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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
ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : VehicleConfig(parent)
{
int i;
m_ccpm = new Ui_ccpmWidget();
m_ccpm->setupUi(this);
SwashLvlConfigurationInProgress=0;
SwashLvlState=0;
SwashLvlServoInterlock=0;
updatingFromHardware=FALSE;
updatingToHardware=FALSE;
// Now connect the widget to the ManualControlCommand / Channel UAVObject
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
m_ccpm = new Ui_ccpmWidget();
m_ccpm->setupUi(this);
// Initialization of the swashplaye widget
m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
@ -148,20 +144,20 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
Q_ASSERT(curve2source);
QStringList channels;
channels << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
"Channel5" << "Channel6" << "Channel7" << "Channel8" << "None";
channels << "None" << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
"Channel5" << "Channel6" << "Channel7" << "Channel8";
m_ccpm->ccpmEngineChannel->addItems(channels);
m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
m_ccpm->ccpmTailChannel->addItems(channels);
m_ccpm->ccpmTailChannel->setCurrentIndex(8);
m_ccpm->ccpmTailChannel->setCurrentIndex(0);
m_ccpm->ccpmServoWChannel->addItems(channels);
m_ccpm->ccpmServoWChannel->setCurrentIndex(8);
m_ccpm->ccpmServoWChannel->setCurrentIndex(0);
m_ccpm->ccpmServoXChannel->addItems(channels);
m_ccpm->ccpmServoXChannel->setCurrentIndex(8);
m_ccpm->ccpmServoXChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->addItems(channels);
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->addItems(channels);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
QStringList Types;
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");
m_ccpm->ccpmType->addItems(Types);
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
requestccpmUpdate();
UpdateCurveSettings();
//disable changing number of points in curves until UAVObjects have more than 5
m_ccpm->NumCurvePoints->setEnabled(0);
refreshWidgetsValues(QString("HeliCP"));
UpdateType();
//connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
@ -229,13 +227,91 @@ ConfigccpmWidget::~ConfigccpmWidget()
// 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()
{
int TypeInt,SingleServoIndex,NumServosDefined;
QString TypeText;
double AdjustmentAngle=0;
UpdateCCPMOptionsFromUI();
SetUIComponentVisibilities();
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
@ -283,8 +359,8 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0);
@ -298,7 +374,7 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
@ -323,7 +399,7 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360));
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
@ -336,7 +412,7 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360));
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
@ -350,8 +426,8 @@ void ConfigccpmWidget::UpdateType()
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0);
@ -735,10 +811,10 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled());
defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled());
defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled());
used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()>0)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()>0)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()>0)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()>0)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
angle[0]=(CorrectionAngle+180+m_ccpm->ccpmAngleW->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;
@ -803,61 +879,6 @@ void ConfigccpmWidget::ccpmSwashplateUpdate()
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()
{
bool useCCPM;
@ -866,13 +887,16 @@ void ConfigccpmWidget::UpdateMixer()
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
QString Channel;
ccpmChannelCheck();
UpdateCCPMOptionsFromUI();
throwConfigError(QString("HeliCP"));
useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
useCyclic = GUIConfigData.heli.ccpmLinkRollState;
updateConfigObjectsFromWidgets();
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)
{//cyclic = 1 - collective
@ -881,18 +905,18 @@ void ConfigccpmWidget::UpdateMixer()
}
else
{
PitchConstant = (float)GUIConfigData.heli.SliderValue1 / 100.00;;
PitchConstant = (float)config.heli.SliderValue1 / 100.00;;
if (useCyclic)
{
RollConstant = PitchConstant;
}
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
//get the channel data from the ui
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
@ -914,18 +938,18 @@ void ConfigccpmWidget::UpdateMixer()
ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled();
ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled();
ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2]+1 ));
ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3]+1 ));
ServosText[2]->setPlainText(QString("%1").arg( MixerChannelData[4]+1 ));
ServosText[3]->setPlainText(QString("%1").arg( MixerChannelData[5]+1 ));
ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2] ));
ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3] ));
ServosText[2]->setPlainText(QString("%1").arg( MixerChannelData[4] ));
ServosText[3]->setPlainText(QString("%1").arg( MixerChannelData[5] ));
//go through the user data and update the mixer matrix
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
if (i==0)
{//motor-engine
@ -947,8 +971,8 @@ void ConfigccpmWidget::UpdateMixer()
{//Swashplate
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,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,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
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((config.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
}
@ -970,131 +994,132 @@ void ConfigccpmWidget::UpdateMixer()
