rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-18 03:52:11 +01:00
Code Issues Releases Activity

Merge branch 'MikeL' into next

Browse Source
This commit is contained in:
James Cotton 2012-06-07 11:31:41 -05:00
commit 7b8110a457
33 changed files with 6030 additions and 5616 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
flight/RemoteSystemsTempFiles/.project Normal file
View File

@ -0,0 +1,12 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>RemoteSystemsTempFiles</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
</buildSpec>
<natures>
<nature>org.eclipse.rse.ui.remoteSystemsTempNature</nature>
</natures>
</projectDescription>

40
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>796</width>
<height>605</height>
<width>730</width>
<height>602</height>
</rect>
</property>
<property name="windowTitle">
@ -1359,7 +1359,7 @@ margin:1px;</string>
<number>0</number>
</property>
<item>
<widget class="ConfigccpmWidget" name="widget_3" native="true"/>
<widget class="ConfigCcpmWidget" name="widget_3" native="true"/>
</item>
</layout>
</item>
@ -2893,7 +2893,7 @@ p, li { white-space: pre-wrap; }
<container>1</container>
</customwidget>
<customwidget>
<class>ConfigccpmWidget</class>
<class>ConfigCcpmWidget</class>
<extends>QWidget</extends>
<header>cfg_vehicletypes/configccpmwidget.h</header>
<container>1</container>
@ -2999,22 +2999,6 @@ p, li { white-space: pre-wrap; }
</hint>
</hints>
</connection>
<connection>
<sender>mrPitchMixLevel</sender>
<signal>valueChanged(int)</signal>
<receiver>mrPitchMixValue</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>83</x>
<y>228</y>
</hint>
<hint type="destinationlabel">
<x>82</x>
<y>168</y>
</hint>
</hints>
</connection>
<connection>
<sender>mrRollMixLevel</sender>
<signal>valueChanged(int)</signal>
@ -3047,5 +3031,21 @@ p, li { white-space: pre-wrap; }
</hint>
</hints>
</connection>
<connection>
<sender>mrPitchMixLevel</sender>
<signal>valueChanged(int)</signal>
<receiver>mrPitchMixValue</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>92</x>
<y>222</y>
</hint>
<hint type="destinationlabel">
<x>92</x>
<y>151</y>
</hint>
</hints>
</connection>
</connections>
</ui>

14
ground/openpilotgcs/src/plugins/config/ccpm.ui
View File

@ -3959,7 +3959,7 @@ margin:1px;</string>
<connections>
<connection>
<sender>ccpmCollectiveSlider</sender>
<signal>sliderMoved(int)</signal>
<signal>valueChanged(int)</signal>
<receiver>ccpmCollectivespinBox</receiver>
<slot>setValue(int)</slot>
<hints>
@ -4007,7 +4007,7 @@ margin:1px;</string>
</connection>
<connection>
<sender>ccpmRevoSlider</sender>
<signal>sliderMoved(int)</signal>
<signal>valueChanged(int)</signal>
<receiver>ccpmREVOspinBox</receiver>
<slot>setValue(int)</slot>
<hints>
@ -4023,7 +4023,7 @@ margin:1px;</string>
</connection>
<connection>
<sender>SwashLvlPositionSlider</sender>
<signal>sliderMoved(int)</signal>
<signal>valueChanged(int)</signal>
<receiver>SwashLvlPositionSpinBox</receiver>
<slot>setValue(int)</slot>
<hints>
@ -4071,7 +4071,7 @@ margin:1px;</string>
</connection>
<connection>
<sender>ccpmCollectiveScale</sender>
<signal>sliderMoved(int)</signal>
<signal>valueChanged(int)</signal>
<receiver>ccpmCollectiveScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
@ -4087,7 +4087,7 @@ margin:1px;</string>
</connection>
<connection>
<sender>ccpmCyclicScale</sender>
<signal>sliderMoved(int)</signal>
<signal>valueChanged(int)</signal>
<receiver>ccpmCyclicScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
@ -4119,7 +4119,7 @@ margin:1px;</string>
</connection>
<connection>
<sender>ccpmPitchScale</sender>
<signal>sliderMoved(int)</signal>
<signal>valueChanged(int)</signal>
<receiver>ccpmPitchScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
@ -4167,7 +4167,7 @@ margin:1px;</string>
</connection>
<connection>
<sender>ccpmRollScale</sender>
<signal>sliderMoved(int)</signal>
<signal>valueChanged(int)</signal>
<receiver>ccpmRollScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>

644
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -25,7 +25,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configccpmwidget.h"
#include "mixersettings.h"
//#include "mixersettings.h"
#include <QDebug>
#include <QStringList>
@ -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));
@ -147,21 +143,18 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
UAVObjectField * curve2source = mixerSettings->getField("Curve2Source");
Q_ASSERT(curve2source);
QStringList channels;
channels << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
"Channel5" << "Channel6" << "Channel7" << "Channel8" << "None";
m_ccpm->ccpmEngineChannel->addItems(channels);
m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
m_ccpm->ccpmTailChannel->addItems(channels);
m_ccpm->ccpmTailChannel->setCurrentIndex(8);
m_ccpm->ccpmServoWChannel->addItems(channels);
m_ccpm->ccpmServoWChannel->setCurrentIndex(8);
m_ccpm->ccpmServoXChannel->addItems(channels);
m_ccpm->ccpmServoXChannel->setCurrentIndex(8);
m_ccpm->ccpmServoYChannel->addItems(channels);
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
m_ccpm->ccpmServoZChannel->addItems(channels);
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
m_ccpm->ccpmEngineChannel->addItems(channelNames);
m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
m_ccpm->ccpmTailChannel->addItems(channelNames);
m_ccpm->ccpmTailChannel->setCurrentIndex(0);
m_ccpm->ccpmServoWChannel->addItems(channelNames);
m_ccpm->ccpmServoWChannel->setCurrentIndex(0);
m_ccpm->ccpmServoXChannel->addItems(channelNames);
m_ccpm->ccpmServoXChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->addItems(channelNames);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->addItems(channelNames);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
QStringList Types;
Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") <<
@ -170,12 +163,14 @@ 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()));
@ -205,9 +200,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_ccpm->CurveSettings, SIGNAL(cellChanged (int, int)), this, SLOT(UpdateCurveWidgets()));
connect(m_ccpm->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType()));
// connect(m_ccpm->SwashLvlSwashplateImage, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateRedraw()));
connect(m_ccpm->PitchCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updatePitchCurveValue(QList<double>,double)));
connect(m_ccpm->ThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateThrottleCurveValue(QList<double>,double)));
@ -216,6 +208,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()),this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
@ -224,18 +217,96 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
ccpmSwashplateRedraw();
}
ConfigccpmWidget::~ConfigccpmWidget()
ConfigCcpmWidget::~ConfigCcpmWidget()
{
// Do nothing
}
void ConfigccpmWidget::UpdateType()
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 +354,8 @@ 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 +369,7 @@ 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 +394,7 @@ 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 +407,7 @@ 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 +421,8 @@ 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);
@ -407,12 +478,12 @@ void ConfigccpmWidget::UpdateType()
/**
Resets a mixer curve
*/
void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
void ConfigCcpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
{
mixer->initLinearCurve(numElements,(double)1);
}
void ConfigccpmWidget::UpdateCurveWidgets()
void ConfigCcpmWidget::UpdateCurveWidgets()
{
int NumCurvePoints,i,Changed;
QList<double> curveValues;
@ -446,7 +517,7 @@ void ConfigccpmWidget::UpdateCurveWidgets()
if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues);
}
void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
void ConfigCcpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
{
Q_UNUSED(curveValues0);
Q_UNUSED(Value0);
@ -470,7 +541,7 @@ void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double V
}
void ConfigccpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
void ConfigCcpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
{
Q_UNUSED(curveValues0);
Q_UNUSED(Value0);
@ -495,7 +566,7 @@ void ConfigccpmWidget::updateThrottleCurveValue(QList<double> curveValues0,doubl
}
void ConfigccpmWidget::UpdateCurveSettings()
void ConfigCcpmWidget::UpdateCurveSettings()
{
int NumCurvePoints,i;
double scale;
@ -625,7 +696,7 @@ void ConfigccpmWidget::UpdateCurveSettings()
UpdateCurveWidgets();
}
void ConfigccpmWidget::GenerateCurve()
void ConfigCcpmWidget::GenerateCurve()
{
int NumCurvePoints,CurveToGenerate,i;
double value1, value2, value3, scale;
@ -695,7 +766,7 @@ void ConfigccpmWidget::GenerateCurve()
}
void ConfigccpmWidget::ccpmSwashplateRedraw()
void ConfigCcpmWidget::ccpmSwashplateRedraw()
{
double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY;
int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i;
@ -735,10 +806,10 @@ 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;
@ -796,69 +867,14 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
//m_ccpm->SwashplateImage->fitInView(SwashplateImg, Qt::KeepAspectRatio);
}
void ConfigccpmWidget::ccpmSwashplateUpdate()
void ConfigCcpmWidget::ccpmSwashplateUpdate()
{
ccpmSwashplateRedraw();
SetUIComponentVisibilities();
UpdateMixer();
}
void ConfigccpmWidget::ccpmChannelCheck()
{
if((m_ccpm->ccpmServoWChannel->currentIndex()==8)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
}
else
{
m_ccpm->ccpmServoWLabel->setText("<font color=black>Servo W</font>");
}
if((m_ccpm->ccpmServoXChannel->currentIndex()==8)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
}
else
{
m_ccpm->ccpmServoXLabel->setText("<font color=black>Servo X</font>");
}
if((m_ccpm->ccpmServoYChannel->currentIndex()==8)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
}
else
{
m_ccpm->ccpmServoYLabel->setText("<font color=black>Servo Y</font>");
}
if((m_ccpm->ccpmServoZChannel->currentIndex()==8)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
}
else
{
m_ccpm->ccpmServoZLabel->setText("<font color=black>Servo Z</font>");
}
if((m_ccpm->ccpmEngineChannel->currentIndex()==8)&&(m_ccpm->ccpmEngineChannel->isEnabled()))
{
m_ccpm->ccpmEngineLabel->setText("<font color=red>Engine</font>");
}
else
{
m_ccpm->ccpmEngineLabel->setText("<font color=black>Engine</font>");
}
if((m_ccpm->ccpmTailChannel->currentIndex()==8)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
}
}
void ConfigccpmWidget::UpdateMixer()
void ConfigCcpmWidget::UpdateMixer()
{
bool useCCPM;
bool useCyclic;
@ -866,13 +882,14 @@ 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;
GUIConfigDataUnion config = GetConfigData();
CollectiveConstant = (float)GUIConfigData.heli.SliderValue0 / 100.00;
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 +898,18 @@ 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.SwasplateType>0)
if (config.heli.SwashplateType>0)
{//not advanced settings
//get the channel data from the ui
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
@ -914,18 +931,18 @@ 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 +964,8 @@ 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
}
@ -970,122 +987,140 @@ 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::updateConfigObjects()
{
QString airframeType = "HeliCP";
bool useCCPM;
bool useCyclic;
if (updatingFromHardware) return;
if (updatingFromHardware == TRUE) return airframeType;
updatingFromHardware = TRUE;
//get the user options
GUIConfigDataUnion config = GetConfigData();
//swashplate config
GUIConfigData.heli.SwasplateType = 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
config.heli.Throttle = m_ccpm->ccpmEngineChannel->currentIndex();
//tail
config.heli.Tail = m_ccpm->ccpmTailChannel->currentIndex();
SetConfigData(config);
updatingFromHardware = FALSE;
return airframeType;
}
void ConfigccpmWidget::UpdateCCPMUIFromOptions()
QString ConfigCcpmWidget::updateConfigObjectsFromWidgets() //UpdateCCPMOptionsFromUI()
{
QString airframeType = updateConfigObjects();
setMixer();
return airframeType;
}
void ConfigCcpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFromOptions()
{
Q_UNUSED(frameType);
GUIConfigDataUnion config = GetConfigData();
//swashplate config
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +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
setComboCurrentIndex( m_ccpm->ccpmEngineChannel, config.heli.Throttle);
//tail
setComboCurrentIndex( m_ccpm->ccpmTailChannel, config.heli.Tail);
getMixer();
}
void ConfigccpmWidget::SetUIComponentVisibilities()
void ConfigCcpmWidget::SetUIComponentVisibilities()
{
UpdateCCPMOptionsFromUI();
//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(!m_ccpm->ccpmCollectivePassthrough->isChecked() &&
m_ccpm->ccpmLinkCyclic->isChecked());
m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmCollectiveScalingBox->setVisible(m_ccpm->ccpmCollectivePassthrough->isChecked() || !m_ccpm->ccpmLinkCyclic->isChecked());
m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState);
if (!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState)
m_ccpm->ccpmLinkCyclic->setVisible(!m_ccpm->ccpmCollectivePassthrough->isChecked());
m_ccpm->ccpmCyclicScalingBox->setVisible((m_ccpm->ccpmCollectivePassthrough->isChecked() || !m_ccpm->ccpmLinkCyclic->isChecked()) &&
m_ccpm->ccpmLinkRoll->isChecked());
if (!m_ccpm->ccpmCollectivePassthrough->checkState() && m_ccpm->ccpmLinkCyclic->isChecked())
{
m_ccpm->ccpmPitchScalingBox->setVisible(0);
m_ccpm->ccpmRollScalingBox->setVisible(0);
@ -1094,123 +1129,26 @@ void ConfigccpmWidget::SetUIComponentVisibilities()
}
else
{
m_ccpm->ccpmPitchScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState);
m_ccpm->ccpmRollScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState);
m_ccpm->ccpmPitchScalingBox->setVisible(!m_ccpm->ccpmLinkRoll->isChecked());
m_ccpm->ccpmRollScalingBox->setVisible(!m_ccpm->ccpmLinkRoll->isChecked());
m_ccpm->ccpmLinkRoll->setVisible(1);
}
}
/**
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];
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++)
{
@ -1221,7 +1159,7 @@ void ConfigccpmWidget::requestccpmUpdate()
}
updatingFromHardware=FALSE;
UpdateCCPMUIFromOptions();
ccpmSwashplateUpdate();
}
@ -1229,24 +1167,14 @@ void ConfigccpmWidget::requestccpmUpdate()
/**
Sends the config to the board (ccpm type)
*/
void ConfigccpmWidget::sendccpmUpdate()
void ConfigCcpmWidget::setMixer()
{
int i,j;
if (SwashLvlConfigurationInProgress)return;
if (updatingToHardware == TRUE) return;
updatingToHardware=TRUE;
//ShowDisclaimer(1);
UpdateCCPMOptionsFromUI();
// Store the data required to reconstruct
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
systemSettingsData.GUIConfigData[0] = GUIConfigData.UAVObject[0];
systemSettingsData.GUIConfigData[1] = GUIConfigData.UAVObject[1];
systemSettings->setData(systemSettingsData);
systemSettings->updated();
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
@ -1276,19 +1204,23 @@ void ConfigccpmWidget::sendccpmUpdate()
&mixerSettingsData.Mixer8Type
};
//reset all to Disabled
for (i=0; i<8; i++)
*mixerTypes[i] = 0;
//go through the user data and update the mixer matrix
for (i=0;i<6;i++)
{
if (MixerChannelData[i]<8)
if (MixerChannelData[i]>0)
{
//set the mixer type
*(mixerTypes[MixerChannelData[i]]) = i==0 ?
*(mixerTypes[MixerChannelData[i] - 1]) = i==0 ?
MixerSettings::MIXER1TYPE_MOTOR :
MixerSettings::MIXER1TYPE_SERVO;
//config the vector
for (j=0;j<5;j++)
mixers[MixerChannelData[i]][j] = m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt();
mixers[MixerChannelData[i] - 1][j] = m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt();
}
}
@ -1302,7 +1234,7 @@ 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 (m_ccpm->ccpmCollectivePassthrough->isChecked())
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE;
else
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE;
@ -1316,18 +1248,19 @@ void ConfigccpmWidget::sendccpmUpdate()
/**
Send ccpm type to the board and request saving to SD card
*/
void ConfigccpmWidget::saveccpmUpdate()
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);
}
void ConfigccpmWidget::resizeEvent(QResizeEvent* event)
void ConfigCcpmWidget::resizeEvent(QResizeEvent* event)
{
Q_UNUSED(event);
// Make the custom table columns autostretch:
@ -1339,7 +1272,7 @@ void ConfigccpmWidget::resizeEvent(QResizeEvent* event)
ccpmSwashplateRedraw();
}
void ConfigccpmWidget::showEvent(QShowEvent *event)
void ConfigCcpmWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
@ -1351,7 +1284,7 @@ void ConfigccpmWidget::showEvent(QShowEvent *event)
}
void ConfigccpmWidget::SwashLvlStartButtonPressed()
void ConfigCcpmWidget::SwashLvlStartButtonPressed()
{
QMessageBox msgBox;
int i;
@ -1388,7 +1321,8 @@ 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
@ -1413,10 +1347,10 @@ 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++)
{
@ -1449,7 +1383,7 @@ void ConfigccpmWidget::SwashLvlStartButtonPressed()
}
void ConfigccpmWidget::SwashLvlNextButtonPressed()
void ConfigCcpmWidget::SwashLvlNextButtonPressed()
{
//ShowDisclaimer(2);
SwashLvlState++;
@ -1552,7 +1486,7 @@ void ConfigccpmWidget::SwashLvlNextButtonPressed()
break;
}
}
void ConfigccpmWidget::SwashLvlCancelButtonPressed()
void ConfigCcpmWidget::SwashLvlCancelButtonPressed()
{
int i;
SwashLvlState=0;
@ -1600,7 +1534,7 @@ void ConfigccpmWidget::SwashLvlCancelButtonPressed()
}
void ConfigccpmWidget::SwashLvlFinishButtonPressed()
void ConfigCcpmWidget::SwashLvlFinishButtonPressed()
{
int i;
@ -1644,7 +1578,7 @@ void ConfigccpmWidget::SwashLvlFinishButtonPressed()
}
int ConfigccpmWidget::ShowDisclaimer(int messageID)
int ConfigCcpmWidget::ShowDisclaimer(int messageID)
{
QMessageBox msgBox;
msgBox.setText("<font color=red><h1>Warning!!!</h2></font>");
@ -1693,7 +1627,7 @@ int ConfigccpmWidget::ShowDisclaimer(int messageID)
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
*/
void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
void ConfigCcpmWidget::enableSwashplateLevellingControl(bool state)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@ -1733,7 +1667,7 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
Sets the swashplate level to a given value based on current settings for Max, Neutral and Min values.
level ranges -1 to +1
*/
void ConfigccpmWidget::setSwashplateLevel(int percent)
void ConfigCcpmWidget::setSwashplateLevel(int percent)
{
if (percent<0)return;// -1;
if (percent>100)return;// -1;
@ -1768,7 +1702,7 @@ return;
}
void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
{
Q_UNUSED(value);
int i;
@ -1808,3 +1742,63 @@ 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>");
}
}

57
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -29,6 +29,7 @@
#include "ui_ccpm.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
@ -50,36 +51,14 @@ typedef struct {
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 padding:7;
} __attribute__((packed)) heliGUISettingsStruct;
typedef union
{
uint UAVObject[2];//32bits * 2
heliGUISettingsStruct heli;//64bits
} GUIConfigDataUnion;
class ConfigccpmWidget: public ConfigTaskWidget
class ConfigCcpmWidget: public VehicleConfig
{
Q_OBJECT
public:
ConfigccpmWidget(QWidget *parent = 0);
~ConfigccpmWidget();
ConfigCcpmWidget(QWidget *parent = 0);
~ConfigCcpmWidget();
friend class ConfigVehicleTypeWidget;
@ -87,14 +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];
@ -109,8 +80,6 @@ private:
SwashplateServoSettingsStruct oldSwashLvlConfiguration;
SwashplateServoSettingsStruct newSwashLvlConfiguration;
GUIConfigDataUnion GUIConfigData;
int MixerChannelData[6];
int ShowDisclaimer(int messageID);
virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget
@ -118,7 +87,16 @@ private:
bool updatingFromHardware;
bool updatingToHardware;
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();
QString updateConfigObjects();
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();
@ -135,11 +113,10 @@ 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);
@ -147,8 +124,8 @@ private:
virtual void refreshValues() {}; // Not used
public slots:
void requestccpmUpdate();
void sendccpmUpdate();
void getMixer();
void setMixer();
void saveccpmUpdate();
protected:

551
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";
@ -145,53 +206,32 @@ 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)
{
Q_ASSERT(m_aircraft);
GUIConfigDataUnion config = GetConfigData();
fixedGUISettingsStruct fixed = config.fixedwing;
// Then retrieve how channels are setup
setComboCurrentIndex(m_aircraft->fwEngineChannelBox, fixed.FixedWingThrottle);
setComboCurrentIndex(m_aircraft->fwAileron1ChannelBox, fixed.FixedWingRoll1);
setComboCurrentIndex(m_aircraft->fwAileron2ChannelBox, fixed.FixedWingRoll2);
setComboCurrentIndex(m_aircraft->fwElevator1ChannelBox, fixed.FixedWingPitch1);
setComboCurrentIndex(m_aircraft->fwElevator2ChannelBox, fixed.FixedWingPitch2);
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
UAVDataObject* obj;
UAVObjectField *field;
// Then retrieve how channels are setup
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
m_aircraft->fwEngineChannelBox->setCurrentIndex(m_aircraft->fwEngineChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll1"));
Q_ASSERT(field);
m_aircraft->fwAileron1ChannelBox->setCurrentIndex(m_aircraft->fwAileron1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll2"));
Q_ASSERT(field);
m_aircraft->fwAileron2ChannelBox->setCurrentIndex(m_aircraft->fwAileron2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch1"));
Q_ASSERT(field);
m_aircraft->fwElevator1ChannelBox->setCurrentIndex(m_aircraft->fwElevator1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch2"));
Q_ASSERT(field);
m_aircraft->fwElevator2ChannelBox->setCurrentIndex(m_aircraft->fwElevator2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->fwRudder1ChannelBox->setCurrentIndex(m_aircraft->fwRudder1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw2"));
Q_ASSERT(field);
m_aircraft->fwRudder2ChannelBox->setCurrentIndex(m_aircraft->fwRudder2ChannelBox->findText(field->getValue().toString()));
if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
@ -230,11 +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" ||
@ -245,118 +285,67 @@ bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
// Elevator
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1ChannelBox->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2ChannelBox->currentText());
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();
// Aileron
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
SetConfigData(config);
// Rudder
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(tmpVal));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
// Rudder
tmpVal = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
// tmpVal will be -1 if rudder is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no rudder, only ailerons, we're fine with it.
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
// Ailerons
tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127, ti);
// Only set Aileron 2 if Aileron 1 is defined
tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127, ti);
}
} // Else we have no ailerons. Our consistency check guarantees we have
// rudder in this case, so we're fine with it too.
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// Elevator
tmpVal = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(127, ti);
// Only set Elevator 2 if it is defined
tmpVal = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(127, ti);
//rudder
channel = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
//ailerons
channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (channel > -1) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
channel = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
}
//elevators
channel = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
if (channel > -1) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 127);
channel = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 127);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
@ -367,11 +356,11 @@ 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" ||
@ -382,106 +371,64 @@ bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
// Elevons
UAVObjectField *field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Rudder 1 (can be None)
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
// Rudder 2 (can be None)
field = obj->getField("FixedWingYaw2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder2ChannelBox->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
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();
obj->updated();
SetConfigData(config);
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Save the curve:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(tmpVal));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
// Rudder 1
tmpVal = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
// tmpVal will be -1 if rudder 1 is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
int channel;
double value;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
// Rudder 2
tmpVal = m_aircraft->fwRudder2ChannelBox->currentIndex()-1;
// tmpVal will be -1 if rudder 2 is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
//rudders
channel = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->fwRudder2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
//ailerons
channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (channel > -1) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value()*1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value()*1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, value);
channel = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value()*1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value()*1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -value);
}
tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
@ -491,11 +438,11 @@ 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" ||
@ -506,97 +453,75 @@ bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType)
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
// Elevons
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1ChannelBox->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2ChannelBox->currentText());
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
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();
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
SetConfigData(config);
obj->updated();
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// Save the curve:
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(tmpVal));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127,ti);
int channel;
double value;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
//rudders
channel = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->fwRudder2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
//ailerons
channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
if (channel > -1) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
channel = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -127);
}
tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-127,ti);
//vtail
channel = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
if (channel > -1) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value()*1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value()*1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, value);
channel = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value()*1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value()*1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -value);
}
// Now compute the VTail
tmpVal = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
tmpVal = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
@ -604,7 +529,7 @@ 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

499
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";
@ -177,54 +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;
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
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
m_aircraft->gvEngineChannelBox->setCurrentIndex(m_aircraft->gvEngineChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll1"));
Q_ASSERT(field);
m_aircraft->gvAileron1ChannelBox->setCurrentIndex(m_aircraft->gvAileron1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll2"));
Q_ASSERT(field);
m_aircraft->gvAileron2ChannelBox->setCurrentIndex(m_aircraft->gvAileron2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleThrottle1"));
Q_ASSERT(field);
m_aircraft->gvMotor1ChannelBox->setCurrentIndex(m_aircraft->gvMotor1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleThrottle2"));
Q_ASSERT(field);
m_aircraft->gvMotor2ChannelBox->setCurrentIndex(m_aircraft->gvMotor2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleSteering1"));
Q_ASSERT(field);
m_aircraft->gvSteering1ChannelBox->setCurrentIndex(m_aircraft->gvSteering1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleSteering2"));
Q_ASSERT(field);
m_aircraft->gvSteering2ChannelBox->setCurrentIndex(m_aircraft->gvSteering2ChannelBox->findText(field->getValue().toString()));
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
@ -233,14 +257,11 @@ void ConfigVehicleTypeWidget::refreshGroundVehicleWidgetsValues(QString frameTyp
// Find the channel number for Motor1
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Roll");
m_aircraft->differentialSteeringSlider1->setValue(field->getDouble(ti)*100);
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->differentialSteeringSlider2->setValue(field->getDouble(ti)*100);
m_aircraft->differentialSteeringSlider1->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_ROLL)*100);
m_aircraft->differentialSteeringSlider2->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
}
}
if (frameType == "GroundVehicleMotorcycle") {
@ -260,20 +281,18 @@ 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" ||
if (m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering2ChannelBox->currentText() == "None") )
{
@ -282,97 +301,42 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType)
// Now setup the channels:
resetActuators();
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
// Left motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
SetConfigData(config);
// Right motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int tmpVal, ti;
// Disable all output channels
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
//Disable output channel
field->setValue("Disabled");
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
//motor
channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(0, ti);
}
//steering
channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -127);
// Motor
// Setup motor
tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1"); //Set motor to full forward
field->setValue(127, ti);
//balance
channel = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
//Steering
// Setup steering
tmpVal = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw"); //Set steering response to roll
field->setValue(-127, ti);
ti = field->getElementNames().indexOf("Roll"); //Set steering response to roll
field->setValue(-127, ti);
//Balancing
// Setup balancing servo
tmpVal = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw"); //Set balance response to yaw
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Roll"); //Set balance response to roll
field->setValue(127, ti);
obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
@ -385,10 +349,10 @@ 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" ||
@ -399,84 +363,35 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeTyp
// Now setup the channels:
resetActuators();
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
// Left motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
SetConfigData((config));
// Right motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int tmpVal, ti;
// Disable all output channels
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
//Disable output channel
field->setValue("Disabled");
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
//left motor
channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(0, ti);
}
// Motor
// Setup left motor
tmpVal = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1"); //Set motor to full forward
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Yaw"); //Set motor to turn right with increasing throttle
field->setValue(127, ti);
// Setup right motor
tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo"); //Set motor mixer type to Servo
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve2"); //Set motor to full forward
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Yaw"); //Set motor to turn left with increasing throttle
field->setValue(-127, ti);
obj->updated();
//right motor
channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
@ -492,11 +407,11 @@ 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" &&
@ -506,147 +421,43 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType)
{
return false;
}
// else{
// // m_aircraft->gvStatusLabel->setText("Mixer generated");
// QTextEdit* htmlText=new QTextEdit(m_aircraft->gvSteering1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvSteering2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering2Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor2Label->setText(htmlText->toPlainText());
// }
// Now setup the channels:
resetActuators();
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
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();
// Front motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
SetConfigData(config);
// Rear motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
// // Aileron
// field = obj->getField("FixedWingRoll1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
//
// field = obj->getField("FixedWingRoll2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Front steering
field = obj->getField("GroundVehicleSteering1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvSteering1ChannelBox->currentText());
// Rear steering
field = obj->getField("GroundVehicleSteering2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvSteering2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int tmpVal, ti;
// Disable all output channels
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
//Disable output channel
field->setValue("Disabled");
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(0, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(0, ti);
}
channel = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// Steering
// Only set front steering if it is defined
tmpVal = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
// tmpVal will be -1 if steering is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no front steering. We're fine with it as long as we have rear steering
channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// Only set rear steering if it is defined
tmpVal = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
// tmpVal will be -1 if steering is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-127, ti);
} // Else: we have no rear steering. We're fine with it as long as we have front steering
// Motor
// Only set front motor if it is defined
tmpVal = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
}
// Only set rear motor if it is defined
tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
if (tmpVal > -1) {
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(127, ti);
}
obj->updated();
channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
@ -657,7 +468,7 @@ 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

