircraft->gvMotor2ChannelBox->currentText() == "None"){
// m_aircraft->gvStatusLabel->setText("<font color='red'>ERROR: check motor channel assignment</font>");
// m_aircraft->gvMotor1Label->setText("<font color='red'>" + m_aircraft->gvMotor1Label->text() + "</font>");
// m_aircraft->gvMotor2Label->setText("<font color='red'>" + m_aircraft->gvMotor2Label->text() + "</font>");
//
// }
// else{
// QTextEdit* htmlText=new QTextEdit(m_aircraft->gvMotor1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor2Label->setText(htmlText->toPlainText());
// }
//
// if (m_aircraft->gvSteering1ChannelBox->currentText() == "None" && m_aircraft->gvSteering2ChannelBox->currentText() == "None") {
// m_aircraft->gvStatusLabel->setText("<font color='red'>ERROR: check steering channel assignment</font>");
// m_aircraft->gvSteering1Label->setText("<font color='red'>" + m_aircraft->gvSteering1Label->text() + "</font>");
// m_aircraft->gvSteering2Label->setText("<font color='red'>" + m_aircraft->gvSteering2Label->text() + "</font>");
// }
// else{
// QTextEdit* htmlText=new QTextEdit(m_aircraft->gvSteering1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvSteering2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering2Label->setText(htmlText->toPlainText());
// }
// return false;
// }
// else{
//// m_aircraft->gvStatusLabel->setText("Mixer generated");
// QTextEdit* htmlText=new QTextEdit(m_aircraft->gvSteering1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvSteering2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering2Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor2Label->setText(htmlText->toPlainText());
//
//
//
//
// }
//
////#if 0
// // Now setup the channels:
// resetActuators();
//
// UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
//
// // Elevator
// UAVObjectField *field = obj->getField("FixedWingPitch1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// field = obj->getField("FixedWingPitch2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
// // Aileron
// field = obj->getField("FixedWingRoll1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
// field = obj->getField("FixedWingRoll2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// // Rudder
// field = obj->getField("FixedWingYaw1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->gvSteering1ChannelBox->currentText());
// // Throttle
// field = obj->getField("FixedWingThrottle");
// Q_ASSERT(field);
// field->setValue(m_aircraft->gvSteering2ChannelBox->currentText());
//
// obj->updated();
//
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// // ... and compute the matrix:
// // In order to make code a bit nicer, we assume:
// // - ChannelBox dropdowns start with 'None', then 0 to 7
//
// // 1. Assign the servo/motor/none for each channel
// // Disable all
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// field->setValue("Disabled");
// }
//
// int tmpVal, ti;
//#if 0
// // and set only the relevant channels:
// // Engine
// tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(tmpVal));
// // First of all reset the vector
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
//#endif
// // Steering
// tmpVal = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if steering is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(127, ti);
// } // Else: we have no rudder, only ailerons, we're fine with it.
//
//#if 0
// // Ailerons
// tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(127, ti);
// // Only set Aileron 2 if Aileron 1 is defined
// tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(127, ti);
// }
// } // Else we have no ailerons. Our consistency check guarantees we have
// // rudder in this case, so we're fine with it too.
//#endif
//
// // Motor
// tmpVal = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
//
// // Only set Motor 2 if it is defined
// tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve2");
// field->setValue(127, ti);
// }
//
// obj->updated();
////#endif
// m_aircraft->gvStatusLabel->setText("Mixer generated");
//
// return true;
//}
/**
Set up a complete mixer, taking a table of factors. The factors
shoudl mainly be +/- 1 factors, since they will be weighted by the
value of the Pitch/Roll/Yaw sliders.
Example:
double xMixer [8][3] = {
P R Y
{ 1, 1, -1}, Motor 1
{ 1, -1, 1}, Motor 2
{-1, -1, -1}, Motor 3
{-1, 1, 1}, ...
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
*/
//bool ConfigVehicleTypeWidget::setupMultiRotorMixer(double mixerFactors[8][3])
//{
// qDebug()<<"Mixer factors";
// qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
// qDebug()<<mixerFactors[1][0]<<" "<<mixerFactors[1][1]<<" "<<mixerFactors[1][2];
// qDebug()<<mixerFactors[2][0]<<" "<<mixerFactors[2][1]<<" "<<mixerFactors[2][2];
// qDebug()<<mixerFactors[3][0]<<" "<<mixerFactors[3][1]<<" "<<mixerFactors[3][2];
// qDebug()<<mixerFactors[4][0]<<" "<<mixerFactors[4][1]<<" "<<mixerFactors[4][2];
// qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
// qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
// qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
//
// UAVObjectField *field;
// QList<QComboBox*> mmList;
// mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
// << m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
// << m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
// UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// // 1. Assign the servo/motor/none for each channel
// // Disable all
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// field->setValue("Disabled");
// }
// // and enable only the relevant channels:
// double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
// double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
// double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
// qDebug()<<QString("pFactor=%0 rFactor=%1 yFactor=%2").arg(pFactor).arg(rFactor).arg(yFactor);
// for (int i=0 ; i<8; i++) {
// if(mmList.at(i)->isEnabled())
// {
// int channel = mmList.at(i)->currentIndex()-1;
// if (channel > -1)
// setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
// rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
// }
// }
//// obj->updated();
// return true;
//}
///**
// Helper function: setupQuadMotor
// */
//void ConfigVehicleTypeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
//{
// qDebug()<<QString("Setup quad motor channel=%0 pitch=%1 roll=%2 yaw=%3").arg(channel).arg(pitch).arg(roll).arg(yaw);
// UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// UAVObjectField *field = obj->getField(mixerTypes.at(channel));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(channel));
// // First of all reset the vector
// resetField(field);
// int ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(roll*127,ti);
// qDebug()<<"Set roll="<<roll*127;
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue(pitch*127,ti);
// qDebug()<<"Set pitch="<<pitch*127;
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(yaw*127,ti);
// qDebug()<<"Set yaw="<<yaw*127;
//}
///**
// Helper function: setup motors. Takes a list of channel names in input.
// */
//void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList)
//{
// resetActuators();
// UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
// UAVObjectField *field;
// QList<QComboBox*> mmList;
// mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
// << m_aircraft->multiMotor4 << m_aircraft->multiMotor5 << m_aircraft->multiMotor6
// << m_aircraft->multiMotor7 << m_aircraft->multiMotor8;
// foreach (QString motor, motorList) {
// field = obj->getField(motor);
// field->setValue(mmList.takeFirst()->currentText());
// }
// //obj->updated(); // Save...
//}
///**
// Set up a Quad-X or Quad-P
//*/
//bool ConfigVehicleTypeWidget::setupQuad(bool pLayout)
//{
// // Check coherence:
// // - Four engines have to be defined
// if (m_aircraft->multiMotor1->currentText() == "None" ||
// m_aircraft->multiMotor2->currentText() == "None" ||
// m_aircraft->multiMotor3->currentText() == "None" ||
// m_aircraft->multiMotor4->currentText() == "None") {
// m_aircraft->mrStatusLabel->setText("ERROR: Assign 4 motor channels");
// return false;
// }
//
//
// QList<QString> motorList;
// if (pLayout) {
// motorList << "VTOLMotorN" << "VTOLMotorE" << "VTOLMotorS"
// << "VTOLMotorW";
// } else {
// motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorSE"
// << "VTOLMotorSW";
// }
// setupMotors(motorList);
//
// // Now, setup the mixer:
// // Motor 1 to 4, X Layout:
// // pitch roll yaw
// // {0.5 ,0.5 ,-0.5 //Front left motor (CW)
// // {0.5 ,-0.5 ,0.5 //Front right motor(CCW)
// // {-0.5 ,-0.5 ,-0.5 //rear right motor (CW)
// // {-0.5 ,0.5 ,0.5 //Rear left motor (CCW)
// double xMixer [8][3] = {
// { 1, 1, -1},
// { 1, -1, 1},
// {-1, -1, -1},
// {-1, 1, 1},
// { 0, 0, 0},
// { 0, 0, 0},
// { 0, 0, 0},
