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Code Issues Releases Activity

LP-454 Add boat to the Vehicle Wizard

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This commit is contained in:
Laurent Lalanne 2016-12-19 20:42:36 +01:00
parent 1bff0f479c
commit 86bde01643
10 changed files with 5035 additions and 2355 deletions
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8
ground/gcs/src/plugins/setupwizard/connectiondiagram.cpp
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@ -2,7 +2,7 @@
******************************************************************************
*
* @file connectiondiagram.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
@ -159,6 +159,12 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::GROUNDVEHICLE_MOTORCYCLE:
elementsToShow << "motorbike";
break;
case VehicleConfigurationSource::GROUNDVEHICLE_BOAT:
elementsToShow << "boat";
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL_BOAT:
elementsToShow << "boat_diff";
break;
default:
break;
}

30
ground/gcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
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@ -82,9 +82,11 @@ void OutputCalibrationPage::setupActuatorMinMaxAndNeutral(int motorChannelStart,
m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = getHighOutputRate();
m_actuatorSettings[servoid].isReversableMotor = false;
// Car and Tank should use reversable Esc/motors
// Car, Tank, Boat and Boat differential should use reversable Esc/motors
if ((getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_CAR)
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL)) {
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL)
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_BOAT)
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL_BOAT)) {
m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].isReversableMotor = true;
// Set initial output value
@ -290,6 +292,30 @@ void OutputCalibrationPage::setupVehicle()
setupActuatorMinMaxAndNeutral(3, 3, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::GROUNDVEHICLE_BOAT:
loadSVGFile(GROUND_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2;
m_vehicleElementIds << "boat" << "boat-frame" << "boat-motor" << "boat-rudder";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 3 << 0;
setupActuatorMinMaxAndNeutral(3, 3, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::GROUNDVEHICLE_DIFFERENTIAL_BOAT:
loadSVGFile(GROUND_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1;
m_vehicleElementIds << "boat_diff" << "boat_diff-frame" << "boat_diff-left-motor" << "boat_diff-right-motor";
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 0 << 1;
setupActuatorMinMaxAndNeutral(0, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;

17
ground/gcs/src/plugins/setupwizard/pages/surfacepage.cpp
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@ -2,7 +2,8 @@
******************************************************************************
*
* @file surfacepage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup
* @{
* @addtogroup SurfacePage
@ -56,12 +57,12 @@ void SurfacePage::setupSelection(Selection *selection)
"Please select the type of ground vehicle you want to create a configuration for below:"));
selection->addItem(tr("Car"),
tr("This setup expects a traditional car with a rear motor and a front streering servo"),
tr("This setup expects a traditional car with a rear motor and a front steering servo."),
"car",
SetupWizard::GROUNDVEHICLE_CAR);
selection->addItem(tr("Tank"),
tr("This setup expects a traditional vehicle using only two motors and differential steering"),
tr("This setup expects a traditional vehicle using only two motors and differential steering."),
"tank",
SetupWizard::GROUNDVEHICLE_DIFFERENTIAL);
@ -69,4 +70,14 @@ void SurfacePage::setupSelection(Selection *selection)
tr("This setup currently expects a motorcyle setup, using one motor and one servo for steering."),
"motorbike",
SetupWizard::GROUNDVEHICLE_MOTORCYCLE);
selection->addItem(tr("Boat"),
tr("This setup currently expects a boat setup, using one motor and one servo for rudder/helm."),
"boat",
SetupWizard::GROUNDVEHICLE_BOAT);
selection->addItem(tr("Boat differential"),
tr("This setup expects a boat using only two motors and differential steering."),
"boat_diff",
SetupWizard::GROUNDVEHICLE_DIFFERENTIAL_BOAT);
}

4061
ground/gcs/src/plugins/setupwizard/resources/connection-diagrams.svg
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ground/gcs/src/plugins/setupwizard/resources/ground-shapes-wizard-no-numbers.svg
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ground/gcs/src/plugins/setupwizard/resources/ground-shapes-wizard.svg
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14
ground/gcs/src/plugins/setupwizard/setupwizard.cpp
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@ -2,7 +2,7 @@
******************************************************************************
*
* @file setupwizard.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
@ -138,7 +138,8 @@ int SetupWizard::nextId() const
case PAGE_FIXEDWING:
case PAGE_SURFACE:
if (getVehicleSubType() == GROUNDVEHICLE_DIFFERENTIAL) {
if ((getVehicleSubType() == GROUNDVEHICLE_DIFFERENTIAL) ||
(getVehicleSubType() == GROUNDVEHICLE_DIFFERENTIAL_BOAT)) {
return PAGE_ESC;
} else {
return PAGE_SERVO;
@ -360,6 +361,12 @@ QString SetupWizard::getSummaryText()
case SetupWizard::GROUNDVEHICLE_MOTORCYCLE:
summary.append(tr("Motorcycle"));
break;
case SetupWizard::GROUNDVEHICLE_BOAT:
summary.append(tr("Boat"));
break;
case SetupWizard::GROUNDVEHICLE_DIFFERENTIAL_BOAT:
summary.append(tr("Boat differential"));
break;
default:
summary.append(tr("Unknown"));
break;
@ -422,7 +429,8 @@ QString SetupWizard::getSummaryText()
// If Tricopter show tail servo speed
if (getVehicleSubType() == MULTI_ROTOR_TRI_Y || getVehicleType() == VEHICLE_FIXEDWING
|| getVehicleSubType() == GROUNDVEHICLE_MOTORCYCLE || getVehicleSubType() == GROUNDVEHICLE_CAR) {
|| getVehicleSubType() == GROUNDVEHICLE_MOTORCYCLE || getVehicleSubType() == GROUNDVEHICLE_CAR
|| getVehicleSubType() == GROUNDVEHICLE_BOAT) {
summary.append("<br>");
summary.append("<b>").append(tr("Servo type: ")).append("</b>");
switch (getServoType()) {

88
ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
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@ -2,7 +2,7 @@
***********************************************************************************
*
* @file vehicleconfigurationhelper.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
@ -478,6 +478,12 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
case VehicleConfigurationSource::GROUNDVEHICLE_MOTORCYCLE:
setupMotorcycle();
break;
case VehicleConfigurationSource::GROUNDVEHICLE_BOAT:
setupBoat();
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL_BOAT:
setupBoatDiff();
break;
default:
break;
}
@ -950,6 +956,20 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
maxThrottle = 0.8;
minThrottle = 0;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_BOAT:
mSettings->setMixerValueRoll((qint8)100);
mSettings->setMixerValuePitch((qint8)100);
mSettings->setMixerValueYaw((qint8)100);
maxThrottle = 1;
minThrottle = 0;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL_BOAT:
mSettings->setMixerValueRoll((qint8)100);
mSettings->setMixerValuePitch((qint8)100);
mSettings->setMixerValueYaw((qint8)100);
maxThrottle = 0.8;
minThrottle = 0;
break;
default:
break;
}
@ -2326,3 +2346,69 @@ void VehicleConfigurationHelper::setupMotorcycle()
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE, guiSettings);
}
void VehicleConfigurationHelper::setupBoat()
{
// Typical vehicle setup
// 1. Setup mixer data
// 2. Setup GUI data
// 3. Apply changes
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Rudder Servo (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
channels[0].throttle1 = 0;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 100;
// 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 = 4;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEBOAT, guiSettings);
}
void VehicleConfigurationHelper::setupBoatDiff()
{
// Typical vehicle setup
// 1. Setup mixer data
// 2. Setup GUI data
// 3. Apply changes
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Left Motor (Chan 1)
channels[0].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 100;
// Right 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 = -100;
guiSettings.ground.GroundVehicleThrottle1 = 1;
guiSettings.ground.GroundVehicleThrottle2 = 2;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIALBOAT, guiSettings);
}

5
ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
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@ -2,7 +2,8 @@
******************************************************************************
*
* @file vehicleconfigurationhelper.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup VehicleConfigurationHelper
@ -121,6 +122,8 @@ private:
void setupCar();
void setupTank();
void setupMotorcycle();
void setupBoat();
void setupBoatDiff();
private slots:
void uAVOTransactionCompleted(UAVObject *object, bool success);

5
ground/gcs/src/plugins/setupwizard/vehicleconfigurationsource.h
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@ -2,7 +2,8 @@
******************************************************************************
*
* @file vehicleconfigurationsource.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup VehicleConfigurationSource
@ -63,7 +64,7 @@ public:
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
MULTI_ROTOR_OCTO_X, MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS,
FIXED_WING_DUAL_AILERON, FIXED_WING_AILERON, FIXED_WING_ELEVON, FIXED_WING_VTAIL, HELI_CCPM,
GROUNDVEHICLE_MOTORCYCLE, GROUNDVEHICLE_CAR, GROUNDVEHICLE_DIFFERENTIAL };
GROUNDVEHICLE_MOTORCYCLE, GROUNDVEHICLE_CAR, GROUNDVEHICLE_DIFFERENTIAL, GROUNDVEHICLE_BOAT, GROUNDVEHICLE_DIFFERENTIAL_BOAT };
enum ESC_TYPE { ESC_ONESHOT, ESC_SYNCHED, ESC_RAPID, ESC_STANDARD, ESC_UNKNOWN };
enum SERVO_TYPE { SERVO_ANALOG, SERVO_DIGITAL, SERVO_UNKNOWN };
enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_SRXL, INPUT_HOTT_SUMD, INPUT_EXBUS, INPUT_IBUS, INPUT_UNKNOWN };