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Code Issues Releases Activity

Merge remote branch 'origin/next' into os/TxPID-module

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This commit is contained in:
Oleg Semyonov 2011-12-24 15:44:16 +02:00
commit 7fbbb0e6af
66 changed files with 3566 additions and 1935 deletions
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2
.gitignore vendored
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@ -1,3 +1,5 @@
# Exclude temporary and system files
.DS_Store
# /flight/
/flight/*.pnproj

4
HISTORY.txt
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@ -1,5 +1,9 @@
Short summary of changes. For a complete list see the git log.
2011-12-10
Merged a change that sorts the UAVO fields based on size. Because this changes
all of the objects, erase all existing flash files based on this.
2011-11-04
New Spektrum/JR satellite receiver driver implementation.
It now provides explicit selection of DSM2 (and DSMJ), DSMX (10bit) and

19
MILESTONES.txt
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@ -149,9 +149,19 @@ V: http://www.youtube.com/watch?v=8SrfIS7OkB4
M: First CopterControl Return to Base Fixed Wing
C: Eric Price (Corvus Corax)
D: AUgust 2011
D: August 2011
V: http://www.youtube.com/watch?v=CugI0oBSQn8
M: First CopterControl flip on a Flybarless Heli
C: Anders Johansson (dezent)
D: November 2011
V: http://www.youtube.com/watch?v=Xfas2TUhOPw
M: First OpenPilot over 1km FixedWing navigation flight
C: Eric Price (Corvus Corax)
D: December 2011
V: http://www.youtube.com/watch?v=nWNWuUiUTNg
M: First Altitude Hold using Sonar
C:
@ -168,11 +178,6 @@ C:
D:
V:
M: First CopterControl flip on a Flybarless Heli
C:
D:
V:
An incomplete list of some future Milestones is below:
@ -184,8 +189,6 @@ An incomplete list of some future Milestones is below:
* First fixed wing navigation flight
* First Multirotor navigation flight
* First Helicopter navigation flight
* First over 1km navigation flight
* First over 5km navigation flight
* First "Follow Me" navigation flight
* First Channel Crossing with OpenPilot

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16
flight/CopterControl/System/coptercontrol.c
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@ -70,6 +70,12 @@ int main()
* */
PIOS_Board_Init();
#ifdef ERASE_FLASH
PIOS_Flash_W25X_EraseChip();
PIOS_LED_Off(LED1);
while (1) ;
#endif
/* Initialize modules */
MODULE_INITIALISE_ALL
@ -82,11 +88,11 @@ int main()
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
PIOS_LED_Off(LED1);
while (1) {
PIOS_LED_Toggle(LED1);
PIOS_DELAY_WaitmS(100);
}
return 0;
}

8
flight/CopterControl/System/pios_board.c
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@ -1365,7 +1365,7 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_CC_RCVRPORT_PPM:
case HWSETTINGS_CC_RCVRPORT_PPMSERVO:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
@ -1401,8 +1401,8 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_RCVRPORT_PPM:
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_CC_RCVRPORT_PPMSERVO:
case HWSETTINGS_CC_RCVRPORT_SERVO:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_CC_RCVRPORT_OUTPUTS:
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
break;
}
@ -1430,7 +1430,9 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_USB_HID */
PIOS_IAP_Init();
#ifndef ERASE_FLASH
PIOS_WDG_Init();
#endif
}
/**

2
flight/Modules/Actuator/actuator.c
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@ -207,7 +207,7 @@ static void actuatorTask(void* parameters)
nMixers ++;
}
}
if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers.
if((nMixers < 2) && !ActuatorCommandReadOnly()) //Nothing can fly with less than two mixers.
{
setFailsafe(); // So that channels like PWM buzzer keep working
continue;

20
flight/Modules/CameraStab/camerastab.c
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@ -62,8 +62,6 @@
// Private variables
static uint8_t camerastabEnabled = 0;
// Private functions
static void attitudeUpdated(UAVObjEvent* ev);
static float bound(float val);
@ -76,16 +74,18 @@ int32_t CameraStabInitialize(void)
{
static UAVObjEvent ev;
HwSettingsInitialize();
bool cameraStabEnabled;
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTAB] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
camerastabEnabled=1;
} else {
camerastabEnabled=0;
}
if (camerastabEnabled) {
HwSettingsInitialize();
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTAB] == HWSETTINGS_OPTIONALMODULES_ENABLED)
cameraStabEnabled = true;
else
cameraStabEnabled = false;
if (cameraStabEnabled) {
AttitudeActualInitialize();

9
flight/Modules/GPS/GPS.c
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@ -120,14 +120,16 @@ int32_t GPSStart(void)
int32_t GPSInitialize(void)
{
gpsPort = PIOS_COM_GPS;
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_GPS] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
if (optionalModules[HWSETTINGS_OPTIONALMODULES_GPS] == HWSETTINGS_OPTIONALMODULES_ENABLED)
gpsEnabled = true;
} else {
else
gpsEnabled = false;
}
if (gpsPort && gpsEnabled) {
GPSPositionInitialize();
@ -149,6 +151,7 @@ int32_t GPSInitialize(void)
return -1;
}
MODULE_INITCALL(GPSInitialize, GPSStart)
// ****************

8
flight/Modules/ManualControl/manualcontrol.c
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@ -189,19 +189,19 @@ static void manualControlTask(void *parameters)
lastActivityTime = lastSysTime;
}
if (ManualControlCommandReadOnly(&cmd)) {
if (ManualControlCommandReadOnly()) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
ManualControlCommandGetMetadata(&metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
ManualControlCommandSetMetadata(&metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
if (!ManualControlCommandReadOnly()) {
bool valid_input_detected = true;

4
flight/PiOS/Common/pios_flashfs_objlist.c
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@ -56,8 +56,8 @@ struct fileHeader {
} __attribute__((packed));
#define OBJECT_TABLE_MAGIC 0x85FB3C35
#define OBJ_MAGIC 0x3015AE71
#define OBJECT_TABLE_MAGIC 0x85FB3D35
#define OBJ_MAGIC 0x3015A371
#define OBJECT_TABLE_START 0x00000010
#define OBJECT_TABLE_END 0x00001000
#define SECTOR_SIZE 0x00001000

2
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
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@ -1,5 +1,5 @@
/* This is the size of the stack for all FreeRTOS IRQs */
_irq_stack_size = 0x1A0;
_irq_stack_size = 0x1E6;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x100;

11
flight/PiOS/inc/pios_dsm_priv.h
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@ -91,12 +91,11 @@
* if this receiver is a master (provides receiver capabilities info to
* the transmitter to choose data format) or slave (does not respond to
* the transmitter which falls back to the old DSM mode in that case).
* Currently known are 3(4) pulses for low resolution (10 bit) mode, and
* 5(6) pulses for high resolution (11 bit) mode. Thus only 3 or 5 pulses
* should be used for stand-alone satellite receiver to be bound correctly
* as the master. 5 pulses (high resolution) mode simulates high-end
* receivers which should work in all cases except user explicitly wants
* to bind in low resolution mode.
* Currently known are 3(4) pulses for low resolution (10 bit) DSM2 mode,
* 5(6) pulses for high resolution (11 bit) DSM2 mode, and also 7(8) and
* 9(10) pulses for DSMX modes. Thus only 3, 5, 7 or 9 pulses should be
* used for stand-alone satellite receiver to be bound correctly as the
* master.
*/
#define DSM_CHANNELS_PER_FRAME 7

2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
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@ -3139,6 +3139,7 @@
65F93D0712EE09290047DB36 /* uavtalk_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk_comms.c; sourceTree = "<group>"; };
65F93D0812EE09290047DB36 /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; };
65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = receiveractivity.xml; sourceTree = "<group>"; };
65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; };
65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
65FC66AB123F312A00B04F74 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
@ -7469,6 +7470,7 @@
65C35E6E12EFB2F3004811C2 /* positionactual.xml */,
65C35E6F12EFB2F3004811C2 /* positiondesired.xml */,
65C35E7012EFB2F3004811C2 /* ratedesired.xml */,
65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */,
652C856A132B6EA600BFCC70 /* sonaraltitude.xml */,
6536D47B1307962C0042A298 /* stabilizationdesired.xml */,
65C35E7112EFB2F3004811C2 /* stabilizationsettings.xml */,

2
flight/UAVObjects/inc/uavobjecttemplate.h
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@ -67,7 +67,7 @@
#define $(NAME)InstUpdated(instId) UAVObjUpdated($(NAME)Handle(), instId)
#define $(NAME)GetMetadata(dataOut) UAVObjGetMetadata($(NAME)Handle(), dataOut)
#define $(NAME)SetMetadata(dataIn) UAVObjSetMetadata($(NAME)Handle(), dataIn)
#define $(NAME)ReadOnly(dataIn) UAVObjReadOnly($(NAME)Handle())
#define $(NAME)ReadOnly() UAVObjReadOnly($(NAME)Handle())
// Object data
typedef struct {

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22
ground/openpilotgcs/src/plugins/config/config.pro
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@ -1,7 +1,6 @@
TEMPLATE = lib
TARGET = Config
QT += svg
include(../../openpilotgcsplugin.pri)
include(../../libs/utils/utils.pri)
include(../../plugins/uavtalk/uavtalk.pri)
@ -10,9 +9,7 @@ include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavobjectutil/uavobjectutil.pri)
include(../../plugins/uavsettingsimportexport/uavsettingsimportexport.pri)
INCLUDEPATH += ../../libs/eigen
OTHER_FILES += Config.pluginspec
HEADERS += configplugin.h \
configgadgetconfiguration.h \
configgadgetwidget.h \
@ -39,8 +36,8 @@ HEADERS += configplugin.h \
smartsavebutton.h \
defaulthwsettingswidget.h \
inputchannelform.h \
configcamerastabilizationwidget.h
configcamerastabilizationwidget.h \
outputchannelform.h
SOURCES += configplugin.cpp \
configgadgetconfiguration.cpp \
configgadgetwidget.cpp \
@ -69,10 +66,9 @@ SOURCES += configplugin.cpp \
smartsavebutton.cpp \
defaulthwsettingswidget.cpp \
inputchannelform.cpp \
configcamerastabilizationwidget.cpp
FORMS += \
airframe.ui \
configcamerastabilizationwidget.cpp \
outputchannelform.cpp
FORMS += airframe.ui \
cc_hw_settings.ui \
pro_hw_settings.ui \
ahrs.ui \
@ -84,10 +80,6 @@ FORMS += \
defaultattitude.ui \
defaulthwsettings.ui \
inputchannelform.ui \
camerastabilization.ui
camerastabilization.ui \
outputchannelform.ui
RESOURCES += configgadget.qrc

