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Code Issues Releases Activity

Merge branch 'bugfix-ground' of git.openpilot.org:OpenPilot into bugfix-ground

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
This commit is contained in:
elafargue 2011-05-30 07:26:44 +02:00
commit 93dd254c77
36 changed files with 3077 additions and 2346 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ground/openpilotgcs/src/app/app.pro
View File

@ -4,10 +4,12 @@ include(../shared/qtsingleapplication/qtsingleapplication.pri)
TEMPLATE = app
TARGET = $$GCS_APP_TARGET
DESTDIR = $$GCS_APP_PATH
QT += xml
SOURCES += main.cpp
include(../rpath.pri)
include(../libs/utils/utils.pri)
win32 {
CONFIG(debug, debug|release):LIBS *= -lExtensionSystemd -lAggregationd -lQExtSerialPortd

5
ground/openpilotgcs/src/app/main.cpp
View File

@ -27,6 +27,7 @@
*/
#include "qtsingleapplication.h"
#include "utils/xmlconfig.h"
#include <extensionsystem/pluginmanager.h>
#include <extensionsystem/pluginspec.h>
@ -243,10 +244,10 @@ int main(int argc, char **argv)
QString locale = QLocale::system().name();
// Must be done before any QSettings class is created
QSettings::setPath(QSettings::IniFormat, QSettings::SystemScope,
QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope,
QCoreApplication::applicationDirPath()+QLatin1String(SHARE_PATH));
// keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
QSettings settings(QSettings::IniFormat, QSettings::UserScope,
QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope,
QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS"));
overrideSettings(settings, argc, argv);

3
ground/openpilotgcs/src/libs/utils/pathutils.cpp
View File

@ -26,6 +26,7 @@
*/
#include "pathutils.h"
#include "xmlconfig.h"
#include <stdint.h>
#include <QDebug>
@ -97,7 +98,7 @@ QString PathUtils::GetStoragePath()
{
// This routine works with "/" as the standard:
// Work out where the settings are stored on the machine
QSettings set(QSettings::IniFormat, QSettings::UserScope,QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS"));
QSettings set(XmlConfig::XmlSettingsFormat, QSettings::UserScope,QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS"));
QFileInfo f(set.fileName());
QDir dir(f.absoluteDir());

5
ground/openpilotgcs/src/libs/utils/utils.pro
View File

@ -2,7 +2,8 @@ TEMPLATE = lib
TARGET = Utils
QT += gui \
network
network \
xml
DEFINES += QTCREATOR_UTILS_LIB
@ -45,6 +46,7 @@ SOURCES += reloadpromptutils.cpp \
pathutils.cpp \
worldmagmodel.cpp \
homelocationutil.cpp
SOURCES += xmlconfig.cpp
win32 {
SOURCES += abstractprocess_win.cpp \
@ -95,6 +97,7 @@ HEADERS += utils_global.h \
pathutils.h \
worldmagmodel.h \
homelocationutil.h
HEADERS += xmlconfig.h
FORMS += filewizardpage.ui \
projectintropage.ui \

11
ground/openpilotgcs/src/plugins/importexport/xmlconfig.cpp → ground/openpilotgcs/src/libs/utils/xmlconfig.cpp
View File

@ -38,6 +38,7 @@
#include <QRect>
#include <QSize>
#include <QPoint>
#include <QtCore/QUrl>
#define NUM_PREFIX "arr_"
@ -84,6 +85,10 @@ void XmlConfig::handleNode(QDomElement* node, QSettings::SettingsMap &map, QStri
if ( nodeName.startsWith(NUM_PREFIX) ){
nodeName.replace(NUM_PREFIX, "");
}
// Xml tags are restrictive with allowed characters,
// so we urlencode and replace % with __PCT__ on file
nodeName = nodeName.replace("__PCT__", "%");
nodeName = QUrl::fromPercentEncoding(nodeName.toAscii());
if ( nodeName == XmlConfig::rootName )
;
@ -99,7 +104,7 @@ void XmlConfig::handleNode(QDomElement* node, QSettings::SettingsMap &map, QStri
handleNode( static_cast<QDomElement*>(&child), map, path);
}
else if ( child.isText() ){
qDebug() << "Key: " << path << " Value:" << node->text();
// qDebug() << "Key: " << path << " Value:" << node->text();
map.insert(path, stringToVariant(node->text()));
}
else{
@ -123,6 +128,10 @@ bool XmlConfig::writeXmlFile(QIODevice &device, const QSettings::SettingsMap &ma
if ( elem == "" ){
continue;
}
// Xml tags are restrictive with allowed characters,
// so we urlencode and replace % with __PCT__ on file
elem = QString(QUrl::toPercentEncoding(elem));
elem = elem.replace("%", "__PCT__");
// For arrays, QT will use simple numbers as keys, which is not a valid element in XML.
// Therefore we prefixed these.
if ( elem.startsWith(NUM_PREFIX) ){