// { 0, 0, 0}
// };
// //
// // Motor 1 to 4, P Layout:
// // pitch roll yaw
// // {1 ,0 ,-0.5 //Front motor (CW)
// // {0 ,-1 ,0.5 //Right motor(CCW)
// // {-1 ,0 ,-0.5 //Rear motor (CW)
// // {0 ,1 ,0.5 //Left motor (CCW)
// double pMixer [8][3] = {
// { 1, 0, -1},
// { 0, -1, 1},
// {-1, 0, -1},
// { 0, 1, 1},
// { 0, 0, 0},
// { 0, 0, 0},
// { 0, 0, 0},
// { 0, 0, 0}
// };
//
// if (pLayout) {
// setupMultiRotorMixer(pMixer);
// } else {
// setupMultiRotorMixer(xMixer);
// }
// m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
// return true;
//}
//
//
//
///**
// Set up a Hexa-X or Hexa-P
//*/
//bool ConfigVehicleTypeWidget::setupHexa(bool pLayout)
//{
// // Check coherence:
// // - Four engines have to be defined
// if (m_aircraft->multiMotor1->currentText() == "None" ||
// m_aircraft->multiMotor2->currentText() == "None" ||
// m_aircraft->multiMotor3->currentText() == "None" ||
// m_aircraft->multiMotor4->currentText() == "None" ||
// m_aircraft->multiMotor5->currentText() == "None" ||
// m_aircraft->multiMotor6->currentText() == "None") {
// m_aircraft->mrStatusLabel->setText("ERROR: Assign 6 motor channels");
// return false;
// }
//
// QList<QString> motorList;
// if (pLayout) {
// motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
// << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorNW";
// } else {
// motorList << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
// << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
// }
// setupMotors(motorList);
//
// // and set only the relevant channels:
//
// // Motor 1 to 6, P Layout:
// // pitch roll yaw
// // 1 { 0.3 , 0 ,-0.3 // N CW
// // 2 { 0.3 ,-0.5 , 0.3 // NE CCW
// // 3 {-0.3 ,-0.5 ,-0.3 // SE CW
// // 4 {-0.3 , 0 , 0.3 // S CCW
// // 5 {-0.3 , 0.5 ,-0.3 // SW CW
// // 6 { 0.3 , 0.5 , 0.3 // NW CCW
//
// double pMixer [8][3] = {
// { 1, 0, -1},
// { 1, -1, 1},
// {-1, -1, -1},
// {-1, 0, 1},
// {-1, 1, -1},
// { 1, 1, 1},
// { 0, 0, 0},
// { 0, 0, 0}
// };
//
// //
// // Motor 1 to 6, X Layout:
// // 1 [ 0.5, -0.3, -0.3 ] NE
// // 2 [ 0 , -0.3, 0.3 ] E
// // 3 [ -0.5, -0.3, -0.3 ] SE
// // 4 [ -0.5, 0.3, 0.3 ] SW
// // 5 [ 0 , 0.3, -0.3 ] W
// // 6 [ 0.5, 0.3, 0.3 ] NW
// double xMixer [8][3] = {
// { 1, -1, -1},
// { 0, -1, 1},
// { -1, -1, -1},
// { -1, 1, 1},
// { 0, 1, -1},
// { 1, 1, 1},
// { 0, 0, 0},
// { 0, 0, 0}
// };
//
// if (pLayout) {
// setupMultiRotorMixer(pMixer);
// } else {
// setupMultiRotorMixer(xMixer);
// }
// m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
// return true;
//}
/**
@ -2299,320 +779,15 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
qDebug()<<"updateObjectsFromWidgets";
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
if(1){
airframeType = updateFixedWingObjectsFromWidgets();
}
else{
// // Save the curve (common to all Fixed wing frames)
// UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// // Remove Feed Forward, it is pointless on a plane:
// UAVObjectField* field = obj->getField(QString("FeedForward"));
// field->setDouble(0);
// field = obj->getField("ThrottleCurve1");
// QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
// for (int i=0;i<curve.length();i++) {
// field->setValue(curve.at(i),i);
// }
//
// if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
// airframeType = "FixedWing";
// setupFrameFixedWing();
// } else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
// airframeType = "FixedWingElevon";
// setupFrameElevon();
// } else { // "Vtail"
// airframeType = "FixedWingVtail";
// setupFrameVtail();
// }
// // Now reflect those settings in the "Custom" panel as well
// updateCustomAirframeUI();
}
} else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
airframeType = updateFixedWingObjectsFromWidgets();
} else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
//update the mixer
if(1){
airframeType = updateMultiRotorObjectsFromWidgets();
}
else{
//
// QList<QString> motorList;
//
// // We can already setup the feedforward here, as it is common to all platforms
// UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// UAVObjectField* field = obj->getField(QString("FeedForward"));
// field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
// field = obj->getField(QString("AccelTime"));
// field->setDouble(m_aircraft->accelTime->value());
// field = obj->getField(QString("DecelTime"));
// field->setDouble(m_aircraft->decelTime->value());
// field = obj->getField(QString("MaxAccel"));
// field->setDouble(m_aircraft->maxAccelSlider->value());
//
// // Curve is also common to all quads:
// field = obj->getField("ThrottleCurve1");
// QList<double> curve = m_aircraft->multiThrottleCurve->getCurve();
// for (int i=0;i<curve.length();i++) {
// field->setValue(curve.at(i),i);
// }
//
// if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
// airframeType = "QuadP";
// setupQuad(true);
// } else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
// airframeType = "QuadX";
// setupQuad(false);
// } else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
// airframeType = "Hexa";
// setupHexa(true);
// } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
// airframeType = "Octo";
// if (m_aircraft->multiMotor1->currentText() == "None" ||
// m_aircraft->multiMotor2->currentText() == "None" ||
// m_aircraft->multiMotor3->currentText() == "None" ||
// m_aircraft->multiMotor4->currentText() == "None" ||
// m_aircraft->multiMotor5->currentText() == "None" ||
// m_aircraft->multiMotor6->currentText() == "None" ||
// m_aircraft->multiMotor7->currentText() == "None" ||
// m_aircraft->multiMotor8->currentText() == "None") {
// m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
// return;
// }
// motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
// << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
// setupMotors(motorList);
// // Motor 1 to 8:
// // pitch roll yaw
// double mixer [8][3] = {
// { 1, 0, -1},
// { 1, -1, 1},
// { 0, -1, -1},
// { -1, -1, 1},
// { -1, 0, -1},
// { -1, 1, 1},
// { 0, 1, -1},
// { 1, 1, 1}
// };
// setupMultiRotorMixer(mixer);
// m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
//
// } else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
// airframeType = "HexaX";
// setupHexa(false);
// } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
// airframeType = "OctoV";
// if (m_aircraft->multiMotor1->currentText() == "None" ||
// m_aircraft->multiMotor2->currentText() == "None" ||
// m_aircraft->multiMotor3->currentText() == "None" ||
// m_aircraft->multiMotor4->currentText() == "None" ||
// m_aircraft->multiMotor5->currentText() == "None" ||
// m_aircraft->multiMotor6->currentText() == "None" ||
// m_aircraft->multiMotor7->currentText() == "None" ||
// m_aircraft->multiMotor8->currentText() == "None") {
// m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
// return;
// }
// motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
// << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
// setupMotors(motorList);
// // Motor 1 to 8:
// // IMPORTANT: Assumes evenly spaced engines
// // pitch roll yaw
// double mixer [8][3] = {
// { 0.33, -1, -1},
// { 1 , -1, 1},
// { -1 , -1, -1},
// { -0.33, -1, 1},
// { -0.33, 1, -1},
// { -1 , 1, 1},
// { 1 , 1, -1},
// { 0.33, 1, 1}
// };
// setupMultiRotorMixer(mixer);
// m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
//
// } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
// airframeType = "OctoCoaxP";
// if (m_aircraft->multiMotor1->currentText() == "None" ||
// m_aircraft->multiMotor2->currentText() == "None" ||
// m_aircraft->multiMotor3->currentText() == "None" ||
// m_aircraft->multiMotor4->currentText() == "None" ||
// m_aircraft->multiMotor5->currentText() == "None" ||
// m_aircraft->multiMotor6->currentText() == "None" ||
// m_aircraft->multiMotor7->currentText() == "None" ||
// m_aircraft->multiMotor8->currentText() == "None") {
// m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
// return;
// }
// motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
// << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
// setupMotors(motorList);
// // Motor 1 to 8:
// // pitch roll yaw
// double mixer [8][3] = {
// { 1, 0, -1},
// { 1, 0, 1},
// { 0, -1, -1},
// { 0, -1, 1},
// { -1, 0, -1},
// { -1, 0, 1},
// { 0, 1, -1},
// { 0, 1, 1}
// };
// setupMultiRotorMixer(mixer);
// m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
//
// } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
// airframeType = "OctoCoaxX";
// if (m_aircraft->multiMotor1->currentText() == "None" ||
// m_aircraft->multiMotor2->currentText() == "None" ||
// m_aircraft->multiMotor3->currentText() == "None" ||
// m_aircraft->multiMotor4->currentText() == "None" ||
// m_aircraft->multiMotor5->currentText() == "None" ||
// m_aircraft->multiMotor6->currentText() == "None" ||
// m_aircraft->multiMotor7->currentText() == "None" ||
// m_aircraft->multiMotor8->currentText() == "None") {
