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Code Issues Releases Activity

Merge remote-tracking branch 'origin/laurent/OP-1526_Reverse_all_motors_not_working' into next

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This commit is contained in:
Fredrik Larsson 2014-10-08 03:22:26 +11:00
commit 8367c8557c
1 changed files with 8 additions and 23 deletions
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31
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 +460,9 @@ 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"));
// MixerValueYaw : negative = reversed
setYawMixLevel(getMixerValue(mixer, "MixerValueYaw"));
updateAirframe(frameType);
}
@ -743,7 +725,8 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
// Tricopter : Yaw mix slider value applies to servo (was fixed)
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, getMixerValue(mixer, "MixerValueYaw") * 1.27);
// Get absolute MixerValueYaw, no servo reverse when Reverse All Motors is checked
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, abs(getMixerValue(mixer, "MixerValueYaw")) * 1.27);
}
m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
@ -1046,7 +1029,9 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
setMixerValue(mixer, "MixerValueRoll", m_aircraft->mrRollMixLevel->value());
setMixerValue(mixer, "MixerValuePitch", m_aircraft->mrPitchMixLevel->value());
setMixerValue(mixer, "MixerValueYaw", m_aircraft->mrYawMixLevel->value());
// Store negative value if ReverseAllMotors is checked
setMixerValue(mixer, "MixerValueYaw", m_aircraft->mrYawMixLevel->value() * (invertMotors ? -1.0 : 1.0));
QList<QComboBox *> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2