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Code Issues Releases Activity

MixerCurve: wire new curve into all airframes except heli;

Browse Source 
ConfigMultiRotor: Bugfix boundary condition on channel descriptions;
prune unused mixercurvewidget resets,values etc from vehicle specific configs
This commit is contained in:
Mike LaBranche 2012-07-02 10:46:21 -07:00
parent 09a2a007a8
commit 8088f7aee9
12 changed files with 339 additions and 608 deletions
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240
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>796</width>
<height>618</height>
<width>939</width>
<height>635</height>
</rect>
</property>
<property name="windowTitle">
@ -74,7 +74,7 @@
<item>
<widget class="QStackedWidget" name="airframesWidget">
<property name="currentIndex">
<number>0</number>
<number>4</number>
</property>
<widget class="QWidget" name="fixedWing">
<property name="enabled">
@ -480,8 +480,8 @@ margin:1px;</string>
</property>
<property name="minimumSize">
<size>
<width>350</width>
<height>350</height>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
@ -555,7 +555,7 @@ margin:1px;</string>
<item>
<layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0">
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0">
<item>
<layout class="QVBoxLayout" name="verticalLayout_24">
<item>
@ -850,19 +850,6 @@ margin:1px;</string>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_6">
<property name="title">
@ -870,23 +857,7 @@ margin:1px;</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<spacer name="verticalSpacer_7">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="MixerCurveWidget" name="multiThrottleCurve" native="true">
<widget class="MixerCurve" name="multiThrottleCurve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@ -895,8 +866,8 @@ margin:1px;</string>
</property>
<property name="minimumSize">
<size>
<width>120</width>
<height>120</height>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="styleSheet">
@ -904,32 +875,6 @@ margin:1px;</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="mrThrottleCurveReset">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>200</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="mrThrottleCurveItemValue">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -1699,7 +1644,7 @@ margin:1px;</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_36">
<item>
<widget class="MixerCurveWidget" name="groundVehicleThrottle1" native="true">
<widget class="MixerCurve" name="groundVehicleThrottle1" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@ -1708,14 +1653,14 @@ margin:1px;</string>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>200</width>
<height>200</height>
<width>500</width>
<height>500</height>
</size>
</property>
<property name="sizeIncrement">
@ -1726,26 +1671,6 @@ margin:1px;</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="gvThrottleCurve1Reset">
<property name="maximumSize">
<size>
<width>200</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gvThrottleCurve1ItemValue">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -1756,7 +1681,7 @@ margin:1px;</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_37">
<item>
<widget class="MixerCurveWidget" name="groundVehicleThrottle2" native="true">
<widget class="MixerCurve" name="groundVehicleThrottle2" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@ -1765,32 +1690,18 @@ margin:1px;</string>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>200</width>
<height>200</height>
<width>500</width>
<height>500</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="gvThrottleCurve2Reset">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gvThrottleCurve2ItemValue">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -1851,25 +1762,43 @@ margin:1px;</string>
<layout class="QHBoxLayout" name="horizontalLayout_14">
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Curve 1</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
<widget class="MixerCurve" name="customThrottle1Curve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
@ -1877,48 +1806,9 @@ margin:1px;</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="customReset1">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="customThrottleCurve1Value">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
@ -1926,20 +1816,32 @@ margin:1px;</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_17">
<item>
<widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
<widget class="MixerCurve" name="customThrottle2Curve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
@ -1947,20 +1849,6 @@ margin:1px;</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="customReset2">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="customThrottleCurve2Value">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -2850,12 +2738,6 @@ p, li { white-space: pre-wrap; }
</layout>
</widget>
<customwidgets>
<customwidget>
<class>MixerCurveWidget</class>
<extends>QWidget</extends>
<header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>ConfigCcpmWidget</class>
<extends>QWidget</extends>

4
ground/openpilotgcs/src/plugins/config/ccpm.ui
View File

@ -87,7 +87,7 @@ QGroupBox::title {
}</string>
</property>
<property name="currentIndex">
<number>0</number>
<number>2</number>
</property>
<widget class="QWidget" name="BasicTab">
<attribute name="title">
@ -3912,7 +3912,7 @@ margin:1px;</string>
<customwidget>
<class>MixerCurveWidget</class>
<extends>QWidget</extends>
<header>mixercurvewidget.h</header>
<header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>

6
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -291,7 +291,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
@ -371,7 +371,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
int channel;
double value;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
@ -449,7 +449,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
int channel;
double value;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);

6
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -307,7 +307,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
@ -364,7 +364,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
@ -419,7 +419,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}