9
ground/openpilotgcs/src/plugins/importexport/xmlconfig.h → ground/openpilotgcs/src/libs/utils/xmlconfig.h
View File

@ -26,13 +26,18 @@
#ifndef XMLCONFIG_H
#define XMLCONFIG_H
#include "importexport_global.h"
#if defined(QTCREATOR_UTILS_LIB)
# define XMLCONFIG_EXPORT Q_DECL_EXPORT
#else
# define XMLCONFIG_EXPORT Q_DECL_IMPORT
#endif
#include <QtCore/qglobal.h>
#include <QSettings>
#include <QDomElement>
#include <QObject>
class IMPORTEXPORT_EXPORT XmlConfig : QObject
class XMLCONFIG_EXPORT XmlConfig : QObject
{
public:

2169
ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
View File

@ -1,2169 +0,0 @@
/**
******************************************************************************
*
* @file configairframewidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Airframe configuration panel
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configairframewidget.h"
#include <QDebug>
#include <QStringList>
#include <QTimer>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <math.h>
#include <QSignalMapper>
/**
Helper delegate for the custom mixer editor table.
Taken straight from Qt examples, thanks!
*/
SpinBoxDelegate::SpinBoxDelegate(QObject *parent)
: QItemDelegate(parent)
{
}
QWidget *SpinBoxDelegate::createEditor(QWidget *parent,
const QStyleOptionViewItem &/* option */,
const QModelIndex &/* index */) const
{
QSpinBox *editor = new QSpinBox(parent);
editor->setMinimum(-127);
editor->setMaximum(127);
return editor;
}
void SpinBoxDelegate::setEditorData(QWidget *editor,
const QModelIndex &index) const
{
int value = index.model()->data(index, Qt::EditRole).toInt();
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->setValue(value);
}
void SpinBoxDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
const QModelIndex &index) const
{
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->interpretText();
int value = spinBox->value();
model->setData(index, value, Qt::EditRole);
}
void SpinBoxDelegate::updateEditorGeometry(QWidget *editor,
const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
{
editor->setGeometry(option.rect);
}
/**********************************************************************************/
ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_aircraft = new Ui_AircraftWidget();
m_aircraft->setupUi(this);
ffTuningInProgress = false;
ffTuningPhase = false;
mixerTypes << "Mixer1Type" << "Mixer2Type" << "Mixer3Type"
<< "Mixer4Type" << "Mixer5Type" << "Mixer6Type" << "Mixer7Type" << "Mixer8Type";
mixerVectors << "Mixer1Vector" << "Mixer2Vector" << "Mixer3Vector"
<< "Mixer4Vector" << "Mixer5Vector" << "Mixer6Vector" << "Mixer7Vector" << "Mixer8Vector";
QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(1);
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
m_aircraft->fixedWingType->addItems(fixedWingTypes);
QStringList multiRotorTypes;
multiRotorTypes << "Quad +" << "Quad X" << "Hexacopter" << "Octocopter" << "Hexacopter X" << "Octocopter V" << "Octo Coax +"
<< "Octo Coax X" << "Hexacopter Y6" << "Tricopter Y";
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
QStringList channels;
channels << "None" << "Channel1" << "Channel2" << "Channel3" <<
"Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8";
// Now load all the channel assignements for fixed wing
m_aircraft->fwElevator1Channel->addItems(channels);
m_aircraft->fwElevator2Channel->addItems(channels);
m_aircraft->fwEngineChannel->addItems(channels);
m_aircraft->fwRudder1Channel->addItems(channels);
m_aircraft->fwRudder2Channel->addItems(channels);
m_aircraft->fwAileron1Channel->addItems(channels);
m_aircraft->fwAileron2Channel->addItems(channels);
m_aircraft->multiMotor1->addItems(channels);
m_aircraft->multiMotor2->addItems(channels);
m_aircraft->multiMotor3->addItems(channels);
m_aircraft->multiMotor4->addItems(channels);
m_aircraft->multiMotor5->addItems(channels);
m_aircraft->multiMotor6->addItems(channels);
m_aircraft->multiMotor7->addItems(channels);
m_aircraft->multiMotor8->addItems(channels);
m_aircraft->triYawChannel->addItems(channels);
// Setup the Multirotor picture in the Quad settings interface
m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/quad-shapes.svg"));
quad = new QGraphicsSvgItem();
quad->setSharedRenderer(renderer);
quad->setElementId("quad-plus");
QGraphicsScene *scene = new QGraphicsScene(this);
scene->addItem(quad);
scene->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->setScene(scene);
// Put combo boxes in line one of the custom mixer table:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("Mixer1Type"));
QStringList list = field->getOptions();
for (int i=0;i<8;i++) {
QComboBox* qb = new QComboBox(m_aircraft->customMixerTable);
qb->addItems(list);
m_aircraft->customMixerTable->setCellWidget(0,i,qb);
}
SpinBoxDelegate *sbd = new SpinBoxDelegate();
for (int i=1;i<8; i++) {
m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
}
connect(m_aircraft->saveAircraftToSD, SIGNAL(clicked()), this, SLOT(saveAircraftUpdate()));
connect(m_aircraft->saveAircraftToRAM, SIGNAL(clicked()), this, SLOT(sendAircraftUpdate()));
connect(m_aircraft->getAircraftCurrent, SIGNAL(clicked()), this, SLOT(requestAircraftUpdate()));
connect(m_aircraft->ffSave, SIGNAL(clicked()), this, SLOT(saveAircraftUpdate()));
connect(m_aircraft->ffApply, SIGNAL(clicked()), this, SLOT(sendAircraftUpdate()));
connect(m_aircraft->ffGetCurrent, SIGNAL(clicked()), this, SLOT(requestAircraftUpdate()));
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
requestAircraftUpdate();
connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
connect(m_aircraft->customReset1, SIGNAL(clicked()), this, SLOT(resetCt1Mixer()));
connect(m_aircraft->customReset2, SIGNAL(clicked()), this, SLOT(resetCt2Mixer()));
connect(m_aircraft->fixedWingThrottle, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateFwThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->multiThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateMrThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->customThrottle1Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle1CurveValue(QList<double>,double)));
connect(m_aircraft->customThrottle2Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle2CurveValue(QList<double>,double)));
// connect(m_aircraft->fwAileron1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleAileron2(int)));
// connect(m_aircraft->fwElevator1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleElevator2(int)));
// Now connect the three feed forward test checkboxes
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestAircraftUpdate()));
// Connect all the help buttons to signal mapper that passes button name to SLOT function
QSignalMapper* signalMapper = new QSignalMapper(this);
connect( m_aircraft->acftTypeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->acftTypeHelp, m_aircraft->acftTypeHelp->objectName());
connect( m_aircraft->airplaneTypeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->airplaneTypeHelp, m_aircraft->airplaneTypeHelp->objectName());
connect( m_aircraft->channelAssignmentHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->channelAssignmentHelp, m_aircraft->channelAssignmentHelp->objectName());
connect( m_aircraft->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->commandHelp, QString("commandHelp"));
connect( m_aircraft->throttleCurveHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->throttleCurveHelp, QString("throttleCurveHelp"));
connect( m_aircraft->multiFrameTypeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->multiFrameTypeHelp, m_aircraft->multiFrameTypeHelp->objectName());
connect( m_aircraft->throttleCurveHelp_2, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->throttleCurveHelp_2, QString("throttleCurveHelp"));
connect( m_aircraft->tricopterYawHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->tricopterYawHelp, m_aircraft->tricopterYawHelp->objectName());
connect( m_aircraft->motorOutputChanHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->motorOutputChanHelp, m_aircraft->motorOutputChanHelp->objectName());
connect( m_aircraft->feedForwardHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->feedForwardHelp, m_aircraft->feedForwardHelp->objectName());
connect( m_aircraft->commandHelp_2, SIGNAL(clicked()), signalMapper, SLOT(map()) );
signalMapper->setMapping(m_aircraft->commandHelp_2, QString("commandHelp"));
connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
}
ConfigAirframeWidget::~ConfigAirframeWidget()
{
// Do nothing
}
/**
Slot for switching the airframe type. We do it explicitely
rather than a signal in the UI, because we want to force a fitInView of the quad shapes.
This is because this method (fitinview) only works when the widget is shown.
*/
void ConfigAirframeWidget::switchAirframeType(int index){
m_aircraft->airframesWidget->setCurrentIndex(index);
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
if (m_aircraft->aircraftType->findText("Custom")) {
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
}
void ConfigAirframeWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
void ConfigAirframeWidget::resizeEvent(QResizeEvent* event)
{
Q_UNUSED(event);
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
// Make the custom table columns autostretch:
m_aircraft->customMixerTable->resizeColumnsToContents();
for (int i=0;i<8;i++) {
m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