}
}
}
/**************************
* 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 ConfigccpmWidget::updateConfigObjectsFromWidgets() //UpdateCCPMOptionsFromUI()
{
QString airframeType = "HeliCP";
bool useCCPM;
bool useCyclic;
if (updatingFromHardware) return;
if (updatingFromHardware) return airframeType;
updatingFromHardware = TRUE;
//get the user options
GUIConfigDataUnion config = GetConfigData();
//swashplate config
GUIConfigData.heli.SwashplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
config.heli.SwashplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
config.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
//ccpm mixing options
GUIConfigData.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked();
GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked();
GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked();
useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
useCyclic = GUIConfigData.heli.ccpmLinkRollState;
config.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked();
config.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked();
config.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked();
useCCPM = !(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState);
useCyclic = config.heli.ccpmLinkRollState;
//correction angle
GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value();
config.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value();
//update sliders
if (useCCPM)
{
GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value();
config.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value();
}
else
{
GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value();
config.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value();
}
if (useCyclic)
{
GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value();
config.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value();
}
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
GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex();
GUIConfigData.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex();
GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex();
GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex();
config.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex();
config.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex();
config.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex();
config.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex();
//throttle
GUIConfigData.heli.Throttle = m_ccpm->ccpmEngineChannel->currentIndex();
config.heli.Throttle = m_ccpm->ccpmEngineChannel->currentIndex();
//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
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwashplateType +1));
m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex);
setComboCurrentIndex( m_ccpm->ccpmType, m_ccpm->ccpmType->count() - (config.heli.SwashplateType +1));
setComboCurrentIndex(m_ccpm->ccpmSingleServo, config.heli.FirstServoIndex);
//ccpm mixing options
m_ccpm->ccpmCollectivePassthrough->setChecked(GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmLinkCyclic->setChecked(GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmLinkRoll->setChecked(GUIConfigData.heli.ccpmLinkRollState);
m_ccpm->ccpmCollectivePassthrough->setChecked(config.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmLinkCyclic->setChecked(config.heli.ccpmLinkCyclicState);
m_ccpm->ccpmLinkRoll->setChecked(config.heli.ccpmLinkRollState);
//correction angle
m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle);
m_ccpm->ccpmCorrectionAngle->setValue(config.heli.CorrectionAngle);
//update sliders
m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCyclicScale->setValue(GUIConfigData.heli.SliderValue1);
m_ccpm->ccpmCyclicScaleBox->setValue(GUIConfigData.heli.SliderValue1);
m_ccpm->ccpmPitchScale->setValue(GUIConfigData.heli.SliderValue1);
m_ccpm->ccpmPitchScaleBox->setValue(GUIConfigData.heli.SliderValue1);
m_ccpm->ccpmRollScale->setValue(GUIConfigData.heli.SliderValue2);
m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2);
m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectiveScale->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCollectiveScaleBox->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCyclicScale->setValue(config.heli.SliderValue1);
m_ccpm->ccpmCyclicScaleBox->setValue(config.heli.SliderValue1);
m_ccpm->ccpmPitchScale->setValue(config.heli.SliderValue1);
m_ccpm->ccpmPitchScaleBox->setValue(config.heli.SliderValue1);
m_ccpm->ccpmRollScale->setValue(config.heli.SliderValue2);
m_ccpm->ccpmRollScaleBox->setValue(config.heli.SliderValue2);
m_ccpm->ccpmCollectiveSlider->setValue(config.heli.SliderValue0);
m_ccpm->ccpmCollectivespinBox->setValue(config.heli.SliderValue0);
//servo assignments
m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW);
m_ccpm->ccpmServoXChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexX);
m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY);
m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ);
setComboCurrentIndex(m_ccpm->ccpmServoWChannel, config.heli.ServoIndexW);
setComboCurrentIndex( m_ccpm->ccpmServoXChannel,config.heli.ServoIndexX);
setComboCurrentIndex( m_ccpm->ccpmServoYChannel,config.heli.ServoIndexY);
setComboCurrentIndex( m_ccpm->ccpmServoZChannel,config.heli.ServoIndexZ);
//throttle
m_ccpm->ccpmEngineChannel->setCurrentIndex(GUIConfigData.heli.Throttle);
setComboCurrentIndex( m_ccpm->ccpmEngineChannel, config.heli.Throttle);
//tail
m_ccpm->ccpmTailChannel->setCurrentIndex((GUIConfigData.heli.Tail));
setComboCurrentIndex( m_ccpm->ccpmTailChannel, config.heli.Tail);
//getMixer();
}
void ConfigccpmWidget::SetUIComponentVisibilities()
{
UpdateCCPMOptionsFromUI();
GUIConfigDataUnion config = GetConfigData();
//set which sliders are user...
m_ccpm->ccpmRevoMixingBox->setVisible(0);
m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmPitchMixingBox->setVisible(!config.heli.ccpmCollectivePassthroughState && config.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);
if (!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState)
m_ccpm->ccpmCyclicScalingBox->setVisible((config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState) && config.heli.ccpmLinkRollState);
if (!config.heli.ccpmCollectivePassthroughState && config.heli.ccpmLinkCyclicState)
{
m_ccpm->ccpmPitchScalingBox->setVisible(0);
m_ccpm->ccpmRollScalingBox->setVisible(0);
@ -1103,8 +1128,8 @@ void ConfigccpmWidget::SetUIComponentVisibilities()
}
else
{
m_ccpm->ccpmPitchScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState);
m_ccpm->ccpmRollScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState);
m_ccpm->ccpmPitchScalingBox->setVisible(!config.heli.ccpmLinkRollState);
m_ccpm->ccpmRollScalingBox->setVisible(!config.heli.ccpmLinkRollState);
m_ccpm->ccpmLinkRoll->setVisible(1);
}
@ -1112,116 +1137,18 @@ void ConfigccpmWidget::SetUIComponentVisibilities()
/**
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 (updatingToHardware)return;
updatingFromHardware=TRUE;
unsigned int i,j;
// 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();
int i;
// Get existing mixer settings
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
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
for (i=0;i<5;i++)
{
@ -1232,7 +1159,7 @@ void ConfigccpmWidget::requestccpmUpdate()
}
updatingFromHardware=FALSE;
UpdateCCPMUIFromOptions();
ccpmSwashplateUpdate();
}
@ -1240,27 +1167,12 @@ void ConfigccpmWidget::requestccpmUpdate()
/**
Sends the config to the board (ccpm type)
*/
void ConfigccpmWidget::sendccpmUpdate()
void ConfigccpmWidget::setMixer()
{
int i,j;
if (SwashLvlConfigurationInProgress)return;
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());
Q_ASSERT(mixerSettings);
@ -1316,7 +1228,7 @@ void ConfigccpmWidget::sendccpmUpdate()
//mapping of collective input to curve 2...
//MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
//check if we are using throttle or directly from a channel...
if (GUIConfigData.heli.ccpmCollectivePassthroughState)
if (GetConfigData().heli.ccpmCollectivePassthroughState)
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE;
else
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE;
@ -1335,7 +1247,8 @@ void ConfigccpmWidget::saveccpmUpdate()
if (SwashLvlConfigurationInProgress)return;
ShowDisclaimer(0);
// Send update so that the latest value is saved
sendccpmUpdate();
//sendccpmUpdate();
setMixer();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
saveObjectToSD(obj);
@ -1402,7 +1315,8 @@ void ConfigccpmWidget::SwashLvlStartButtonPressed()
//download the current settings to the OP hw
sendccpmUpdate();
//sendccpmUpdate();
setMixer();
//change control mode to gcs control / disarmed
//set throttle to 0
@ -1427,10 +1341,10 @@ void ConfigccpmWidget::SwashLvlStartButtonPressed()
oldSwashLvlConfiguration.ServoChannels[2]=m_ccpm->ccpmServoYChannel->currentIndex();
oldSwashLvlConfiguration.ServoChannels[3]=m_ccpm->ccpmServoZChannel->currentIndex();
//if servos are used
oldSwashLvlConfiguration.Used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
oldSwashLvlConfiguration.Used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
oldSwashLvlConfiguration.Used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
oldSwashLvlConfiguration.Used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
oldSwashLvlConfiguration.Used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()>0)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
oldSwashLvlConfiguration.Used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()>0)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
oldSwashLvlConfiguration.Used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()>0)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
oldSwashLvlConfiguration.Used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()>0)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
//min,neutral,max values for the servos
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
@ -1822,3 +1736,63 @@ void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
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 "../uavobjectwidgetutils/configtaskwidget.h"
#include "guiconfigdata.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
@ -50,33 +50,9 @@ typedef struct {
int Neutral[CCPM_MAX_SWASH_SERVOS];
int Min[CCPM_MAX_SWASH_SERVOS];
} 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
@ -90,14 +66,6 @@ private:
Ui_ccpmWidget *m_ccpm;
QGraphicsSvgItem *SwashplateImg;
QGraphicsSvgItem *CurveImg;
//QGraphicsSvgItem *ServoW;
//QGraphicsSvgItem *ServoX;
//QGraphicsSvgItem *ServoY;
//QGraphicsSvgItem *ServoZ;
//QGraphicsTextItem *ServoWText;
//QGraphicsTextItem *ServoXText;
//QGraphicsTextItem *ServoYText;
//QGraphicsTextItem *ServoZText;
QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS];
QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS];
QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS];
@ -112,9 +80,6 @@ private:
SwashplateServoSettingsStruct oldSwashLvlConfiguration;
SwashplateServoSettingsStruct newSwashLvlConfiguration;
GUIConfigDataManager GUIManager;
GUIConfigDataUnion GUIConfigData;
int MixerChannelData[6];
int ShowDisclaimer(int messageID);
virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget
@ -122,7 +87,15 @@ private:
bool updatingFromHardware;
bool updatingToHardware;
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);
void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw();
void UpdateCurveSettings();
@ -139,11 +112,10 @@ private:
void SwashLvlCancelButtonPressed();
void SwashLvlFinishButtonPressed();
void UpdateCCPMOptionsFromUI();
void UpdateCCPMUIFromOptions();
//void UpdateCCPMOptionsFromUI();
//void UpdateCCPMUIFromOptions();
void SetUIComponentVisibilities();
void ccpmChannelCheck();
void enableSwashplateLevellingControl(bool state);
void setSwashplateLevel(int percent);
@ -151,8 +123,8 @@ private:
