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Code Issues Releases Activity

OP-138 Update fixed wing mixer computations to be compatible with the -127/127 range as per the latest UAVObject updates.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1938 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-10-10 12:56:44 +00:00 committed by edouard
parent 4dae7ef2df
commit 64fb124856
1 changed files with 19 additions and 19 deletions
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38
ground/src/plugins/config/configairframewidget.cpp
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@ -667,7 +667,7 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(1, ti);
field->setValue(127, ti);
// Rudder
eng = m_aircraft->fwRudderChannel->currentIndex()-1;
@ -678,7 +678,7 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(1, ti);
field->setValue(127, ti);
} // Else: we have no rudder, only ailerons, we're fine with it.
// Ailerons
@ -689,7 +689,7 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(1, ti);
field->setValue(127, ti);
// Only set Aileron 2 if Aileron 1 is defined
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
if (eng > -1) {
@ -698,7 +698,7 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(1, ti);
field->setValue(127, ti);
}
} // Else we have no ailerons. Our consistency check guarantees we have
// rudder in this case, so we're fine with it too.
@ -710,7 +710,7 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(1, ti);
field->setValue(127, ti);
// Only set Elevator 2 if it is defined
eng = m_aircraft->fwElevator2Channel->currentIndex()-1;
if (eng > -1) {
@ -719,7 +719,7 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(1, ti);
field->setValue(127, ti);
}
obj->updated();
@ -789,7 +789,7 @@ bool ConfigAirframeWidget::setupFrameElevon()
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(1, ti);
field->setValue(127, ti);
// Rudder
eng = m_aircraft->fwRudderChannel->currentIndex()-1;
@ -800,7 +800,7 @@ bool ConfigAirframeWidget::setupFrameElevon()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(1, ti);
field->setValue(127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
@ -810,9 +810,9 @@ bool ConfigAirframeWidget::setupFrameElevon()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setDouble((double)m_aircraft->elevonSlider2->value()/100, ti);
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setDouble((double)m_aircraft->elevonSlider1->value()/100,ti);
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
@ -822,9 +822,9 @@ bool ConfigAirframeWidget::setupFrameElevon()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setDouble((double)m_aircraft->elevonSlider2->value()/100, ti);
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setDouble(-(double)m_aircraft->elevonSlider1->value()/100,ti);
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
obj->updated();
@ -894,7 +894,7 @@ bool ConfigAirframeWidget::setupFrameVtail()
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(1, ti);
field->setValue(127, ti);
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (eng > -1) {
@ -903,7 +903,7 @@ bool ConfigAirframeWidget::setupFrameVtail()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setDouble(1,ti);
field->setValue(127,ti);
}
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
@ -913,7 +913,7 @@ bool ConfigAirframeWidget::setupFrameVtail()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setDouble(-1,ti);
field->setValue(-127,ti);
}
// Now compute the VTail
@ -923,9 +923,9 @@ bool ConfigAirframeWidget::setupFrameVtail()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setDouble((double)m_aircraft->elevonSlider2->value()/100, ti);
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setDouble((double)m_aircraft->elevonSlider1->value()/100,ti);
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
eng = m_aircraft->fwElevator2Channel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
@ -933,9 +933,9 @@ bool ConfigAirframeWidget::setupFrameVtail()
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setDouble((double)m_aircraft->elevonSlider2->value()/100, ti);
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setDouble(-(double)m_aircraft->elevonSlider1->value()/100,ti);
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");