rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-30 15:52:12 +01:00
Code Issues Releases Activity

OP-1769 ground support wizard alignment with flight side code

Browse Source 
1. Moved to using throttle curve 1 which is meant to be primary for throttle.  Curve1 can support reversible motor mixer so ok.
2. Changed default throttle1 curve to linear 0-1 representing x>0.  For x < 0 the same throttle curve is applied symmetrically to the reverse direction.
3. Allowed in UI both throttle curves to be visible. Throttle curve 2 manually can be used to mix other inputs to affect motor. E.g. slow down in turning.
This commit is contained in:
abeck70 2015-03-12 08:46:43 +11:00
parent 1d7059d4d7
commit 8defea867b
2 changed files with 17 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -144,8 +144,8 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->differentialSteeringSlider1->setEnabled(true);
m_aircraft->differentialSteeringSlider2->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve");
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve1");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2 ");
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
@ -176,10 +176,10 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering2Label->setText("Balancing");
// Curve1 for Motorcyle
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Rear throttle curve");
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve1");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(false);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
@ -208,11 +208,10 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Rear steering");
// Curve2 for Car
m_aircraft->gvThrottleCurve2GroupBox->setTitle("");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve2");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Throttle curve1");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
@ -222,8 +221,6 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
// If new setup, set curves values
if (frameTypeSaved->getValue().toString() != "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0, 0.0);
// Set curve2 range from 0 to 1.
// The curve is applied to both forward and reverse
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0, 0.0);
}
}

20
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -779,17 +779,15 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
// Set curve2 range from -0.926 to 1 : take in account 4% offset in Throttle input
// 0.5 / 0.54 = 0.926
maxThrottle = 1;
minThrottle = -0.926;
minThrottle = 0;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL:
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
maxThrottle = 0.8;
minThrottle = -0.8;
minThrottle = 0;
break;
default:
break;
@ -2076,8 +2074,8 @@ void VehicleConfigurationHelper::setupCar()
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[1].throttle1 = 0;
channels[1].throttle2 = 100;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = 0;
@ -2101,16 +2099,16 @@ void VehicleConfigurationHelper::setupTank()
// Left Motor (Chan 1)
channels[0].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[0].throttle1 = 0;
channels[0].throttle2 = 100;
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 = 0;
channels[1].throttle2 = 100;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = -100;
@ -2140,7 +2138,7 @@ void VehicleConfigurationHelper::setupMotorcycle()
channels[0].pitch = 0;
channels[0].yaw = 100;
// Motor (Chan 2) : Curve1, no reverse
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;