virtual void refreshValues() {}; // Not used
public slots:
void requestccpmUpdate();
void sendccpmUpdate();
void getMixer();
void setMixer();
void saveccpmUpdate();
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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
//#include "configfixedwingwidget.h"
#include "configfixedwingwidget.h"
#include "configvehicletypewidget.h"
#include "mixersettings.h"
@ -40,18 +40,38 @@
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.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") {
// Setup the UI
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true);
@ -72,8 +92,8 @@ void ConfigVehicleTypeWidget::setupFixedWingUI(QString frameType)
m_aircraft->elevonMixBox->setHidden(true);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevon"));
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2");
m_aircraft->fwElevator1ChannelBox->setEnabled(false);
@ -91,8 +111,8 @@ void ConfigVehicleTypeWidget::setupFixedWingUI(QString frameType)
m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Vtail"));
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Fixed Wing"));
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
m_aircraft->fwRudder1ChannelBox->setEnabled(false);
m_aircraft->fwRudder1Label->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";
@ -145,20 +206,19 @@ QString ConfigVehicleTypeWidget::updateFixedWingObjectsFromWidgets()
setupFrameVtail( airframeType );
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
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();
fixedGUISettingsStruct fixed = GUIConfigData.fixed;
Q_ASSERT(m_aircraft);
GUIConfigDataUnion config = GetConfigData();
fixedGUISettingsStruct fixed = config.fixedwing;
// Then retrieve how channels are setup
setComboCurrentIndex(m_aircraft->fwEngineChannelBox, fixed.FixedWingThrottle);
@ -210,11 +270,11 @@ void ConfigVehicleTypeWidget::refreshFixedWingWidgetsValues(QString frameType)
Returns False if impossible to create the mixer.
*/
bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType);
throwConfigError(airframeType);
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
@ -228,17 +288,17 @@ bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
// Now setup the channels:
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
GUIConfigData.fixed.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
SetConfigData(config);
UAVDataObject* obj;
UAVObjectField* field;
@ -331,11 +391,11 @@ bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
/**
Setup Elevon
*/
bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType);
throwConfigError(airframeType);
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
@ -346,16 +406,16 @@ bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
return false;
}
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
SetConfigData(config);
UAVDataObject* obj;
UAVObjectField* field;
@ -443,11 +503,11 @@ bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
/**
Setup VTail
*/
bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType)
bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwFixedWingChannelConfigError(airframeType);
throwConfigError(airframeType);
// - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
@ -458,16 +518,16 @@ bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType)
return false;
}
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
GUIConfigData.fixed.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
SetConfigData(config);
UAVDataObject* obj;
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.
*/
void ConfigVehicleTypeWidget::throwFixedWingChannelConfigError(QString airframeType)
void ConfigFixedWingWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
//#include "configgroundvehiclewidget.h"
#include "configgroundvehiclewidget.h"
#include "configvehicletypewidget.h"
#include "mixersettings.h"
@ -40,18 +40,35 @@
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.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);
//STILL NEEDS WORK
// 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->gvEngineLabel->setEnabled(false);
@ -64,7 +81,7 @@ void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType)
m_aircraft->gvAileron2Label->setEnabled(false);
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->gvMotor1Label->setEnabled(true);
@ -89,7 +106,7 @@ void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType)
}
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->gvMotor1Label->setEnabled(false);
@ -113,7 +130,7 @@ void ConfigVehicleTypeWidget::setupGroundVehicleUI(QString frameType)
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
}
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->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";
@ -177,31 +228,27 @@ QString ConfigVehicleTypeWidget::updateGroundVehicleObjectsFromWidgets()
setupGroundVehicleMotorcycle(airframeType);
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
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;
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
// Retrieve channel setup values
setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, GUIConfigData.ground.GroundVehicleThrottle1);
setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, GUIConfigData.ground.GroundVehicleThrottle2);
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, GUIConfigData.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, GUIConfigData.ground.GroundVehicleSteering2);
setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, config.ground.GroundVehicleThrottle1);
setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, config.ground.GroundVehicleThrottle2);
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, config.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, config.ground.GroundVehicleSteering2);
if (frameType == "GroundVehicleDifferential") {
//CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE
@ -237,17 +284,15 @@ void ConfigVehicleTypeWidget::refreshGroundVehicleWidgetsValues(QString frameTyp
}
/**
Setup balancing ground vehicle.
Returns False if impossible to create the mixer.
