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Code Issues Releases Activity

Merge remote-tracking branch 'origin/os/OP-691_Fix_camera_config_issues' into rel-12.10.2

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Conflicts:
	HISTORY.txt
This commit is contained in:
Oleg Semyonov 2012-11-18 21:53:16 +02:00
commit 8332f32519
6 changed files with 27 additions and 56 deletions
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1
KNOWN_ISSUES.txt
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@ -8,3 +8,4 @@
+ XAircraft ESCs uses non-standard PPM range which may cause issues with Vehicle Wizard.
+ Spectrum Satellite Receivers setup in Radio Wizard may have wrong protocol set.
+ Old Intel 965 have an OpenGL bug that turns the QML PFD black and while.
+ [OP-691] Helicopter configuration change still resets camera/accessory mixers (some code refactoring is desired).

31
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
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@ -281,6 +281,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
@ -288,16 +289,8 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
// 1. Assign the servo/motor/none for each channel
int channel;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
@ -359,6 +352,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
@ -367,17 +361,10 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
// 1. Assign the servo/motor/none for each channel
int channel;
double value;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
@ -437,6 +424,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
@ -445,17 +433,10 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
// 1. Assign the servo/motor/none for each channel
int channel;
double value;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);

30
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
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@ -295,16 +295,10 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
resetMotorAndServoMixers(mixer);
//motor
channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
int channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@ -352,16 +346,10 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
resetMotorAndServoMixers(mixer);
//left motor
channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@ -407,15 +395,9 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
int channel;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
int channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);

8
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
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@ -1032,13 +1032,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
//disable all
for (int channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
resetMotorAndServoMixers(mixer);
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;

12
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
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@ -181,6 +181,18 @@ void VehicleConfig::resetMixerVector(UAVDataObject* mixer, int channel)
}
}
// Disable all servo/motor mixers (but keep camera and accessory ones)
void VehicleConfig::resetMotorAndServoMixers(UAVDataObject *mixer)
{
for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
QString type = getMixerType(mixer, channel);
if ((type == "Disabled") || (type == "Motor") || (type == "Servo")) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
}
}
double VehicleConfig::getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName)
{
Q_ASSERT(mixer);

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
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@ -127,6 +127,7 @@ class VehicleConfig: public ConfigTaskWidget
double getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName);
void setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value);
void resetMixerVector(UAVDataObject* mixer, int channel);
void resetMotorAndServoMixers(UAVDataObject* mixer);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName);