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Code Issues Releases Activity

LP-110 Wizard : Ground and plane motors move to output 4

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This commit is contained in:
Laurent Lalanne 2015-09-04 18:09:19 +02:00
parent 1f09d36638
commit 83f31f63ee
5 changed files with 808 additions and 319 deletions
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24
ground/gcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -212,9 +212,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "aileron" << "aileron-frame" << "aileron-motor" << "aileron-ail-left" << "aileron-ail-right" << "aileron-elevator" << "aileron-rudder";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 1 << 3;
m_channelIndex << 0 << 3 << 0 << 5 << 1 << 2;
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
setupActuatorMinMaxAndNeutral(3, 3, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -224,9 +224,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "singleaileron" << "singleaileron-frame" << "singleaileron-motor" << "singleaileron-aileron" << "singleaileron-elevator" << "singleaileron-rudder";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 2 << 0 << 1 << 3;
m_channelIndex << 0 << 3 << 0 << 1 << 2;
setupActuatorMinMaxAndNeutral(2, 2, 4);
setupActuatorMinMaxAndNeutral(3, 3, 4);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -236,9 +236,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "elevon" << "elevon-frame" << "elevon-motor" << "elevon-left" << "elevon-right";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3;
m_channelIndex << 0 << 2 << 0 << 1;
m_channelIndex << 0 << 3 << 0 << 1;
setupActuatorMinMaxAndNeutral(2, 2, 3);
setupActuatorMinMaxAndNeutral(3, 3, 3);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -248,9 +248,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "vtail" << "vtail-frame" << "vtail-motor" << "vtail-ail-left" << "vtail-ail-right" << "vtail-rudder-left" << "vtail-rudder-right";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 3 << 1;
m_channelIndex << 0 << 3 << 0 << 5 << 2 << 1;
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
setupActuatorMinMaxAndNeutral(3, 3, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -262,9 +262,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "car" << "car-frame" << "car-motor" << "car-steering";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
m_channelIndex << 0 << 3 << 0;
setupActuatorMinMaxAndNeutral(1, 1, 2);
setupActuatorMinMaxAndNeutral(3, 3, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -286,9 +286,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "motorbike" << "motorbike-frame" << "motorbike-motor" << "motorbike-steering";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
m_channelIndex << 0 << 3 << 0;
setupActuatorMinMaxAndNeutral(1, 1, 2);
setupActuatorMinMaxAndNeutral(3, 3, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;

89
ground/gcs/src/plugins/setupwizard/resources/connection-diagrams.svg
View File

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ground/gcs/src/plugins/setupwizard/resources/ground-shapes-wizard.svg
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ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
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@ -3,7 +3,7 @@
*
* @file vehicleconfigurationhelper.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup VehicleConfigurationHelper
@ -511,14 +511,22 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
for (quint16 i = 0; i < ActuatorSettings::BANKUPDATEFREQ_NUMELEM; i++) {
data.BankUpdateFreq[i] = servoFrequence;
data.BankMode[i] = ActuatorSettings::BANKMODE_PWM;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
if ((m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC) ||
(m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC3D)) {
// Motor output4, bank2
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
// Motor output4, bank3
if (i == 2) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
// Motor output4, bank4
if (i == 3) {
data.BankUpdateFreq[i] = escFrequence;
}
}
}
@ -548,11 +556,19 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
for (quint16 i = 0; i < ActuatorSettings::BANKUPDATEFREQ_NUMELEM; i++) {
data.BankUpdateFreq[i] = servoFrequence;
data.BankMode[i] = ActuatorSettings::BANKMODE_PWM;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
if ((m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC) ||
(m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC3D)) {
// Motor output4, bank2
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
// Motor output4, bank3
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
// Motor output4, bank4
if (i == 2) {
data.BankUpdateFreq[i] = escFrequence;
}
@ -1897,13 +1913,13 @@ void VehicleConfigurationHelper::setupDualAileron()
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Motor (Chan 3)
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
// Aileron Servo 1 (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
@ -1929,19 +1945,19 @@ void VehicleConfigurationHelper::setupDualAileron()
channels[1].pitch = 100;
channels[1].yaw = 0;
// Rudder Servo (Chan 4)
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = -100;
// Rudder Servo (Chan 3)
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingThrottle = 4;
guiSettings.fixedwing.FixedWingRoll1 = 1;
guiSettings.fixedwing.FixedWingRoll2 = 6;
guiSettings.fixedwing.FixedWingPitch1 = 2;
guiSettings.fixedwing.FixedWingYaw1 = 4;
guiSettings.fixedwing.FixedWingYaw1 = 3;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWING, guiSettings);
@ -1957,13 +1973,13 @@ void VehicleConfigurationHelper::setupAileron()
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Motor (Chan 3)
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
// Aileron Servo (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
@ -1981,18 +1997,18 @@ void VehicleConfigurationHelper::setupAileron()
channels[1].pitch = 100;
channels[1].yaw = 0;
// Rudder Servo (Chan 4)
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = -100;
// Rudder Servo (Chan 3)
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingThrottle = 4;
guiSettings.fixedwing.FixedWingRoll1 = 1;
guiSettings.fixedwing.FixedWingPitch1 = 2;
guiSettings.fixedwing.FixedWingYaw1 = 4;
guiSettings.fixedwing.FixedWingYaw1 = 3;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWING, guiSettings);
@ -2008,13 +2024,13 @@ void VehicleConfigurationHelper::setupVtail()
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Motor (Chan 3)
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
// Aileron Servo (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
@ -2040,18 +2056,18 @@ void VehicleConfigurationHelper::setupVtail()
channels[1].pitch = 100;
channels[1].yaw = -100;
// Left Vtail Servo (Chan 4)
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = -100;
channels[3].yaw = -100;
// Left Vtail Servo (Chan 3)
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = -100;
channels[2].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingThrottle = 4;
guiSettings.fixedwing.FixedWingRoll1 = 1;
guiSettings.fixedwing.FixedWingRoll2 = 6;
guiSettings.fixedwing.FixedWingPitch1 = 4; // Vtail left (top view, nose up)
guiSettings.fixedwing.FixedWingPitch1 = 3; // Vtail left (top view, nose up)
guiSettings.fixedwing.FixedWingPitch2 = 2; // Vtail right
applyMixerConfiguration(channels);
@ -2082,16 +2098,16 @@ void VehicleConfigurationHelper::setupCar()
channels[0].pitch = 0;
channels[0].yaw = 100;
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
guiSettings.ground.GroundVehicleSteering1 = 1;
guiSettings.ground.GroundVehicleThrottle2 = 2;
guiSettings.ground.GroundVehicleThrottle2 = 4;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR, guiSettings);
@ -2148,16 +2164,16 @@ void VehicleConfigurationHelper::setupMotorcycle()
channels[0].pitch = 0;
channels[0].yaw = 100;
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
guiSettings.ground.GroundVehicleSteering1 = 1;
guiSettings.ground.GroundVehicleThrottle2 = 2;
guiSettings.ground.GroundVehicleThrottle2 = 4;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE, guiSettings);