*/
bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType){
bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType);
throwConfigError(airframeType);
// - Motor, steering, and balance
if (m_aircraft->gvMotor1ChannelBox->currentText() == "None" ||
@ -259,13 +304,13 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType)
// Now setup the channels:
GUIConfigData = GUIManager.GetConfigData();
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
SetConfigData(config);
UAVObject* obj;
UAVObjectField* field;
@ -356,10 +401,10 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType)
Returns False if impossible to create the mixer.
*/
bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeType){
bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType);
throwConfigError(airframeType);
// - Left and right steering
if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
@ -370,13 +415,13 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeTyp
// Now setup the channels:
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIManager.SetConfigData((GUIConfigData));
SetConfigData((config));
UAVObject* obj;
UAVObjectField* field;
@ -457,11 +502,11 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeTyp
Returns False if impossible to create the mixer.
*/
bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType)
bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwGroundVehicleChannelConfigError(airframeType);
throwConfigError(airframeType);
// - At least one motor and one steering servo
if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
@ -490,15 +535,15 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType)
// }
// Now setup the channels:
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
config.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
config.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
SetConfigData(config);
UAVDataObject* obj;
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.
*/
void ConfigVehicleTypeWidget::throwGroundVehicleChannelConfigError(QString airframeType)
void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
//#include "configmultirotorwidget.h"
#include "configvehicletypewidget.h"
#include "configmultirotorwidget.h"
#include "mixersettings.h"
#include <QDebug>
@ -34,201 +33,206 @@
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QtGui/QComboBox>
#include <QBrush>
#include <math.h>
#include <QMessageBox>
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorsettings.h"
#include "actuatorcommand.h"
#include "guiconfigdata.h"
//#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") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Tricopter Y"));
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
quad->setElementId("tri");
//Enable all necessary motor channel boxes...
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);
}
//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);
} else if (frameType == "QuadX" || frameType == "Quad X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad X"));
}
else if (frameType == "QuadX" || frameType == "Quad X") {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-X");
//Enable all necessary motor channel boxes...
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);
}
//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->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "QuadP" || frameType == "Quad +") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad +"));
}
else if (frameType == "QuadP" || frameType == "Quad +") {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
quad->setElementId("quad-plus");
//Enable all necessary motor channel boxes...
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);
}
//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->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter"));
}
else if (frameType == "Hexa" || frameType == "Hexacopter")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
quad->setElementId("quad-hexa");
//Enable all necessary motor channel boxes...
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);
}
//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->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter X"));
}
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
quad->setElementId("quad-hexa-H");
//Enable all necessary motor channel boxes...
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);
}
//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->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
}
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
quad->setElementId("hexa-coax");
//Enable all necessary motor channel boxes...
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);
}
//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->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(66);
} else if (frameType == "Octo" || frameType == "Octocopter") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter"));
}
else if (frameType == "Octo" || frameType == "Octocopter")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
quad->setElementId("quad-octo");
//Enable all necessary motor channel boxes
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);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoV" || frameType == "Octocopter V") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter V"));
}
else if (frameType == "OctoV" || frameType == "Octocopter V")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
quad->setElementId("quad-octo-v");
//Enable all necessary motor channel boxes
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);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax +"));
}
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
quad->setElementId("octo-coax-P");
//Enable all necessary motor channel boxes
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);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax X"));
}
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
quad->setElementId("octo-coax-X");
//Enable all necessary motor channel boxes
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);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->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
*/
QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{
QString airframeType;
QList<QString> motorList;
@ -280,7 +333,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "HexaCoax";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(6);
throwConfigError(6);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -314,7 +367,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "Octo";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(8);
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -349,7 +402,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "OctoV";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(8);
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -385,7 +438,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "OctoCoaxP";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(8);
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -420,7 +473,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "OctoCoaxX";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(8);
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
@ -455,7 +508,7 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
airframeType = "Tri";
//Show any config errors in GUI
throwMultiRotorChannelConfigError(3);
throwConfigError(3);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ) {
@ -469,9 +522,9 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
GUIConfigData = GUIManager.GetConfigData();
GUIConfigData.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
GUIConfigDataUnion config = GetConfigData();
config.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
SetConfigData(config);
// Motor 1 to 6, Y6 Layout:
@ -500,8 +553,6 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
return airframeType;
}
@ -511,14 +562,10 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
/**
Helper function to refresh the UI widget values
*/
void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
{
//////////////////////////////////////////////////////////////////
// Retrieve settings
//////////////////////////////////////////////////////////////////
GUIConfigData = GUIManager.GetConfigData();
multiGUISettingsStruct multi = GUIConfigData.multi;
GUIConfigDataUnion config = GetConfigData();
multiGUISettingsStruct multi = config.multi;
UAVDataObject* obj;
UAVObjectField *field;
@ -794,9 +841,10 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
/**
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);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
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.
