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OP-138 Standard Fixed wing mixer implemented. I have not flown with it yet, take your responsibilities :)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1738 ebee16cc-31ac-478f-84a7-5cbb03baadba
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edouard
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@ -69,7 +69,7 @@
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<item>
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<widget class="QStackedWidget" name="stackedWidget">
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<property name="currentIndex">
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<number>3</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="fixedWing">
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<property name="enabled">
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@ -112,6 +112,19 @@
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</property>
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</spacer>
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</item>
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<item>
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<widget class="QLabel" name="fwStatusLabel">
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<property name="font">
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<font>
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<weight>75</weight>
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<bold>true</bold>
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</font>
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</property>
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<property name="text">
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<string>Mixer OK</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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@ -150,6 +163,9 @@
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</item>
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<item row="2" column="0">
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<widget class="QLabel" name="fwAileron2Label">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="text">
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<string>Aileron 2</string>
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</property>
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@ -176,17 +192,28 @@
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<widget class="QComboBox" name="fwRudderChannel"/>
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</item>
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<item row="2" column="1">
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<widget class="QComboBox" name="fwAileron2Channel"/>
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<widget class="QComboBox" name="fwAileron2Channel">
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<property name="enabled">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QLabel" name="fwElevator2Label">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="text">
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<string>Elevator 2</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QComboBox" name="fwElevator2Channel"/>
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<widget class="QComboBox" name="fwElevator2Channel">
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<property name="enabled">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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@ -81,6 +81,8 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
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connect(m_aircraft->saveAircraftToRAM, SIGNAL(clicked()), this, SLOT(sendAircraftUpdate()));
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connect(m_aircraft->getAircraftCurrent, SIGNAL(clicked()), this, SLOT(requestAircraftUpdate()));
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connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
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connect(m_aircraft->fwAileron1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleAileron2(int)));
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connect(m_aircraft->fwElevator1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleElevator2(int)));
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connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestAircraftUpdate()));
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@ -91,6 +93,27 @@ ConfigAirframeWidget::~ConfigAirframeWidget()
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// Do nothing
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}
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void ConfigAirframeWidget::toggleAileron2(int index)
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{
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if (index) {
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m_aircraft->fwAileron2Channel->setEnabled(true);
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m_aircraft->fwAileron2Label->setEnabled(true);
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} else {
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m_aircraft->fwAileron2Channel->setEnabled(false);
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m_aircraft->fwAileron2Label->setEnabled(false);
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}
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}
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void ConfigAirframeWidget::toggleElevator2(int index)
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{
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if (index) {
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m_aircraft->fwElevator2Channel->setEnabled(true);
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m_aircraft->fwElevator2Label->setEnabled(true);
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} else {
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m_aircraft->fwElevator2Channel->setEnabled(false);
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m_aircraft->fwElevator2Label->setEnabled(false);
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}
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}
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/**************************
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* Aircraft settings
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@ -175,8 +198,8 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
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m_aircraft->fwRudderLabel->setEnabled(true);
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m_aircraft->fwElevator1Channel->setEnabled(true);
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m_aircraft->fwElevator1Label->setEnabled(true);
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m_aircraft->fwElevator2Channel->setEnabled(true);
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m_aircraft->fwElevator2Label->setEnabled(true);
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//m_aircraft->fwElevator2Channel->setEnabled(true);
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//m_aircraft->fwElevator2Label->setEnabled(true);
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} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
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m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
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@ -195,8 +218,19 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
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m_aircraft->fwRudderLabel->setEnabled(false);
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m_aircraft->fwElevator1Channel->setEnabled(true);
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m_aircraft->fwElevator1Label->setEnabled(true);
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m_aircraft->fwElevator2Channel->setEnabled(true);
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m_aircraft->fwElevator2Label->setEnabled(true);
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//m_aircraft->fwElevator2Channel->setEnabled(true);
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//m_aircraft->fwElevator2Label->setEnabled(true);
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}
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}
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/**
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Reset the contents of a field
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*/
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void ConfigAirframeWidget::resetField(UAVObjectField * field)
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{
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for (unsigned int i=0;i<field->getNumElements();i++) {
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field->setValue(0,i);
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}
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}
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@ -216,12 +250,14 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
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((m_aircraft->fwAileron1Channel->currentText() == "None") &&
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(m_aircraft->fwRudderChannel->currentText() == "None"))) {
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// TODO: explain the problem in the UI
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m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
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return false;
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}
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// Now setup the channels:
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
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Q_ASSERT(obj);
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QList<UAVObjectField*> fieldList = obj->getFields();
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// Reset all assignements first:
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foreach (UAVObjectField* field, fieldList) {
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// NOTE: we assume that all options in ActuatorSettings are a channel assignement
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// except for the options called "ChannelXXX"
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@ -287,13 +323,67 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
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field->setValue("Motor");
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field = obj->getField(mixerVectors.at(eng));
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// First of all reset the vector
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for (int i=0;i<field->getNumElements();i++) {
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field->setValue(0,i);
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}
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resetField(field);
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int ti = field->getElementNames().indexOf("ThrottleCurve1");
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field->setValue(1, ti);
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// Rudder
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eng = m_aircraft->fwRudderChannel->currentIndex()-1;
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// eng will be -1 if rudder is set to "None"
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if (eng > -1) {
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field = obj->getField(mixerTypes.at(eng));
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field->setValue("Servo");
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field = obj->getField(mixerVectors.at(eng));
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resetField(field);
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ti = field->getElementNames().indexOf("Yaw");
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field->setValue(1, ti);
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} // Else: we have no rudder, only ailerons, we're fine with it.
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// Ailerons
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eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
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if (eng > -1) {
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field = obj->getField(mixerTypes.at(eng));
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field->setValue("Servo");
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field = obj->getField(mixerVectors.at(eng));
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resetField(field);
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ti = field->getElementNames().indexOf("Roll");
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field->setValue(1, ti);
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// Only set Aileron 2 if Aileron 1 is defined
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eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
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if (eng > -1) {
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field = obj->getField(mixerTypes.at(eng));
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field->setValue("Servo");
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field = obj->getField(mixerVectors.at(eng));
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resetField(field);
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ti = field->getElementNames().indexOf("Roll");
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field->setValue(1, ti);
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}
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}
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// Elevator
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eng = m_aircraft->fwElevator1Channel->currentIndex()-1;
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if (eng > -1) {
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field = obj->getField(mixerTypes.at(eng));
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field->setValue("Servo");
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field = obj->getField(mixerVectors.at(eng));
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resetField(field);
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ti = field->getElementNames().indexOf("Pitch");
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field->setValue(1, ti);
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// Only set Elevator 2 if Aileron 1 is defined
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eng = m_aircraft->fwElevator2Channel->currentIndex()-1;
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if (eng > -1) {
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field = obj->getField(mixerTypes.at(eng));
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field->setValue("Servo");
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field = obj->getField(mixerVectors.at(eng));
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resetField(field);
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ti = field->getElementNames().indexOf("Pitch");
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field->setValue(1, ti);
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}
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}
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obj->updated();
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m_aircraft->fwStatusLabel->setText("Mixer generated");
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return true;
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}
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@ -48,6 +48,7 @@ public:
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private:
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Ui_AircraftWidget *m_aircraft;
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bool setupFrameFixedWing();
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void resetField(UAVObjectField * field);
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private slots:
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@ -55,6 +56,8 @@ private slots:
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void sendAircraftUpdate();
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void saveAircraftUpdate();
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void setupAirframeUI(QString type);
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void toggleAileron2(int index);
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void toggleElevator2(int index);
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};
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