836
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>
@ -34,200 +33,192 @@
#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"
//#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(uiowner);
Q_ASSERT(quad);
int i;
// 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 (i=1; i <=8; i++) {
// do it manually so we can turn off any error decorations
QComboBox *combobox = qFindChild<QComboBox*>(uiowner, "multiMotorChannelBox" + QString::number(i));
if (combobox) {
combobox->setEnabled(false);
combobox->setItemData(0, 0, Qt::DecorationRole);
}
}
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));
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);
for (i=1; i <=3; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
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));
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);
for (i=1; i <=4; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
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));
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);
for (i=1; i <=4; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
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));
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);
for (i=1; i <=6; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
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));
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);
for (i=1; i <=6; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
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));
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);
for (i=1; i <=6; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
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));
combobox->setEnabled(true);
for (i=1; i <=8; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), 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));
combobox->setEnabled(true);
for (i=1; i <=8; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), 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));
combobox->setEnabled(true);
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), 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));
combobox->setEnabled(true);
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
m_aircraft->triYawChannelBox->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
@ -235,12 +226,61 @@ 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;
@ -279,7 +319,7 @@ 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" ||
@ -313,7 +353,7 @@ 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" ||
@ -348,7 +388,7 @@ 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" ||
@ -384,7 +424,7 @@ 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" ||
@ -419,7 +459,7 @@ 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" ||
@ -454,7 +494,7 @@ 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" ) {
@ -467,10 +507,11 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
}
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField("FixedWingYaw1");
field->setValue(m_aircraft->triYawChannelBox->currentText());
GUIConfigDataUnion config = GetConfigData();
config.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
SetConfigData(config);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
@ -486,20 +527,19 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
};
setupMultiRotorMixer(mixer);
int tmpVal = m_aircraft->triYawChannelBox->currentIndex()-1;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(mixerTypes.at(tmpVal));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(tmpVal));
resetField(field);
int ti = field->getElementNames().indexOf("Yaw");
field->setValue(127,ti);
//tell the mixer about tricopter yaw channel
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
if (channel > -1){
setMixerType(mixerObj, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixerObj, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
}
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
return airframeType;
}
@ -509,341 +549,252 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
/**
Helper function to refresh the UI widget values
*/
void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
{
//////////////////////////////////////////////////////////////////
// Retrieve settings
//////////////////////////////////////////////////////////////////
int channel;
double value;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
GUIConfigDataUnion config = GetConfigData();
multiGUISettingsStruct multi = config.multi;
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
if (frameType == "QuadP") {
// Motors 1/2/3/4 are: N / E / S / W
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = field->getDouble(i)/1.27;
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = (1-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = -field->getDouble(i)/1.27;
m_aircraft->mrRollMixLevel->setValue(val);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -value/1.27);
}
} else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = field->getDouble(i)/1.27;
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = 1-field->getDouble(i)/1.27;
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = field->getDouble(i)/1.27;
m_aircraft->mrRollMixLevel->setValue(val);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( value/1.27);
}
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
field = obj->getField(QString("VTOLMotorN"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
if(tmpVal>-1)
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(1-value/1.27) );
}
} else if (frameType == "HexaX") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(1-value/1.27) );
}
} else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSE);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( value/1.27 );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( value/1.27);
}
} else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox7->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox8->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
if (frameType == "Octo") {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
} else if (frameType == "OctoV") {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Yaw");
double val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Pitch");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
} else if (frameType == "OctoCoaxP") {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
tmpVal = m_aircraft->multiMotorChannelBox3->currentIndex()-1;
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(-value/1.27) );
}
else if (frameType == "OctoV") {
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(-value/1.27) );
}
else if (frameType == "OctoCoaxP") {
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(-value/1.27) );
}
}
} else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox7->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox8->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
}
} else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->triYawChannelBox->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
field = obj->getField(mixerVectors.at(tmpVal));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( floor(2*value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
}
}
}
@ -853,27 +804,20 @@ 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));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(channel));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(roll*127,ti);
qDebug()<<"Set roll="<<roll*127;
ti = field->getElementNames().indexOf("Pitch");
field->setValue(pitch*127,ti);
qDebug()<<"Set pitch="<<pitch*127;
ti = field->getElementNames().indexOf("Yaw");
field->setValue(yaw*127,ti);
qDebug()<<"Set yaw="<<yaw*127;
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 0);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll*127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch*127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw*127);
}
@ -881,21 +825,42 @@ 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)
{
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
GUIConfigDataUnion configData = GetConfigData();
ResetActuators(&configData);
int index;
foreach (QString motor, motorList) {
field = obj->getField(motor);
field->setValue(mmList.takeFirst()->currentText());
index = mmList.takeFirst()->currentIndex();
//qDebug()<<QString("Setup motor: %0 = %1").arg(motor).arg(index);
if (motor == QString("VTOLMotorN"))
configData.multi.VTOLMotorN = index;
else if (motor == QString("VTOLMotorNE"))
configData.multi.VTOLMotorNE = index;
else if (motor == QString("VTOLMotorE"))
configData.multi.VTOLMotorE = index;
else if (motor == QString("VTOLMotorSE"))
configData.multi.VTOLMotorSE = index;
else if (motor == QString( "VTOLMotorS"))
configData.multi.VTOLMotorS = index;
else if (motor == QString( "VTOLMotorSW"))
configData.multi.VTOLMotorSW = index;
else if (motor == QString( "VTOLMotorW"))
configData.multi.VTOLMotorW = index;
else if (motor == QString( "VTOLMotorNW"))
configData.multi.VTOLMotorNW = index;
}
//obj->updated(); // Save...
SetConfigData(configData);
}
@ -903,12 +868,12 @@ 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" ||
@ -979,11 +944,11 @@ 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" ||
@ -1060,7 +1025,7 @@ 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];
@ -1107,7 +1072,7 @@ 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;
@ -1115,26 +1080,17 @@ void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors)
//Iterate through all instances of multiMotorChannelBox
for (int i=0; i<numMotors; i++) {
//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));
QComboBox *combobox = qFindChild<QComboBox*>(uiowner, "multiMotorChannelBox" + QString::number(i+1));
if (combobox){
if (combobox->currentText() == "None") {
// label->setText("<font color='red'>" + label->text() + "</font>");
int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
QPixmap pixmap(size,size);
pixmap.fill(QColor("red"));
combobox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
// combobox->setStyleSheet("QComboBox { color: red}");
error=true;
}
else {
combobox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
// combobox->setStyleSheet("color: black;");
// QTextEdit* htmlText=new QTextEdit(label->text()); // htmlText is any QString with html tags.
// label->setText(htmlText->toPlainText());
}
}
}
@ -1144,3 +1100,5 @@ void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors)
m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
}
}