*/
void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList)
void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
{
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigDataUnion configData = GetConfigData();
ResetActuators(&configData);
int index;
foreach (QString motor, motorList) {
@ -840,23 +888,23 @@ void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList)
//qDebug()<<QString("Setup motor: %0 = %1").arg(motor).arg(index);
if (motor == QString("VTOLMotorN"))
GUIConfigData.multi.VTOLMotorN = index;
configData.multi.VTOLMotorN = index;
else if (motor == QString("VTOLMotorNE"))
GUIConfigData.multi.VTOLMotorNE = index;
configData.multi.VTOLMotorNE = index;
else if (motor == QString("VTOLMotorE"))
GUIConfigData.multi.VTOLMotorE = index;
configData.multi.VTOLMotorE = index;
else if (motor == QString("VTOLMotorSE"))
GUIConfigData.multi.VTOLMotorSE = index;
configData.multi.VTOLMotorSE = index;
else if (motor == QString( "VTOLMotorS"))
GUIConfigData.multi.VTOLMotorS = index;
configData.multi.VTOLMotorS = index;
else if (motor == QString( "VTOLMotorSW"))
GUIConfigData.multi.VTOLMotorSW = index;
configData.multi.VTOLMotorSW = index;
else if (motor == QString( "VTOLMotorW"))
GUIConfigData.multi.VTOLMotorW = index;
configData.multi.VTOLMotorW = index;
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
*/
bool ConfigVehicleTypeWidget::setupQuad(bool pLayout)
bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
{
// Check coherence:
//Show any config errors in GUI
throwMultiRotorChannelConfigError(4);
throwConfigError(4);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
@ -941,11 +989,11 @@ bool ConfigVehicleTypeWidget::setupQuad(bool pLayout)
/**
Set up a Hexa-X or Hexa-P mixer
*/
bool ConfigVehicleTypeWidget::setupHexa(bool pLayout)
bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
{
// Check coherence:
//Show any config errors in GUI
throwMultiRotorChannelConfigError(6);
throwConfigError(6);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
@ -1022,7 +1070,7 @@ bool ConfigVehicleTypeWidget::setupHexa(bool pLayout)
/**
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()<<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.
*/
void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors)
void ConfigMultiRotorWidget::throwConfigError(int numMotors)
{
//Initialize configuration error flag
bool error=false;
@ -1079,7 +1127,8 @@ void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors)
//Fine widgets with text "multiMotorChannelBox.x", where x is an integer
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i+1));
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") {
// 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));
}
}

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.
* @addtogroup GCSPlugins GCS Plugins
* @{
@ -24,14 +24,15 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef GUICONFIGDATA_H
#define GUICONFIGDATA_H
#ifndef GUIVEHICLECONFIG_H
#define GUIVEHICLECONFIG_H
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
typedef struct {
uint VTOLMotorN:4;
uint VTOLMotorS:4;
@ -96,39 +97,46 @@ typedef union
{
uint UAVObject[4]; //32bits * 4
heliGUISettingsStruct heli; //128bits
fixedGUISettingsStruct fixed;
fixedGUISettingsStruct fixedwing;
multiGUISettingsStruct multi;
groundGUISettingsStruct ground;
} GUIConfigDataUnion;
class GUIConfigDataManager: public QObject
class VehicleConfig: public ConfigTaskWidget
{
Q_OBJECT
public:
GUIConfigDataManager();
~GUIConfigDataManager();
VehicleConfig(QWidget *parent = 0);
~VehicleConfig();
GUIConfigDataUnion GetConfigData();
void SetConfigData(GUIConfigDataUnion configData);
QStringList getChannelDescriptions();
void ResetActuators();
void ResetActuators(GUIConfigDataUnion* configData);
static GUIConfigDataUnion GetConfigData();
static void SetConfigData(GUIConfigDataUnion configData);
static void resetField(UAVObjectField * field);
static void setComboCurrentIndex(QComboBox* box, int index);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();
QStringList mixerTypes;
QStringList mixerVectors;
static const quint32 CHANNEL_NUMELEM = 10;
friend class ConfigTaskWidget;
private:
UAVObjectManager* getObjectManager();
static UAVObjectManager* getUAVObjectManager();
private slots:
public slots:
signals:
//void ConfigurationChanged();
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 \
outputchannelform.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 \
configgadgetconfiguration.cpp \
configgadgetwidget.cpp \
@ -62,7 +65,7 @@ SOURCES += configplugin.cpp \
cfg_vehicletypes/configfixedwingwidget.cpp \
cfg_vehicletypes/configccpmwidget.cpp \
outputchannelform.cpp \
cfg_vehicletypes/guiconfigdata.cpp
cfg_vehicletypes/vehicleconfig.cpp
FORMS += airframe.ui \
cc_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 "outputchannelform.h"
#include "configvehicletypewidget.h"
#include "uavtalk/telemetrymanager.h"
@ -250,8 +251,8 @@ void ConfigOutputWidget::refreshWidgetsValues()
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// get helicp channel descriptions based on mixer settings
QStringList ChannelDesc = GUIManager.getChannelDescriptions();
// get channel descriptions
QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
// Initialize output forms
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();

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

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

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

@ -103,7 +103,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
addUAVObject("MixerSettings");
addUAVObject("ActuatorSettings");
ffTuningInProgress = false;
ffTuningPhase = false;
@ -119,7 +118,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(1);
m_aircraft->aircraftType->setCurrentIndex(0);
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
@ -138,20 +137,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
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
// 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_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(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->multirotorFrameType, 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(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->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
//WHAT DOES THIS DO?
enableControls(false);
refreshWidgetsValues();
// Connect the help pushbutton
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?
setupMultiRotorUI( m_aircraft->multirotorFrameType->currentText() );
setupGroundVehicleUI( m_aircraft->groundVehicleType->currentText() );
setupFixedWingUI( m_aircraft->fixedWingType->currentText() );
enableControls(false);
refreshWidgetsValues();
addToDirtyMonitor();
disbleMouseWheelEvents();
}
@ -245,12 +238,90 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
// 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
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.
*/
void ConfigVehicleTypeWidget::switchAirframeType(int index){
void ConfigVehicleTypeWidget::switchAirframeType(int index)
{
m_aircraft->airframesWidget->setCurrentIndex(index);
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
@ -609,7 +680,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues()
if (frameType.startsWith("FixedWing")) {
// Retrieve fixed wing settings
refreshFixedWingWidgetsValues(frameType);
m_fixedwing->refreshWidgetsValues(frameType);
} else if (frameType == "Tri" ||
frameType == "QuadX" || frameType == "QuadP" ||
@ -617,17 +688,18 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues()
frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP" || frameType == "OctoCoaxX" ) {
// Retrieve multirotor settings
refreshMultiRotorWidgetsValues(frameType);
m_multirotor->refreshWidgetsValues(frameType);
} else if (frameType == "HeliCP") {
m_aircraft->widget_3->requestccpmUpdate();
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Helicopter"));//"Helicopter"
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Helicopter"));
m_heli->refreshWidgetsValues(frameType);
} else if (frameType.startsWith("GroundVehicle")) {
// Retrieve ground vehicle settings
refreshGroundVehicleWidgetsValues(frameType);
m_groundvehicle->refreshWidgetsValues(frameType);
} 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)
{
bool dirty=isDirty();
if(frameType == "FixedWing" || frameType == "Elevator aileron rudder" ||
frameType == "FixedWingElevon" || frameType == "Elevon" ||
frameType == "FixedWingVtail" || frameType == "Vtail"){
setupFixedWingUI(frameType);
} else if (frameType == "Tri" || frameType == "Tricopter Y" ||
m_fixedwing->setupUI(frameType);
}
else if (frameType == "Tri" || frameType == "Tricopter Y" ||
frameType == "QuadX" || frameType == "Quad X" ||
frameType == "QuadP" || frameType == "Quad +" ||
frameType == "Hexa" || frameType == "Hexacopter" ||
@ -658,12 +730,15 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
frameType == "OctoCoaxP" || frameType == "Octo Coax +" ) {
//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)" ||
frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)" ||
frameType == "GroundVehicleMotorcyle" || frameType == "Motorcycle") {
setupGroundVehicleUI(frameType);
m_groundvehicle->setupUI(frameType);
}
//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.
@ -711,9 +766,14 @@ void ConfigVehicleTypeWidget::resetActuators()
*/
void ConfigVehicleTypeWidget::updateCustomAirframeUI()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
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
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
@ -731,9 +791,13 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
else
m_aircraft->customThrottle1Curve->initCurve(curveValues);
}
}
curveValues.clear();
field = obj->getField(QString("ThrottleCurve2"));
curveValues.clear();
if (field)
{
// 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):
if (field->getValue(0).toInt() <= -10) {
@ -744,15 +808,23 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
}
m_aircraft->customThrottle2Curve->initCurve(curveValues);
}
}
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
if (field)
{
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
if (q)
{
QString s = field->getValue().toString();
q->setCurrentIndex(q->findText(s));
//bool en = (s != "Disabled");
setComboCurrentIndex(q, q->findText(s));
}
field = obj->getField(mixerVectors.at(i));
if (field)
{
int ti = field->getElementNames().indexOf("ThrottleCurve1");
m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("ThrottleCurve2");
@ -765,6 +837,8 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
}
}
}
}
/**
@ -776,20 +850,19 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
qDebug()<<"updateObjectsFromWidgets";
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = updateFixedWingObjectsFromWidgets();
} else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
//update the mixer
airframeType = updateMultiRotorObjectsFromWidgets();
} else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
airframeType = "HeliCP";
m_aircraft->widget_3->sendccpmUpdate();
} else if (m_aircraft->aircraftType->currentText() == "Ground") {
airframeType = updateGroundVehicleObjectsFromWidgets();
} else {
airframeType = "Custom";
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
airframeType = m_multirotor->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
airframeType = m_heli->updateConfigObjectsFromWidgets();
}
else if (m_aircraft->aircraftType->currentText() == "Ground") {
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
@ -826,13 +899,12 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
}
}
//WHAT DOES THIS DO?
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
UAVObjectField* field = obj->getField(QString("AirframeType"));
// set the airframe type
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
field = obj->getField(QString("AirframeType"));
field->setValue(airframeType);
updateCustomAirframeUI();
}
/**
@ -893,44 +965,44 @@ void ConfigVehicleTypeWidget::addToDirtyMonitor()
addWidget(m_aircraft->fwRudder2ChannelBox);
addWidget(m_aircraft->elevonSlider1);
addWidget(m_aircraft->elevonSlider2);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmType);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmTailChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmEngineChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoWChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoXChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoYChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmSingleServo);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoZChannel);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleW);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleX);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCorrectionAngle);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleZ);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleY);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivePassthrough);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkRoll);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkCyclic);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRevoSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmREVOspinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveSlider);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivespinBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmCyclicScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScale);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScaleBox);
addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSlider);
addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSpinBox);
addWidget(m_aircraft->widget_3->m_ccpm->CurveType);
addWidget(m_aircraft->widget_3->m_ccpm->NumCurvePoints);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue1);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue2);
addWidget(m_aircraft->widget_3->m_ccpm->CurveValue3);
addWidget(m_aircraft->widget_3->m_ccpm->CurveToGenerate);
addWidget(m_aircraft->widget_3->m_ccpm->CurveSettings);
addWidget(m_aircraft->widget_3->m_ccpm->ThrottleCurve);
addWidget(m_aircraft->widget_3->m_ccpm->PitchCurve);
addWidget(m_aircraft->widget_3->m_ccpm->ccpmAdvancedSettingsTable);
addWidget(m_heli->m_ccpm->ccpmType);
addWidget(m_heli->m_ccpm->ccpmTailChannel);
addWidget(m_heli->m_ccpm->ccpmEngineChannel);
addWidget(m_heli->m_ccpm->ccpmServoWChannel);
addWidget(m_heli->m_ccpm->ccpmServoXChannel);
addWidget(m_heli->m_ccpm->ccpmServoYChannel);
addWidget(m_heli->m_ccpm->ccpmSingleServo);
addWidget(m_heli->m_ccpm->ccpmServoZChannel);
addWidget(m_heli->m_ccpm->ccpmAngleW);
addWidget(m_heli->m_ccpm->ccpmAngleX);
addWidget(m_heli->m_ccpm->ccpmCorrectionAngle);
addWidget(m_heli->m_ccpm->ccpmAngleZ);
addWidget(m_heli->m_ccpm->ccpmAngleY);
addWidget(m_heli->m_ccpm->ccpmCollectivePassthrough);
addWidget(m_heli->m_ccpm->ccpmLinkRoll);
addWidget(m_heli->m_ccpm->ccpmLinkCyclic);
addWidget(m_heli->m_ccpm->ccpmRevoSlider);
addWidget(m_heli->m_ccpm->ccpmREVOspinBox);
addWidget(m_heli->m_ccpm->ccpmCollectiveSlider);
addWidget(m_heli->m_ccpm->ccpmCollectivespinBox);
addWidget(m_heli->m_ccpm->ccpmCollectiveScale);
addWidget(m_heli->m_ccpm->ccpmCollectiveScaleBox);
addWidget(m_heli->m_ccpm->ccpmCyclicScale);
addWidget(m_heli->m_ccpm->ccpmPitchScale);
addWidget(m_heli->m_ccpm->ccpmPitchScaleBox);
addWidget(m_heli->m_ccpm->ccpmRollScale);
addWidget(m_heli->m_ccpm->ccpmRollScaleBox);
addWidget(m_heli->m_ccpm->SwashLvlPositionSlider);
addWidget(m_heli->m_ccpm->SwashLvlPositionSpinBox);
addWidget(m_heli->m_ccpm->CurveType);
addWidget(m_heli->m_ccpm->NumCurvePoints);
addWidget(m_heli->m_ccpm->CurveValue1);
addWidget(m_heli->m_ccpm->CurveValue2);
addWidget(m_heli->m_ccpm->CurveValue3);
addWidget(m_heli->m_ccpm->CurveToGenerate);
addWidget(m_heli->m_ccpm->CurveSettings);
addWidget(m_heli->m_ccpm->ThrottleCurve);
addWidget(m_heli->m_ccpm->PitchCurve);
addWidget(m_heli->m_ccpm->ccpmAdvancedSettingsTable);
}

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

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