m_aircraft->customMixerTable->verticalHeader()->width())/8);
}
}
void ConfigAirframeWidget::toggleAileron2(int index)
{
if (index) {
m_aircraft->fwAileron2Channel->setEnabled(true);
m_aircraft->fwAileron2Label->setEnabled(true);
} else {
m_aircraft->fwAileron2Channel->setEnabled(false);
m_aircraft->fwAileron2Label->setEnabled(false);
}
}
void ConfigAirframeWidget::toggleElevator2(int index)
{
if (index) {
m_aircraft->fwElevator2Channel->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
} else {
m_aircraft->fwElevator2Channel->setEnabled(false);
m_aircraft->fwElevator2Label->setEnabled(false);
}
}
void ConfigAirframeWidget::toggleRudder2(int index)
{
if (index) {
m_aircraft->fwRudder2Channel->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
} else {
m_aircraft->fwRudder2Channel->setEnabled(false);
m_aircraft->fwRudder2Label->setEnabled(false);
}
}
/////////////////////////////////////////////////////////
/// Feed Forward Testing
/////////////////////////////////////////////////////////
/**
Enables and runs feed forward testing
*/
void ConfigAirframeWidget::enableFFTest()
{
// Role:
// - Check if all three checkboxes are checked
// - Every other timer event: toggle engine from 45% to 55%
// - Every other time event: send FF settings to flight FW
if (m_aircraft->ffTestBox1->isChecked() &&
m_aircraft->ffTestBox2->isChecked() &&
m_aircraft->ffTestBox3->isChecked()) {
if (!ffTuningInProgress)
{
// Initiate tuning:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
obj->setMetadata(mdata);
}
// Depending on phase, either move actuator or send FF settings:
if (ffTuningPhase) {
// Send FF settings to the board
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
obj->updated();
} else {
// Toggle motor state
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
double value = obj->getField("Throttle")->getDouble();
double target = (value < 0.5) ? 0.55 : 0.45;
obj->getField("Throttle")->setValue(target);
obj->updated();
}
ffTuningPhase = !ffTuningPhase;
ffTuningInProgress = true;
QTimer::singleShot(1000, this, SLOT(enableFFTest()));
} else {
// - If no: disarm timer, restore actuatorcommand metadata
// Disarm!
if (ffTuningInProgress) {
ffTuningInProgress = false;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
mdata = accInitialData; // Restore metadata
obj->setMetadata(mdata);
}
}
}
/**
Resets Fixed wing throttle mixer
*/
void ConfigAirframeWidget::resetFwMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements());
}
/**
Resets Multirotor throttle mixer
*/
void ConfigAirframeWidget::resetMrMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements());
}
/**
Resets Custom throttle 1 mixer
*/
void ConfigAirframeWidget::resetCt1Mixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements());
}
/**
Resets Custom throttle 2 mixer
*/
void ConfigAirframeWidget::resetCt2Mixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements());
}
/**
Resets a mixer curve
*/
void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
{
QList<double> curveValues;
for (double i=0; i<numElements; i++) {
curveValues.append(i/(numElements-1));
}
// Setup all Throttle1 curves for all types of airframes
mixer->initCurve(curveValues);
}
/**
Updates the currently moved throttle curve item value
*/
void ConfigAirframeWidget::updateFwThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->fwThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved throttle curve item value
*/
void ConfigAirframeWidget::updateMrThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->mrThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved throttle curve item value (Custom throttle 1)
*/
void ConfigAirframeWidget::updateCustomThrottle1CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->customThrottleCurve1Value->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved throttle curve item value (Custom throttle 2)
*/
void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->customThrottleCurve2Value->setText(QString().sprintf("Val: %.2f",value));
}
/**************************
* Aircraft settings
**************************/
/**
Request the current value of the SystemSettings which holds the aircraft type
*/
void ConfigAirframeWidget::requestAircraftUpdate()
{
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
UAVObjectField *field = obj->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but here you go.
QString frameType = field->getValue().toString();
setupAirframeUI(frameType);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
field = obj->getField(QString("ThrottleCurve1"));
Q_ASSERT(field);
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
for (double i=0; i<field->getNumElements(); i++) {