84
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h Normal file
View File

@ -0,0 +1,84 @@
/**
******************************************************************************
*
* @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;
QWidget *uiowner;
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:
signals:
void configurationChanged();
};
#endif // CONFIGMULTIROTORWIDGET_H

256
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp Normal file
View File

@ -0,0 +1,256 @@
/**
******************************************************************************
*
* @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)
{
//Generate lists of mixerTypeNames, mixerVectorNames, channelNames
channelNames << "None";
for (int i = 0; i < (int)(VehicleConfig::CHANNEL_NUMELEM); i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
channelNames << QString("Channel%1").arg(i+1);
}
// typedef enum { MIXERTYPE_DISABLED=0, MIXERTYPE_MOTOR=1, MIXERTYPE_SERVO=2,
//MIXERTYPE_CAMERAROLL=3, MIXERTYPE_CAMERAPITCH=4, MIXERTYPE_CAMERAYAW=5,
//MIXERTYPE_ACCESSORY0=6, MIXERTYPE_ACCESSORY1=7, MIXERTYPE_ACCESSORY2=8,
//MIXERTYPE_ACCESSORY3=9, MIXERTYPE_ACCESSORY4=10, MIXERTYPE_ACCESSORY5=11 } MixerTypeElem;
mixerTypeDescriptions << "Disabled" << "Motor" << "Servo" << "CameraRoll" << "CameraPitch"
<< "CameraYaw" << "Accessory0" << "Accessory1" << "Accessory2"
<< "Accessory3" << "Accessory4" << "Accessory5";
// This is needed because new style tries to compact things as much as possible in grid
// and on OSX the widget sizes of PushButtons is reported incorrectly:
// https://bugreports.qt-project.org/browse/QTBUG-14591
foreach( QPushButton * btn, findChildren<QPushButton*>() ) {
btn->setAttribute(Qt::WA_LayoutUsesWidgetRect);
}
}
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);
}
/**
Helper function:
enables/disables the named combobox within supplied uiowner
*/
void VehicleConfig::enableComboBox(QWidget* owner, QString boxName, bool enable)
{
QComboBox* box = qFindChild<QComboBox*>(owner, boxName);
if (box)
box->setEnabled(enable);
}
QString VehicleConfig::getMixerType(UAVDataObject* mixer, int channel)
{
Q_ASSERT(mixer);
QString mixerType = mixerTypeDescriptions[0]; //default to disabled
if (channel >= 0 && channel < mixerTypes.count()) {
UAVObjectField *field = mixer->getField(mixerTypes.at(channel));
Q_ASSERT(field);
if (field)
mixerType = field->getValue().toString();
}
return mixerType;
}
void VehicleConfig::setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType)
{
Q_ASSERT(mixer);
qDebug() << QString("setMixerType channel %0, type %1").arg(channel).arg(mixerType);
if (channel >= 0 && channel < mixerTypes.count()) {
UAVObjectField *field = mixer->getField(mixerTypes.at(channel));
Q_ASSERT(field);
if (field) {
if (mixerType >= 0 && mixerType < mixerTypeDescriptions.count())
{
field->setValue(mixerTypeDescriptions[mixerType]);
mixer->updated();
}
}
}
}
void VehicleConfig::resetMixerVector(UAVDataObject* mixer, int channel)
{
Q_ASSERT(mixer);
if (channel >= 0 && channel < mixerVectors.count()) {
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 0);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 0);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 0);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 0);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 0);
}
}
double VehicleConfig::getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName)
{
Q_ASSERT(mixer);
double value = 0;
if (channel >= 0 && channel < mixerVectors.count()) {
UAVObjectField *field = mixer->getField(mixerVectors.at(channel));
Q_ASSERT(field);
if (field) {
value = field->getDouble(elementName);
}
}
return value;
}
void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value)
{
Q_ASSERT(mixer);
qDebug() << QString("setMixerVectorValue channel %0, name %1, value %2").arg(channel).arg(elementName).arg(value);
if (channel >= 0 && channel < mixerVectors.count()) {
UAVObjectField *field = mixer->getField(mixerVectors.at(channel));
Q_ASSERT(field);
if (field) {
field->setDouble(value, elementName);
mixer->updated();
}
}
}
/**
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;
}

156
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h Normal file
View File

@ -0,0 +1,156 @@
/**
******************************************************************************
*
* @file vehicleconfig.h
* @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
*/
#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;
uint VTOLMotorE:4;
uint VTOLMotorW:4;
uint VTOLMotorNW:4;
uint VTOLMotorNE:4;
uint VTOLMotorSW:4;
uint VTOLMotorSE:4; //32bits
uint TRIYaw:4;
quint32 padding:28; //64bits
quint32 padding1;
quint32 padding2; //128bits
} __attribute__((packed)) multiGUISettingsStruct;
typedef struct {
uint SwashplateType: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 padding:31; //96bits
quint32 padding1; //128bits
} __attribute__((packed)) heliGUISettingsStruct;
typedef struct {
uint FixedWingThrottle:4;
uint FixedWingRoll1:4;
uint FixedWingRoll2:4;
uint FixedWingPitch1:4;
uint FixedWingPitch2:4;
uint FixedWingYaw1:4;
uint FixedWingYaw2:4;
uint padding:4; //32bits
quint32 padding1;
quint32 padding2;
quint32 padding3; //128bits
} __attribute__((packed)) fixedGUISettingsStruct;
typedef struct {
uint GroundVehicleThrottle1:4;
uint GroundVehicleThrottle2:4;
uint GroundVehicleSteering1:4;
uint GroundVehicleSteering2:4;
uint padding:16; //32bits
quint32 padding1;
quint32 padding2;
quint32 padding3; //128bits
} __attribute__((packed)) groundGUISettingsStruct;
typedef union
{
uint UAVObject[4]; //32bits * 4
heliGUISettingsStruct heli; //128bits
fixedGUISettingsStruct fixedwing;
multiGUISettingsStruct multi;
groundGUISettingsStruct ground;
} GUIConfigDataUnion;
class VehicleConfig: public ConfigTaskWidget
{
Q_OBJECT
public:
VehicleConfig(QWidget *parent = 0);
~VehicleConfig();
/* Enumeration options for field MixerType */
typedef enum { MIXERTYPE_DISABLED=0, MIXERTYPE_MOTOR=1, MIXERTYPE_SERVO=2, MIXERTYPE_CAMERAROLL=3, MIXERTYPE_CAMERAPITCH=4, MIXERTYPE_CAMERAYAW=5, MIXERTYPE_ACCESSORY0=6, MIXERTYPE_ACCESSORY1=7, MIXERTYPE_ACCESSORY2=8, MIXERTYPE_ACCESSORY3=9, MIXERTYPE_ACCESSORY4=10, MIXERTYPE_ACCESSORY5=11 } MixerTypeElem;
/* Array element names for field MixerVector */
typedef enum { MIXERVECTOR_THROTTLECURVE1=0, MIXERVECTOR_THROTTLECURVE2=1, MIXERVECTOR_ROLL=2, MIXERVECTOR_PITCH=3, MIXERVECTOR_YAW=4 } MixerVectorElem;
static GUIConfigDataUnion GetConfigData();
static void SetConfigData(GUIConfigDataUnion configData);
static void resetField(UAVObjectField * field);
static void setComboCurrentIndex(QComboBox* box, int index);
static void enableComboBox(QWidget* owner, QString boxName, bool enable);
double getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName);
void setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value);
void resetMixerVector(UAVDataObject* mixer, int channel);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();
QStringList channelNames;
QStringList mixerTypes;
QStringList mixerVectors;
QStringList mixerTypeDescriptions;
static const quint32 CHANNEL_NUMELEM = 10;
private:
static UAVObjectManager* getUAVObjectManager();
private slots:
public slots:
signals:
//void ConfigurationChanged();
protected:
};
#endif // GUIVEHICLECONFIG_H

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

@ -31,6 +31,10 @@ HEADERS += configplugin.h \
configcamerastabilizationwidget.h \
configtxpidwidget.h \
outputchannelform.h \
cfg_vehicletypes/configmultirotorwidget.h \
cfg_vehicletypes/configgroundvehiclewidget.h \
cfg_vehicletypes/configfixedwingwidget.h \
cfg_vehicletypes/vehicleconfig.h \
configrevowidget.h \
config_global.h
SOURCES += configplugin.cpp \
@ -62,7 +66,8 @@ SOURCES += configplugin.cpp \
cfg_vehicletypes/configgroundvehiclewidget.cpp \
cfg_vehicletypes/configfixedwingwidget.cpp \
cfg_vehicletypes/configccpmwidget.cpp \
outputchannelform.cpp
outputchannelform.cpp \
cfg_vehicletypes/vehicleconfig.cpp
FORMS += airframe.ui \
cc_hw_settings.ui \
pro_hw_settings.ui \

12
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -33,8 +33,8 @@
#include <QDebug>
#include <QDesktopServices>
#include <QUrl>
#include <accels.h>
#include <gyros.h>
#include "accels.h"
#include "gyros.h"
ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
ConfigTaskWidget(parent),
@ -107,7 +107,6 @@ void ConfigCCAttitudeWidget::accelsUpdated(UAVObject * obj) {
attitudeSettingsData.GyroBias[2] = -z_gyro_bias;
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
} else {
// Possible to get here if weird threading stuff happens. Just ignore updates.
qDebug("Unexpected accel update received.");
@ -174,3 +173,10 @@ void ConfigCCAttitudeWidget::enableControls(bool enable)
ConfigTaskWidget::enableControls(enable);
}
void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
{
ConfigTaskWidget::updateObjectsFromWidgets();
ui->zeroBiasProgress->setValue(0);
}

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

@ -46,6 +46,8 @@ public:
explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
~ConfigCCAttitudeWidget();
virtual void updateObjectsFromWidgets();
private slots:
void accelsUpdated(UAVObject * obj);
void timeout();

49
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"
@ -39,9 +40,11 @@
#include <QMessageBox>
#include <QDesktopServices>
#include <QUrl>
#include "mixersettings.h"
#include "actuatorcommand.h"
#include "actuatorsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent),wasItMe(false)
@ -231,35 +234,35 @@ void ConfigOutputWidget::sendChannelTest(int index, int value)
/**
Request the current config from the board (RC Output)
*/
void ConfigOutputWidget::refreshOutputWidgetsValues(UAVObject *)
void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
{
// Reset all channel assignements:
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
outputChannelForm->setAssignment("-");
}
Q_UNUSED(obj);
// FIXME: Use static accessor method for retrieving channel assignments
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(objManager);
// Get the channel assignements:
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
assignOutputChannel(obj,field->getName());
}
}
bool dirty=isDirty();
// Get Actuator Settings
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// get channel descriptions
QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
// Initialize output forms
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
outputChannelForm->setAssignment(ChannelDesc[outputChannelForm->index()]);
// init min,max,neutral
int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
outputChannelForm->minmax(minValue, maxValue);
int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
outputChannelForm->neutral(neutral);
}
// Get the SpinWhileArmed setting
m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
@ -275,6 +278,8 @@ void ConfigOutputWidget::refreshOutputWidgetsValues(UAVObject *)
m_config->cb_outputRate1->setCurrentIndex(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])));
m_config->cb_outputRate2->setCurrentIndex(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
if (utilMngr) {
int board = utilMngr->getBoardModel();

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

@ -33,6 +33,7 @@
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "uavobjectutilmanager.h"
#include "cfg_vehicletypes/vehicleconfig.h"
#include <QtGui/QWidget>
#include <QList>
@ -58,7 +59,6 @@ private:
void assignChannel(UAVDataObject *obj, QString str);
void assignOutputChannel(UAVDataObject *obj, QString str);
OutputChannelForm* getOutputChannelForm(const int index) const;
int mccDataRate;
UAVObject::Metadata accInitialData;
@ -69,7 +69,7 @@ private:
private slots:
void stopTests();
void disableIfNotMe(UAVObject *obj);
void refreshOutputWidgetsValues(UAVObject * obj = NULL);
virtual void refreshWidgetsValues(UAVObject * obj=NULL);
void updateObjectsFromWidgets();
void runChannelTests(bool state);
void sendChannelTest(int index, int value);