1
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
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@ -134,6 +134,7 @@ void ConfigGadgetWidget::onAutopilotDisconnect() {
void ConfigGadgetWidget::onAutopilotConnect() {
qDebug()<<"ConfigGadgetWidget onAutopilotConnect";
// First of all, check what Board type we are talking to, and
// if necessary, remove/add tabs in the config gadget:
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();

72
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -293,6 +293,7 @@ void ConfigInputWidget::wzCancel()
if(wizardStep != wizardNone)
wizardTearDownStep(wizardStep);
wizardStep=wizardNone;
m_config->stackedWidget->setCurrentIndex(0);
// Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData);
@ -334,23 +335,8 @@ void ConfigInputWidget::wzNext()
wizardSetUpStep(wizardFinish);
break;
case wizardFinish:
setTxMovement(nothing);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
{
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
}
manualSettingsObj->setData(manualSettingsData);
m_config->stackedWidget->setCurrentIndex(0);
wizardStep=wizardNone;
m_config->stackedWidget->setCurrentIndex(0);
break;
default:
Q_ASSERT(0);
@ -463,15 +449,21 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
break;
case wizardIdentifyLimits:
{
dimOtherControls(false);
setTxMovement(nothing);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
fastMdata();
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
// Preserve the inverted status
if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
} else {
// Make this detect as still inverted
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
@ -481,13 +473,19 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
dimOtherControls(true);
setTxMovement(nothing);
extraWidgets.clear();
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
{
QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
if(!name.contains("Access") && !name.contains("Flight"))
{
QCheckBox * cb=new QCheckBox(name,this);
// Make sure checked status matches current one
cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
@ -496,16 +494,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
fastMdata();
break;
case wizardFinish:
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
dimOtherControls(true);
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
"This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
@ -559,6 +548,7 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
setTxMovement(nothing);
break;
case wizardIdentifyCenter:
manualCommandData=manualCommandObj->getData();
@ -568,14 +558,17 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
setTxMovement(nothing);
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
manualSettingsObj->setData(manualSettingsData);
restoreMdata();
setTxMovement(nothing);
break;
case wizardIdentifyInverted:
dimOtherControls(false);
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
@ -590,8 +583,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
restoreMdata();
break;
case wizardFinish:
dimOtherControls(false);
setTxMovement(nothing);
m_config->stackedWidget->setCurrentIndex(0);
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
@ -731,10 +724,19 @@ void ConfigInputWidget::identifyLimits()
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
// Non inverted channel
if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
} else {
// Inverted channel
if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
}
}
manualSettingsObj->setData(manualSettingsData);
}

