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Code Issues Releases Activity

OP-138 A few missing bits in the tricopter mixer settings, sorry...

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2033 ebee16cc-31ac-478f-84a7-5cbb03baadba
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edouard 2010-10-29 20:41:58 +00:00 committed by edouard
parent 8087fda6f9
commit 739f4e468f
1 changed files with 35 additions and 3 deletions
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38
ground/src/plugins/config/configairframewidget.cpp
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@ -418,7 +418,7 @@ void ConfigAirframeWidget::requestAircraftUpdate()
frameType == "Hexa" || frameType == "Octo" || frameType == "Hexa" || frameType == "Octo" ||
frameType == "HexaCoax" || frameType == "OctoV" || frameType == "HexaCoax" || frameType == "OctoV" ||
frameType == "HexaX" || frameType == "OctoCoaxP" || frameType == "HexaX" || frameType == "OctoCoaxP" ||
frameType == "OctoCoaxX") { frameType == "OctoCoaxX" || frameType == "Tri") {
////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////
// Retrieve Multirotor settings // Retrieve Multirotor settings
////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////
@ -714,8 +714,35 @@ void ConfigAirframeWidget::requestAircraftUpdate()
val = floor(field->getDouble(i)/1.27); val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val); m_aircraft->mrRollMixLevel->setValue(val);
} }
} } else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw"));
Q_ASSERT(field);
m_aircraft->triYawChannel->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
// Now, retrieve the Feedforward values: // Now, retrieve the Feedforward values:
@ -1876,7 +1903,6 @@ void ConfigAirframeWidget::sendAircraftUpdate()
}; };
setupMixer(mixer); setupMixer(mixer);
// TODO: enable tricopter yaw channel!!
int eng = m_aircraft->triYawChannel->currentIndex()-1; int eng = m_aircraft->triYawChannel->currentIndex()-1;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(mixerTypes.at(eng)); field = obj->getField(mixerTypes.at(eng));
@ -1885,6 +1911,12 @@ void ConfigAirframeWidget::sendAircraftUpdate()
resetField(field); resetField(field);
int ti = field->getElementNames().indexOf("Yaw"); int ti = field->getElementNames().indexOf("Yaw");
field->setValue(127,ti); field->setValue(127,ti);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField("FixedWingYaw");
field->setValue(m_aircraft->triYawChannel->currentText());
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK"); m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} }