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Code Issues Releases Activity

OP-1526 Apply reverse all motors, tricopter fixes and HexacopterH cleannup

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This commit is contained in:
Laurent Lalanne 2014-10-05 23:50:35 +02:00
parent b01eb1d3e4
commit 82bb814bea
1 changed files with 19 additions and 22 deletions
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41
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
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@ -411,26 +411,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5, multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6, multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
// get motor 1 value for Pitch
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
// get motor 2 value for Yaw and Roll
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(qRound(value / 1.27));
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
} else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
@ -480,7 +460,23 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
// Now, read mixing values stored on board and applies values on sliders.
m_aircraft->mrPitchMixLevel->setValue(getMixerValue(mixer, "MixerValuePitch"));
m_aircraft->mrRollMixLevel->setValue(getMixerValue(mixer, "MixerValueRoll"));
m_aircraft->mrYawMixLevel->setValue(getMixerValue(mixer, "MixerValueYaw"));
// check sign from Yaw mixer value (positive unreversed / negative reversed)
// and apply Yaw value stored on board
int channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
if (frameType == "Tri") {
channel = m_aircraft->triYawChannelBox->currentIndex() - 1;
}
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
if (value > 0) {
setYawMixLevel(getMixerValue(mixer, "MixerValueYaw"));
} else {
setYawMixLevel(-getMixerValue(mixer, "MixerValueYaw"));
}
}
updateAirframe(frameType);
}
@ -741,9 +737,10 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
int channel = m_aircraft->triYawChannelBox->currentIndex() - 1;
if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
invertMotors = m_aircraft->MultirotorRevMixerCheckBox->isChecked();
// Tricopter : Yaw mix slider value applies to servo (was fixed)
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, getMixerValue(mixer, "MixerValueYaw") * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, (invertMotors ? -1.0 : 1.0) * getMixerValue(mixer, "MixerValueYaw") * 1.27);
}
m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));