504
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -1,13 +1,13 @@
/**
******************************************************************************
*
* @file configservowidget.cpp
* @file configoutputwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
* @brief Servo output configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -26,6 +26,7 @@
*/
#include "configoutputwidget.h"
#include "outputchannelform.h"
#include "uavtalk/telemetrymanager.h"
@ -39,6 +40,7 @@
#include <QDesktopServices>
#include <QUrl>
#include "actuatorcommand.h"
#include "actuatorsettings.h"
#include "systemalarms.h"
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
@ -57,99 +59,20 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
addUAVObject("ActuatorSettings");
// First of all, put all the channel widgets into lists, so that we can
// manipulate those:
// NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
outLabels << m_config->ch0OutValue
<< m_config->ch1OutValue
<< m_config->ch2OutValue
<< m_config->ch3OutValue
<< m_config->ch4OutValue
<< m_config->ch5OutValue
<< m_config->ch6OutValue
<< m_config->ch7OutValue
<< m_config->ch8OutValue
<< m_config->ch9OutValue;
outSliders << m_config->ch0OutSlider
<< m_config->ch1OutSlider
<< m_config->ch2OutSlider
<< m_config->ch3OutSlider
<< m_config->ch4OutSlider
<< m_config->ch5OutSlider
<< m_config->ch6OutSlider
<< m_config->ch7OutSlider
<< m_config->ch8OutSlider
<< m_config->ch9OutSlider;
outMin << m_config->ch0OutMin
<< m_config->ch1OutMin
<< m_config->ch2OutMin
<< m_config->ch3OutMin
<< m_config->ch4OutMin
<< m_config->ch5OutMin
<< m_config->ch6OutMin
<< m_config->ch7OutMin
<< m_config->ch8OutMin
<< m_config->ch9OutMin;
outMax << m_config->ch0OutMax
<< m_config->ch1OutMax
<< m_config->ch2OutMax
<< m_config->ch3OutMax
<< m_config->ch4OutMax
<< m_config->ch5OutMax
<< m_config->ch6OutMax
<< m_config->ch7OutMax
<< m_config->ch8OutMax
<< m_config->ch9OutMax;
reversals << m_config->ch0Rev
<< m_config->ch1Rev
<< m_config->ch2Rev
<< m_config->ch3Rev
<< m_config->ch4Rev
<< m_config->ch5Rev
<< m_config->ch6Rev
<< m_config->ch7Rev
<< m_config->ch8Rev
<< m_config->ch9Rev;
links << m_config->ch0Link
<< m_config->ch1Link
<< m_config->ch2Link
<< m_config->ch3Link
<< m_config->ch4Link
<< m_config->ch5Link
<< m_config->ch6Link
<< m_config->ch7Link
<< m_config->ch8Link
<< m_config->ch9Link;
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
// Now connect the channel out sliders to our signal to send updates in test mode
connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
addWidget(outMin[i]);
addWidget(outMax[i]);
addWidget(reversals[i]);
addWidget(outSliders[i]);
addWidget(links[i]);
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
{
OutputChannelForm *form = new OutputChannelForm(i, this, i==0);
connect(m_config->channelOutTest, SIGNAL(toggled(bool)),
form, SLOT(enableChannelTest(bool)));
connect(form, SIGNAL(channelChanged(int,int)),
this, SLOT(sendChannelTest(int,int)));
m_config->channelLayout->addWidget(form);
}
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
for (int i = 0; i < links.count(); i++)
links[i]->setChecked(false);
for (int i = 0; i < links.count(); i++)
connect(links[i], SIGNAL(toggled(bool)), this, SLOT(linkToggled(bool)));
refreshWidgetsValues();
firstUpdate = true;
@ -158,10 +81,10 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addWidget(m_config->outputRate3);
addWidget(m_config->outputRate2);
addWidget(m_config->outputRate1);
addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2);
addWidget(m_config->cb_outputRate1);
addWidget(m_config->spinningArmed);
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@ -170,6 +93,13 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
}
void ConfigOutputWidget::enableControls(bool enable)
{
ConfigTaskWidget::enableControls(enable);
if(!enable)
m_config->channelOutTest->setChecked(false);
m_config->channelOutTest->setEnabled(enable);
}
ConfigOutputWidget::~ConfigOutputWidget()
{
@ -179,43 +109,13 @@ ConfigOutputWidget::~ConfigOutputWidget()
// ************************************
/**
Toggles the channel linked state for use in testing mode
*/
void ConfigOutputWidget::linkToggled(bool state)
{
Q_UNUSED(state)
// find the minimum slider value for the linked ones
int min = 10000;
int linked_count = 0;
for (int i = 0; i < outSliders.count(); i++)
{
if (!links[i]->checkState()) continue;
int value = outSliders[i]->value();
if (min > value) min = value;
linked_count++;
}
if (linked_count <= 0)
return; // no linked channels
if (!m_config->channelOutTest->checkState())
return; // we are not in Test Output mode
// set the linked channels to the same value
for (int i = 0; i < outSliders.count(); i++)
{
if (!links[i]->checkState()) continue;
outSliders[i]->setValue(min);
}
}
/**
Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects
*/
void ConfigOutputWidget::runChannelTests(bool state)
{
qDebug()<<"configoutputwidget runChannelTests"<<state;
SystemAlarms * systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
@ -257,79 +157,43 @@ void ConfigOutputWidget::runChannelTests(bool state)
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryUpdatePeriod = 100;
// Prevent stupid users from touching the minimum & maximum ranges while
// moving the sliders. Thanks Ivan for the tip :)
foreach (QSpinBox* box, outMin) {
box->setEnabled(false);
}
foreach (QSpinBox* box, outMax) {
box->setEnabled(false);
}
foreach (QCheckBox* box, reversals) {
box->setEnabled(false);
}
}
else
{
wasItMe=false;
mdata = accInitialData; // Restore metadata
foreach (QSpinBox* box, outMin) {
box->setEnabled(true);
}
foreach (QSpinBox* box, outMax) {
box->setEnabled(true);
}
foreach (QCheckBox* box, reversals) {
box->setEnabled(true);
}
}
obj->setMetadata(mdata);
obj->updated();
}
OutputChannelForm* ConfigOutputWidget::getOutputChannelForm(const int index) const
{
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if( outputChannelForm->index() == index)
return outputChannelForm;
}
// no OutputChannelForm found with given index
return NULL;
}
/**
* Set the label for a channel output assignement
*/
void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
{
//FIXME: use signal/ slot approach
UAVObjectField* field = obj->getField(str);
QStringList options = field->getOptions();
switch (options.indexOf(field->getValue().toString())) {
case 0:
m_config->ch0Output->setText(str);
break;
case 1:
m_config->ch1Output->setText(str);
break;
case 2:
m_config->ch2Output->setText(str);
break;
case 3:
m_config->ch3Output->setText(str);
break;
case 4:
m_config->ch4Output->setText(str);
break;
case 5:
m_config->ch5Output->setText(str);
break;
case 6:
m_config->ch6Output->setText(str);
break;
case 7:
m_config->ch7Output->setText(str);
break;
case 8:
m_config->ch8Output->setText(str);
break;
case 9:
m_config->ch9Output->setText(str);
break;
}
int index = options.indexOf(field->getValue().toString());
OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
if(outputChannelForm)
outputChannelForm->setAssignment(str);
}
/**
@ -337,63 +201,36 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
*/
void ConfigOutputWidget::setSpinningArmed(bool val)
{
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
if (!obj) return;
UAVObjectField *field = obj->getField("MotorsSpinWhileArmed");
if (!field) return;
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(val)
field->setValue("TRUE");
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
field->setValue("FALSE");
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
*/
void ConfigOutputWidget::sendChannelTest(int value)
void ConfigOutputWidget::sendChannelTest(int index, int value)
{
int in_value = value;
if (!m_config->channelOutTest->isChecked())
return;
QSlider *ob = (QSlider *)QObject::sender();
if (!ob) return;
int index = outSliders.indexOf(ob);
if (index < 0) return;
if(index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM)
return;
if (reversals[index]->isChecked())
value = outMin[index]->value() - value + outMax[index]->value(); // the chsnnel is reversed
// update the label
outLabels[index]->setText(QString::number(value));
if (links[index]->checkState())
{ // the channel is linked to other channels
// set the linked channels to the same value
for (int i = 0; i < outSliders.count(); i++)
{
if (i == index) continue;
if (!links[i]->checkState()) continue;
int val = in_value;
if (val < outSliders[i]->minimum()) val = outSliders[i]->minimum();
if (val > outSliders[i]->maximum()) val = outSliders[i]->maximum();
if (outSliders[i]->value() == val) continue;
outSliders[i]->setValue(val);
outLabels[i]->setText(QString::number(val));
}
}
if (!m_config->channelOutTest->isChecked())
return;
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
if (!obj) return;
UAVObjectField *channel = obj->getField("Channel");
if (!channel) return;
channel->setValue(value, index);
obj->updated();
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
Q_ASSERT(actuatorCommand);
ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
actuatorCommandFields.Channel[index] = value;
actuatorCommand->setData(actuatorCommandFields);
}
@ -408,14 +245,21 @@ void ConfigOutputWidget::sendChannelTest(int value)
void ConfigOutputWidget::refreshWidgetsValues()
{
bool dirty=isDirty();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Reset all channel assignements:
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
outLabels[i]->setText("-");
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
outputChannelForm->setAssignment("-");
}
// Get the channel assignements:
// 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();
@ -425,15 +269,26 @@ void ConfigOutputWidget::refreshWidgetsValues()
}
}
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Get the SpinWhileArmed setting
UAVObjectField *field = obj->getField(QString("MotorsSpinWhileArmed"));
m_config->spinningArmed->setChecked(field->getValue().toString().contains("TRUE"));
m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
// Get Output rates for both banks
field = obj->getField(QString("ChannelUpdateFreq"));
if(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]))==-1)
{
m_config->cb_outputRate1->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]));
}
if(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]))==-1)
{
m_config->cb_outputRate2->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]));
}
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])));
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
m_config->outputRate1->setValue(field->getValue(0).toInt());
m_config->outputRate2->setValue(field->getValue(1).toInt());
if (utilMngr) {
int board = utilMngr->getBoardModel();
if ((board & 0xff00) == 1024) {
@ -442,55 +297,49 @@ void ConfigOutputWidget::refreshWidgetsValues()
m_config->chBank2->setText("4");
m_config->chBank3->setText("5,7-8");
m_config->chBank4->setText("6,9-10");
m_config->outputRate1->setEnabled(true);
m_config->outputRate2->setEnabled(true);
m_config->outputRate3->setEnabled(true);
m_config->outputRate4->setEnabled(true);
m_config->outputRate3->setValue(field->getValue(2).toInt());
m_config->outputRate4->setValue(field->getValue(3).toInt());
m_config->cb_outputRate1->setEnabled(true);
m_config->cb_outputRate2->setEnabled(true);
m_config->cb_outputRate3->setEnabled(true);
m_config->cb_outputRate4->setEnabled(true);
if(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]))==-1)
{
m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
}
if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]))==-1)
{
m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
}
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
} else if ((board & 0xff00) == 256 ) {
// Mainboard family
m_config->outputRate1->setEnabled(true);
m_config->outputRate2->setEnabled(true);
m_config->outputRate3->setEnabled(false);
m_config->outputRate4->setEnabled(false);
m_config->cb_outputRate1->setEnabled(true);
m_config->cb_outputRate2->setEnabled(true);
m_config->cb_outputRate3->setEnabled(false);
m_config->cb_outputRate4->setEnabled(false);
m_config->chBank1->setText("1-4");
m_config->chBank2->setText("5-8");
m_config->chBank3->setText("-");
m_config->chBank4->setText("-");
m_config->outputRate3->setValue(0);
m_config->outputRate4->setValue(0);
m_config->cb_outputRate3->addItem("0");
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText("0"));
m_config->cb_outputRate4->addItem("0");
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText("0"));
}
}
// Get Channel ranges:
for (int i=0;i<ActuatorCommand::CHANNEL_NUMELEM;i++) {
field = obj->getField(QString("ChannelMin"));
int minValue = field->getValue(i).toInt();
outMin[i]->setValue(minValue);
field = obj->getField(QString("ChannelMax"));
int maxValue = field->getValue(i).toInt();
outMax[i]->setValue(maxValue);
if (maxValue>minValue) {
outSliders[i]->setMinimum(minValue);
outSliders[i]->setMaximum(maxValue);
reversals[i]->setChecked(false);
} else {
outSliders[i]->setMinimum(maxValue);
outSliders[i]->setMaximum(minValue);
reversals[i]->setChecked(true);
}
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
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);
}
field = obj->getField(QString("ChannelNeutral"));
for (int i=0; i<ActuatorCommand::CHANNEL_NUMELEM; i++) {
int value = field->getValue(i).toInt();
outSliders[i]->setValue(value);
outLabels[i]->setText(QString::number(value));
}
setDirty(dirty);
}
/**
@ -498,105 +347,26 @@ void ConfigOutputWidget::refreshWidgetsValues()
*/
void ConfigOutputWidget::updateObjectsFromWidgets()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Now send channel ranges:
UAVObjectField * field = obj->getField(QString("ChannelMax"));
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outMax[i]->value(),i);
}
field = obj->getField(QString("ChannelMin"));
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outMin[i]->value(),i);
}
field = obj->getField(QString("ChannelNeutral"));
for (int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
field->setValue(outSliders[i]->value(),i);
}
field = obj->getField(QString("ChannelUpdateFreq"));
field->setValue(m_config->outputRate1->value(),0);
field->setValue(m_config->outputRate2->value(),1);
field->setValue(m_config->outputRate3->value(),2);
field->setValue(m_config->outputRate4->value(),3);
}
/**
Sets the minimum/maximum value of the channel 0 to seven output sliders.
Have to do it here because setMinimum is not a slot.
One added trick: if the slider is at its min when the value
is changed, then keep it on the min.
*/
void ConfigOutputWidget::setChOutRange()
{
QSpinBox *spinbox = (QSpinBox*)QObject::sender();
int index = outMin.indexOf(spinbox); // This is the channel number
if (index < 0)
index = outMax.indexOf(spinbox); // We can't know if the signal came from min or max
QSlider *slider = outSliders[index];
int oldMini = slider->minimum();
// int oldMaxi = slider->maximum();
if (outMin[index]->value()<outMax[index]->value())
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
slider->setRange(outMin[index]->value(), outMax[index]->value());
reversals[index]->setChecked(false);
}
else
{
slider->setRange(outMax[index]->value(), outMin[index]->value());
reversals[index]->setChecked(true);
}
if (slider->value() == oldMini)
slider->setValue(slider->minimum());
// if (slider->value() == oldMaxi)
// slider->setValue(slider->maximum()); // this can be dangerous if it happens to be controlling a motor at the time!
}
/**
Reverses the channel when the checkbox is clicked
*/
void ConfigOutputWidget::reverseChannel(bool state)
{
QCheckBox *checkbox = (QCheckBox*)QObject::sender();
int index = reversals.indexOf(checkbox); // This is the channel number
// Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
// the situations below can happen!
if (state && (outMax[index]->value()<outMin[index]->value()))
return;
if (!state && (outMax[index]->value()>outMin[index]->value()))
return;
// Now, swap the min & max values (only on the spinboxes, the slider
// does not change!
int temp = outMax[index]->value();
outMax[index]->setValue(outMin[index]->value());
outMin[index]->setValue(temp);
// Also update the channel value
// This is a trick to force the slider to update its value and
// emit the right signal itself, because our sendChannelTest(int) method
// relies on the object sender's identity.
if (outSliders[index]->value()<outSliders[index]->maximum()) {
outSliders[index]->setValue(outSliders[index]->value()+1);
outSliders[index]->setValue(outSliders[index]->value()-1);
} else {
outSliders[index]->setValue(outSliders[index]->value()-1);
outSliders[index]->setValue(outSliders[index]->value()+1);
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
void ConfigOutputWidget::openHelp()

21
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -1,13 +1,13 @@
/**
******************************************************************************
*
* @file configservowidget.h
* @file configoutputwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
* @brief Servo output configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -37,6 +37,7 @@
#include <QList>
class Ui_OutputWidget;
class OutputChannelForm;
class ConfigOutputWidget: public ConfigTaskWidget
{
@ -46,6 +47,7 @@ public:
ConfigOutputWidget(QWidget *parent = 0);
~ConfigOutputWidget();
private:
Ui_OutputWidget *m_config;
@ -55,18 +57,12 @@ private:
void assignChannel(UAVDataObject *obj, QString str);
void assignOutputChannel(UAVDataObject *obj, QString str);
OutputChannelForm* getOutputChannelForm(const int index) const;
int mccDataRate;
UAVObject::Metadata accInitialData;
QList<QSlider*> outSliders;
QList<QSpinBox*> outMin;
QList<QSpinBox*> outMax;
QList<QCheckBox*> reversals;
QList<QCheckBox*> links;
QList<QLabel*> outLabels;
bool firstUpdate;
bool wasItMe;
@ -76,12 +72,11 @@ private slots:
virtual void refreshWidgetsValues();
void updateObjectsFromWidgets();
void runChannelTests(bool state);
void sendChannelTest(int value);
void setChOutRange();
void reverseChannel(bool state);
void linkToggled(bool state);
void sendChannelTest(int index, int value);
void setSpinningArmed(bool val);
void openHelp();
protected:
void enableControls(bool enable);
};
#endif

1
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
View File

@ -94,6 +94,7 @@ void inputChannelForm::groupUpdated()
break;
case ManualControlSettings::CHANNELGROUPS_GCS:
count = 5;
break;
case ManualControlSettings::CHANNELGROUPS_NONE:
count = 0;
break;

12
ground/openpilotgcs/src/plugins/config/inputchannelform.ui
View File

@ -142,6 +142,12 @@
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Neutral</string>
</property>
@ -149,6 +155,12 @@
</item>
<item row="2" column="6">
<widget class="QSlider" name="channelNeutral">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>

1292
ground/openpilotgcs/src/plugins/config/output.ui
View File

@ -38,102 +38,6 @@
<property name="spacing">
<number>2</number>
</property>
<item row="1" column="4">
<widget class="QSpinBox" name="outputRate4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<property name="maximum">
<number>400</number>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="chBank2">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="chBank1">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="outputRate3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<property name="maximum">
<number>400</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="outputRate2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<property name="maximum">
<number>400</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="outputRate1">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<property name="maximum">
<number>400</number>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
@ -206,937 +110,235 @@ Leave at 50Hz for fixed wing.</string>
</item>
</layout>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="cb_outputRate1">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="cb_outputRate2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="cb_outputRate3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="1" column="4">
<widget class="QComboBox" name="cb_outputRate4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="chBank1">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="chBank2">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_2">
<item row="1" column="0">
<widget class="QLabel" name="actuator0Label">
<property name="text">
<string>Channel 1:</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="ch0OutMin">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum PWM value, beware of not overdriving your servo.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSlider" name="ch0OutSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QSpinBox" name="ch0OutMax">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum PWM value, beware of not overdriving your servo.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QLabel" name="ch0OutValue">
<property name="toolTip">
<string>Current value of slider.</string>
</property>
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QCheckBox" name="ch0Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="7">
<widget class="QCheckBox" name="ch0Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="0" column="6">
<widget class="QLabel" name="label">
<property name="text">
<string>Rev.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="actuator1Label">
<property name="text">
<string>Channel 2:</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="ch1OutMin">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QSlider" name="ch1OutSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QSpinBox" name="ch1OutMax">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="2" column="5">
<widget class="QLabel" name="ch1OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QCheckBox" name="ch1Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="7">
<widget class="QCheckBox" name="ch1Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="actuator2Label">
<property name="text">
<string>Channel 3:</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="ch2OutMin">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSlider" name="ch2OutSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QSpinBox" name="ch2OutMax">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="3" column="5">
<widget class="QLabel" name="ch2OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="3" column="6">
<widget class="QCheckBox" name="ch2Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="7">
<widget class="QCheckBox" name="ch2Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="actuator3Label">
<property name="text">
<string>Channel 4:</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="ch3OutMin">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QSlider" name="ch3OutSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QSpinBox" name="ch3OutMax">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="4" column="5">
<widget class="QLabel" name="ch3OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="4" column="6">
<widget class="QCheckBox" name="ch3Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="7">
<widget class="QCheckBox" name="ch3Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="actuator4Label">
<property name="text">
<string>Channel 5:</string>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="ch4OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSlider" name="ch4OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="5" column="4">
<widget class="QSpinBox" name="ch4OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="5" column="5">
<widget class="QLabel" name="ch4OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="5" column="6">
<widget class="QCheckBox" name="ch4Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="7">
<widget class="QCheckBox" name="ch4Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="actuator5Label">
<property name="text">
<string>Channel 6:</string>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QSpinBox" name="ch5OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QSlider" name="ch5OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QSpinBox" name="ch5OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="6" column="5">
<widget class="QLabel" name="ch5OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="6" column="6">
<widget class="QCheckBox" name="ch5Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="7">
<widget class="QCheckBox" name="ch5Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="actuator6Label">
<property name="text">
<string>Channel 7:</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="actuator7Label">
<property name="text">
<string>Channel 8:</string>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QSpinBox" name="ch6OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QSlider" name="ch6OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="7" column="4">
<widget class="QSpinBox" name="ch6OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="7" column="5">
<widget class="QLabel" name="ch6OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="7" column="6">
<widget class="QCheckBox" name="ch6Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="7">
<widget class="QCheckBox" name="ch6Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QSpinBox" name="ch7OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="8" column="3">
<widget class="QSlider" name="ch7OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="8" column="4">
<widget class="QSpinBox" name="ch7OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="8" column="5">
<widget class="QLabel" name="ch7OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="8" column="6">
<widget class="QCheckBox" name="ch7Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="7">
<widget class="QCheckBox" name="ch7Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="ch0Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="ch1Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="ch2Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="ch3Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="ch4Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="ch5Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="ch6Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="ch7Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Assignment</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Neutral (slowest for motor)</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="actuator8Label">
<property name="text">
<string>Channel 9:</string>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="actuator9Label">
<property name="text">
<string>Channel 10:</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="ch8Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="ch9Output">
<property name="font">
<font>
<pointsize>9</pointsize>
</font>
</property>
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QSpinBox" name="ch8OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="10" column="2">
<widget class="QSpinBox" name="ch9OutMin">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="9" column="3">
<widget class="QSlider" name="ch8OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="10" column="3">
<widget class="QSlider" name="ch9OutSlider">
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="9" column="4">
<widget class="QSpinBox" name="ch8OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="10" column="4">
<widget class="QSpinBox" name="ch9OutMax">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="9" column="5">
<widget class="QLabel" name="ch8OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="10" column="5">
<widget class="QLabel" name="ch9OutValue">
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="9" column="6">
<widget class="QCheckBox" name="ch8Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="6">
<widget class="QCheckBox" name="ch9Rev">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Check to invert the channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="7">
<widget class="QCheckBox" name="ch8Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="7">
<widget class="QCheckBox" name="ch9Link">
<property name="toolTip">
<string>Only used with Test Output mode</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
<layout class="QVBoxLayout" name="channelLayout"/>
</item>
<item>
<spacer name="verticalSpacer_2">
@ -1277,50 +479,6 @@ Applies and Saves all settings to SD</string>
</layout>
</widget>
<tabstops>
<tabstop>outputRate1</tabstop>
<tabstop>outputRate2</tabstop>
<tabstop>outputRate3</tabstop>
<tabstop>outputRate4</tabstop>
<tabstop>ch0OutMin</tabstop>
<tabstop>ch0OutMax</tabstop>
<tabstop>ch1OutMin</tabstop>
<tabstop>ch1OutMax</tabstop>
<tabstop>ch2OutMin</tabstop>
<tabstop>ch2OutMax</tabstop>
<tabstop>ch3OutMin</tabstop>
<tabstop>ch3OutMax</tabstop>
<tabstop>ch4OutMin</tabstop>
<tabstop>ch4OutMax</tabstop>
<tabstop>ch5OutMin</tabstop>
<tabstop>ch5OutMax</tabstop>
<tabstop>ch6OutMin</tabstop>
<tabstop>ch6OutMax</tabstop>
<tabstop>ch7OutMin</tabstop>
<tabstop>ch7OutMax</tabstop>
<tabstop>ch0OutSlider</tabstop>
<tabstop>ch0Rev</tabstop>
<tabstop>ch0Link</tabstop>
<tabstop>ch1OutSlider</tabstop>
<tabstop>ch1Rev</tabstop>
<tabstop>ch1Link</tabstop>
<tabstop>ch2OutSlider</tabstop>
<tabstop>ch2Rev</tabstop>
<tabstop>ch2Link</tabstop>
<tabstop>ch3OutSlider</tabstop>
<tabstop>ch3Rev</tabstop>
<tabstop>ch3Link</tabstop>
<tabstop>ch4OutSlider</tabstop>
<tabstop>ch4Rev</tabstop>
<tabstop>ch4Link</tabstop>
<tabstop>ch5OutSlider</tabstop>
<tabstop>ch5Rev</tabstop>
<tabstop>ch5Link</tabstop>
<tabstop>ch6OutSlider</tabstop>
<tabstop>ch6Rev</tabstop>
<tabstop>ch6Link</tabstop>
<tabstop>ch7OutSlider</tabstop>
<tabstop>ch7Rev</tabstop>
<tabstop>ch7Link</tabstop>
<tabstop>channelOutTest</tabstop>
<tabstop>saveRCOutputToRAM</tabstop>
<tabstop>saveRCOutputToSD</tabstop>

297
ground/openpilotgcs/src/plugins/config/outputchannelform.cpp Normal file
View File

@ -0,0 +1,297 @@
/**
******************************************************************************
*
* @file outputchannelform.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo output configuration form for the config output gadget
*****************************************************************************/
/*
* 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 "outputchannelform.h"
#include "configoutputwidget.h"
OutputChannelForm::OutputChannelForm(const int index, QWidget *parent, const bool showLegend) :
QWidget(parent),
ui(),
m_index(index),
m_inChannelTest(false)
{
ui.setupUi(this);
if(!showLegend)
{
// Remove legend
QGridLayout *grid_layout = dynamic_cast<QGridLayout*>(layout());
Q_ASSERT(grid_layout);
for (int col = 0; col < grid_layout->columnCount(); col++)
{ // remove every item in first row
QLayoutItem *item = grid_layout->itemAtPosition(0, col);
if (!item) continue;
// get widget from layout item
QWidget *legend_widget = item->widget();
if (!legend_widget) continue;
// delete widget
grid_layout->removeWidget(legend_widget);
delete legend_widget;
}
}
// The convention for OP is Channel 1 to Channel 10.
ui.actuatorNumber->setText(QString("%1:").arg(m_index+1));
// Register for ActuatorSettings changes:
connect(ui.actuatorMin, SIGNAL(editingFinished()),
this, SLOT(setChannelRange()));
connect(ui.actuatorMax, SIGNAL(editingFinished()),
this, SLOT(setChannelRange()));
connect(ui.actuatorRev, SIGNAL(toggled(bool)),
this, SLOT(reverseChannel(bool)));
// Now connect the channel out sliders to our signal to send updates in test mode
connect(ui.actuatorNeutral, SIGNAL(valueChanged(int)),
this, SLOT(sendChannelTest(int)));
ui.actuatorLink->setChecked(false);
connect(ui.actuatorLink, SIGNAL(toggled(bool)),
this, SLOT(linkToggled(bool)));
}
OutputChannelForm::~OutputChannelForm()
{
// Do nothing
}
/**
* Restrict UI to protect users from accidental misuse.
*/
void OutputChannelForm::enableChannelTest(bool state)
{
if (m_inChannelTest == state) return;
m_inChannelTest = state;
if(m_inChannelTest)
{
// Prevent stupid users from touching the minimum & maximum ranges while
// moving the sliders. Thanks Ivan for the tip :)
ui.actuatorMin->setEnabled(false);
ui.actuatorMax->setEnabled(false);
ui.actuatorRev->setEnabled(false);
}
else
{
ui.actuatorMin->setEnabled(true);
ui.actuatorMax->setEnabled(true);
ui.actuatorRev->setEnabled(true);
}
}
/**
* Toggles the channel linked state for use in testing mode
*/
void OutputChannelForm::linkToggled(bool state)
{
Q_UNUSED(state)
if (!m_inChannelTest)
return; // we are not in Test Output mode
// find the minimum slider value for the linked ones
if (!parent()) return;
int min = 10000;
int linked_count = 0;
QList<OutputChannelForm*> outputChannelForms = parent()->findChildren<OutputChannelForm*>();
// set the linked channels of the parent widget to the same value
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if (!outputChannelForm->ui.actuatorLink->checkState())
continue;
if (this == outputChannelForm)
continue;
int value = outputChannelForm->ui.actuatorNeutral->value();
if(min > value) min = value;
linked_count++;
}
if (linked_count <= 0)
return; // no linked channels
// set the linked channels to the same value
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if (!outputChannelForm->ui.actuatorLink->checkState())
continue;
outputChannelForm->ui.actuatorNeutral->setValue(min);
}
}
/**
* Set maximal channel value.
*/
void OutputChannelForm::max(int maximum)
{
minmax(ui.actuatorMin->value(), maximum);
}
/**
* Set minimal channel value.
*/
void OutputChannelForm::min(int minimum)
{
minmax(minimum, ui.actuatorMax->value());
}
/**
* Set minimal and maximal channel value.
*/
void OutputChannelForm::minmax(int minimum, int maximum)
{
ui.actuatorMin->setValue(minimum);
ui.actuatorMax->setValue(maximum);
setChannelRange();
if(ui.actuatorMin->value() > ui.actuatorMax->value())
ui.actuatorRev->setChecked(true);
else
ui.actuatorRev->setChecked(false);
}
/**
* Set neutral of channel.
*/
void OutputChannelForm::neutral(int value)
{
ui.actuatorNeutral->setValue(value);
}
/**
* Set the channel assignment label.
*/
void OutputChannelForm::setAssignment(const QString &assignment)
{
ui.actuatorName->setText(assignment);
}
/**
* Sets the minimum/maximum value of the channel output sliders.
* Have to do it here because setMinimum is not a slot.
*
* One added trick: if the slider is at its min when the value
* is changed, then keep it on the min.
*/
void OutputChannelForm::setChannelRange()
{
int oldMini = ui.actuatorNeutral->minimum();
// int oldMaxi = ui.actuatorNeutral->maximum();
if (ui.actuatorMin->value() < ui.actuatorMax->value())
{
ui.actuatorNeutral->setRange(ui.actuatorMin->value(), ui.actuatorMax->value());
ui.actuatorRev->setChecked(false);
}
else
{
ui.actuatorNeutral->setRange(ui.actuatorMax->value(), ui.actuatorMin->value());
ui.actuatorRev->setChecked(true);
}
if (ui.actuatorNeutral->value() == oldMini)
ui.actuatorNeutral->setValue(ui.actuatorNeutral->minimum());
// if (ui.actuatorNeutral->value() == oldMaxi)
// ui.actuatorNeutral->setValue(ui.actuatorNeutral->maximum()); // this can be dangerous if it happens to be controlling a motor at the time!
}
/**
* Reverses the channel when the checkbox is clicked
*/
void OutputChannelForm::reverseChannel(bool state)
{
// Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue
// the situations below can happen!
if (state && (ui.actuatorMax->value() < ui.actuatorMin->value()))
return;
if (!state && (ui.actuatorMax->value() > ui.actuatorMin->value()))
return;
// Now, swap the min & max values (only on the spinboxes, the slider
// does not change!
int temp = ui.actuatorMax->value();
ui.actuatorMax->setValue(ui.actuatorMin->value());
ui.actuatorMin->setValue(temp);
// Also update the channel value
// This is a trick to force the slider to update its value and
// emit the right signal itself, because our sendChannelTest(int) method
// relies on the object sender's identity.
if (ui.actuatorNeutral->value() < ui.actuatorNeutral->maximum())
{
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value()+1);
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value()-1);
}
else
{
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value()-1);
ui.actuatorNeutral->setValue(ui.actuatorNeutral->value()+1);
}
}
/**
* Emits the channel value which will be send to the UAV to move the servo.
* Returns immediately if we are not in testing mode.
*/
void OutputChannelForm::sendChannelTest(int value)
{
int in_value = value;
QSlider *ob = (QSlider *)QObject::sender();
if (!ob) return;
if (ui.actuatorRev->isChecked())
value = ui.actuatorMin->value() - value + ui.actuatorMax->value(); // the channel is reversed
// update the label
ui.actuatorValue->setText(QString::number(value));
if (ui.actuatorLink->checkState() && parent())
{ // the channel is linked to other channels
QList<OutputChannelForm*> outputChannelForms = parent()->findChildren<OutputChannelForm*>();
// set the linked channels of the parent widget to the same value
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
if (this == outputChannelForm) continue;
if (!outputChannelForm->ui.actuatorLink->checkState()) continue;
int val = in_value;
if (val < outputChannelForm->ui.actuatorNeutral->minimum())
val = outputChannelForm->ui.actuatorNeutral->minimum();
if (val > outputChannelForm->ui.actuatorNeutral->maximum())
val = outputChannelForm->ui.actuatorNeutral->maximum();
if (outputChannelForm->ui.actuatorNeutral->value() == val) continue;
outputChannelForm->ui.actuatorNeutral->setValue(val);
outputChannelForm->ui.actuatorValue->setText(QString::number(val));
}
}
if (!m_inChannelTest)
return; // we are not in Test Output mode
emit channelChanged(index(), value);
}

92
ground/openpilotgcs/src/plugins/config/outputchannelform.h Normal file
View File

@ -0,0 +1,92 @@
/**
******************************************************************************
*
* @file outputchannelform.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo output configuration form for the config output gadget
*****************************************************************************/
/*
* 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 OUTPUTCHANNELFORM_H
#define OUTPUTCHANNELFORM_H
#include <QWidget>
#include "ui_outputchannelform.h"
class ConfigOnputWidget;
class OutputChannelForm : public QWidget
{
Q_OBJECT
public:
explicit OutputChannelForm(const int index, QWidget *parent = NULL, const bool showLegend = false);
~OutputChannelForm();
friend class ConfigOnputWidget;
void setAssignment(const QString &assignment);
int index() const;
public slots:
void max(int maximum);
int max() const;
void min(int minimum);
int min() const;
void minmax(int minimum, int maximum);
void neutral(int value);
int neutral() const;
void enableChannelTest(bool state);
signals:
void channelChanged(int index, int value);
private:
Ui::outputChannelForm ui;
/// Channel index
int m_index;
bool m_inChannelTest;
private slots:
void linkToggled(bool state);
void reverseChannel(bool state);
void sendChannelTest(int value);
void setChannelRange();
};
inline int OutputChannelForm::index() const
{
return m_index;
}
inline int OutputChannelForm::max() const
{
return ui.actuatorMax->value();
}
inline int OutputChannelForm::min() const
{
return ui.actuatorMin->value();
}
inline int OutputChannelForm::neutral() const
{
return ui.actuatorNeutral->value();
}
#endif // OUTPUTCHANNELFORM_H

323
ground/openpilotgcs/src/plugins/config/outputchannelform.ui Normal file
View File

@ -0,0 +1,323 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>outputChannelForm</class>
<widget class="QWidget" name="outputChannelForm">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>605</width>
<height>56</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="topMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<number>1</number>
</property>
<item row="1" column="0">
<widget class="QLabel" name="actuatorNumber">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Channel Number</string>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="actuatorName">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="actuatorMin">
<property name="toolTip">
<string>Minimum PWM value, beware of not overdriving your servo.</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="1" column="3">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="4">
<widget class="QSlider" name="actuatorNeutral">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="6">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="9">
<widget class="QCheckBox" name="actuatorRev">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>40</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Check to invert the channel.</string>
</property>
</widget>
</item>
<item row="1" column="10">
<widget class="QCheckBox" name="actuatorLink">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>40</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Output mode</string>
</property>
</widget>
</item>
<item row="1" column="8">
<widget class="QSpinBox" name="actuatorMax">
<property name="toolTip">
<string>Maximum PWM value, beware of not overdriving your servo.</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="legend0">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Assignment</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="legend1">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="legend2">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Neutral (slowest for motor)</string>
</property>
</widget>
</item>
<item row="0" column="8">
<widget class="QLabel" name="legend3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item row="0" column="9">
<widget class="QLabel" name="legend4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Rev.</string>
</property>
</widget>
</item>
<item row="0" column="10">
<widget class="QLabel" name="legend5">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QLabel" name="actuatorValue">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Current value of slider.</string>
</property>
<property name="text">
<string>0000</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="legend6">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>#</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="margin">
<number>0</number>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

