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Code Issues Releases Activity

Bugfixes in configwidgets;

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Refactor mixer type and vector set/get, named vector elements;
This commit is contained in:
Mike LaBranche 2012-05-24 09:38:34 -07:00
parent 2db4f6b2b6
commit 7fb96f1acd
8 changed files with 1000 additions and 611 deletions
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16
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -889,7 +889,7 @@ void ConfigCcpmWidget::UpdateMixer()
throwConfigError(QString("HeliCP"));
updateConfigObjectsFromWidgets();
//updateConfigObjectsFromWidgets();
GUIConfigDataUnion config = GetConfigData();
@ -1055,7 +1055,7 @@ QString ConfigCcpmWidget::updateConfigObjectsFromWidgets() //UpdateCCPMOptionsFr
SetConfigData(config);
//setMixer();
setMixer();
updatingFromHardware = FALSE;
return airframeType;
@ -1102,7 +1102,7 @@ void ConfigCcpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFro
//tail
setComboCurrentIndex( m_ccpm->ccpmTailChannel, config.heli.Tail);
//getMixer();
getMixer();
}
@ -1204,19 +1204,23 @@ void ConfigCcpmWidget::setMixer()
&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();
}
}

504
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -300,87 +300,123 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
SetConfigData(config);
UAVDataObject* obj;
UAVObjectField* field;
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);
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
//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 = 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);
// 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.
// // 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.
// 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.
// // 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.
// 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);
}
// // 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);
// }
obj->updated();
// obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
@ -417,83 +453,121 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
SetConfigData(config);
UAVDataObject* obj;
UAVObjectField* field;
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
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);
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);
}
// Save the curve:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// 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);
// 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.
// // 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.
// 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.
// // 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.
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);
}
// 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);
// }
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);
}
// 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();
// obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
@ -529,75 +603,121 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
SetConfigData(config);
UAVDataObject* obj;
UAVObjectField* field;
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
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);
}
//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);
}
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);
// 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);
// }
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);
}
// 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);
// }
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);
}
// // 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);
// 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);
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();
// obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}

411
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -257,14 +257,16 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
// 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);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->differentialSteeringSlider2->setValue(field->getDouble(ti)*100);
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
if (channel >= 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);
m_aircraft->differentialSteeringSlider1->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_ROLL)*100);
// ti = field->getElementNames().indexOf("Pitch");
m_aircraft->differentialSteeringSlider2->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
}
}
if (frameType == "GroundVehicleMotorcycle") {
@ -312,81 +314,109 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
SetConfigData(config);
UAVObject* obj;
UAVObjectField* field;
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
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
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//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);
//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);
//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);
// UAVObject* obj;
// UAVObjectField* field;
// 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
// // 1. Assign the servo/motor/none for each channel
int tmpVal, ti;
// int tmpVal, ti;
// Disable all output channels
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
// // Disable all output channels
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
//Disable output channel
field->setValue("Disabled");
// //Disable output channel
// field->setValue("Disabled");
}
// }
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
// // Set all mixer values to zero
// foreach(QString mixer, mixerVectors) {
// field = obj->getField(mixer);
// resetField(field);
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);
}
// 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 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);
// 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);
//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);
// //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);
// //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();
// obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
@ -423,70 +453,61 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
SetConfigData((config));
UAVObject* obj;
UAVObjectField* field;
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);
}
//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);
//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);
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");
}
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
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);
}
// int tmpVal, 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);
// 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);
// // 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();
// obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
@ -544,96 +565,88 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
config.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
SetConfigData(config);
UAVDataObject* obj;
UAVObjectField* field;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
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);
}
channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
// ... 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");
}
// Set all mixer values to zero
foreach(QString mixer, mixerVectors) {
field = obj->getField(mixer);
resetField(field);
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
// 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
// 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
// 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
// // 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);
}
// // 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);
}
// // 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();
// obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");

546
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -52,9 +52,6 @@
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
{
m_aircraft = aircraft;
//connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString)));
}
/**
@ -529,15 +526,25 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{ 0, 0, 0}
};
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);
}
// 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);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
@ -553,12 +560,15 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
*/
void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
{
int channel;
double value;
GUIConfigDataUnion config = GetConfigData();
multiGUISettingsStruct multi = config.multi;
UAVDataObject* obj;
UAVObjectField *field;
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
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
@ -569,24 +579,41 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
// 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);
}
// 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);
// }
} else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
@ -594,25 +621,38 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
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);
}
// 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);
}
// 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);
// }
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
@ -623,29 +663,44 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
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) );
}
// 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)
{
field = obj->getField(mixerVectors.at(tmpVal));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
// 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)
// {
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(1-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// }
} else if (frameType == "HexaX") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
@ -657,26 +712,41 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
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) );
}
// 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);
}
// 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);
// }
} else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
@ -688,24 +758,39 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSE);
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);
}
// 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);
}
// 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);
// }
} else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc
@ -720,56 +805,102 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorNW);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
if (frameType == "Octo") {
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 channelboxes
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) );
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) );
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(-value/1.27) );
}
}
// 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) {
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);
// 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) {
// 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);
} 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);
// } 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);
}
}
// }
// }
} else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc
@ -782,25 +913,38 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorW);
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) );
}
// 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);
}
// 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);
// }
} else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
@ -810,18 +954,29 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
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);
}
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) );
}
// 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);
// }
}
}
@ -834,24 +989,33 @@ void ConfigMultiRotorWidget::setupQuadMotor(int channel, double pitch, double ro
{
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);
// 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;
}

92
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -43,6 +43,15 @@ VehicleConfig::VehicleConfig(QWidget *parent) : ConfigTaskWidget(parent)
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";
}
VehicleConfig::~VehicleConfig()
@ -133,6 +142,89 @@ void VehicleConfig::enableComboBox(QWidget* owner, QString boxName, bool enable)
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

12
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -111,18 +111,30 @@ class VehicleConfig: public ConfigTaskWidget
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;

11
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -861,6 +861,9 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
UAVDataObject* obj;
UAVObjectField* field;
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@ -874,9 +877,9 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
else if (m_aircraft->aircraftType->currentText() == "Ground") {
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
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");
@ -909,7 +912,7 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
ti = field->getElementNames().indexOf("Yaw");
field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
}
}
// set the airframe type
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
field = obj->getField(QString("AirframeType"));

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"/>