// m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
// return;
// }
// motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
// << "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
// setupMotors(motorList);
// // Motor 1 to 8:
// // pitch roll yaw
// double mixer [8][3] = {
// { 1, 1, -1},
// { 1, 1, 1},
// { 1, -1, -1},
// { 1, -1, 1},
// { -1, -1, -1},
// { -1, -1, 1},
// { -1, 1, -1},
// { -1, 1, 1}
// };
// setupMultiRotorMixer(mixer);
// m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
//
// } else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
// airframeType = "HexaCoax";
// if (m_aircraft->multiMotor1->currentText() == "None" ||
// m_aircraft->multiMotor2->currentText() == "None" ||
// m_aircraft->multiMotor3->currentText() == "None" ||
// m_aircraft->multiMotor4->currentText() == "None" ||
// m_aircraft->multiMotor5->currentText() == "None" ||
// m_aircraft->multiMotor6->currentText() == "None" ) {
// m_aircraft->mrStatusLabel->setText("ERROR: Assign 6 motor channels");
// return;
// }
// motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
// << "VTOLMotorS" << "VTOLMotorSE";
// setupMotors(motorList);
//
// // Motor 1 to 6, Y6 Layout:
// // pitch roll yaw
// double mixer [8][3] = {
// { 0.5, 1, -1},
// { 0.5, 1, 1},
// { 0.5, -1, -1},
// { 0.5, -1, 1},
// { -1, 0, -1},
// { -1, 0, 1},
// { 0, 0, 0},
// { 0, 0, 0}
// };
// setupMultiRotorMixer(mixer);
// m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
//
// } else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
// airframeType = "Tri";
// if (m_aircraft->multiMotor1->currentText() == "None" ||
// m_aircraft->multiMotor2->currentText() == "None" ||
// m_aircraft->multiMotor3->currentText() == "None" ) {
// m_aircraft->mrStatusLabel->setText("ERROR: Assign 3 motor channels");
// return;
// }
// if (m_aircraft->triYawChannelBoxBox->currentText() == "None") {
// m_aircraft->mrStatusLabel->setText("Error: Assign a Yaw channel");
// return;
// }
// motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
// setupMotors(motorList);
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
// Q_ASSERT(obj);
// field = obj->getField("FixedWingYaw1");
// field->setValue(m_aircraft->triYawChannelBoxBox->currentText());
//
// // Motor 1 to 6, Y6 Layout:
// // pitch roll yaw
// double mixer [8][3] = {
// { 0.5, 1, 0},
// { 0.5, -1, 0},
// { -1, 0, 0},
// { 0, 0, 0},
// { 0, 0, 0},
// { 0, 0, 0},
// { 0, 0, 0},
// { 0, 0, 0}
// };
// setupMultiRotorMixer(mixer);
//
// int tmpVal = m_aircraft->triYawChannelBoxBox->currentIndex()-1;
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// int ti = field->getElementNames().indexOf("Yaw");
// field->setValue(127,ti);
//
// m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
//
// }
// // Now reflect those settings in the "Custom" panel as well
// updateCustomAirframeUI();
}
} else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
} else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
airframeType = "HeliCP";
m_aircraft->widget_3->sendccpmUpdate();
} else if (m_aircraft->aircraftType->currentText() == "Ground") {
if(1){
} else if (m_aircraft->aircraftType->currentText() == "Ground") {
airframeType = updateGroundVehicleObjectsFromWidgets();
}
else{
// airframeType = "Ground";
// // Save the curve (common to all ground vehicle frames)
// UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// UAVObjectField* field;
//
// if (0){ //DON'T REMOVE FEEDFORWARD
// // Remove Feed Forward, it is pointless on a plane:
// field = obj->getField(QString("FeedForward"));
// field->setDouble(0);
// }
//
// field = obj->getField("ThrottleCurve1");
// QList<double> curve = m_aircraft->groundVehicleThrottle->getCurve();
// for (int i=0;i<curve.length();i++) {
// field->setValue(curve.at(i),i);
// }
//
// if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)" ) {
// airframeType = "GroundVehicleCar";
// setupGroundVehicle();
// } else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") {
// airframeType = "GroundVehicleDifferential";
// setupGroundVehicle();
// } else { // "Motorcycle"
// airframeType = "GroundVehicleMotorcycle";
// setupGroundVehicle();
// }
//
//
// // Now reflect those settings in the "Custom" panel as well
// updateCustomAirframeUI();
//
//// m_aircraft->widget_3->sendccpmUpdate();
}
} else {
airframeType = "Custom";

2
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configairframetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin