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Code Issues Releases Activity

Refactor configwidgets for multirotor,fixedwing,heli,ground;

Browse Source 
VehicleConfig subclasses ConfigTaskWidget and adds guiconfigdata bit storage;
Align channelbox items so 'None' is first;
This commit is contained in:
Mike LaBranche 2012-05-21 11:28:29 -07:00
parent ed54716436
commit 64688be0a1
16 changed files with 1344 additions and 1128 deletions
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564
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
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@ -44,21 +44,17 @@
#define Pi 3.14159265358979323846 #define Pi 3.14159265358979323846
ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : VehicleConfig(parent)
{ {
int i; int i;
m_ccpm = new Ui_ccpmWidget();
m_ccpm->setupUi(this);
SwashLvlConfigurationInProgress=0; SwashLvlConfigurationInProgress=0;
SwashLvlState=0; SwashLvlState=0;
SwashLvlServoInterlock=0; SwashLvlServoInterlock=0;
updatingFromHardware=FALSE; updatingFromHardware=FALSE;
updatingToHardware=FALSE; updatingToHardware=FALSE;
// Now connect the widget to the ManualControlCommand / Channel UAVObject m_ccpm = new Ui_ccpmWidget();
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); m_ccpm->setupUi(this);
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Initialization of the swashplaye widget // Initialization of the swashplaye widget
m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this)); m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
@ -148,20 +144,20 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
Q_ASSERT(curve2source); Q_ASSERT(curve2source);
QStringList channels; QStringList channels;
channels << "Channel1" << "Channel2" << "Channel3" << "Channel4" << channels << "None" << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
"Channel5" << "Channel6" << "Channel7" << "Channel8" << "None"; "Channel5" << "Channel6" << "Channel7" << "Channel8";
m_ccpm->ccpmEngineChannel->addItems(channels); m_ccpm->ccpmEngineChannel->addItems(channels);
m_ccpm->ccpmEngineChannel->setCurrentIndex(8); m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
m_ccpm->ccpmTailChannel->addItems(channels); m_ccpm->ccpmTailChannel->addItems(channels);
m_ccpm->ccpmTailChannel->setCurrentIndex(8); m_ccpm->ccpmTailChannel->setCurrentIndex(0);
m_ccpm->ccpmServoWChannel->addItems(channels); m_ccpm->ccpmServoWChannel->addItems(channels);
m_ccpm->ccpmServoWChannel->setCurrentIndex(8); m_ccpm->ccpmServoWChannel->setCurrentIndex(0);
m_ccpm->ccpmServoXChannel->addItems(channels); m_ccpm->ccpmServoXChannel->addItems(channels);
m_ccpm->ccpmServoXChannel->setCurrentIndex(8); m_ccpm->ccpmServoXChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->addItems(channels); m_ccpm->ccpmServoYChannel->addItems(channels);
m_ccpm->ccpmServoYChannel->setCurrentIndex(8); m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->addItems(channels); m_ccpm->ccpmServoZChannel->addItems(channels);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
QStringList Types; QStringList Types;
Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") << Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") <<
@ -170,12 +166,14 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings"); QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings");
m_ccpm->ccpmType->addItems(Types); m_ccpm->ccpmType->addItems(Types);
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
requestccpmUpdate();
UpdateCurveSettings(); UpdateCurveSettings();
//disable changing number of points in curves until UAVObjects have more than 5 //disable changing number of points in curves until UAVObjects have more than 5
m_ccpm->NumCurvePoints->setEnabled(0); m_ccpm->NumCurvePoints->setEnabled(0);
refreshWidgetsValues(QString("HeliCP"));
UpdateType(); UpdateType();
//connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate())); //connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
@ -229,13 +227,91 @@ ConfigccpmWidget::~ConfigccpmWidget()
// Do nothing // Do nothing
} }
void ConfigccpmWidget::setupUI(QString frameType)
{
}
void ConfigccpmWidget::ResetActuators(GUIConfigDataUnion* configData)
{
configData->heli.Throttle = 0;
configData->heli.Tail = 0;
configData->heli.ServoIndexW = 0;
configData->heli.ServoIndexX = 0;
configData->heli.ServoIndexY = 0;
configData->heli.ServoIndexZ = 0;
}
QStringList ConfigccpmWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i=0; i < (int)(ConfigccpmWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
heliGUISettingsStruct heli = configData.heli;
if (heli.Throttle > 0)
channelDesc[heli.Throttle - 1] = QString("Throttle");
if (heli.Tail > 0)
channelDesc[heli.Tail - 1] = QString("Tail");
switch(heli.FirstServoIndex)
{
case 0: //front
if (heli.ServoIndexW > 0)
channelDesc[heli.ServoIndexW - 1] = QString("Elevator");
if (heli.ServoIndexX > 0)
channelDesc[heli.ServoIndexX - 1] = QString("Roll1");
if (heli.ServoIndexY > 0)
channelDesc[heli.ServoIndexY - 1] = QString("Roll2");
break;
case 1: //right
if (heli.ServoIndexW > 0)
channelDesc[heli.ServoIndexW - 1] = QString("ServoW");
if (heli.ServoIndexX > 0)
channelDesc[heli.ServoIndexX - 1] = QString("ServoX");
if (heli.ServoIndexY > 0)
channelDesc[heli.ServoIndexY - 1] = QString("ServoY");
break;
case 2: //rear
if (heli.ServoIndexW > 0)
channelDesc[heli.ServoIndexW - 1] = QString("Elevator");
if (heli.ServoIndexX > 0)
channelDesc[heli.ServoIndexX - 1] = QString("Roll1");
if (heli.ServoIndexY > 0)
channelDesc[heli.ServoIndexY - 1] = QString("Roll2");
break;
case 3: //left
if (heli.ServoIndexW > 0)
channelDesc[heli.ServoIndexW - 1] = QString("ServoW");
if (heli.ServoIndexX > 0)
channelDesc[heli.ServoIndexX - 1] = QString("ServoX");
if (heli.ServoIndexY > 0)
channelDesc[heli.ServoIndexY - 1] = QString("ServoY");
break;
}
if (heli.ServoIndexZ > 0)
channelDesc[heli.ServoIndexZ - 1] = QString("ServoZ");
return channelDesc;
}
void ConfigccpmWidget::UpdateType() void ConfigccpmWidget::UpdateType()
{ {
int TypeInt,SingleServoIndex,NumServosDefined; int TypeInt,SingleServoIndex,NumServosDefined;
QString TypeText; QString TypeText;
double AdjustmentAngle=0; double AdjustmentAngle=0;
UpdateCCPMOptionsFromUI();
SetUIComponentVisibilities(); SetUIComponentVisibilities();
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
@ -283,8 +359,8 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleZ->setValue(0); m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0); m_ccpm->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setCurrentIndex(8); m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
@ -298,7 +374,7 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
m_ccpm->ccpmAngleZ->setValue(0); m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3; NumServosDefined=3;
@ -323,7 +399,7 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360)); m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360));
m_ccpm->ccpmAngleZ->setValue(0); m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3; NumServosDefined=3;
@ -336,7 +412,7 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360)); m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360));
m_ccpm->ccpmAngleZ->setValue(0); m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3; NumServosDefined=3;
@ -350,8 +426,8 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleZ->setValue(0); m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0); m_ccpm->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setCurrentIndex(8); m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0); //m_ccpm->ccpmCorrectionAngle->setValue(0);
@ -735,10 +811,10 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled()); defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled());
defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled()); defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled());
defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled()); defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled());
used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled())); used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()>0)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled())); used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()>0)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled())); used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()>0)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled())); used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()>0)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
angle[0]=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00; angle[0]=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
angle[1]=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00; angle[1]=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
angle[2]=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00; angle[2]=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
@ -803,61 +879,6 @@ void ConfigccpmWidget::ccpmSwashplateUpdate()
UpdateMixer(); UpdateMixer();
} }
void ConfigccpmWidget::ccpmChannelCheck()
{
if((m_ccpm->ccpmServoWChannel->currentIndex()==8)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
}
else
{
m_ccpm->ccpmServoWLabel->setText("<font color=black>Servo W</font>");
}
if((m_ccpm->ccpmServoXChannel->currentIndex()==8)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
}
else
{
m_ccpm->ccpmServoXLabel->setText("<font color=black>Servo X</font>");
}
if((m_ccpm->ccpmServoYChannel->currentIndex()==8)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
}
else
{
m_ccpm->ccpmServoYLabel->setText("<font color=black>Servo Y</font>");
}
if((m_ccpm->ccpmServoZChannel->currentIndex()==8)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
}
else
{
m_ccpm->ccpmServoZLabel->setText("<font color=black>Servo Z</font>");
}
if((m_ccpm->ccpmEngineChannel->currentIndex()==8)&&(m_ccpm->ccpmEngineChannel->isEnabled()))
{
m_ccpm->ccpmEngineLabel->setText("<font color=red>Engine</font>");
}
else
{
m_ccpm->ccpmEngineLabel->setText("<font color=black>Engine</font>");
}
if((m_ccpm->ccpmTailChannel->currentIndex()==8)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
}
}
void ConfigccpmWidget::UpdateMixer() void ConfigccpmWidget::UpdateMixer()
{ {
bool useCCPM; bool useCCPM;
@ -866,13 +887,16 @@ void ConfigccpmWidget::UpdateMixer()
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6]; float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
QString Channel; QString Channel;
ccpmChannelCheck(); throwConfigError(QString("HeliCP"));
UpdateCCPMOptionsFromUI();
useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); updateConfigObjectsFromWidgets();
useCyclic = GUIConfigData.heli.ccpmLinkRollState;
CollectiveConstant = (float)GUIConfigData.heli.SliderValue0 / 100.00; GUIConfigDataUnion config = GetConfigData();
useCCPM = !(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState);
useCyclic = config.heli.ccpmLinkRollState;
CollectiveConstant = (float)config.heli.SliderValue0 / 100.00;
if (useCCPM) if (useCCPM)
{//cyclic = 1 - collective {//cyclic = 1 - collective
@ -881,18 +905,18 @@ void ConfigccpmWidget::UpdateMixer()
} }
else else
{ {
PitchConstant = (float)GUIConfigData.heli.SliderValue1 / 100.00;; PitchConstant = (float)config.heli.SliderValue1 / 100.00;;
if (useCyclic) if (useCyclic)
{ {
RollConstant = PitchConstant; RollConstant = PitchConstant;
} }
else else
{ {
RollConstant = (float)GUIConfigData.heli.SliderValue2 / 100.00;; RollConstant = (float)config.heli.SliderValue2 / 100.00;;
} }
} }
if (GUIConfigData.heli.SwashplateType>0) if (config.heli.SwashplateType>0)
{//not advanced settings {//not advanced settings
//get the channel data from the ui //get the channel data from the ui
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
@ -914,18 +938,18 @@ void ConfigccpmWidget::UpdateMixer()
ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled(); ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled();
ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled(); ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled();
ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2]+1 )); ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2] ));
ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3]+1 )); ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3] ));
ServosText[2]->setPlainText(QString("%1").arg( MixerChannelData[4]+1 )); ServosText[2]->setPlainText(QString("%1").arg( MixerChannelData[4] ));
ServosText[3]->setPlainText(QString("%1").arg( MixerChannelData[5]+1 )); ServosText[3]->setPlainText(QString("%1").arg( MixerChannelData[5] ));
//go through the user data and update the mixer matrix //go through the user data and update the mixer matrix
for (i=0;i<6;i++) for (i=0;i<6;i++)
{ {
if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2))) if ((MixerChannelData[i]>0)&&((ThisEnable[i])||(i<2)))
{ {
m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 )); m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i] ));
//config the vector //config the vector
if (i==0) if (i==0)
{//motor-engine {//motor-engine
@ -947,8 +971,8 @@ void ConfigccpmWidget::UpdateMixer()
{//Swashplate {//Swashplate
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2 m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+config.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((config.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
} }
@ -970,131 +994,132 @@ void ConfigccpmWidget::UpdateMixer()
} }
} }
} }
QString ConfigccpmWidget::updateConfigObjectsFromWidgets() //UpdateCCPMOptionsFromUI()
/**************************
* ccpm settings
**************************/
/*
Get the state of the UI check boxes and change the visibility of sliders
typedef struct {
uint SwasplateType:3;
uint FirstServoIndex:2;
uint CorrectionAngle:9;
uint ccpmCollectivePassthroughState:1;
uint ccpmLinkCyclicState:1;
uint ccpmLinkRollState:1;
uint CollectiveChannel:3;
uint padding:12;
} __attribute__((packed)) heliGUISettingsStruct;
*/
void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
{ {
QString airframeType = "HeliCP";
bool useCCPM; bool useCCPM;
bool useCyclic; bool useCyclic;
if (updatingFromHardware) return; if (updatingFromHardware) return airframeType;
updatingFromHardware = TRUE;
//get the user options //get the user options
GUIConfigDataUnion config = GetConfigData();
//swashplate config //swashplate config
GUIConfigData.heli.SwashplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; config.heli.SwashplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); config.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
//ccpm mixing options //ccpm mixing options
GUIConfigData.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); config.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked();
GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); config.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked();
GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); config.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked();
useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); useCCPM = !(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState);
useCyclic = GUIConfigData.heli.ccpmLinkRollState; useCyclic = config.heli.ccpmLinkRollState;
//correction angle //correction angle
GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value(); config.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value();
//update sliders //update sliders
if (useCCPM) if (useCCPM)
{ {
GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value(); config.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value();
} }
else else
{ {
GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value(); config.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value();
} }
if (useCyclic) if (useCyclic)
{ {
GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value(); config.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value();
} }
else else
{ {
GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value(); config.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value();
} }
GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); config.heli.SliderValue2 = m_ccpm->ccpmRollScale->value();
//servo assignments //servo assignments
GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); config.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex();
GUIConfigData.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex(); config.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex();
GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex(); config.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex();
GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); config.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex();
//throttle //throttle
GUIConfigData.heli.Throttle = m_ccpm->ccpmEngineChannel->currentIndex(); config.heli.Throttle = m_ccpm->ccpmEngineChannel->currentIndex();
//tail //tail
GUIConfigData.heli.Tail = m_ccpm->ccpmTailChannel->currentIndex(); config.heli.Tail = m_ccpm->ccpmTailChannel->currentIndex();
SetConfigData(config);
//setMixer();
updatingFromHardware = FALSE;
return airframeType;
} }
void ConfigccpmWidget::UpdateCCPMUIFromOptions()
void ConfigccpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFromOptions()
{ {
Q_UNUSED(frameType);
GUIConfigDataUnion config = GetConfigData();
//swashplate config //swashplate config
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwashplateType +1)); setComboCurrentIndex( m_ccpm->ccpmType, m_ccpm->ccpmType->count() - (config.heli.SwashplateType +1));
m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex); setComboCurrentIndex(m_ccpm->ccpmSingleServo, config.heli.FirstServoIndex);
//ccpm mixing options //ccpm mixing options
m_ccpm->ccpmCollectivePassthrough->setChecked(GUIConfigData.heli.ccpmCollectivePassthroughState); m_ccpm->ccpmCollectivePassthrough->setChecked(config.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmLinkCyclic->setChecked(GUIConfigData.heli.ccpmLinkCyclicState); m_ccpm->ccpmLinkCyclic->setChecked(config.heli.ccpmLinkCyclicState);
m_ccpm->ccpmLinkRoll->setChecked(GUIConfigData.heli.ccpmLinkRollState); m_ccpm->ccpmLinkRoll->setChecked(config.heli.ccpmLinkRollState);
//correction angle //correction angle
m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle); m_ccpm->ccpmCorrectionAngle->setValue(config.heli.CorrectionAngle);
//update sliders //update sliders
m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectiveScale->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectiveScaleBox->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCyclicScale->setValue(GUIConfigData.heli.SliderValue1); m_ccpm->ccpmCyclicScale->setValue(config.heli.SliderValue1);
m_ccpm->ccpmCyclicScaleBox->setValue(GUIConfigData.heli.SliderValue1); m_ccpm->ccpmCyclicScaleBox->setValue(config.heli.SliderValue1);
m_ccpm->ccpmPitchScale->setValue(GUIConfigData.heli.SliderValue1); m_ccpm->ccpmPitchScale->setValue(config.heli.SliderValue1);
m_ccpm->ccpmPitchScaleBox->setValue(GUIConfigData.heli.SliderValue1); m_ccpm->ccpmPitchScaleBox->setValue(config.heli.SliderValue1);
m_ccpm->ccpmRollScale->setValue(GUIConfigData.heli.SliderValue2); m_ccpm->ccpmRollScale->setValue(config.heli.SliderValue2);
m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2); m_ccpm->ccpmRollScaleBox->setValue(config.heli.SliderValue2);
m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectiveSlider->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectivespinBox->setValue(config.heli.SliderValue0);
//servo assignments //servo assignments
m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW); setComboCurrentIndex(m_ccpm->ccpmServoWChannel, config.heli.ServoIndexW);
m_ccpm->ccpmServoXChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexX); setComboCurrentIndex( m_ccpm->ccpmServoXChannel,config.heli.ServoIndexX);
m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY); setComboCurrentIndex( m_ccpm->ccpmServoYChannel,config.heli.ServoIndexY);
m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ); setComboCurrentIndex( m_ccpm->ccpmServoZChannel,config.heli.ServoIndexZ);
//throttle //throttle
m_ccpm->ccpmEngineChannel->setCurrentIndex(GUIConfigData.heli.Throttle); setComboCurrentIndex( m_ccpm->ccpmEngineChannel, config.heli.Throttle);
//tail //tail
m_ccpm->ccpmTailChannel->setCurrentIndex((GUIConfigData.heli.Tail)); setComboCurrentIndex( m_ccpm->ccpmTailChannel, config.heli.Tail);
//getMixer();
} }
void ConfigccpmWidget::SetUIComponentVisibilities() void ConfigccpmWidget::SetUIComponentVisibilities()
{ {
UpdateCCPMOptionsFromUI(); GUIConfigDataUnion config = GetConfigData();
//set which sliders are user... //set which sliders are user...
m_ccpm->ccpmRevoMixingBox->setVisible(0); m_ccpm->ccpmRevoMixingBox->setVisible(0);
m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState); m_ccpm->ccpmPitchMixingBox->setVisible(!config.heli.ccpmCollectivePassthroughState && config.heli.ccpmLinkCyclicState);
m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); m_ccpm->ccpmCollectiveScalingBox->setVisible(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState);
m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState); m_ccpm->ccpmLinkCyclic->setVisible(!config.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState); m_ccpm->ccpmCyclicScalingBox->setVisible((config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState) && config.heli.ccpmLinkRollState);
if (!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState) if (!config.heli.ccpmCollectivePassthroughState && config.heli.ccpmLinkCyclicState)
{ {
m_ccpm->ccpmPitchScalingBox->setVisible(0); m_ccpm->ccpmPitchScalingBox->setVisible(0);
m_ccpm->ccpmRollScalingBox->setVisible(0); m_ccpm->ccpmRollScalingBox->setVisible(0);
@ -1103,8 +1128,8 @@ void ConfigccpmWidget::SetUIComponentVisibilities()
} }
else else
{ {
m_ccpm->ccpmPitchScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState); m_ccpm->ccpmPitchScalingBox->setVisible(!config.heli.ccpmLinkRollState);
m_ccpm->ccpmRollScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState); m_ccpm->ccpmRollScalingBox->setVisible(!config.heli.ccpmLinkRollState);
m_ccpm->ccpmLinkRoll->setVisible(1); m_ccpm->ccpmLinkRoll->setVisible(1);
} }
@ -1112,116 +1137,18 @@ void ConfigccpmWidget::SetUIComponentVisibilities()
/** /**
Request the current value of the SystemSettings which holds the ccpm type Request the current value of the SystemSettings which holds the ccpm type
*/ */
void ConfigccpmWidget::requestccpmUpdate() void ConfigccpmWidget::getMixer()
{ {
#define MaxAngleError 2
int MixerDataFromHeli[8][5];
quint8 MixerOutputType[8];
int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],ServoCurve2[4];
int NumServos=0;
if (SwashLvlConfigurationInProgress)return; if (SwashLvlConfigurationInProgress)return;
if (updatingToHardware)return; if (updatingToHardware)return;
updatingFromHardware=TRUE; updatingFromHardware=TRUE;
unsigned int i,j; int i;
// SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
// Q_ASSERT(systemSettings);
// SystemSettings::DataFields systemSettingsData = systemSettings->getData();
// Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
// (sizeof(GUIConfigData.UAVObject) / sizeof(GUIConfigData.UAVObject[0])));
// for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++)
// GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
GUIConfigData = GUIManager.GetConfigData();
UpdateCCPMUIFromOptions();
// Get existing mixer settings // Get existing mixer settings
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
//go through the user data and update the mixer matrix
for (j=0;j<5;j++)
{
MixerDataFromHeli[0][j] = mixerSettingsData.Mixer1Vector[j];
MixerDataFromHeli[1][j] = mixerSettingsData.Mixer2Vector[j];
MixerDataFromHeli[2][j] = mixerSettingsData.Mixer3Vector[j];
MixerDataFromHeli[3][j] = mixerSettingsData.Mixer4Vector[j];
MixerDataFromHeli[4][j] = mixerSettingsData.Mixer5Vector[j];
MixerDataFromHeli[5][j] = mixerSettingsData.Mixer6Vector[j];
MixerDataFromHeli[6][j] = mixerSettingsData.Mixer7Vector[j];
MixerDataFromHeli[7][j] = mixerSettingsData.Mixer8Vector[j];
}
MixerOutputType[0] = mixerSettingsData.Mixer1Type;
MixerOutputType[1] = mixerSettingsData.Mixer2Type;
MixerOutputType[2] = mixerSettingsData.Mixer3Type;
MixerOutputType[3] = mixerSettingsData.Mixer4Type;
MixerOutputType[4] = mixerSettingsData.Mixer5Type;
MixerOutputType[5] = mixerSettingsData.Mixer6Type;
MixerOutputType[6] = mixerSettingsData.Mixer7Type;
MixerOutputType[7] = mixerSettingsData.Mixer8Type;
EngineChannel =-1;
TailRotorChannel =-1;
for (j=0;j<5;j++)
{
ServoChannels[j]=8;
ServoCurve2[j]=0;
ServoAngles[j]=0;
SortAngles[j]=j;
}
NumServos=0;
//process the data from Heli and try to figure out the settings...
for (i=0;i<8;i++)
{
//check if this is the engine... Throttle only
if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_MOTOR)&&
(MixerDataFromHeli[i][0]>0)&&//ThrottleCurve1
(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
(MixerDataFromHeli[i][2]==0)&&//Roll
(MixerDataFromHeli[i][3]==0)&&//Pitch
(MixerDataFromHeli[i][4]==0))//Yaw
{
EngineChannel = i;
//m_ccpm->ccpmEngineChannel->setCurrentIndex(i);
}
//check if this is the tail rotor... REVO and YAW
if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_SERVO)&&
//(MixerDataFromHeli[i][0]!=0)&&//ThrottleCurve1
(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
(MixerDataFromHeli[i][2]==0)&&//Roll
(MixerDataFromHeli[i][3]==0)&&//Pitch
(MixerDataFromHeli[i][4]!=0))//Yaw
{
TailRotorChannel = i;
//m_ccpm->ccpmTailChannel->setCurrentIndex(i);
m_ccpm->ccpmRevoSlider->setValue((MixerDataFromHeli[i][0]*100)/127);
m_ccpm->ccpmREVOspinBox->setValue((MixerDataFromHeli[i][0]*100)/127);
}
//check if this is a swashplate servo... Throttle is zero
if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_SERVO)&&
(MixerDataFromHeli[i][0]==0)&&//ThrottleCurve1
//(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
//(MixerDataFromHeli[i][2]==0)&&//Roll
//(MixerDataFromHeli[i][3]==0)&&//Pitch
(MixerDataFromHeli[i][4]==0))//Yaw
{
ServoChannels[NumServos] = i;//record the channel for this servo
ServoCurve2[NumServos]=MixerDataFromHeli[i][1];//record the ThrottleCurve2 contribution to this servo
ServoAngles[NumServos]=NumServos*45;//make this 0 for the final version
NumServos++;
}
}
//get the settings for the curve from the mixer settings //get the settings for the curve from the mixer settings
for (i=0;i<5;i++) for (i=0;i<5;i++)
{ {
@ -1232,7 +1159,7 @@ void ConfigccpmWidget::requestccpmUpdate()
} }
updatingFromHardware=FALSE; updatingFromHardware=FALSE;
UpdateCCPMUIFromOptions();
ccpmSwashplateUpdate(); ccpmSwashplateUpdate();
} }
@ -1240,27 +1167,12 @@ void ConfigccpmWidget::requestccpmUpdate()
/** /**
Sends the config to the board (ccpm type) Sends the config to the board (ccpm type)
*/ */
void ConfigccpmWidget::sendccpmUpdate() void ConfigccpmWidget::setMixer()
{ {
int i,j; int i,j;
if (SwashLvlConfigurationInProgress)return; if (SwashLvlConfigurationInProgress)return;
updatingToHardware=TRUE; updatingToHardware=TRUE;
//ShowDisclaimer(1);
UpdateCCPMOptionsFromUI();
GUIManager.SetConfigData(GUIConfigData);
// Store the data required to reconstruct
// SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
// Q_ASSERT(systemSettings);
// SystemSettings::DataFields systemSettingsData = systemSettings->getData();
// for (i=0; i<SystemSettings::GUICONFIGDATA_NUMELEM; i++)
// systemSettingsData.GUIConfigData[i] = GUIConfigData.UAVObject[i];
// systemSettings->setData(systemSettingsData);
// systemSettings->updated();
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings); Q_ASSERT(mixerSettings);
@ -1316,7 +1228,7 @@ void ConfigccpmWidget::sendccpmUpdate()
//mapping of collective input to curve 2... //mapping of collective input to curve 2...
//MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5 //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
//check if we are using throttle or directly from a channel... //check if we are using throttle or directly from a channel...
if (GUIConfigData.heli.ccpmCollectivePassthroughState) if (GetConfigData().heli.ccpmCollectivePassthroughState)
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE; mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE;
else else
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE; mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE;
@ -1335,7 +1247,8 @@ void ConfigccpmWidget::saveccpmUpdate()
if (SwashLvlConfigurationInProgress)return; if (SwashLvlConfigurationInProgress)return;
ShowDisclaimer(0); ShowDisclaimer(0);
// Send update so that the latest value is saved // Send update so that the latest value is saved
sendccpmUpdate(); //sendccpmUpdate();
setMixer();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
saveObjectToSD(obj); saveObjectToSD(obj);
@ -1402,7 +1315,8 @@ void ConfigccpmWidget::SwashLvlStartButtonPressed()
//download the current settings to the OP hw //download the current settings to the OP hw
sendccpmUpdate(); //sendccpmUpdate();
setMixer();
//change control mode to gcs control / disarmed //change control mode to gcs control / disarmed
//set throttle to 0 //set throttle to 0
@ -1427,10 +1341,10 @@ void ConfigccpmWidget::SwashLvlStartButtonPressed()
oldSwashLvlConfiguration.ServoChannels[2]=m_ccpm->ccpmServoYChannel->currentIndex(); oldSwashLvlConfiguration.ServoChannels[2]=m_ccpm->ccpmServoYChannel->currentIndex();
oldSwashLvlConfiguration.ServoChannels[3]=m_ccpm->ccpmServoZChannel->currentIndex(); oldSwashLvlConfiguration.ServoChannels[3]=m_ccpm->ccpmServoZChannel->currentIndex();
//if servos are used //if servos are used
oldSwashLvlConfiguration.Used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled())); oldSwashLvlConfiguration.Used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()>0)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
oldSwashLvlConfiguration.Used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled())); oldSwashLvlConfiguration.Used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()>0)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
oldSwashLvlConfiguration.Used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled())); oldSwashLvlConfiguration.Used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()>0)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
oldSwashLvlConfiguration.Used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled())); oldSwashLvlConfiguration.Used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()>0)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
//min,neutral,max values for the servos //min,neutral,max values for the servos
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{ {
@ -1822,3 +1736,63 @@ void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
return; return;
} }
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigccpmWidget::throwConfigError(QString airframeType)
{
Q_UNUSED(airframeType);
if((m_ccpm->ccpmServoWChannel->currentIndex()==0)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
}
else
{
m_ccpm->ccpmServoWLabel->setText("<font color=black>Servo W</font>");
}
if((m_ccpm->ccpmServoXChannel->currentIndex()==0)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
}
else
{
m_ccpm->ccpmServoXLabel->setText("<font color=black>Servo X</font>");
}
if((m_ccpm->ccpmServoYChannel->currentIndex()==0)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
}
else
{
m_ccpm->ccpmServoYLabel->setText("<font color=black>Servo Y</font>");
}
if((m_ccpm->ccpmServoZChannel->currentIndex()==0)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
}
else
{
m_ccpm->ccpmServoZLabel->setText("<font color=black>Servo Z</font>");
}
if((m_ccpm->ccpmEngineChannel->currentIndex()==0)&&(m_ccpm->ccpmEngineChannel->isEnabled()))
{
m_ccpm->ccpmEngineLabel->setText("<font color=red>Engine</font>");
}
else
{
m_ccpm->ccpmEngineLabel->setText("<font color=black>Engine</font>");
}
if((m_ccpm->ccpmTailChannel->currentIndex()==0)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
}
}

56
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -29,7 +29,7 @@
#include "ui_ccpm.h" #include "ui_ccpm.h"
#include "../uavobjectwidgetutils/configtaskwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h"
#include "guiconfigdata.h" #include "cfg_vehicletypes/vehicleconfig.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
@ -50,33 +50,9 @@ typedef struct {
int Neutral[CCPM_MAX_SWASH_SERVOS]; int Neutral[CCPM_MAX_SWASH_SERVOS];
int Min[CCPM_MAX_SWASH_SERVOS]; int Min[CCPM_MAX_SWASH_SERVOS];
} SwashplateServoSettingsStruct; } SwashplateServoSettingsStruct;
//typedef struct {
// uint SwasplateType:3;
// uint FirstServoIndex:2;
// uint CorrectionAngle:9;
// uint ccpmCollectivePassthroughState:1;
// uint ccpmLinkCyclicState:1;
// uint ccpmLinkRollState:1;
// uint SliderValue0:7;
// uint SliderValue1:7;
// uint SliderValue2:7;//41bits
// uint ServoIndexW:4;
// uint ServoIndexX:4;
// uint ServoIndexY:4;
// uint ServoIndexZ:4;//57bits
// uint Throttle:4;
// uint Tail:4; //65bits
// quint32 padding1:31; //96bits
// quint32 padding2; //128bits
//} __attribute__((packed)) heliGUISettingsStruct;
//typedef union
//{
// uint UAVObject[4];//32bits * 4
// heliGUISettingsStruct heli;//128bits
//} GUIConfigDataUnion;
class ConfigccpmWidget: public ConfigTaskWidget class ConfigccpmWidget: public VehicleConfig
{ {
Q_OBJECT Q_OBJECT
@ -90,14 +66,6 @@ private:
Ui_ccpmWidget *m_ccpm; Ui_ccpmWidget *m_ccpm;
QGraphicsSvgItem *SwashplateImg; QGraphicsSvgItem *SwashplateImg;
QGraphicsSvgItem *CurveImg; QGraphicsSvgItem *CurveImg;
//QGraphicsSvgItem *ServoW;
//QGraphicsSvgItem *ServoX;
//QGraphicsSvgItem *ServoY;
//QGraphicsSvgItem *ServoZ;
//QGraphicsTextItem *ServoWText;
//QGraphicsTextItem *ServoXText;
//QGraphicsTextItem *ServoYText;
//QGraphicsTextItem *ServoZText;
QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS]; QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS];
QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS]; QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS];
QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS]; QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS];
@ -112,9 +80,6 @@ private:
SwashplateServoSettingsStruct oldSwashLvlConfiguration; SwashplateServoSettingsStruct oldSwashLvlConfiguration;
SwashplateServoSettingsStruct newSwashLvlConfiguration; SwashplateServoSettingsStruct newSwashLvlConfiguration;
GUIConfigDataManager GUIManager;
GUIConfigDataUnion GUIConfigData;
int MixerChannelData[6]; int MixerChannelData[6];
int ShowDisclaimer(int messageID); int ShowDisclaimer(int messageID);
virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget
@ -122,7 +87,15 @@ private:
bool updatingFromHardware; bool updatingFromHardware;
bool updatingToHardware; bool updatingToHardware;
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();
private slots: private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
void ccpmSwashplateUpdate(); void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw(); void ccpmSwashplateRedraw();
void UpdateCurveSettings(); void UpdateCurveSettings();
@ -139,11 +112,10 @@ private:
void SwashLvlCancelButtonPressed(); void SwashLvlCancelButtonPressed();
void SwashLvlFinishButtonPressed(); void SwashLvlFinishButtonPressed();
void UpdateCCPMOptionsFromUI(); //void UpdateCCPMOptionsFromUI();
void UpdateCCPMUIFromOptions(); //void UpdateCCPMUIFromOptions();
void SetUIComponentVisibilities(); void SetUIComponentVisibilities();
void ccpmChannelCheck();
void enableSwashplateLevellingControl(bool state); void enableSwashplateLevellingControl(bool state);
void setSwashplateLevel(int percent); void setSwashplateLevel(int percent);
@ -151,8 +123,8 @@ private:
virtual void refreshValues() {}; // Not used virtual void refreshValues() {}; // Not used
public slots: public slots:
void requestccpmUpdate(); void getMixer();
void sendccpmUpdate(); void setMixer();
void saveccpmUpdate(); void saveccpmUpdate();
protected: protected:

160
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -24,7 +24,7 @@
* with this program; if not, write to the Free Software Foundation, Inc., * with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
//#include "configfixedwingwidget.h" #include "configfixedwingwidget.h"
#include "configvehicletypewidget.h" #include "configvehicletypewidget.h"
#include "mixersettings.h" #include "mixersettings.h"
@ -40,18 +40,38 @@
#include "mixersettings.h" #include "mixersettings.h"
#include "systemsettings.h" #include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h" #include "actuatorcommand.h"
/** /**
Helper function to setup the UI Constructor
*/ */
void ConfigVehicleTypeWidget::setupFixedWingUI(QString frameType) ConfigFixedWingWidget::ConfigFixedWingWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
{ {
m_aircraft = aircraft;
}
/**
Destructor
*/
ConfigFixedWingWidget::~ConfigFixedWingWidget()
{
// Do nothing
}
/**
Virtual function to setup the UI
*/
void ConfigFixedWingWidget::setupUI(QString frameType)
{
Q_ASSERT(m_aircraft);
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") { if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
// Setup the UI // Setup the UI
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
m_aircraft->fwRudder1ChannelBox->setEnabled(true); m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true); m_aircraft->fwRudder1Label->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true); m_aircraft->fwRudder2ChannelBox->setEnabled(true);
@ -72,8 +92,8 @@ void ConfigVehicleTypeWidget::setupFixedWingUI(QString frameType)
m_aircraft->elevonMixBox->setHidden(true); m_aircraft->elevonMixBox->setHidden(true);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") { } else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevon")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
m_aircraft->fwAileron1Label->setText("Elevon 1"); m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2"); m_aircraft->fwAileron2Label->setText("Elevon 2");
m_aircraft->fwElevator1ChannelBox->setEnabled(false); m_aircraft->fwElevator1ChannelBox->setEnabled(false);
@ -91,8 +111,8 @@ void ConfigVehicleTypeWidget::setupFixedWingUI(QString frameType)
m_aircraft->elevonLabel2->setText("Pitch"); m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") { } else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Vtail")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
m_aircraft->fwRudder1ChannelBox->setEnabled(false); m_aircraft->fwRudder1ChannelBox->setEnabled(false);
m_aircraft->fwRudder1Label->setEnabled(false); m_aircraft->fwRudder1Label->setEnabled(false);
m_aircraft->fwRudder2ChannelBox->setEnabled(false); m_aircraft->fwRudder2ChannelBox->setEnabled(false);
@ -111,12 +131,53 @@ void ConfigVehicleTypeWidget::setupFixedWingUI(QString frameType)
} }
} }
void ConfigFixedWingWidget::ResetActuators(GUIConfigDataUnion* configData)
{
configData->fixedwing.FixedWingPitch1 = 0;
configData->fixedwing.FixedWingPitch2 = 0;
configData->fixedwing.FixedWingRoll1 = 0;
configData->fixedwing.FixedWingRoll2 = 0;
configData->fixedwing.FixedWingYaw1 = 0;
configData->fixedwing.FixedWingYaw2 = 0;
configData->fixedwing.FixedWingThrottle = 0;
}
QStringList ConfigFixedWingWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i=0; i < (int)(ConfigFixedWingWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
if (configData.fixedwing.FixedWingPitch1 > 0)
channelDesc[configData.fixedwing.FixedWingPitch1-1] = QString("FixedWingPitch1");
if (configData.fixedwing.FixedWingPitch2 > 0)
channelDesc[configData.fixedwing.FixedWingPitch2-1] = QString("FixedWingPitch2");
if (configData.fixedwing.FixedWingRoll1 > 0)
channelDesc[configData.fixedwing.FixedWingRoll1-1] = QString("FixedWingRoll1");
if (configData.fixedwing.FixedWingRoll2 > 0)
channelDesc[configData.fixedwing.FixedWingRoll2-1] = QString("FixedWingRoll2");
if (configData.fixedwing.FixedWingYaw1 > 0)
channelDesc[configData.fixedwing.FixedWingYaw1-1] = QString("FixedWingYaw1");
if (configData.fixedwing.FixedWingYaw2 > 0)
channelDesc[configData.fixedwing.FixedWingYaw2-1] = QString("FixedWingYaw2");
if (configData.fixedwing.FixedWingThrottle > 0)
channelDesc[configData.fixedwing.FixedWingThrottle-1] = QString("FixedWingThrottle");
return channelDesc;
}
/** /**
Helper function to update the UI widget objects Virtual function to update the UI widget objects
*/ */
QString ConfigVehicleTypeWidget::updateFixedWingObjectsFromWidgets() QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
{ {
QString airframeType = "FixedWing"; QString airframeType = "FixedWing";
@ -145,20 +206,19 @@ QString ConfigVehicleTypeWidget::updateFixedWingObjectsFromWidgets()
setupFrameVtail( airframeType ); setupFrameVtail( airframeType );
} }
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
return airframeType; return airframeType;
} }
/** /**
Helper function to refresh the UI widget values Virtual function to refresh the UI widget values
*/ */
void ConfigVehicleTypeWidget::refreshFixedWingWidgetsValues(QString frameType) void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
{ {
GUIConfigData = GUIManager.GetConfigData(); Q_ASSERT(m_aircraft);
fixedGUISettingsStruct fixed = GUIConfigData.fixed;
GUIConfigDataUnion config = GetConfigData();
fixedGUISettingsStruct fixed = config.fixedwing;
// Then retrieve how channels are setup // Then retrieve how channels are setup
setComboCurrentIndex(m_aircraft->fwEngineChannelBox, fixed.FixedWingThrottle); setComboCurrentIndex(m_aircraft->fwEngineChannelBox, fixed.FixedWingThrottle);
@ -210,11 +270,11 @@ void ConfigVehicleTypeWidget::refreshFixedWingWidgetsValues(QString frameType)
Returns False if impossible to create the mixer. Returns False if impossible to create the mixer.
*/ */
bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType) bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
{ {
// Check coherence: // Check coherence:
//Show any config errors in GUI //Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType); throwConfigError(airframeType);
// - At least Pitch and either Roll or Yaw // - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannelBox->currentText() == "None" || if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
@ -228,17 +288,17 @@ bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
// Now setup the channels: // Now setup the channels:
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion config = GetConfigData();
GUIManager.ResetActuators(&GUIConfigData); ResetActuators(&config);
GUIConfigData.fixed.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex(); config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex(); config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex(); config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex(); config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData); SetConfigData(config);
UAVDataObject* obj; UAVDataObject* obj;
UAVObjectField* field; UAVObjectField* field;
@ -331,11 +391,11 @@ bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
/** /**
Setup Elevon Setup Elevon
*/ */
bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType) bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
{ {
// Check coherence: // Check coherence:
//Show any config errors in GUI //Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType); throwConfigError(airframeType);
// - At least Aileron1 and Aileron 2, and engine // - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" || if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
@ -346,16 +406,16 @@ bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
return false; return false;
} }
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion config = GetConfigData();
GUIManager.ResetActuators(&GUIConfigData); ResetActuators(&config);
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex(); config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex(); config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex(); config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData); SetConfigData(config);
UAVDataObject* obj; UAVDataObject* obj;
UAVObjectField* field; UAVObjectField* field;
@ -443,11 +503,11 @@ bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
/** /**
Setup VTail Setup VTail
*/ */
bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType) bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{ {
// Check coherence: // Check coherence:
//Show any config errors in GUI //Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType); throwConfigError(airframeType);
// - At least Pitch1 and Pitch2, and engine // - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" || if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
@ -458,16 +518,16 @@ bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType)
return false; return false;
} }
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion config = GetConfigData();
GUIManager.ResetActuators(&GUIConfigData); ResetActuators(&config);
GUIConfigData.fixed.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex(); config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex(); config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex(); config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData); SetConfigData(config);
UAVDataObject* obj; UAVDataObject* obj;
UAVObjectField* field; UAVObjectField* field;
@ -545,7 +605,7 @@ bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType)
/** /**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured. This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/ */
void ConfigVehicleTypeWidget::throwFixedWingChannelConfigError(QString airframeType) void ConfigFixedWingWidget::throwConfigError(QString airframeType)
{ {
//Initialize configuration error flag //Initialize configuration error flag
bool error=false; bool error=false;

74
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h Normal file
View File

@ -0,0 +1,74 @@
/**
******************************************************************************
*
* @file configairframetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Airframe configuration panel
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CONFIGFIXEDWINGWIDGET_H
#define CONFIGFIXEDWINGWIDGET_H
#include "ui_airframe.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "uavtalk/telemetrymanager.h"
#include <QtGui/QWidget>
#include <QList>
#include <QItemDelegate>
class Ui_Widget;
class ConfigFixedWingWidget: public VehicleConfig
{
Q_OBJECT
public:
ConfigFixedWingWidget(Ui_AircraftWidget *aircraft = 0, QWidget *parent = 0);
~ConfigFixedWingWidget();
friend class ConfigVehicleTypeWidget;
private:
Ui_AircraftWidget *m_aircraft;
bool setupFrameFixedWing(QString airframeType);
bool setupFrameElevon(QString airframeType);
bool setupFrameVtail(QString airframeType);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();
private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
protected:
};
#endif // CONFIGFIXEDWINGWIDGET_H

137
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -24,7 +24,7 @@
* with this program; if not, write to the Free Software Foundation, Inc., * with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
//#include "configgroundvehiclewidget.h" #include "configgroundvehiclewidget.h"
#include "configvehicletypewidget.h" #include "configvehicletypewidget.h"
#include "mixersettings.h" #include "mixersettings.h"
@ -40,18 +40,35 @@
#include "mixersettings.h" #include "mixersettings.h"
#include "systemsettings.h" #include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h" #include "actuatorcommand.h"
/** /**
Helper function to setup the UI Constructor
*/ */
void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType) ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
{
m_aircraft = aircraft;
}
/**
Destructor
*/
ConfigGroundVehicleWidget::~ConfigGroundVehicleWidget()
{
// Do nothing
}
/**
Virtual function to setup the UI
*/
void ConfigGroundVehicleWidget::setupUI(QString frameType)
{ {
m_aircraft->differentialSteeringMixBox->setHidden(true); m_aircraft->differentialSteeringMixBox->setHidden(true);
//STILL NEEDS WORK //STILL NEEDS WORK
// Setup the UI // Setup the UI
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Ground")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Ground"));
m_aircraft->gvEngineChannelBox->setEnabled(false); m_aircraft->gvEngineChannelBox->setEnabled(false);
m_aircraft->gvEngineLabel->setEnabled(false); m_aircraft->gvEngineLabel->setEnabled(false);
@ -64,7 +81,7 @@ void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType)
m_aircraft->gvAileron2Label->setEnabled(false); m_aircraft->gvAileron2Label->setEnabled(false);
if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"){ //Tank if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)"){ //Tank
m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Differential (tank)")); setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Differential (tank)"));
m_aircraft->gvMotor1ChannelBox->setEnabled(true); m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor1Label->setEnabled(true); m_aircraft->gvMotor1Label->setEnabled(true);
@ -89,7 +106,7 @@ void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType)
} }
else if (frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle"){ //Motorcycle else if (frameType == "GroundVehicleMotorcycle" || frameType == "Motorcycle"){ //Motorcycle
m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Motorcycle")); setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Motorcycle"));
m_aircraft->gvMotor1ChannelBox->setEnabled(false); m_aircraft->gvMotor1ChannelBox->setEnabled(false);
m_aircraft->gvMotor1Label->setEnabled(false); m_aircraft->gvMotor1Label->setEnabled(false);
@ -113,7 +130,7 @@ void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType)
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve"); m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
} }
else {//Car else {//Car
m_aircraft->groundVehicleType->setCurrentIndex(m_aircraft->groundVehicleType->findText("Turnable (car)")); setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Turnable (car)"));
m_aircraft->gvMotor1ChannelBox->setEnabled(true); m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor1Label->setEnabled(true); m_aircraft->gvMotor1Label->setEnabled(true);
@ -137,12 +154,46 @@ void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType)
} }
} }
void ConfigGroundVehicleWidget::ResetActuators(GUIConfigDataUnion* configData)
{
configData->ground.GroundVehicleSteering1 = 0;
configData->ground.GroundVehicleSteering2 = 0;
configData->ground.GroundVehicleThrottle1 = 0;
configData->ground.GroundVehicleThrottle2 = 0;
}
QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i=0; i < (int)(ConfigGroundVehicleWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
if (configData.ground.GroundVehicleSteering1 > 0)
channelDesc[configData.ground.GroundVehicleSteering1-1] = QString("GroundSteering1");
if (configData.ground.GroundVehicleSteering2 > 0)
channelDesc[configData.ground.GroundVehicleSteering2-1] = QString("GroundSteering2");
if (configData.ground.GroundVehicleThrottle1 > 0)
channelDesc[configData.ground.GroundVehicleThrottle1-1] = QString("GroundThrottle1");
if (configData.ground.GroundVehicleThrottle2 > 0)
channelDesc[configData.ground.GroundVehicleThrottle2-1] = QString("GroundThrottle2");
return channelDesc;
}
/** /**
Helper function to update the UI widget objects Virtual function to update the UI widget objects
*/ */
QString ConfigVehicleTypeWidget::updateGroundVehicleObjectsFromWidgets() QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
{ {
QString airframeType = "GroundVehicleCar"; QString airframeType = "GroundVehicleCar";
@ -177,31 +228,27 @@ QString ConfigVehicleTypeWidget::updateGroundVehicleObjectsFromWidgets()
setupGroundVehicleMotorcycle(airframeType); setupGroundVehicleMotorcycle(airframeType);
} }
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
return airframeType; return airframeType;
} }
/** /**
Helper function to refresh the UI widget values Virtual function to refresh the UI widget values
*/ */
void ConfigVehicleTypeWidget::refreshGroundVehicleWidgetsValues(QString frameType) void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
{ {
UAVDataObject* obj; UAVDataObject* obj;
UAVObjectField *field; UAVObjectField *field;
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion config = GetConfigData();
//THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE //THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE
// Retrieve channel setup values // Retrieve channel setup values
setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, GUIConfigData.ground.GroundVehicleThrottle1); setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, config.ground.GroundVehicleThrottle1);
setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, GUIConfigData.ground.GroundVehicleThrottle2); setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, config.ground.GroundVehicleThrottle2);
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, GUIConfigData.ground.GroundVehicleSteering1); setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, config.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, GUIConfigData.ground.GroundVehicleSteering2); setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, config.ground.GroundVehicleSteering2);
if (frameType == "GroundVehicleDifferential") { if (frameType == "GroundVehicleDifferential") {
//CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE //CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE
@ -237,17 +284,15 @@ void ConfigVehicleTypeWidget::refreshGroundVehicleWidgetsValues(QString frameTyp
} }
/** /**
Setup balancing ground vehicle. Setup balancing ground vehicle.
Returns False if impossible to create the mixer. Returns False if impossible to create the mixer.
*/ */
bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType){ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeType){
// Check coherence: // Check coherence:
//Show any config errors in GUI //Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType); throwConfigError(airframeType);
// - Motor, steering, and balance // - Motor, steering, and balance
if (m_aircraft->gvMotor1ChannelBox->currentText() == "None" || if (m_aircraft->gvMotor1ChannelBox->currentText() == "None" ||
@ -259,13 +304,13 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType)
// Now setup the channels: // Now setup the channels:
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
GUIManager.ResetActuators(&GUIConfigData); config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex(); config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData); SetConfigData(config);
UAVObject* obj; UAVObject* obj;
UAVObjectField* field; UAVObjectField* field;
@ -356,10 +401,10 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType)
Returns False if impossible to create the mixer. Returns False if impossible to create the mixer.
*/ */
bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeType){ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeType){
// Check coherence: // Check coherence:
//Show any config errors in GUI //Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType); throwConfigError(airframeType);
// - Left and right steering // - Left and right steering
if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" || if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
@ -370,13 +415,13 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeTyp
// Now setup the channels: // Now setup the channels:
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion config = GetConfigData();
GUIManager.ResetActuators(&GUIConfigData); ResetActuators(&config);
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex(); config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex(); config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIManager.SetConfigData((GUIConfigData)); SetConfigData((config));
UAVObject* obj; UAVObject* obj;
UAVObjectField* field; UAVObjectField* field;
@ -457,11 +502,11 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeTyp
Returns False if impossible to create the mixer. Returns False if impossible to create the mixer.
*/ */
bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType) bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{ {
// Check coherence: // Check coherence:
//Show any config errors in GUI //Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType); throwConfigError(airframeType);
// - At least one motor and one steering servo // - At least one motor and one steering servo
if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" && if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
@ -490,15 +535,15 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType)
// } // }
// Now setup the channels: // Now setup the channels:
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion config = GetConfigData();
GUIManager.ResetActuators(&GUIConfigData); ResetActuators(&config);
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex(); config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex(); config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex(); config.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex(); config.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData); SetConfigData(config);
UAVDataObject* obj; UAVDataObject* obj;
UAVObjectField* field; UAVObjectField* field;
@ -599,7 +644,7 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType)
/** /**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured. This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/ */
void ConfigVehicleTypeWidget::throwGroundVehicleChannelConfigError(QString airframeType) void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
{ {
//Initialize configuration error flag //Initialize configuration error flag
bool error=false; bool error=false;

74
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h Normal file
View File

@ -0,0 +1,74 @@
/**
******************************************************************************
*
* @file configairframetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Airframe configuration panel
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CONFIGGROUNDVEHICLEWIDGET_H
#define CONFIGGROUNDVEHICLEWIDGET_H
#include "ui_airframe.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "uavtalk/telemetrymanager.h"
#include <QtGui/QWidget>
#include <QList>
#include <QItemDelegate>
class Ui_Widget;
class ConfigGroundVehicleWidget: public VehicleConfig
{
Q_OBJECT
public:
ConfigGroundVehicleWidget(Ui_AircraftWidget *aircraft = 0, QWidget *parent = 0);
~ConfigGroundVehicleWidget();
friend class ConfigVehicleTypeWidget;
private:
Ui_AircraftWidget *m_aircraft;
bool setupGroundVehicleCar(QString airframeType);
bool setupGroundVehicleDifferential(QString airframeType);
bool setupGroundVehicleMotorcycle(QString airframeType);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();
private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
protected:
};
#endif // CONFIGGROUNDVEHICLEWIDGET_H

295
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -24,8 +24,7 @@
* with this program; if not, write to the Free Software Foundation, Inc., * with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
//#include "configmultirotorwidget.h" #include "configmultirotorwidget.h"
#include "configvehicletypewidget.h"
#include "mixersettings.h" #include "mixersettings.h"
#include <QDebug> #include <QDebug>
@ -34,201 +33,206 @@
#include <QtGui/QTextEdit> #include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout> #include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton> #include <QtGui/QPushButton>
#include <QtGui/QComboBox>
#include <QBrush> #include <QBrush>
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
#include "mixersettings.h" #include "mixersettings.h"
#include "systemsettings.h" #include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h" #include "actuatorcommand.h"
#include "guiconfigdata.h"
//#define Pi 3.14159265358979323846 //#define Pi 3.14159265358979323846
/** /**
Helper function to setup the UI Constructor
*/ */
void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType) ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
{ {
m_aircraft = aircraft;
}
/**
Destructor
*/
ConfigMultiRotorWidget::~ConfigMultiRotorWidget()
{
// Do nothing
}
void ConfigMultiRotorWidget::setupUI(QString frameType)
{
Q_ASSERT(m_aircraft);
Q_ASSERT(quad);
// set aircraftType to Multirotor, disable triyaw channel
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->triYawChannelBox->setEnabled(false);
// disable all motor channel boxes
for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(false);
}
if (frameType == "Tri" || frameType == "Tricopter Y") { if (frameType == "Tri" || frameType == "Tricopter Y") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Tricopter Y"));
quad->setElementId("tri"); quad->setElementId("tri");
//Enable all necessary motor channel boxes... //Enable all necessary motor channel boxes...
for (int i=1; i <=3; i++) { for (int i=1; i <=3; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
//and grey out all unused motor channel boxes
for (int i=4; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(true); m_aircraft->triYawChannelBox->setEnabled(true);
} else if (frameType == "QuadX" || frameType == "Quad X") { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "QuadX" || frameType == "Quad X") {
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad X")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-X"); quad->setElementId("quad-X");
//Enable all necessary motor channel boxes... //Enable all necessary motor channel boxes...
for (int i=1; i <=4; i++) { for (int i=1; i <=4; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
//and grey out all unused motor channel boxes
for (int i=5; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50); m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50); m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50); m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "QuadP" || frameType == "Quad +") { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "QuadP" || frameType == "Quad +") {
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad +")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
quad->setElementId("quad-plus"); quad->setElementId("quad-plus");
//Enable all necessary motor channel boxes... //Enable all necessary motor channel boxes...
for (int i=1; i <=4; i++) { for (int i=1; i <=4; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
//and grey out all unused motor channel boxes
for (int i=5; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100); m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50); m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "Hexa" || frameType == "Hexacopter") { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "Hexa" || frameType == "Hexacopter")
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter")); {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
quad->setElementId("quad-hexa"); quad->setElementId("quad-hexa");
//Enable all necessary motor channel boxes... //Enable all necessary motor channel boxes...
for (int i=1; i <=6; i++) { for (int i=1; i <=6; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50); m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33); m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(33); m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "HexaX" || frameType == "Hexacopter X" ) { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter X")); setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
quad->setElementId("quad-hexa-H"); quad->setElementId("quad-hexa-H");
//Enable all necessary motor channel boxes... //Enable all necessary motor channel boxes...
for (int i=1; i <=6; i++) { for (int i=1; i <=6; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33); m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50); m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(33); m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter Y6")); {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
quad->setElementId("hexa-coax"); quad->setElementId("hexa-coax");
//Enable all necessary motor channel boxes... //Enable all necessary motor channel boxes...
for (int i=1; i <=6; i++) { for (int i=1; i <=6; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50); m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(66); m_aircraft->mrYawMixLevel->setValue(66);
} else if (frameType == "Octo" || frameType == "Octocopter") { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "Octo" || frameType == "Octocopter")
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter")); {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
quad->setElementId("quad-octo"); quad->setElementId("quad-octo");
//Enable all necessary motor channel boxes //Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) { for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33); m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33); m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(25); m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoV" || frameType == "Octocopter V") { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "OctoV" || frameType == "Octocopter V")
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter V")); {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
quad->setElementId("quad-octo-v"); quad->setElementId("quad-octo-v");
//Enable all necessary motor channel boxes //Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) { for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(25); m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25); m_aircraft->mrPitchMixLevel->setValue(25);
m_aircraft->mrYawMixLevel->setValue(25); m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax +")); {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
quad->setElementId("octo-coax-P"); quad->setElementId("octo-coax-P");
//Enable all necessary motor channel boxes //Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) { for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100); m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100); m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50); m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") { }
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor")); else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax X")); {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
quad->setElementId("octo-coax-X"); quad->setElementId("octo-coax-X");
//Enable all necessary motor channel boxes //Enable all necessary motor channel boxes
for (int i=1; i <=8; i++) { for (int i=1; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i)); QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
if (combobox)
combobox->setEnabled(true); combobox->setEnabled(true);
} }
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50); m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50); m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50); m_aircraft->mrYawMixLevel->setValue(50);
@ -236,12 +240,61 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
} }
} }
void ConfigMultiRotorWidget::ResetActuators(GUIConfigDataUnion* configData)
{
configData->multi.VTOLMotorN = 0;
configData->multi.VTOLMotorNE = 0;
configData->multi.VTOLMotorE = 0;
configData->multi.VTOLMotorSE = 0;
configData->multi.VTOLMotorS = 0;
configData->multi.VTOLMotorSW = 0;
configData->multi.VTOLMotorW = 0;
configData->multi.VTOLMotorNW = 0;
configData->multi.TRIYaw = 0;
}
QStringList ConfigMultiRotorWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i=0; i < (int)(ConfigMultiRotorWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
multiGUISettingsStruct multi = configData.multi;
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorN-1] = QString("VTOLMotorN");
if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNE-1] = QString("VTOLMotorNE");
if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNW-1] = QString("VTOLMotorNW");
if (multi.VTOLMotorS > 0 && multi.VTOLMotorS < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorS-1] = QString("VTOLMotorS");
if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSE-1] = QString("VTOLMotorSE");
if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSW-1] = QString("VTOLMotorSW");
if (multi.VTOLMotorW > 0 && multi.VTOLMotorW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorW-1] = QString("VTOLMotorW");
if (multi.VTOLMotorE > 0 && multi.VTOLMotorE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorE-1] = QString("VTOLMotorE");
return channelDesc;
}
/** /**
Helper function to update the UI widget objects Helper function to update the UI widget objects
*/ */
QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets() QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{ {
QString airframeType; QString airframeType;
QList<QString> motorList; QList<QString> motorList;
@ -280,7 +333,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "HexaCoax"; airframeType = "HexaCoax";
//Show any config errors in GUI //Show any config errors in GUI
throwMultiRotorChannelConfigError(6); throwConfigError(6);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" || if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" || m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -314,7 +367,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "Octo"; airframeType = "Octo";
//Show any config errors in GUI //Show any config errors in GUI
throwMultiRotorChannelConfigError(8); throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" || if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" || m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -349,7 +402,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "OctoV"; airframeType = "OctoV";
//Show any config errors in GUI //Show any config errors in GUI
throwMultiRotorChannelConfigError(8); throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" || if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" || m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -385,7 +438,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "OctoCoaxP"; airframeType = "OctoCoaxP";
//Show any config errors in GUI //Show any config errors in GUI
throwMultiRotorChannelConfigError(8); throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" || if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" || m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -420,7 +473,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "OctoCoaxX"; airframeType = "OctoCoaxX";
//Show any config errors in GUI //Show any config errors in GUI
throwMultiRotorChannelConfigError(8); throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" || if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" || m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -455,7 +508,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "Tri"; airframeType = "Tri";
//Show any config errors in GUI //Show any config errors in GUI
throwMultiRotorChannelConfigError(3); throwConfigError(3);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" || if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" || m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ) { m_aircraft->multiMotorChannelBox3->currentText() == "None" ) {
@ -469,9 +522,9 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS"; motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList); setupMotors(motorList);
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion config = GetConfigData();
GUIConfigData.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex(); config.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData); SetConfigData(config);
// Motor 1 to 6, Y6 Layout: // Motor 1 to 6, Y6 Layout:
@ -500,8 +553,6 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK"); m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} }
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
return airframeType; return airframeType;
} }
@ -511,14 +562,10 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
/** /**
Helper function to refresh the UI widget values Helper function to refresh the UI widget values
*/ */
void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType) void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
{ {
////////////////////////////////////////////////////////////////// GUIConfigDataUnion config = GetConfigData();
// Retrieve settings multiGUISettingsStruct multi = config.multi;
//////////////////////////////////////////////////////////////////
GUIConfigData = GUIManager.GetConfigData();
multiGUISettingsStruct multi = GUIConfigData.multi;
UAVDataObject* obj; UAVDataObject* obj;
UAVObjectField *field; UAVObjectField *field;
@ -794,9 +841,10 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
/** /**
Helper function: setupQuadMotor Helper function: setupQuadMotor
*/ */
void ConfigVehicleTypeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw) void ConfigMultiRotorWidget::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); 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"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
UAVObjectField *field = obj->getField(mixerTypes.at(channel)); UAVObjectField *field = obj->getField(mixerTypes.at(channel));
@ -822,15 +870,15 @@ void ConfigVehicleTypeWidget::setupQuadMotor(int channel, double pitch, double r
/** /**
Helper function: setup motors. Takes a list of channel names in input. Helper function: setup motors. Takes a list of channel names in input.
*/ */
void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList) void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
{ {
QList<QComboBox*> mmList; QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3 mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6 << m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8; << m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
GUIConfigData = GUIManager.GetConfigData(); GUIConfigDataUnion configData = GetConfigData();
GUIManager.ResetActuators(&GUIConfigData); ResetActuators(&configData);
int index; int index;
foreach (QString motor, motorList) { foreach (QString motor, motorList) {
@ -840,23 +888,23 @@ void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList)
//qDebug()<<QString("Setup motor: %0 = %1").arg(motor).arg(index); //qDebug()<<QString("Setup motor: %0 = %1").arg(motor).arg(index);
if (motor == QString("VTOLMotorN")) if (motor == QString("VTOLMotorN"))
GUIConfigData.multi.VTOLMotorN = index; configData.multi.VTOLMotorN = index;
else if (motor == QString("VTOLMotorNE")) else if (motor == QString("VTOLMotorNE"))
GUIConfigData.multi.VTOLMotorNE = index; configData.multi.VTOLMotorNE = index;
else if (motor == QString("VTOLMotorE")) else if (motor == QString("VTOLMotorE"))
GUIConfigData.multi.VTOLMotorE = index; configData.multi.VTOLMotorE = index;
else if (motor == QString("VTOLMotorSE")) else if (motor == QString("VTOLMotorSE"))
GUIConfigData.multi.VTOLMotorSE = index; configData.multi.VTOLMotorSE = index;
else if (motor == QString( "VTOLMotorS")) else if (motor == QString( "VTOLMotorS"))
GUIConfigData.multi.VTOLMotorS = index; configData.multi.VTOLMotorS = index;
else if (motor == QString( "VTOLMotorSW")) else if (motor == QString( "VTOLMotorSW"))
GUIConfigData.multi.VTOLMotorSW = index; configData.multi.VTOLMotorSW = index;
else if (motor == QString( "VTOLMotorW")) else if (motor == QString( "VTOLMotorW"))
GUIConfigData.multi.VTOLMotorW = index; configData.multi.VTOLMotorW = index;
else if (motor == QString( "VTOLMotorNW")) else if (motor == QString( "VTOLMotorNW"))
GUIConfigData.multi.VTOLMotorNW = index; configData.multi.VTOLMotorNW = index;
} }
GUIManager.SetConfigData(GUIConfigData); SetConfigData(configData);
} }
@ -865,12 +913,12 @@ void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList)
/** /**
Set up a Quad-X or Quad-P mixer Set up a Quad-X or Quad-P mixer
*/ */
bool ConfigVehicleTypeWidget::setupQuad(bool pLayout) bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
{ {
// Check coherence: // Check coherence:
//Show any config errors in GUI //Show any config errors in GUI
throwMultiRotorChannelConfigError(4); throwConfigError(4);
// - Four engines have to be defined // - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" || if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
@ -941,11 +989,11 @@ bool ConfigVehicleTypeWidget::setupQuad(bool pLayout)
/** /**
Set up a Hexa-X or Hexa-P mixer Set up a Hexa-X or Hexa-P mixer
*/ */
bool ConfigVehicleTypeWidget::setupHexa(bool pLayout) bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
{ {
// Check coherence: // Check coherence:
//Show any config errors in GUI //Show any config errors in GUI
throwMultiRotorChannelConfigError(6); throwConfigError(6);
// - Four engines have to be defined // - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" || if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
@ -1022,7 +1070,7 @@ bool ConfigVehicleTypeWidget::setupHexa(bool pLayout)
/** /**
This function sets up the multirotor mixer values. This function sets up the multirotor mixer values.
*/ */
bool ConfigVehicleTypeWidget::setupMultiRotorMixer(double mixerFactors[8][3]) bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
{ {
qDebug()<<"Mixer factors"; qDebug()<<"Mixer factors";
qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2]; qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
@ -1069,7 +1117,7 @@ bool ConfigVehicleTypeWidget::setupMultiRotorMixer(double mixerFactors[8][3])
/** /**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured. This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/ */
void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors) void ConfigMultiRotorWidget::throwConfigError(int numMotors)
{ {
//Initialize configuration error flag //Initialize configuration error flag
bool error=false; bool error=false;
@ -1079,7 +1127,8 @@ void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors)
//Fine widgets with text "multiMotorChannelBox.x", where x is an integer //Fine widgets with text "multiMotorChannelBox.x", where x is an integer
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i+1)); QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i+1));
if (combobox){ //if QLabel exists if (combobox){ //if QLabel exists
QLabel *label = qFindChild<QLabel*>(this, "MotorOutputLabel" + QString::number(i+1)); // QLabel *label = qFindChild<QLabel*>(this, "MotorOutputLabel" + QString::number(i+1));
if (combobox->currentText() == "None") { if (combobox->currentText() == "None") {
// label->setText("<font color='red'>" + label->text() + "</font>"); // label->setText("<font color='red'>" + label->text() + "</font>");
@ -1106,3 +1155,5 @@ void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors)
m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors)); m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
} }
} }

81
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h Normal file
View File

@ -0,0 +1,81 @@
/**
******************************************************************************
*
* @file configairframetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Airframe configuration panel
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CONFIGMULTIROTORWIDGET_H
#define CONFIGMULTIROTORWIDGET_H
#include "ui_airframe.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "uavtalk/telemetrymanager.h"
#include <QtGui/QWidget>
#include <QList>
#include <QItemDelegate>
class Ui_Widget;
class ConfigMultiRotorWidget: public VehicleConfig
{
Q_OBJECT
public:
ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft = 0, QWidget *parent = 0);
~ConfigMultiRotorWidget();
friend class ConfigVehicleTypeWidget;
private:
Ui_AircraftWidget *m_aircraft;
QGraphicsSvgItem *quad;
bool setupQuad(bool pLayout);
bool setupHexa(bool pLayout);
bool setupOcto();
bool setupMultiRotorMixer(double mixerFactors[8][3]);
void setupMotors(QList<QString> motorList);
void setupQuadMotor(int channel, double roll, double pitch, double yaw);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();
private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
void throwConfigError(int numMotors);
protected:
};
#endif // CONFIGMULTIROTORWIDGET_H

328
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/guiconfigdata.cpp
View File

@ -1,328 +0,0 @@
/**
******************************************************************************
*
* @file guiconfigdata.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief bit storage of config ui settings
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "guiconfigdata.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "systemsettings.h"
#include <QDebug>
GUIConfigDataManager::GUIConfigDataManager()
{
}
GUIConfigDataManager::~GUIConfigDataManager()
{
// Do nothing
}
GUIConfigDataUnion GUIConfigDataManager::GetConfigData() {
int i;
GUIConfigDataUnion configData;
// get an instance of systemsettings
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
// copy systemsettings -> local configData
for(i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++)
configData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
// sanity check
Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
(sizeof(configData.UAVObject) / sizeof(configData.UAVObject[0])));
return configData;
}
void GUIConfigDataManager::SetConfigData(GUIConfigDataUnion configData) {
int i;
// sanity check
Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
(sizeof(configData.UAVObject) / sizeof(configData.UAVObject[0])));
// get an instance of systemsettings
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
// copy parameter configData -> systemsettings
for (i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++)
systemSettingsData.GUIConfigData[i] = configData.UAVObject[i];
systemSettings->setData(systemSettingsData);
systemSettings->updated();
}
void GUIConfigDataManager::ResetActuators()
{
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
// reset the actuators by airframe type
ResetActuators(&configData);
// set the gui config data
SetConfigData(configData);
}
void GUIConfigDataManager::ResetActuators(GUIConfigDataUnion* configData)
{
// get systemsettings for airframe type
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
switch (systemSettingsData.AirframeType)
{
// fixed wing
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
{
configData->fixed.FixedWingPitch1 = 0;
configData->fixed.FixedWingPitch2 = 0;
configData->fixed.FixedWingRoll1 = 0;
configData->fixed.FixedWingRoll2 = 0;
configData->fixed.FixedWingYaw1 = 0;
configData->fixed.FixedWingYaw2 = 0;
configData->fixed.FixedWingThrottle = 0;
}
break;
// helicp
case SystemSettings::AIRFRAMETYPE_HELICP:
{
configData->heli.Throttle = 0;
configData->heli.Tail = 0;
configData->heli.ServoIndexW = 0;
configData->heli.ServoIndexX = 0;
configData->heli.ServoIndexY = 0;
configData->heli.ServoIndexZ = 0;
}
break;
//multirotor
case SystemSettings::AIRFRAMETYPE_VTOL:
case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
case SystemSettings::AIRFRAMETYPE_OCTO:
case SystemSettings::AIRFRAMETYPE_HEXAX:
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
{
configData->multi.VTOLMotorN = 0;
configData->multi.VTOLMotorNE = 0;
configData->multi.VTOLMotorE = 0;
configData->multi.VTOLMotorSE = 0;
configData->multi.VTOLMotorS = 0;
configData->multi.VTOLMotorSW = 0;
configData->multi.VTOLMotorW = 0;
configData->multi.VTOLMotorNW = 0;
configData->multi.TRIYaw = 0;
}
break;
// ground
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
configData->ground.GroundVehicleSteering1 = 0;
configData->ground.GroundVehicleSteering2 = 0;
configData->ground.GroundVehicleThrottle1 = 0;
configData->ground.GroundVehicleThrottle2 = 0;
}
break;
}
}
QStringList GUIConfigDataManager::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i=0; i < (int)(GUIConfigDataManager::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
// get systemsettings for airframe type
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
switch (systemSettingsData.AirframeType)
{
// fixed wing
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
{
if (configData.fixed.FixedWingPitch1 > 0)
channelDesc[configData.fixed.FixedWingPitch1-1] = QString("FixedWingPitch1");
if (configData.fixed.FixedWingPitch2 > 0)
channelDesc[configData.fixed.FixedWingPitch2-1] = QString("FixedWingPitch2");
if (configData.fixed.FixedWingRoll1 > 0)
channelDesc[configData.fixed.FixedWingRoll1-1] = QString("FixedWingRoll1");
if (configData.fixed.FixedWingRoll2 > 0)
channelDesc[configData.fixed.FixedWingRoll2-1] = QString("FixedWingRoll2");
if (configData.fixed.FixedWingYaw1 > 0)
channelDesc[configData.fixed.FixedWingYaw1-1] = QString("FixedWingYaw1");
if (configData.fixed.FixedWingYaw2 > 0)
channelDesc[configData.fixed.FixedWingYaw2-1] = QString("FixedWingYaw2");
if (configData.fixed.FixedWingThrottle > 0)
channelDesc[configData.fixed.FixedWingThrottle-1] = QString("FixedWingThrottle");
return channelDesc;
}
break;
// helicp
case SystemSettings::AIRFRAMETYPE_HELICP:
{
channelDesc[configData.heli.Throttle] = QString("Throttle");
channelDesc[configData.heli.Tail] = QString("Tail");
switch(configData.heli.FirstServoIndex)
{
case 0: //front
channelDesc[configData.heli.ServoIndexW] = QString("Elevator");
channelDesc[configData.heli.ServoIndexX] = QString("Roll1");
channelDesc[configData.heli.ServoIndexY] = QString("Roll2");
break;
case 1: //right
channelDesc[configData.heli.ServoIndexW] = QString("ServoW");
channelDesc[configData.heli.ServoIndexX] = QString("ServoX");
channelDesc[configData.heli.ServoIndexY] = QString("ServoY");
break;
case 2: //rear
channelDesc[configData.heli.ServoIndexW] = QString("Elevator");
channelDesc[configData.heli.ServoIndexX] = QString("Roll1");
channelDesc[configData.heli.ServoIndexY] = QString("Roll2");
break;
case 3: //left
channelDesc[configData.heli.ServoIndexW] = QString("ServoW");
channelDesc[configData.heli.ServoIndexX] = QString("ServoX");
channelDesc[configData.heli.ServoIndexY] = QString("ServoY");
break;
}
if (configData.heli.ServoIndexZ < 8)
channelDesc[configData.heli.ServoIndexZ] = QString("ServoZ");
return channelDesc;
}
break;
//multirotor
case SystemSettings::AIRFRAMETYPE_VTOL:
case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
case SystemSettings::AIRFRAMETYPE_OCTO:
case SystemSettings::AIRFRAMETYPE_HEXAX:
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
{
multiGUISettingsStruct multi = configData.multi;
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorN-1] = QString("VTOLMotorN");
if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNE-1] = QString("VTOLMotorNE");
if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNW-1] = QString("VTOLMotorNW");
if (multi.VTOLMotorS > 0 && multi.VTOLMotorS < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorS-1] = QString("VTOLMotorS");
if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSE-1] = QString("VTOLMotorSE");
if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSW-1] = QString("VTOLMotorSW");
if (multi.VTOLMotorW > 0 && multi.VTOLMotorW < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorW-1] = QString("VTOLMotorW");
if (multi.VTOLMotorE > 0 && multi.VTOLMotorE < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorE-1] = QString("VTOLMotorE");
return channelDesc;
}
break;
// ground
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
if (configData.ground.GroundVehicleSteering1 > 0)
channelDesc[configData.ground.GroundVehicleSteering1-1] = QString("GroundSteering1");
if (configData.ground.GroundVehicleSteering2 > 0)
channelDesc[configData.ground.GroundVehicleSteering2-1] = QString("GroundSteering2");
if (configData.ground.GroundVehicleThrottle1 > 0)
channelDesc[configData.ground.GroundVehicleThrottle1-1] = QString("GroundThrottle1");
if (configData.ground.GroundVehicleThrottle2 > 0)
channelDesc[configData.ground.GroundVehicleThrottle2-1] = QString("GroundThrottle2");
return channelDesc;
}
break;
}
return channelDesc;
}
/**
* Util function to get a pointer to the object manager
* @return pointer to the UAVObjectManager
*/
UAVObjectManager* GUIConfigDataManager::getObjectManager() {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
return objMngr;
}

143
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp Normal file
View File

@ -0,0 +1,143 @@
/**
******************************************************************************
*
* @file vehicleconfig.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief bit storage of config ui settings
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "cfg_vehicletypes/vehicleconfig.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "systemsettings.h"
#include <QDebug>
VehicleConfig::VehicleConfig(QWidget *parent) : ConfigTaskWidget(parent)
{
for (int i = 0; i < (int)(VehicleConfig::CHANNEL_NUMELEM); i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
}
}
VehicleConfig::~VehicleConfig()
{
// Do nothing
}
GUIConfigDataUnion VehicleConfig::GetConfigData() {
int i;
GUIConfigDataUnion configData;
// get an instance of systemsettings
SystemSettings * systemSettings = SystemSettings::GetInstance(getUAVObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
// copy systemsettings -> local configData
for(i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++)
configData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
// sanity check
Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
(sizeof(configData.UAVObject) / sizeof(configData.UAVObject[0])));
return configData;
}
void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
int i;
// sanity check
Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
(sizeof(configData.UAVObject) / sizeof(configData.UAVObject[0])));
// get an instance of systemsettings
SystemSettings * systemSettings = SystemSettings::GetInstance(getUAVObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
// copy parameter configData -> systemsettings
for (i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++)
systemSettingsData.GUIConfigData[i] = configData.UAVObject[i];
systemSettings->setData(systemSettingsData);
systemSettings->updated();
//emit ConfigurationChanged();
}
void VehicleConfig::ResetActuators(GUIConfigDataUnion* configData)
{
}
QStringList VehicleConfig::getChannelDescriptions()
{
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (int i=0; i < (int)(VehicleConfig::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
return channelDesc;
}
/**
Helper function:
Sets the current index on supplied combobox to index
if it is within bounds 0 <= index < combobox.count()
*/
void VehicleConfig::setComboCurrentIndex(QComboBox* box, int index)
{
Q_ASSERT(box);
if (index >= 0 && index < box->count())
box->setCurrentIndex(index);
}
/**
Reset the contents of a field
*/
void VehicleConfig::resetField(UAVObjectField * field)
{
for (unsigned int i=0;i<field->getNumElements();i++) {
field->setValue(0,i);
}
}
/**
* Util function to get a pointer to the object manager
* @return pointer to the UAVObjectManager
*/
UAVObjectManager* VehicleConfig::getUAVObjectManager() {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
return objMngr;
}

42
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/guiconfigdata.h → ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -1,7 +1,7 @@
/** /**
****************************************************************************** ******************************************************************************
* *
* @file guiconfigdata.h * @file vehicleconfig.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins * @addtogroup GCSPlugins GCS Plugins
* @{ * @{
@ -24,14 +24,15 @@
* with this program; if not, write to the Free Software Foundation, Inc., * with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef GUICONFIGDATA_H #ifndef GUIVEHICLECONFIG_H
#define GUICONFIGDATA_H #define GUIVEHICLECONFIG_H
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
typedef struct { typedef struct {
uint VTOLMotorN:4; uint VTOLMotorN:4;
uint VTOLMotorS:4; uint VTOLMotorS:4;
@ -96,39 +97,46 @@ typedef union
{ {
uint UAVObject[4]; //32bits * 4 uint UAVObject[4]; //32bits * 4
heliGUISettingsStruct heli; //128bits heliGUISettingsStruct heli; //128bits
fixedGUISettingsStruct fixed; fixedGUISettingsStruct fixedwing;
multiGUISettingsStruct multi; multiGUISettingsStruct multi;
groundGUISettingsStruct ground; groundGUISettingsStruct ground;
} GUIConfigDataUnion; } GUIConfigDataUnion;
class GUIConfigDataManager: public QObject
class VehicleConfig: public ConfigTaskWidget
{ {
Q_OBJECT Q_OBJECT
public: public:
GUIConfigDataManager(); VehicleConfig(QWidget *parent = 0);
~GUIConfigDataManager(); ~VehicleConfig();
GUIConfigDataUnion GetConfigData(); static GUIConfigDataUnion GetConfigData();
void SetConfigData(GUIConfigDataUnion configData); static void SetConfigData(GUIConfigDataUnion configData);
QStringList getChannelDescriptions(); static void resetField(UAVObjectField * field);
void ResetActuators(); static void setComboCurrentIndex(QComboBox* box, int index);
void ResetActuators(GUIConfigDataUnion* configData);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();
QStringList mixerTypes;
QStringList mixerVectors;
static const quint32 CHANNEL_NUMELEM = 10; static const quint32 CHANNEL_NUMELEM = 10;
friend class ConfigTaskWidget;
private: private:
UAVObjectManager* getObjectManager();
static UAVObjectManager* getUAVObjectManager();
private slots: private slots:
public slots: public slots:
signals:
//void ConfigurationChanged();
protected: protected:
}; };
#endif // GUICONFIGDATA_H #endif // GUIVEHICLECONFIG_H

7
ground/openpilotgcs/src/plugins/config/config.pro
View File

@ -32,7 +32,10 @@ HEADERS += configplugin.h \
configtxpidwidget.h \ configtxpidwidget.h \
outputchannelform.h \ outputchannelform.h \
config_global.h \ config_global.h \
cfg_vehicletypes/guiconfigdata.h cfg_vehicletypes/configmultirotorwidget.h \
cfg_vehicletypes/configgroundvehiclewidget.h \
cfg_vehicletypes/configfixedwingwidget.h \
cfg_vehicletypes/vehicleconfig.h
SOURCES += configplugin.cpp \ SOURCES += configplugin.cpp \
configgadgetconfiguration.cpp \ configgadgetconfiguration.cpp \
configgadgetwidget.cpp \ configgadgetwidget.cpp \
@ -62,7 +65,7 @@ SOURCES += configplugin.cpp \
cfg_vehicletypes/configfixedwingwidget.cpp \ cfg_vehicletypes/configfixedwingwidget.cpp \
cfg_vehicletypes/configccpmwidget.cpp \ cfg_vehicletypes/configccpmwidget.cpp \
outputchannelform.cpp \ outputchannelform.cpp \
cfg_vehicletypes/guiconfigdata.cpp cfg_vehicletypes/vehicleconfig.cpp
FORMS += airframe.ui \ FORMS += airframe.ui \
cc_hw_settings.ui \ cc_hw_settings.ui \
pro_hw_settings.ui \ pro_hw_settings.ui \

5
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -27,6 +27,7 @@
#include "configoutputwidget.h" #include "configoutputwidget.h"
#include "outputchannelform.h" #include "outputchannelform.h"
#include "configvehicletypewidget.h"
#include "uavtalk/telemetrymanager.h" #include "uavtalk/telemetrymanager.h"
@ -250,8 +251,8 @@ void ConfigOutputWidget::refreshWidgetsValues()
Q_ASSERT(actuatorSettings); Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData(); ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// get helicp channel descriptions based on mixer settings // get channel descriptions
QStringList ChannelDesc = GUIManager.getChannelDescriptions(); QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
// Initialize output forms // Initialize output forms
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>(); QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();

4
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -33,7 +33,7 @@
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include "uavobjectutilmanager.h" #include "uavobjectutilmanager.h"
#include "cfg_vehicletypes/guiconfigdata.h" #include "cfg_vehicletypes/vehicleconfig.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
@ -63,8 +63,6 @@ private:
UAVObject::Metadata accInitialData; UAVObject::Metadata accInitialData;
GUIConfigDataManager GUIManager;
bool firstUpdate; bool firstUpdate;
bool wasItMe; bool wasItMe;

308
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -103,7 +103,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
addUAVObject("MixerSettings"); addUAVObject("MixerSettings");
addUAVObject("ActuatorSettings"); addUAVObject("ActuatorSettings");
ffTuningInProgress = false; ffTuningInProgress = false;
ffTuningPhase = false; ffTuningPhase = false;
@ -119,7 +118,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
QStringList airframeTypes; QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom"; airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes); m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(1); m_aircraft->aircraftType->setCurrentIndex(0);
QStringList fixedWingTypes; QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail"; fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
@ -138,20 +137,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
m_aircraft->multirotorFrameType->addItems(multiRotorTypes); m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
m_aircraft->multirotorFrameType->setCurrentIndex(1); //Set default model to "Quad +" m_aircraft->multirotorFrameType->setCurrentIndex(1); //Set default model to "Quad +"
// Now load all the channel assignements
//OLD STYLE: DO IT MANUALLY
// m_aircraft->triYawChannelBox->addItems(channels);
// m_aircraft->gvMotor1ChannelBox->addItems(channels);
// m_aircraft->gvMotor2ChannelBox->addItems(channels);
// m_aircraft->gvSteering1ChannelBox->addItems(channels);
// m_aircraft->gvSteering2ChannelBox->addItems(channels);
// m_aircraft->fwElevator1ChannelBox->addItems(channels);
// m_aircraft->fwElevator2ChannelBox->addItems(channels);
// m_aircraft->fwEngineChannelBox->addItems(channels);
// m_aircraft->fwRudder1ChannelBox->addItems(channels);
// m_aircraft->fwRudder2ChannelBox->addItems(channels);
// m_aircraft->fwAileron1ChannelBox->addItems(channels);
// m_aircraft->fwAileron2ChannelBox->addItems(channels);
//NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name //NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name
// The upshot of this is that ALL new ComboBox widgets for selecting the output channel must have "ChannelBox" in their name // The upshot of this is that ALL new ComboBox widgets for selecting the output channel must have "ChannelBox" in their name
@ -188,6 +173,19 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd); m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
} }
m_multirotor = new ConfigMultiRotorWidget(m_aircraft, this);
m_multirotor->quad = quad;
m_multirotor->setupUI(m_aircraft->multirotorFrameType->currentText());
m_groundvehicle = new ConfigGroundVehicleWidget(m_aircraft, this);
m_groundvehicle->setupUI(m_aircraft->groundVehicleType->currentText() );
m_fixedwing = new ConfigFixedWingWidget(m_aircraft, this);
m_fixedwing->setupUI(m_aircraft->fixedWingType->currentText() );
m_heli = m_aircraft->widget_3;// new ConfigccpmWidget(this);
m_heli->setupUI(QString("HeliCP"));
//Connect aircraft type selection dropbox to callback function //Connect aircraft type selection dropbox to callback function
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int))); connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
@ -195,6 +193,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString))); connect(m_aircraft->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
//mdl connect(m_heli->m_ccpm->ccpmType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
//Connect throttle curve reset pushbuttons to reset functions //Connect throttle curve reset pushbuttons to reset functions
connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer())); connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
@ -220,18 +219,12 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest())); connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest())); connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
//WHAT DOES THIS DO?
enableControls(false);
refreshWidgetsValues();
// Connect the help pushbutton // Connect the help pushbutton
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addToDirtyMonitor();
//Initialize GUI tabs //MOVING THIS FROM THE END OF THIS FUNCTION CAN CAUSE RUNTIME ERRORS DUE TO setupMultiRotorUI. WHY? enableControls(false);
setupMultiRotorUI( m_aircraft->multirotorFrameType->currentText() ); refreshWidgetsValues();
setupGroundVehicleUI( m_aircraft->groundVehicleType->currentText() ); addToDirtyMonitor();
setupFixedWingUI( m_aircraft->fixedWingType->currentText() );
disbleMouseWheelEvents(); disbleMouseWheelEvents();
} }
@ -245,12 +238,90 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
// Do nothing // Do nothing
} }
QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
// get an instance of systemsettings
SystemSettings * systemSettings = SystemSettings::GetInstance(objMngr);
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
switch (systemSettingsData.AirframeType)
{
// fixed wing
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
{
ConfigFixedWingWidget* fixedwing = new ConfigFixedWingWidget();
channelDesc = fixedwing->getChannelDescriptions();
}
break;
// helicp
case SystemSettings::AIRFRAMETYPE_HELICP:
{
ConfigccpmWidget* heli = new ConfigccpmWidget();
channelDesc = heli->getChannelDescriptions();
}
break;
//multirotor
case SystemSettings::AIRFRAMETYPE_VTOL:
case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
case SystemSettings::AIRFRAMETYPE_OCTO:
case SystemSettings::AIRFRAMETYPE_HEXAX:
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
{
ConfigMultiRotorWidget* multi = new ConfigMultiRotorWidget();
channelDesc = multi->getChannelDescriptions();
}
break;
// ground
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
ConfigGroundVehicleWidget* ground = new ConfigGroundVehicleWidget();
channelDesc = ground->getChannelDescriptions();
}
break;
default:
{
for (i=0; i < (int)(VehicleConfig::CHANNEL_NUMELEM); i++)
channelDesc.append(QString("-"));
}
break;
}
// for (i=0; i < channelDesc.count(); i++)
// qDebug() << QString("Channel %0 = %1").arg(i).arg(channelDesc[i]);
return channelDesc;
}
/** /**
Slot for switching the airframe type. We do it explicitely Slot for switching the airframe type. We do it explicitely
rather than a signal in the UI, because we want to force a fitInView of the quad shapes. rather than a signal in the UI, because we want to force a fitInView of the quad shapes.
This is because this method (fitinview) only works when the widget is shown. This is because this method (fitinview) only works when the widget is shown.
*/ */
void ConfigVehicleTypeWidget::switchAirframeType(int index){ void ConfigVehicleTypeWidget::switchAirframeType(int index)
{
m_aircraft->airframesWidget->setCurrentIndex(index); m_aircraft->airframesWidget->setCurrentIndex(index);
m_aircraft->quadShape->setSceneRect(quad->boundingRect()); m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
@ -609,7 +680,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues()
if (frameType.startsWith("FixedWing")) { if (frameType.startsWith("FixedWing")) {
// Retrieve fixed wing settings // Retrieve fixed wing settings
refreshFixedWingWidgetsValues(frameType); m_fixedwing->refreshWidgetsValues(frameType);
} else if (frameType == "Tri" || } else if (frameType == "Tri" ||
frameType == "QuadX" || frameType == "QuadP" || frameType == "QuadX" || frameType == "QuadP" ||
@ -617,17 +688,18 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues()
frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP" || frameType == "OctoCoaxX" ) { frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP" || frameType == "OctoCoaxX" ) {
// Retrieve multirotor settings // Retrieve multirotor settings
refreshMultiRotorWidgetsValues(frameType); m_multirotor->refreshWidgetsValues(frameType);
} else if (frameType == "HeliCP") { } else if (frameType == "HeliCP") {
m_aircraft->widget_3->requestccpmUpdate(); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter"));
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Helicopter"));//"Helicopter" m_heli->refreshWidgetsValues(frameType);
} else if (frameType.startsWith("GroundVehicle")) { } else if (frameType.startsWith("GroundVehicle")) {
// Retrieve ground vehicle settings // Retrieve ground vehicle settings
refreshGroundVehicleWidgetsValues(frameType); m_groundvehicle->refreshWidgetsValues(frameType);
} else if (frameType == "Custom") { } else if (frameType == "Custom") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Custom")); setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
} }
@ -641,13 +713,13 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues()
*/ */
void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType) void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
{ {
bool dirty=isDirty(); bool dirty=isDirty();
if(frameType == "FixedWing" || frameType == "Elevator aileron rudder" || if(frameType == "FixedWing" || frameType == "Elevator aileron rudder" ||
frameType == "FixedWingElevon" || frameType == "Elevon" || frameType == "FixedWingElevon" || frameType == "Elevon" ||
frameType == "FixedWingVtail" || frameType == "Vtail"){ frameType == "FixedWingVtail" || frameType == "Vtail"){
setupFixedWingUI(frameType); m_fixedwing->setupUI(frameType);
} else if (frameType == "Tri" || frameType == "Tricopter Y" || }
else if (frameType == "Tri" || frameType == "Tricopter Y" ||
frameType == "QuadX" || frameType == "Quad X" || frameType == "QuadX" || frameType == "Quad X" ||
frameType == "QuadP" || frameType == "Quad +" || frameType == "QuadP" || frameType == "Quad +" ||
frameType == "Hexa" || frameType == "Hexacopter" || frameType == "Hexa" || frameType == "Hexacopter" ||
@ -658,12 +730,15 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
frameType == "OctoCoaxP" || frameType == "Octo Coax +" ) { frameType == "OctoCoaxP" || frameType == "Octo Coax +" ) {
//Call multi-rotor setup UI //Call multi-rotor setup UI
setupMultiRotorUI(frameType); m_multirotor->setupUI(frameType);
}
else if (frameType == "HeliCP") {
m_heli->setupUI(frameType);
} }
else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)" || else if (frameType == "GroundVehicleCar" || frameType == "Turnable (car)" ||
frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)" || frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)" ||
frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") { frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
setupGroundVehicleUI(frameType); m_groundvehicle->setupUI(frameType);
} }
//SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST??? //SHOULDN'T THIS BE DONE ONLY IN QUAD SETUP, AND NOT ALL THE REST???
@ -684,26 +759,6 @@ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
} }
} }
/**
Reset actuator values
*/
void ConfigVehicleTypeWidget::resetActuators()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
QList<UAVObjectField*> fieldList = obj->getFields();
// Reset all assignements first:
foreach (UAVObjectField* field, fieldList) {
// NOTE: we assume that all options in ActuatorSettings are a channel assignement
// except for the options called "ChannelBoxXXX"
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
}
/** /**
Updates the custom airframe settings based on the current airframe. Updates the custom airframe settings based on the current airframe.
@ -711,9 +766,14 @@ void ConfigVehicleTypeWidget::resetActuators()
*/ */
void ConfigVehicleTypeWidget::updateCustomAirframeUI() void ConfigVehicleTypeWidget::updateCustomAirframeUI()
{ {
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
QList<double> curveValues; QList<double> curveValues;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
if (field)
{
// If the 1st element of the curve is <= -10, then the curve // If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard): // is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) { if (field->getValue(0).toInt() <= -10) {
@ -731,9 +791,13 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
else else
m_aircraft->customThrottle1Curve->initCurve(curveValues); m_aircraft->customThrottle1Curve->initCurve(curveValues);
} }
}
curveValues.clear();
field = obj->getField(QString("ThrottleCurve2")); field = obj->getField(QString("ThrottleCurve2"));
curveValues.clear(); if (field)
{
// If the 1st element of the curve is <= -10, then the curve // If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard): // is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) { if (field->getValue(0).toInt() <= -10) {
@ -744,15 +808,23 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
} }
m_aircraft->customThrottle2Curve->initCurve(curveValues); m_aircraft->customThrottle2Curve->initCurve(curveValues);
} }
}
// Update the table: // Update the table:
for (int i=0; i<8; i++) { for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i)); field = obj->getField(mixerTypes.at(i));
if (field)
{
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i); QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
if (q)
{
QString s = field->getValue().toString(); QString s = field->getValue().toString();
q->setCurrentIndex(q->findText(s)); setComboCurrentIndex(q, q->findText(s));
//bool en = (s != "Disabled"); }
field = obj->getField(mixerVectors.at(i)); field = obj->getField(mixerVectors.at(i));
if (field)
{
int ti = field->getElementNames().indexOf("ThrottleCurve1"); int ti = field->getElementNames().indexOf("ThrottleCurve1");
m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString()); m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("ThrottleCurve2"); ti = field->getElementNames().indexOf("ThrottleCurve2");
@ -765,6 +837,8 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString()); m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
} }
} }
}
}
/** /**
@ -776,20 +850,19 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/ */
void ConfigVehicleTypeWidget::updateObjectsFromWidgets() void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{ {
qDebug()<<"updateObjectsFromWidgets";
QString airframeType = "Custom"; //Sets airframe type default to "Custom" QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") { if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = updateFixedWingObjectsFromWidgets(); airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
} else if (m_aircraft->aircraftType->currentText() == "Multirotor") { }
//update the mixer else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
airframeType = updateMultiRotorObjectsFromWidgets(); airframeType = m_multirotor->updateConfigObjectsFromWidgets();
} else if (m_aircraft->aircraftType->currentText() == "Helicopter") { }
airframeType = "HeliCP"; else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
m_aircraft->widget_3->sendccpmUpdate(); airframeType = m_heli->updateConfigObjectsFromWidgets();
} else if (m_aircraft->aircraftType->currentText() == "Ground") { }
airframeType = updateGroundVehicleObjectsFromWidgets(); else if (m_aircraft->aircraftType->currentText() == "Ground") {
} else { airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
airframeType = "Custom"; }
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward")); UAVObjectField* field = obj->getField(QString("FeedForward"));
@ -826,13 +899,12 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti); field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
} }
} // set the airframe type
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
//WHAT DOES THIS DO? field = obj->getField(QString("AirframeType"));
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
UAVObjectField* field = obj->getField(QString("AirframeType"));
field->setValue(airframeType); field->setValue(airframeType);
updateCustomAirframeUI();
} }
/** /**
@ -893,44 +965,44 @@ void ConfigVehicleTypeWidget::addToDirtyMonitor()
addWidget(m_aircraft->fwRudder2ChannelBox); addWidget(m_aircraft->fwRudder2ChannelBox);
addWidget(m_aircraft->elevonSlider1); addWidget(m_aircraft->elevonSlider1);
addWidget(m_aircraft->elevonSlider2); addWidget(m_aircraft->elevonSlider2);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmType); addWidget(m_heli->m_ccpm->ccpmType);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmTailChannel); addWidget(m_heli->m_ccpm->ccpmTailChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmEngineChannel); addWidget(m_heli->m_ccpm->ccpmEngineChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoWChannel); addWidget(m_heli->m_ccpm->ccpmServoWChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoXChannel); addWidget(m_heli->m_ccpm->ccpmServoXChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoYChannel); addWidget(m_heli->m_ccpm->ccpmServoYChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmSingleServo); addWidget(m_heli->m_ccpm->ccpmSingleServo);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoZChannel); addWidget(m_heli->m_ccpm->ccpmServoZChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleW); addWidget(m_heli->m_ccpm->ccpmAngleW);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleX); addWidget(m_heli->m_ccpm->ccpmAngleX);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCorrectionAngle); addWidget(m_heli->m_ccpm->ccpmCorrectionAngle);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleZ); addWidget(m_heli->m_ccpm->ccpmAngleZ);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleY); addWidget(m_heli->m_ccpm->ccpmAngleY);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivePassthrough); addWidget(m_heli->m_ccpm->ccpmCollectivePassthrough);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkRoll); addWidget(m_heli->m_ccpm->ccpmLinkRoll);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkCyclic); addWidget(m_heli->m_ccpm->ccpmLinkCyclic);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRevoSlider); addWidget(m_heli->m_ccpm->ccpmRevoSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmREVOspinBox); addWidget(m_heli->m_ccpm->ccpmREVOspinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveSlider); addWidget(m_heli->m_ccpm->ccpmCollectiveSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivespinBox); addWidget(m_heli->m_ccpm->ccpmCollectivespinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScale); addWidget(m_heli->m_ccpm->ccpmCollectiveScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScaleBox); addWidget(m_heli->m_ccpm->ccpmCollectiveScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCyclicScale); addWidget(m_heli->m_ccpm->ccpmCyclicScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScale); addWidget(m_heli->m_ccpm->ccpmPitchScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScaleBox); addWidget(m_heli->m_ccpm->ccpmPitchScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScale); addWidget(m_heli->m_ccpm->ccpmRollScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScaleBox); addWidget(m_heli->m_ccpm->ccpmRollScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSlider); addWidget(m_heli->m_ccpm->SwashLvlPositionSlider);
addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSpinBox); addWidget(m_heli->m_ccpm->SwashLvlPositionSpinBox);
addWidget(m_aircraft->widget_3->m_ccpm->CurveType); addWidget(m_heli->m_ccpm->CurveType);
addWidget(m_aircraft->widget_3->m_ccpm->NumCurvePoints); addWidget(m_heli->m_ccpm->NumCurvePoints);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue1); addWidget(m_heli->m_ccpm->CurveValue1);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue2); addWidget(m_heli->m_ccpm->CurveValue2);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue3); addWidget(m_heli->m_ccpm->CurveValue3);
addWidget(m_aircraft->widget_3->m_ccpm->CurveToGenerate); addWidget(m_heli->m_ccpm->CurveToGenerate);
addWidget(m_aircraft->widget_3->m_ccpm->CurveSettings); addWidget(m_heli->m_ccpm->CurveSettings);
addWidget(m_aircraft->widget_3->m_ccpm->ThrottleCurve); addWidget(m_heli->m_ccpm->ThrottleCurve);
addWidget(m_aircraft->widget_3->m_ccpm->PitchCurve); addWidget(m_heli->m_ccpm->PitchCurve);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAdvancedSettingsTable); addWidget(m_heli->m_ccpm->ccpmAdvancedSettingsTable);
} }

56
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -33,7 +33,12 @@
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include "uavtalk/telemetrymanager.h" #include "uavtalk/telemetrymanager.h"
#include "cfg_vehicletypes/guiconfigdata.h"
#include "cfg_vehicletypes/configccpmwidget.h"
#include "cfg_vehicletypes/configfixedwingwidget.h"
#include "cfg_vehicletypes/configmultirotorwidget.h"
#include "cfg_vehicletypes/configgroundvehiclewidget.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
#include <QItemDelegate> #include <QItemDelegate>
@ -48,27 +53,24 @@ public:
ConfigVehicleTypeWidget(QWidget *parent = 0); ConfigVehicleTypeWidget(QWidget *parent = 0);
~ConfigVehicleTypeWidget(); ~ConfigVehicleTypeWidget();
static QStringList getChannelDescriptions();
private: private:
Ui_AircraftWidget *m_aircraft; Ui_AircraftWidget *m_aircraft;
bool setupFrameFixedWing(QString airframeType);
bool setupFrameElevon(QString airframeType); ConfigccpmWidget *m_heli;
bool setupFrameVtail(QString airframeType); ConfigFixedWingWidget *m_fixedwing;
bool setupQuad(bool pLayout); ConfigMultiRotorWidget *m_multirotor;
bool setupHexa(bool pLayout); ConfigGroundVehicleWidget *m_groundvehicle;
bool setupOcto();
bool setupGroundVehicleCar(QString airframeType);
bool setupGroundVehicleDifferential(QString airframeType);
bool setupGroundVehicleMotorcycle(QString airframeType);
void updateCustomAirframeUI(); void updateCustomAirframeUI();
bool setupMultiRotorMixer(double mixerFactors[8][3]);
void setupMotors(QList<QString> motorList);
void addToDirtyMonitor(); void addToDirtyMonitor();
void resetField(UAVObjectField * field); void resetField(UAVObjectField * field);
void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue); void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue);
void resetActuators();
//void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector); //void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
void setupQuadMotor(int channel, double roll, double pitch, double yaw);
void setComboCurrentIndex(QComboBox* box, int index);
QStringList mixerTypes; QStringList mixerTypes;
QStringList mixerVectors; QStringList mixerVectors;
QGraphicsSvgItem *quad; QGraphicsSvgItem *quad;
@ -76,29 +78,15 @@ private:
bool ffTuningPhase; bool ffTuningPhase;
UAVObject::Metadata accInitialData; UAVObject::Metadata accInitialData;
GUIConfigDataManager GUIManager;
GUIConfigDataUnion GUIConfigData;
private slots: private slots:
virtual void refreshWidgetsValues();
void refreshFixedWingWidgetsValues(QString frameType);
void refreshMultiRotorWidgetsValues(QString frameType);
void refreshGroundVehicleWidgetsValues(QString frameType);
void updateObjectsFromWidgets(); virtual void refreshWidgetsValues();
QString updateFixedWingObjectsFromWidgets(); virtual void updateObjectsFromWidgets();
QString updateMultiRotorObjectsFromWidgets();
QString updateGroundVehicleObjectsFromWidgets(); void setComboCurrentIndex(QComboBox* box, int index);
// void saveAircraftUpdate();
void setupAirframeUI(QString type); void setupAirframeUI(QString type);
void setupFixedWingUI(QString frameType);
void setupMultiRotorUI(QString frameType);
void setupGroundVehicleUI(QString frameType);
void throwMultiRotorChannelConfigError(int numMotors);
void throwFixedWingChannelConfigError(QString airframeType);
void throwGroundVehicleChannelConfigError(QString airframeType);
void toggleAileron2(int index); void toggleAileron2(int index);
void toggleElevator2(int index); void toggleElevator2(int index);