358
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -103,22 +103,22 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
addUAVObject("MixerSettings");
addUAVObject("ActuatorSettings");
ffTuningInProgress = false;
ffTuningPhase = false;
//Generate list of channels
QStringList channels;
channels << "None";
for (unsigned int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
//Generate lists of mixerTypeNames, mixerVectorNames, channelNames
channelNames << "None";
for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
channels << QString("Channel%1").arg(i+1);
channelNames << QString("Channel%1").arg(i+1);
}
QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(0); //Set default vehicle to Fixed Wing
QStringList fixedWingTypes;
@ -138,26 +138,12 @@ 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
foreach(QComboBox *combobox, this->findChildren<QComboBox*>(QRegExp("\\S+ChannelBo\\S+")))//FOR WHATEVER REASON, THIS DOES NOT WORK WITH ChannelBox. ChannelBo is sufficiently accurate
{
combobox->addItems(channels);
combobox->addItems(channelNames);
}
// Setup the Multirotor picture in the Quad settings interface
@ -188,6 +174,27 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
}
// create and setup a MultiRotor config widget
m_multirotor = new ConfigMultiRotorWidget(m_aircraft);
m_multirotor->quad = quad;
m_multirotor->uiowner = this;
m_multirotor->setupUI(m_aircraft->multirotorFrameType->currentText());
// create and setup a GroundVehicle config widget
m_groundvehicle = new ConfigGroundVehicleWidget(m_aircraft);
m_groundvehicle->setupUI(m_aircraft->groundVehicleType->currentText() );
// create and setup a FixedWing config widget
m_fixedwing = new ConfigFixedWingWidget(m_aircraft);
m_fixedwing->setupUI(m_aircraft->fixedWingType->currentText() );
// create and setup a Helicopter config widget
m_heli = m_aircraft->widget_3;
m_heli->setupUI(QString("HeliCP"));
// initialize the ui to show the mixersettings tab
//mdl m_aircraft->tabWidget->setCurrentIndex(0);
//Connect aircraft type selection dropbox to callback function
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
@ -195,6 +202,7 @@ 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()));
@ -220,19 +228,12 @@ 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()));
enableControls(false);
refreshWidgetsValues();
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() );
disableMouseWheelEvents();
}
@ -245,12 +246,95 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
// Do nothing
}
/**
Static function to get currently assigned channelDescriptions
for all known vehicle types; instantiates the appropriate object
then asks it to supply channel descs
*/
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);
@ -331,7 +415,6 @@ void ConfigVehicleTypeWidget::toggleRudder2(int index)
}
}
/////////////////////////////////////////////////////////
/// Feed Forward Testing
/////////////////////////////////////////////////////////
@ -525,8 +608,10 @@ void ConfigVehicleTypeWidget::updateCustomThrottle2CurveValue(QList<double> list
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *)
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
{
Q_UNUSED(o);
if(!allObjectsUpdated())
return;
@ -609,7 +694,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *)
if (frameType.startsWith("FixedWing")) {
// Retrieve fixed wing settings
refreshFixedWingWidgetsValues(frameType);
m_fixedwing->refreshWidgetsValues(frameType);
} else if (frameType == "Tri" ||
frameType == "QuadX" || frameType == "QuadP" ||
@ -617,17 +702,18 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *)
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 +727,13 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *)
*/
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" ||
@ -659,12 +745,15 @@ void ConfigVehicleTypeWidget::setupAirframeUI(QString frameType)
frameType == "OctoCoaxX" || frameType == "Octo Coax X" ) {
//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???
@ -685,26 +774,6 @@ 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.
@ -712,9 +781,14 @@ 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) {
@ -732,9 +806,13 @@ 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) {
@ -745,15 +823,23 @@ 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");
@ -766,6 +852,8 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
}
}
}
}
/**
@ -777,23 +865,25 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
qDebug()<<"updateObjectsFromWidgets";
UAVDataObject* obj;
UAVObjectField* field;
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";
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
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();
}
else {
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(QString("FeedForward"));
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
@ -826,14 +916,13 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
ti = field->getElementNames().indexOf("Yaw");
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();
}
/**
@ -845,6 +934,16 @@ void ConfigVehicleTypeWidget::openHelp()
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) );
}
/**
Helper function:
Sets the current index on supplied combobox to index
if it is within bounds 0 <= index < combobox.count()
*/
void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
{
if (index >= 0 && index < box->count())
box->setCurrentIndex(index);
}
/**
WHAT DOES THIS DO???
@ -873,6 +972,9 @@ void ConfigVehicleTypeWidget::addToDirtyMonitor()
addWidget(m_aircraft->multiMotorChannelBox6);
addWidget(m_aircraft->multiMotorChannelBox7);
addWidget(m_aircraft->multiMotorChannelBox8);
addWidget(m_aircraft->mrPitchMixLevel);
addWidget(m_aircraft->mrRollMixLevel);
addWidget(m_aircraft->mrYawMixLevel);
addWidget(m_aircraft->triYawChannelBox);
addWidget(m_aircraft->aircraftType);
addWidget(m_aircraft->fwEngineChannelBox);
@ -884,44 +986,44 @@ 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);
}

52
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -33,6 +33,12 @@
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "uavtalk/telemetrymanager.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>
@ -47,54 +53,40 @@ 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 setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
QStringList channelNames;
QStringList mixerTypes;
QStringList mixerVectors;
QGraphicsSvgItem *quad;
bool ffTuningInProgress;
bool ffTuningPhase;
UAVObject::Metadata accInitialData;
private slots:
virtual void refreshWidgetsValues(UAVObject * obj = NULL);
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(UAVObject * o=NULL);
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);

19
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -1,25 +1,6 @@
<xml>
<object name="ActuatorSettings" singleinstance="true" settings="true">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="FixedWingRoll1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="FixedWingRoll2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="FixedWingPitch1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="FixedWingPitch2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="FixedWingYaw1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="FixedWingYaw2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="FixedWingThrottle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorN" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorNE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorSE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorS" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorSW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="VTOLMotorNW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="GroundVehicleThrottle1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="GroundVehicleThrottle2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="GroundVehicleSteering1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="GroundVehicleSteering2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,Channel9,Channel10,None" defaultvalue="None"/>
<field name="ChannelUpdateFreq" units="Hz" type="uint16" elements="4" defaultvalue="50"/>
<field name="ChannelMax" units="us" type="int16" elements="10" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="10" defaultvalue="1000"/>

2
shared/uavobjectdefinition/systemsettings.xml
View File

@ -2,7 +2,7 @@
<object name="SystemSettings" singleinstance="true" settings="true">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="FixedWing"/>
<field name="GUIConfigData" units="bits" type="uint32" elements="2" defaultvalue="0"/>
<field name="GUIConfigData" units="bits" type="uint32" elements="4" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>