21
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -245,11 +245,10 @@ void ConfigMultiRotorWidget::ResetActuators(GUIConfigDataUnion* configData)
QStringList ConfigMultiRotorWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i=0; i < (int)(ConfigMultiRotorWidget::CHANNEL_NUMELEM); i++)
for (int i=0; i < (int)(ConfigMultiRotorWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
@ -258,21 +257,21 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
GUIConfigDataUnion configData = GetConfigData();
multiGUISettingsStruct multi = configData.multi;
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorN-1] = QString("VTOLMotorN");
if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNE-1] = QString("VTOLMotorNE");
if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNW-1] = QString("VTOLMotorNW");
if (multi.VTOLMotorS > 0 && multi.VTOLMotorS < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
if (multi.VTOLMotorS > 0 && multi.VTOLMotorS <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorS-1] = QString("VTOLMotorS");
if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSE-1] = QString("VTOLMotorSE");
if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSW-1] = QString("VTOLMotorSW");
if (multi.VTOLMotorW > 0 && multi.VTOLMotorW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
if (multi.VTOLMotorW > 0 && multi.VTOLMotorW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorW-1] = QString("VTOLMotorW");
if (multi.VTOLMotorE > 0 && multi.VTOLMotorE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
if (multi.VTOLMotorE > 0 && multi.VTOLMotorE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorE-1] = QString("VTOLMotorE");
return channelDesc;
@ -969,7 +968,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
Q_ASSERT(mixer);
//disable all
for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
for (int channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);

2
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -231,8 +231,6 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
{
Q_UNUSED(obj);
bool dirty=isDirty();
// Get Actuator Settings
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);

129
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -109,7 +109,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
//Generate lists of mixerTypeNames, mixerVectorNames, channelNames
channelNames << "None";
for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
for (int i = 0; i < (int)ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
@ -206,25 +206,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
connect(m_aircraft->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
//mdl connect(m_heli->m_ccpm->ccpmType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
//Connect throttle curve reset pushbuttons to reset functions
//connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
connect(m_aircraft->gvThrottleCurve1Reset, SIGNAL(clicked()), this, SLOT(resetGvFrontMixer()));
connect(m_aircraft->gvThrottleCurve2Reset, SIGNAL(clicked()), this, SLOT(resetGvRearMixer()));
connect(m_aircraft->customReset1, SIGNAL(clicked()), this, SLOT(resetCt1Mixer()));
connect(m_aircraft->customReset2, SIGNAL(clicked()), this, SLOT(resetCt2Mixer()));
//Connect throttle curve manipulation points to output text
connect(m_aircraft->fixedWingThrottle, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateFwThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->multiThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateMrThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->groundVehicleThrottle1, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateGvThrottle1CurveValue(QList<double>,double)));
connect(m_aircraft->groundVehicleThrottle2, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateGvThrottle2CurveValue(QList<double>,double)));
connect(m_aircraft->customThrottle1Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle1CurveValue(QList<double>,double)));
connect(m_aircraft->customThrottle2Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle2CurveValue(QList<double>,double)));
// connect(m_aircraft->fwAileron1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleAileron2(int)));
// connect(m_aircraft->fwElevator1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleElevator2(int)));
//Connect the three feed forward test checkboxes
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
@ -479,68 +460,6 @@ void ConfigVehicleTypeWidget::enableFFTest()
}
}
/**
Resets Fixed wing throttle mixer
*/
void ConfigVehicleTypeWidget::resetFwMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
//resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
}
/**
Resets Multirotor throttle mixer
*/
void ConfigVehicleTypeWidget::resetMrMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
//resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
}
/**
Resets Ground vehicle front throttle mixer
*/
void ConfigVehicleTypeWidget::resetGvFrontMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
//resetMixer(m_aircraft->groundVehicleThrottle1, field->getNumElements(),1);
}
/**
Resets Ground vehicle rear throttle mixer
*/
void ConfigVehicleTypeWidget::resetGvRearMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
//resetMixer(m_aircraft->groundVehicleThrottle2, field->getNumElements(),1);
}
/**
Resets Custom throttle 1 mixer
*/
void ConfigVehicleTypeWidget::resetCt1Mixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements(),1);
}
/**
Resets Custom throttle 2 mixer
*/
void ConfigVehicleTypeWidget::resetCt2Mixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
//resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
}
/**
Resets a mixer curve
*/
@ -550,52 +469,6 @@ void ConfigVehicleTypeWidget::resetMixer(MixerCurveWidget *mixer, int numElement
mixer->initLinearCurve((quint32)numElements,maxvalue);
}
/**
Updates the currently moved multi-rotor throttle curve item value
*/
void ConfigVehicleTypeWidget::updateMrThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->mrThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the moved ground vehicle front throttle curve item value
*/
void ConfigVehicleTypeWidget::updateGvThrottle1CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->gvThrottleCurve1ItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the moved ground vehicle rear throttle curve item value
*/
void ConfigVehicleTypeWidget::updateGvThrottle2CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->gvThrottleCurve2ItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved custom throttle curve item value (Custom throttle 1)
*/
void ConfigVehicleTypeWidget::updateCustomThrottle1CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->customThrottleCurve1Value->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved custom throttle curve item value (Custom throttle 2)
*/
void ConfigVehicleTypeWidget::updateCustomThrottle2CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->customThrottleCurve2Value->setText(QString().sprintf("Val: %.2f",value));
}
/**************************
* Aircraft settings
**************************/

12
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -93,17 +93,7 @@ private slots:
void toggleElevator2(int index);
void toggleRudder2(int index);
void switchAirframeType(int index);
void resetFwMixer();
void resetMrMixer();
void resetGvFrontMixer();
void resetGvRearMixer();
void resetCt1Mixer();
void resetCt2Mixer();
void updateMrThrottleCurveValue(QList<double> list, double value);
void updateGvThrottle1CurveValue(QList<double> list, double value);
void updateGvThrottle2CurveValue(QList<double> list, double value);
void updateCustomThrottle1CurveValue(QList<double> list, double value);
void updateCustomThrottle2CurveValue(QList<double> list, double value);
void enableFFTest();
void openHelp();

15
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
View File

@ -28,6 +28,11 @@ MixerCurve::~MixerCurve()
delete m_mixerUI;
}
void MixerCurve::setMixerType(MixerCurveType curveType)
{
m_curveType = curveType;
}
void MixerCurve::ResetCurve()
{
m_curve->setMin((m_curveType == MixerCurve::MIXERCURVE_THROTTLE) ? 0.0 : -1.0);
@ -266,16 +271,14 @@ double MixerCurve::setRange(double min, double max)
void MixerCurve::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
//fitInView(this, Qt::KeepAspectRatio);
Q_UNUSED(event);
m_curve->showEvent(event);
}
void MixerCurve::resizeEvent(QResizeEvent* event)
{
Q_UNUSED(event);
//fitInView(this, Qt::KeepAspectRatio);
m_curve->resizeEvent(event);
}

1
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
View File

@ -26,6 +26,7 @@ public:
/* Enumeration options for ThrottleCurves */
typedef enum { MIXERCURVE_THROTTLE=0, MIXERCURVEPITCH=1 } MixerCurveType;
void setMixerType(MixerCurveType curveType);
void initCurve (const QList<double>* points);
QList<double> getCurve();
void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);

508
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
View File

@ -6,14 +6,20 @@
<rect>
<x>0</x>
<y>0</y>
<width>437</width>
<height>317</height>
<width>490</width>
<height>390</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>365</width>
<height>306</height>
<width>442</width>
<height>328</height>
</size>
</property>
<property name="maximumSize">
@ -37,275 +43,251 @@
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<widget class="MixerCurveWidget" name="CurveWidget" native="true">
<widget class="QWidget" name="verticalLayoutWidget">
<property name="geometry">
<rect>
<x>140</x>
<y>10</y>
<width>291</width>
<height>300</height>
<x>120</x>
<y>0</y>
<width>371</width>
<height>391</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>261</width>
<height>241</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>300</width>
<height>300</height>
</size>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="MixerCurveWidget" name="CurveWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QDoubleSpinBox" name="CurveMin">
<property name="geometry">
<rect>
<x>70</x>
<y>240</y>
<width>51</width>
<height>22</height>
</rect>
</property>
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
<widget class="QDoubleSpinBox" name="CurveMax">
<property name="geometry">
<rect>
<x>70</x>
<y>40</y>
<width>51</width>
<height>22</height>
</rect>
</property>
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
<widget class="QTableWidget" name="CurveSettings">
<property name="geometry">
<rect>
<x>20</x>
<y>60</y>
<width>101</width>
<height>171</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="autoScroll">
<bool>false</bool>
</property>
<property name="rowCount">
<number>5</number>
</property>
<property name="columnCount">
<number>1</number>
</property>
<row>
<property name="text">
<string>5</string>
</property>
</row>
<row>
<property name="text">
<string>4</string>
</property>
</row>
<row>
<property name="text">
<string>3</string>
</property>
</row>
<row>
<property name="text">
<string>2</string>
</property>
</row>
<row>
<property name="text">
<string>1</string>
</property>
</row>
<column>
<property name="text">
<string>Value</string>
</property>
</column>
<item row="0" column="0">
<property name="text">
<string>1.0</string>
</property>
</item>
<item row="1" column="0">
<property name="text">
<string>.75</string>
</property>
</item>
<item row="2" column="0">
<property name="text">
<string>.50</string>
</property>
</item>
<item row="3" column="0">
<property name="text">
<string>.25</string>
</property>
</item>
<item row="4" column="0">
<property name="text">
<string>.00</string>
</property>
</item>
</widget>
<widget class="QComboBox" name="CurveType">
<widget class="QWidget" name="">
<property name="geometry">
<rect>
<x>0</x>
<y>10</y>
<width>61</width>
<height>22</height>
<y>0</y>
<width>121</width>
<height>391</height>
</rect>
</property>
<item>
<property name="text">
<string>Linear</string>
</property>
</item>
<item>
<property name="text">
<string>Log</string>
</property>
</item>
<item>
<property name="text">
<string>Exp</string>
</property>
</item>
<item>
<property name="text">
<string>Flat</string>
</property>
</item>
<item>
<property name="text">
<string>Step</string>
</property>
</item>
</widget>
<widget class="QPushButton" name="GenerateCurve">
<property name="geometry">
<rect>
<x>70</x>
<y>10</y>
<width>61</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>Generate</string>
</property>
</widget>
<widget class="QLabel" name="minLabel">
<property name="geometry">
<rect>
<x>20</x>
<y>240</y>
<width>41</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Min</string>
</property>
</widget>
<widget class="QLabel" name="maxLabel">
<property name="geometry">
<rect>
<x>20</x>
<y>40</y>
<width>41</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Max</string>
</property>
</widget>
<widget class="QPushButton" name="ResetCurve">
<property name="geometry">
<rect>
<x>20</x>
<y>290</y>
<width>75</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
<widget class="QLabel" name="stepLabel">
<property name="geometry">
<rect>
<x>20</x>
<y>260</y>
<width>41</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Step</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="CurveStep">
<property name="geometry">
<rect>
<x>70</x>
<y>260</y>
<width>51</width>
<height>22</height>
</rect>
</property>
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QComboBox" name="CurveType">
<item>
<property name="text">
<string>Linear</string>
</property>
</item>
<item>
<property name="text">
<string>Log</string>
</property>
</item>
<item>
<property name="text">
<string>Exp</string>
</property>
</item>
<item>
<property name="text">
<string>Flat</string>
</property>
</item>
<item>
<property name="text">
<string>Step</string>
</property>
</item>
</widget>
</item>
<item>
<widget class="QPushButton" name="GenerateCurve">
<property name="text">
<string>Generate</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="maxLabel">
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="CurveMax">
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QTableWidget" name="CurveSettings">
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="autoScroll">
<bool>false</bool>
</property>
<property name="rowCount">
<number>5</number>
</property>
<property name="columnCount">
<number>1</number>
</property>
<row>
<property name="text">
<string>5</string>
</property>
</row>
<row>
<property name="text">
<string>4</string>
</property>
</row>
<row>
<property name="text">
<string>3</string>
</property>
</row>
<row>
<property name="text">
<string>2</string>
</property>
</row>
<row>
<property name="text">
<string>1</string>
</property>
</row>
<column>
<property name="text">
<string>Value</string>
</property>
</column>
<item row="0" column="0">
<property name="text">
<string>1.0</string>
</property>
</item>
<item row="1" column="0">
<property name="text">
<string>.75</string>
</property>
</item>
<item row="2" column="0">
<property name="text">
<string>.50</string>
</property>
</item>
<item row="3" column="0">
<property name="text">
<string>.25</string>
</property>
</item>
<item row="4" column="0">
<property name="text">
<string>.00</string>
</property>
</item>
</widget>
</item>
<item>
<widget class="QLabel" name="minLabel">
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="CurveMin">
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="stepLabel">
<property name="text">
<string>Step</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="CurveStep">
<property name="correctionMode">
<enum>QAbstractSpinBox::CorrectToNearestValue</enum>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="ResetCurve">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
<customwidgets>

3
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
View File

@ -43,6 +43,9 @@ class UAVOBJECTWIDGETUTILS_EXPORT MixerCurveWidget : public QGraphicsView
public:
MixerCurveWidget(QWidget *parent = 0);
~MixerCurveWidget();
friend class MixerCurve;
void itemMoved(double itemValue); // Callback when a point is moved, to be updated
void initCurve (const QList<double>* points);
QList<double> getCurve();