rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-15 07:29:15 +01:00
Code Issues Releases Activity

Cosmetic changes to the Debug plugin

Browse Source 
One more fix to the mixer bug
This commit is contained in:
zedamota 2011-09-27 22:10:39 +01:00
parent 797bb38081
commit 898d3c980d
4 changed files with 36 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
View File

@ -1522,6 +1522,16 @@ bool ConfigAirframeWidget::setupFrameVtail()
*/
bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
{
qDebug()<<"Mixer factors";
qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
qDebug()<<mixerFactors[1][0]<<" "<<mixerFactors[1][1]<<" "<<mixerFactors[1][2];
qDebug()<<mixerFactors[2][0]<<" "<<mixerFactors[2][1]<<" "<<mixerFactors[2][2];
qDebug()<<mixerFactors[3][0]<<" "<<mixerFactors[3][1]<<" "<<mixerFactors[3][2];
qDebug()<<mixerFactors[4][0]<<" "<<mixerFactors[4][1]<<" "<<mixerFactors[4][2];
qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
@ -1539,11 +1549,15 @@ bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
qDebug()<<QString("pFactor=%0 rFactor=%1 yFactor=%2").arg(pFactor).arg(rFactor).arg(yFactor);
for (int i=0 ; i<8; i++) {
int channel = mmList.at(i)->currentIndex()-1;
if (channel > -1)
setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
if(mmList.at(i)->isEnabled())
{
int channel = mmList.at(i)->currentIndex()-1;
if (channel > -1)
setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
}
}
// obj->updated();
return true;
@ -1555,6 +1569,7 @@ bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
*/
void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
{
qDebug()<<QString("Setup quad motor channel=%0 pitch=%1 roll=%2 yaw=%3").arg(channel).arg(pitch).arg(roll).arg(yaw);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(mixerTypes.at(channel));
@ -1566,10 +1581,13 @@ void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(roll*127,ti);
qDebug()<<"Set roll="<<roll*127;
ti = field->getElementNames().indexOf("Pitch");
field->setValue(pitch*127,ti);
qDebug()<<"Set pitch="<<pitch*127;
ti = field->getElementNames().indexOf("Yaw");
field->setValue(yaw*127,ti);
qDebug()<<"Set yaw="<<yaw*127;
}
/**

1
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
View File

@ -128,6 +128,7 @@ ConfigTaskWidget::~ConfigTaskWidget()
void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
{
qDebug()<<"ConfigTaskWidget::saveObjectToSD";
// saveObjectToSD is now handled by the UAVUtils plugin in one
// central place (and one central queue)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();

5
ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp
View File

@ -49,7 +49,7 @@ void smartSaveButton::processClick()
}
if(up_result==false)
{
//qDebug()<<"Object upload error:"<<obj->getName();
qDebug()<<"Object upload error:"<<obj->getName();
error=true;
continue;
}
@ -59,7 +59,7 @@ void smartSaveButton::processClick()
{
for(int i=0;i<3;++i)
{
//qDebug()<<"try to save:"<<obj->getName();
qDebug()<<"try to save:"<<obj->getName();
connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
utilMngr->saveObjectToSD(obj);
@ -73,6 +73,7 @@ void smartSaveButton::processClick()
}
if(sv_result==false)
{
qDebug()<<"failed to save:"<<obj->getName();
error=true;
}
}

20
ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.cpp
View File

@ -38,6 +38,7 @@
#include <QFileDialog>
#include <QMessageBox>
#include <QScrollBar>
#include <QTime>
DebugGadgetWidget::DebugGadgetWidget(QWidget *parent) : QLabel(parent)
{
m_config = new Ui_Form();
@ -56,22 +57,21 @@ DebugGadgetWidget::~DebugGadgetWidget()
void DebugGadgetWidget::dbgMsg(const QString &level, const QList<QVariant> &msgs)
{
m_config->plainTextEdit->setTextColor(Qt::black);
foreach(QVariant str,msgs)
{
m_config->plainTextEdit->append(QString("[%0]%1").arg(level).arg(str.toString()));
}
m_config->plainTextEdit->setTextColor(Qt::red);
m_config->plainTextEdit->append(QString("%2[%0]%1").arg(level).arg(msgs[0].toString()).arg(QTime::currentTime().toString()));
QScrollBar *sb = m_config->plainTextEdit->verticalScrollBar();
sb->setValue(sb->maximum());
}
void DebugGadgetWidget::dbgMsgError(const QString &level, const QList<QVariant> &msgs)
{
m_config->plainTextEdit->setTextColor(Qt::red);
foreach(QVariant str,msgs)
{
m_config->plainTextEdit->append(QString("[%0]%1").arg(level).arg(str.toString()));
}
m_config->plainTextEdit->setTextColor(Qt::black);
m_config->plainTextEdit->append(QString("%2[%0]%1").arg(level).arg(msgs[0].toString()).arg(QTime::currentTime().toString()));
QScrollBar *sb = m_config->plainTextEdit->verticalScrollBar();
sb->setValue(sb->maximum());
}