41
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
View File

@ -995,7 +995,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1018,7 +1018,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
@ -1041,7 +1041,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,6,-1,5,50,0,0,0,0,0</font>
@ -1064,7 +1064,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
@ -1202,7 +1202,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1225,7 +1225,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1248,7 +1248,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1271,7 +1271,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1294,7 +1294,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1317,7 +1317,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1340,7 +1340,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1363,7 +1363,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1386,7 +1386,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1409,7 +1409,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1432,7 +1432,7 @@
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
@ -1627,6 +1627,17 @@
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20X>
<Ricoo>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Ricoo>
<CopterControl>
<configInfo>
<locked>false</locked>

3
ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
View File

@ -358,7 +358,10 @@ void ConnectionManager::devChanged(IConnection *connection)
if(m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect())
m_availableDevList->setCurrentIndex(m_availableDevList->count()-1);
if(m_mainWindow->generalSettings()->autoConnect())
{
connectDevice();
qDebug()<<"ConnectionManager::devChanged autoconnected USB device";
}
}
}
if(m_ioDev)//if a device is connected make it the one selected on the dropbox

274
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui
View File

@ -1,134 +1,140 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>GCSControl</class>
<widget class="QWidget" name="GCSControl">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>653</width>
<height>295</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>2</number>
</property>
<property name="margin">
<number>5</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QCheckBox" name="checkBoxGcsControl">
<property name="text">
<string>GCS Control</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxArmed">
<property name="text">
<string>Armed</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Flight Mode:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="comboBoxFlightMode"/>
</item>
</layout>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0">
<property name="horizontalSpacing">
<number>10</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="JoystickControl" name="widgetLeftStick" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="mouseTracking">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="JoystickControl" name="widgetRightStick" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>JoystickControl</class>
<extends>QWidget</extends>
<header>joystickcontrol.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>GCSControl</class>
<widget class="QWidget" name="GCSControl">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>653</width>
<height>295</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="styleSheet">
<string notr="true">background:transparent</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
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Before

Width:  |  Height:  |  Size: 13 KiB

After

Width:  |  Height:  |  Size: 95 KiB

28
ground/openpilotgcs/src/plugins/logging/logfile.cpp
View File

@ -88,9 +88,12 @@ void LogFile::timerFired()
if(file.bytesAvailable() > 4)
{
// TODO: going back in time will be a problem
while ((myTime.elapsed() - timeOffset) * playbackSpeed > lastTimeStamp) {
int time;
time = myTime.elapsed();
// TODO: going back in time will be a problem
while ((lastPlayed + ((time - timeOffset)* playbackSpeed) > lastTimeStamp)) {
lastPlayed += ((time - timeOffset)* playbackSpeed);
if(file.bytesAvailable() < 4) {
stopReplay();
return;
@ -98,6 +101,11 @@ void LogFile::timerFired()
file.read((char *) &dataSize, sizeof(dataSize));
if (dataSize<1 || dataSize>(1024*1024)) {
qDebug() << "Error: Logfile corrupted! Unlikely packet size: " << dataSize << "\n";
stopReplay();
return;
}
if(file.bytesAvailable() < dataSize) {
stopReplay();
return;
@ -113,7 +121,19 @@ void LogFile::timerFired()
return;
}
int save=lastTimeStamp;
file.read((char *) &lastTimeStamp,sizeof(lastTimeStamp));
// some validity checks
if (lastTimeStamp<save // logfile goies back in time
|| (lastTimeStamp-save) > (60*60*1000)) { // gap of more than 60 minutes)
qDebug() << "Error: Logfile corrupted! Unlikely timestamp " << lastTimeStamp << " after "<< save << "\n";
stopReplay();
return;
}
timeOffset = time;
time = myTime.elapsed();
}
} else {
stopReplay();
@ -125,6 +145,7 @@ bool LogFile::startReplay() {
dataBuffer.clear();
myTime.restart();
timeOffset = 0;
lastPlayed = 0;
playbackSpeed = 1;
file.read((char *) &lastTimeStamp,sizeof(lastTimeStamp));
timer.setInterval(10);
@ -142,12 +163,11 @@ bool LogFile::stopReplay() {
void LogFile::pauseReplay()
{
timer.stop();
pausedTime = myTime.elapsed();
}
void LogFile::resumeReplay()
{
timeOffset += myTime.elapsed() - pausedTime;
timeOffset = myTime.elapsed();
timer.start();
}

4
ground/openpilotgcs/src/plugins/logging/logfile.h
View File

@ -27,7 +27,7 @@ public:
bool stopReplay();
public slots:
void setReplaySpeed(double val) { playbackSpeed = pow(10,(val)/100); qDebug() << playbackSpeed; };
void setReplaySpeed(double val) { playbackSpeed = val; qDebug() << playbackSpeed; };
void pauseReplay();
void resumeReplay();
@ -45,11 +45,11 @@ protected:
QTime myTime;
QFile file;
qint32 lastTimeStamp;
qint32 lastPlayed;
QMutex mutex;
int timeOffset;
int pausedTime;
double playbackSpeed;
};

11
ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp
View File

@ -74,6 +74,7 @@ PFDGadgetWidget::PFDGadgetWidget(QWidget *parent) : QGraphicsView(parent)
connect(&skyDialTimer, SIGNAL(timeout()), this, SLOT(moveSky()));
skyDialTimer.start(30);
}
PFDGadgetWidget::~PFDGadgetWidget()
@ -82,6 +83,14 @@ PFDGadgetWidget::~PFDGadgetWidget()
dialTimer.stop();
}
void PFDGadgetWidget::setToolTipPrivate()
{
static qint32 updateRate=0;
UAVObject::Metadata mdata=attitudeObj->getMetadata();
if(mdata.flightTelemetryUpdatePeriod!=updateRate)
this->setToolTip("Current refresh rate:"+QString::number(mdata.flightTelemetryUpdatePeriod)+" miliseconds"+"\nIf you want to change it please edit the AttitudeActual metadata on the object browser.");
}
/*!
\brief Enables/Disables OpenGL
*/
@ -174,7 +183,6 @@ void PFDGadgetWidget::connectNeedles() {
qDebug() << "Error: Object is unknown (FlightBatteryState).";
}
}
}
@ -229,6 +237,7 @@ void PFDGadgetWidget::updateLinkStatus(UAVObject *object1) {
Resolution is 1 degree roll & 1/7.5 degree pitch.
*/
void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
setToolTipPrivate();
UAVObjectField * rollField = object1->getField(QString("Roll"));
UAVObjectField * yawField = object1->getField(QString("Yaw"));
UAVObjectField * pitchField = object1->getField(QString("Pitch"));

3
ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.h
View File

@ -54,6 +54,7 @@ public:
void setHqFonts(bool flag) { hqFonts = flag; }
void enableSmoothUpdates(bool flag) { beSmooth = flag; }
public slots:
void updateAttitude(UAVObject *object1);
void updateHeading(UAVObject *object1);
@ -72,7 +73,7 @@ private slots:
void moveNeedles();
void moveVerticalScales();
void moveSky();
void setToolTipPrivate();
private:
QSvgRenderer *m_renderer;

6
ground/openpilotgcs/src/plugins/rawhid/rawhid.pro
View File

@ -7,9 +7,11 @@ HEADERS += rawhid_global.h \
rawhid.h \
pjrc_rawhid.h \
rawhid_const.h \
usbmonitor.h
usbmonitor.h \
usbsignalfilter.h
SOURCES += rawhidplugin.cpp \
rawhid.cpp
rawhid.cpp \
usbsignalfilter.cpp
FORMS +=
RESOURCES +=
DEFINES += RAWHID_LIBRARY

2
ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.h
View File

@ -31,7 +31,7 @@
#include "rawhid_global.h"
#include "rawhid.h"
#include "usbmonitor.h"
#include "usbsignalfilter.h"
#include "coreplugin/iconnection.h"
#include <extensionsystem/iplugin.h>

1
ground/openpilotgcs/src/plugins/rawhid/usbmonitor.h
View File

@ -202,5 +202,4 @@ private:
#endif
};
#endif // USBMONITOR_H

55
ground/openpilotgcs/src/plugins/rawhid/usbmonitor_win.cpp
View File

@ -28,7 +28,8 @@
#include <QMetaType>
#include <QString>
#include <initguid.h>
#include <QEventLoop>
#include <QTimer>
#include "usbmonitor.h"
#include <QDebug>
#define printf qDebug
@ -77,14 +78,32 @@ USBMonitor::~USBMonitor()
QList<USBPortInfo> USBMonitor::availableDevices(int vid, int pid, int bcdDeviceMSB, int bcdDeviceLSB)
{
QList<USBPortInfo> allPorts = availableDevices();
qDebug()<<"USBMonitor::availableDevices list off all ports:";
qDebug()<<"USBMonitor::availableDevices total ports:"<<allPorts.length();
foreach (USBPortInfo info, allPorts) {
qDebug()<<"----------";
qDebug()<<"bcdDevice:"<<info.bcdDevice;
qDebug()<<"devicePath:"<<info.devicePath;
qDebug()<<"product:"<<info.product;
}
qDebug()<<"END OF LIST";
QList<USBPortInfo> thePortsWeWant;
qDebug()<<"USBMonitor::availableDevices bcdLSB="<<bcdDeviceLSB;
foreach (USBPortInfo port, allPorts) {
//qDebug()<<"USBMonitorWin:Port VID="<<port.vendorID<<"PID="<<port.productID<<"bcddevice="<<port.bcdDevice;
qDebug()<<"USBMonitorWin:Port VID="<<port.vendorID<<"PID="<<port.productID<<"bcddevice="<<port.bcdDevice;
if((port.vendorID==vid || vid==-1) && (port.productID==pid || pid==-1) && ((port.bcdDevice>>8)==bcdDeviceMSB || bcdDeviceMSB==-1) &&
( (port.bcdDevice&0x00ff) ==bcdDeviceLSB || bcdDeviceLSB==-1))
thePortsWeWant.append(port);
}
qDebug()<<"USBMonitor::availableDevices list off matching ports vid pid bcdMSD bcdLSD:"<<vid<<pid<<bcdDeviceMSB<<bcdDeviceLSB;
qDebug()<<"USBMonitor::availableDevices total matching ports:"<<thePortsWeWant.length();
foreach (USBPortInfo info, thePortsWeWant) {
qDebug()<<"----------";
qDebug()<<"bcdDevice:"<<info.bcdDevice;
qDebug()<<"devicePath:"<<info.devicePath;
qDebug()<<"product:"<<info.product;
}
qDebug()<<"END OF LIST";
return thePortsWeWant;
}
@ -159,6 +178,7 @@ bool USBRegistrationWidget::winEvent( MSG* message, long* result )
#endif
bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const GUID & guid, WPARAM wParam)
{
qDebug()<<"USB_MONITOR matchAndDispatchChangedDevice deviceID="<<deviceID;
bool rv = false;
DWORD dwFlag = (DBT_DEVICEARRIVAL == wParam) ? DIGCF_PRESENT : DIGCF_ALLCLASSES;
HDEVINFO devInfo;
@ -177,10 +197,30 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
info.devicePath=deviceID;
if( wParam == DBT_DEVICEARRIVAL )
{
qDebug()<<"INSERTION";
if(infoFromHandle(guid,info,devInfo,i)==0)
qDebug()<<"USB_MONITOR INSERTION";
if(infoFromHandle(guid,info,devInfo,i)!=1)
{
qDebug()<<"USB_MONITOR infoFromHandle failed on matchAndDispatchChangedDevice";
break;
}
bool m_break=false;
foreach (USBPortInfo m_info, knowndevices) {
if(m_info.serialNumber==info.serialNumber && m_info.productID==info.productID && m_info.bcdDevice==info.bcdDevice && m_info.devicePath==info.devicePath)
{
qDebug()<<"USB_MONITOR device already present don't emit signal";
m_break=true;
}
}
if(m_break)
break;
if(info.bcdDevice==0 || info.product.isEmpty())
{
qDebug()<<"USB_MONITOR empty information on device not emiting signal";
break;
}
knowndevices.append(info);
qDebug()<<"USB_MONITOR emit device discovered on device:"<<info.product<<info.bcdDevice;
emit deviceDiscovered(info);
break;
@ -193,13 +233,18 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
if(knowndevices[x].devicePath==deviceID)
{
USBPortInfo temp=knowndevices.at(x);
knowndevices.removeAt(x);
qDebug()<<"USB_MONITOR emit device removed on device:"<<temp.product<<temp.bcdDevice;
emit deviceRemoved(temp);
found=true;
break;
}
}
if(!found)
{
qDebug()<<"USB_MONITOR emit device removed on unknown device";
emit deviceRemoved(info);
}
}
break;

22
ground/openpilotgcs/src/plugins/rawhid/usbsignalfilter.cpp Normal file
View File

@ -0,0 +1,22 @@
#include "usbsignalfilter.h"
#include <QDebug>
void USBSignalFilter::m_deviceDiscovered(USBPortInfo port)
{
if((port.vendorID==m_vid || m_vid==-1) && (port.productID==m_pid || m_pid==-1) && ((port.bcdDevice>>8)==m_boardModel || m_boardModel==-1) &&
( (port.bcdDevice&0x00ff) ==m_runState || m_runState==-1))
{
qDebug()<<"USBSignalFilter emit device discovered";
emit deviceDiscovered();
}
}
USBSignalFilter::USBSignalFilter(int vid, int pid, int boardModel, int runState):
m_vid(vid),
m_pid(pid),
m_boardModel(boardModel),
m_runState(runState)
{
connect(USBMonitor::instance(),SIGNAL(deviceDiscovered(USBPortInfo)),this,SLOT(m_deviceDiscovered(USBPortInfo)));
}

21
ground/openpilotgcs/src/plugins/rawhid/usbsignalfilter.h Normal file
View File

@ -0,0 +1,21 @@
#ifndef USBSIGNALFILTER_H
#define USBSIGNALFILTER_H
#include <QObject>
#include "usbmonitor.h"
class RAWHID_EXPORT USBSignalFilter : public QObject
{
Q_OBJECT
private:
int m_vid;
int m_pid;
int m_boardModel;
int m_runState;
signals:
void deviceDiscovered();
private slots:
void m_deviceDiscovered(USBPortInfo port);
public:
USBSignalFilter(int vid, int pid, int boardModel, int runState);
};
#endif // USBSIGNALFILTER_H

2
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
View File

@ -709,7 +709,7 @@ int ScopeGadgetWidget::csvLoggingInsertData()
}
else
{
ss << QString().sprintf("%3.6g",plotData2->yData->last()/pow(10,plotData2->scalePower));
ss << QString().sprintf("%3.6g",plotData2->yData->last());
m_csvLoggingDataValid=1;
}
}

39
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -492,6 +492,45 @@ QVariant UAVObjectField::getValue(quint32 index)
return QVariant();
}
bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check that index is not out of bounds
if ( index >= numElements )
{
return false;
}
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
{
switch (type)
{
case INT8:
case INT16:
case INT32:
case UINT8:
case UINT16:
case UINT32:
case FLOAT32:
case STRING:
return true;
break;
case ENUM:
{
qint8 tmpenum = options.indexOf( value.toString() );
return ((tmpenum < 0) ? false : true);
break;
}
default:
qDebug() << "checkValue: other types" << type;
Q_ASSERT(0); // To catch any programming errors where we tried to test invalid values
break;
}
}
}
void UAVObjectField::setValue(const QVariant& value, quint32 index)
{
QMutexLocker locker(obj->getMutex());

1
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
View File

@ -56,6 +56,7 @@ public:
qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn);
QVariant getValue(quint32 index = 0);
bool checkValue(const QVariant& data, quint32 index = 0);
void setValue(const QVariant& data, quint32 index = 0);
double getDouble(quint32 index = 0);
void setDouble(double value, quint32 index = 0);

23
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
View File

@ -1,17 +1,19 @@
function [] = OPLogConvert()
function [] = OPLogConvert(logfile)
%% Define indices and arrays of structures to hold data
% THIS FILE IS AUTOMATICALLY GENERATED.
$(ALLOCATIONCODE)
%% Open log file
% [FileName,PathName,FilterIndex] = uigetfile('*.opl');
if nargin==0
%%
if (exist('uigetfile'))
[FileName, PathName]=uigetfile;
logfile=fullfile(PathName, FileName);
else
error('Your technical computing program does not support file choosers. Please input the file name in the argument. ')
end
end
FileName='OP-2011-10-22_22-27-09.opl';
PathName='/Users/kenz/Movies/brisk_videos/rover_test_1/';
FilterIndex=1;
logfile = fullfile(PathName,FileName);
fid = fopen(logfile);
% Parse log file, entry by entry
@ -55,6 +57,9 @@ end
%% Clean Up and Save mat file
fclose(fid);
% Trim output structs
$(CLEANUPCODE)
matfile = strrep(logfile,'opl','mat');
save(matfile $(SAVEOBJECTSCODE));

6
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -34,7 +34,6 @@
#include <QDebug>
#include <QEventLoop>
#include <QTimer>
#include <QErrorMessage>
#include <objectpersistence.h>
// ******************************
@ -186,11 +185,6 @@ void UAVObjectUtilManager::objectPersistenceOperationFailed()
saveState = IDLE;
emit saveCompleted(obj->getObjID(), false);
// For now cause error message here to make sure user knows
QErrorMessage err;
err.showMessage("Saving object " + obj->getName() + " failed. Please try again");
err.exec();
saveNextObject();
}

24
ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp
View File

@ -153,6 +153,7 @@ void UAVSettingsImportExportFactory::importUAVSettings()
// - Update each field
// - Issue and "updated" command
bool error=false;
bool setError=false;
QDomNode field = node.firstChild();
while(!field.isNull()) {
QDomElement f = field.toElement();
@ -161,16 +162,24 @@ void UAVSettingsImportExportFactory::importUAVSettings()
if (uavfield) {
QStringList list = f.attribute("values").split(",");
if (list.length() == 1) {
uavfield->setValue(f.attribute("values"));
if (false == uavfield->checkValue(f.attribute("values"))) {
qDebug() << "checkValue returned false on: " << uavObjectName << f.attribute("values");
setError = true;
} else
uavfield->setValue(f.attribute("values"));
} else {
// This is an enum:
int i=0;
QStringList list = f.attribute("values").split(",");
foreach (QString element, list) {
uavfield->setValue(element,i++);
if (false == uavfield->checkValue(element,i)) {
qDebug() << "checkValue(list) returned false on: " << uavObjectName << list;
setError = true;
} else
uavfield->setValue(element,i);
i++;
}
}
error = false;
} else {
error = true;
}
@ -183,7 +192,9 @@ void UAVSettingsImportExportFactory::importUAVSettings()
} else if (uavObjectID != obj->getObjID()) {
qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
} else
} else if (setError) {
swui.addLine(uavObjectName, "Warning (Objects field value(s) invalid)", false);
} else
swui.addLine(uavObjectName, "OK", true);
}
}
@ -212,8 +223,9 @@ QString UAVSettingsImportExportFactory::createXMLDocument(
QDomElement fw=doc.createElement("Embedded");
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
fw.setAttribute("gitcommittag",utilMngr->getBoardDescriptionStruct().gitTag);
fw.setAttribute("fwtag",utilMngr->getBoardDescriptionStruct().description);
deviceDescriptorStruct struc=utilMngr->getBoardDescriptionStruct();
fw.setAttribute("gitcommittag",struc.gitTag);
fw.setAttribute("fwtag",struc.description);
fw.setAttribute("cpuSerial",QString(utilMngr->getBoardCPUSerial().toHex()));
versionInfo.appendChild(fw);

4
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -183,7 +183,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
if(UAVObjectUtilManager::descriptionToStructure(desc,&onBoardDescrition))
{
myDevice->lblGitTag->setText(onBoardDescrition.gitTag);
myDevice->lblBuildDate->setText(onBoardDescrition.buildDate);
myDevice->lblBuildDate->setText(onBoardDescrition.buildDate.insert(4,"-").insert(7,"-"));
if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description);
@ -213,7 +213,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
if(UAVObjectUtilManager::descriptionToStructure(desc,&LoadedDescrition))
{
myDevice->lblGitTagL->setText(LoadedDescrition.gitTag);
myDevice->lblBuildDateL->setText( LoadedDescrition.buildDate);
myDevice->lblBuildDateL->setText( LoadedDescrition.buildDate.insert(4,"-").insert(7,"-"));
if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->lblDescritpionL->setText(LoadedDescrition.description);

45
ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
View File

@ -80,24 +80,41 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
}
else
{
mready = false;
QEventLoop m_eventloop;
QTimer::singleShot(200,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
QList<USBPortInfo> devices;
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
if (devices.length()==1) {
hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
if (devices.length()==1 && hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1) {
qDebug()<<"OP_DFU detected first time";
mready=true;
} else {
// Wait for the board to appear on the USB bus:
QEventLoop m_eventloop;
connect(USBMonitor::instance(), SIGNAL(deviceDiscovered(USBPortInfo)),&m_eventloop, SLOT(quit()));
QTimer::singleShot(5000,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
if (devices.length()==1) {
delay::msleep(2000); // Let the USB Subsystem settle (especially important on Mac!)
hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
}
else {
qDebug() << devices.length() << " device(s) detected, don't know what to do!";
mready = false;
USBSignalFilter filter(0x20a0,-1,-1,USBMonitor::Bootloader);
connect(&filter, SIGNAL(deviceDiscovered()),&m_eventloop, SLOT(quit()));
for(int x=0;x<4;++x)
{
qDebug()<<"OP_DFU trying to detect bootloader:"<<x;
if(x==0)
QTimer::singleShot(10000,&m_eventloop, SLOT(quit()));
else
QTimer::singleShot(2000,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
if (devices.length()==1) {
if(hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1)
{
qDebug()<<"OP_DFU detected after delay";
mready=true;
break;
}
}
else {
qDebug() << devices.length() << " device(s) detected, don't know what to do!";
mready = false;
}
}
}

1
ground/openpilotgcs/src/plugins/uploader/op_dfu.h
View File

@ -4,6 +4,7 @@
#include <QByteArray>
#include <rawhid/pjrc_rawhid.h>
#include <rawhid/usbmonitor.h>
#include <rawhid/usbsignalfilter.h>
#include <QDebug>
#include <QFile>
#include <QThread>

2
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -128,7 +128,7 @@ void runningDeviceWidget::populate()
myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
}
myDevice->lblGitCommitTag->setText("Git commit tag: "+devDesc.gitTag);
myDevice->lblFWDate->setText(QString("Firmware date: ") + devDesc.buildDate);
myDevice->lblFWDate->setText(QString("Firmware date: ") + devDesc.buildDate.insert(4,"-").insert(7,"-"));
}
else
{

35
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -25,6 +25,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uploadergadgetwidget.h"
#include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
#include <coreplugin/coreconstants.h>
#include <QDebug>
#define DFU_DEBUG true
@ -37,11 +40,13 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
dfu = NULL;
m_timer = 0;
m_progress = 0;
msg=new QErrorMessage(this);
// Listen to autopilot connection events
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(connected()), this, SLOT(versionMatchCheck()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader()));
@ -60,7 +65,10 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
// And check whether by any chance we are not already connected
if (telMngr->isConnected())
{
onAutopilotConnect();
versionMatchCheck();
}
}
@ -117,6 +125,11 @@ void UploaderGadgetWidget::onPhisicalHWConnect()
Enables widget buttons if autopilot connected
*/
void UploaderGadgetWidget::onAutopilotConnect(){
QTimer::singleShot(1000,this,SLOT(populate()));
}
void UploaderGadgetWidget::populate()
{
m_config->haltButton->setEnabled(true);
m_config->resetButton->setEnabled(true);
m_config->bootButton->setEnabled(false);
@ -133,7 +146,6 @@ void UploaderGadgetWidget::onAutopilotConnect(){
runningDeviceWidget* dw = new runningDeviceWidget(this);
dw->populate();
m_config->systemElements->addTab(dw, QString("Connected Device"));
}
/**
@ -603,3 +615,22 @@ void UploaderGadgetWidget::info(QString infoString, int infoNumber)
Q_UNUSED(infoNumber);
m_config->boardStatus->setText(infoString);
}
void UploaderGadgetWidget::versionMatchCheck()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
deviceDescriptorStruct boardDescription=utilMngr->getBoardDescriptionStruct();
QString gcsDescription=QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
if(boardDescription.gitTag!=gcsDescription.mid(gcsDescription.indexOf(":")+1,8))
{
qDebug()<<QDate::fromString(boardDescription.buildDate.mid(0,8),"yyyyMMdd");
qDebug()<<QDate::fromString(gcsDescription.mid(gcsDescription.indexOf(" ")+1,8),"yyyyMMdd");
qDebug()<<QDate::fromString(boardDescription.buildDate.mid(0,8),"yyyyMMdd").daysTo(QDate::fromString(gcsDescription.mid(gcsDescription.indexOf(" ")+1,8),"yyyyMMdd"));
if(QDate::fromString(boardDescription.buildDate.mid(0,8),"yyyyMMdd").daysTo(QDate::fromString(gcsDescription.mid(gcsDescription.indexOf(" ")+1,8),"yyyyMMdd"))>0)
msg->showMessage(QString("Incompatible GCS and FW detected, you should upgrade your board's Firmware to %1 version.").arg(gcsDescription));
else
msg->showMessage(QString("Incompatible GCS and FW detected, you should upgrade your GCS to %1 version.").arg(boardDescription.gitTag+":"+boardDescription.buildDate));
}
}

5
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
View File

@ -54,6 +54,7 @@
#include <QTimer>
#include "devicedescriptorstruct.h"
#include <QProgressDialog>
#include <QErrorMessage>
using namespace OP_DFU;
@ -72,7 +73,7 @@ public:
public slots:
void onAutopilotConnect();
void onAutopilotDisconnect();
void populate();
private:
Ui_UploaderWidget *m_config;
DFUObject *dfu;
@ -84,8 +85,10 @@ private:
QTimer* m_timer;
QLineEdit* openFileNameLE;
QEventLoop m_eventloop;
QErrorMessage * msg;
private slots:
void onPhisicalHWConnect();
void versionMatchCheck();
void error(QString errorString,int errorNumber);
void info(QString infoString,int infoNumber);
void goToBootloader(UAVObject* = NULL, bool = false);

18
ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
View File

@ -51,6 +51,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode);
matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
@ -103,6 +104,9 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
}
else{
matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
if (!info->isSingleInst) {
allocfields.append(",...\n\t\t 'instanceID', 0");
}
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrMatlab[info->fields[n]->type];
@ -124,7 +128,17 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
matlabSwitchCode.append("\t\t\tif " + tableIdxName + " > length(" + objectTableName +")\n");
matlabSwitchCode.append("\t\t\t\t" + objectTableName + "(" + tableIdxName + "*2+1) = " + objectTableName +"(end);\n");
matlabSwitchCode.append("\t\t\t\t" + objectTableName +"(end)=[];\n");
matlabSwitchCode.append("\t\t\tend\n");
//=============================================================//
// Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
//=============================================================//
matlabCleanupCode.append(objectTableName + "(" + tableIdxName +":end) = [];\n");
//=============================================================================//
// Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag) //
@ -139,13 +153,13 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
//=================================================================//
//Generate function description comment
matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + "\n");
matlabFunctionsCode.append("\t" + objectName + ".timestamp = timestamp;\n");
matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
matlabFunctionsCode.append("\t\theaderSize = 8;\n");
matlabFunctionsCode.append("\telse\n");
matlabFunctionsCode.append("\t\t" + objectName + ".instanceID = fread(fid, 1, 'uint16');\n");
matlabFunctionsCode.append("\t\theaderSize = 10;\n");
matlabFunctionsCode.append("\tend\n\n");
matlabFunctionsCode.append("\t" + objectName + ".timestamp = timestamp;\n");
// Generate functions code, actual fields of the object
QString funcfields;

1
ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
View File

@ -38,6 +38,7 @@ private:
bool process_object(ObjectInfo* info);
QString matlabAllocationCode;
QString matlabSwitchCode;
QString matlabCleanupCode;
QString matlabSaveObjectsCode;
QString matlabFunctionsCode;
QStringList fieldTypeStrMatlab;

8
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -111,6 +111,11 @@ int UAVObjectParser::getNumBytes(int objIndex)
}
}
bool fieldTypeLessThan(const FieldInfo* f1, const FieldInfo* f2)
{
return f1->numBytes > f2->numBytes;
}
/**
* Parse supplied XML file
* @param xml The xml text
@ -200,6 +205,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
// Get next element
childNode = childNode.nextSibling();
}
// Sort all fields according to size
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Make sure that required elements were found
if ( !accessFound )

BIN
package/osx/OpenPilot.dmg
View File

Binary file not shown.

6
package/osx/package
View File

@ -30,8 +30,10 @@ cp "${ROOT_DIR}/HISTORY.txt" "/Volumes/${VOL_NAME}"
hdiutil detach ${device}
echo "Resizing dmg"
hdiutil resize -size 250m ${TEMP_FILE}
min=`hdiutil resize ${TEMP_FILE} | awk \{print\ \$\1\}`
echo "Resizing dmg to ${min}"
hdiutil resize -sectors ${min} ${TEMP_FILE}
hdiutil convert "${TEMP_FILE}" -format UDZO -o "${OUT_FILE}"
# cleanup

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="HwSettings" singleinstance="true" settings="true">
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Servo,Servo" defaultvalue="PWM"/>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),ComAux" defaultvalue="Disabled"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),ComAux" defaultvalue="Disabled"/>