curveValues.append(i/(field->getNumElements()-1));
}
} else {
for (unsigned int i=0; i < field->getNumElements(); i++) {
curveValues.append(field->getValue(i).toDouble());
}
}
// Setup all Throttle1 curves for all types of airframes
m_aircraft->fixedWingThrottle->initCurve(curveValues);
m_aircraft->multiThrottleCurve->initCurve(curveValues);
// Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) {
// Then retrieve how channels are setup
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
m_aircraft->fwEngineChannel->setCurrentIndex(m_aircraft->fwEngineChannel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll1"));
Q_ASSERT(field);
m_aircraft->fwAileron1Channel->setCurrentIndex(m_aircraft->fwAileron1Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll2"));
Q_ASSERT(field);
m_aircraft->fwAileron2Channel->setCurrentIndex(m_aircraft->fwAileron2Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch1"));
Q_ASSERT(field);
m_aircraft->fwElevator1Channel->setCurrentIndex(m_aircraft->fwElevator1Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch2"));
Q_ASSERT(field);
m_aircraft->fwElevator2Channel->setCurrentIndex(m_aircraft->fwElevator2Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->fwRudder1Channel->setCurrentIndex(m_aircraft->fwRudder1Channel->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw2"));
Q_ASSERT(field);
m_aircraft->fwRudder2Channel->setCurrentIndex(m_aircraft->fwRudder2Channel->findText(field->getValue().toString()));
if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Roll");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
}
}
if (frameType == "FixedWingVtail") {
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int chMixerNumber = m_aircraft->fwElevator1Channel->currentIndex()-1;
if (chMixerNumber >=0) {
field = obj->getField(mixerVectors.at(chMixerNumber));
int ti = field->getElementNames().indexOf("Yaw");
m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
}
}
} else if (frameType == "QuadX" || frameType == "QuadP" ||
frameType == "Hexa" || frameType == "Octo" ||
frameType == "HexaCoax" || frameType == "OctoV" ||
frameType == "HexaX" || frameType == "OctoCoaxP" ||
frameType == "OctoCoaxX" || frameType == "Tri") {
//////////////////////////////////////////////////////////////////
// Retrieve Multirotor settings
//////////////////////////////////////////////////////////////////
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
if (frameType == "QuadP") {
// Motors 1/2/3/4 are: N / E / S / W
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = field->getDouble(i)/1.27;
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = (1-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = -field->getDouble(i)/1.27;
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = field->getDouble(i)/1.27;
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = 1-field->getDouble(i)/1.27;
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = field->getDouble(i)/1.27;
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
field = obj->getField(QString("VTOLMotorN"));
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "HexaX") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = floor(1-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotor7->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
if (frameType == "Octo") {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
} else if (frameType == "OctoV") {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Yaw");
double val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
eng = m_aircraft->multiMotor2->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Pitch");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
} else if (frameType == "OctoCoaxP") {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
eng = m_aircraft->multiMotor3->currentIndex()-1;
field = obj->getField(mixerVectors.at(eng));
i = field->getElementNames().indexOf("Roll");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
} else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotor7->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Yaw");
val = floor(-field->getDouble(i)/1.27);
m_aircraft->mrYawMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->triYawChannel->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None"
if (eng > -1) {
field = obj->getField(mixerVectors.at(eng));
int i = field->getElementNames().indexOf("Pitch");
double val = floor(2*field->getDouble(i)/1.27);
m_aircraft->mrPitchMixLevel->setValue(val);
i = field->getElementNames().indexOf("Roll");
val = floor(field->getDouble(i)/1.27);
m_aircraft->mrRollMixLevel->setValue(val);
}
}
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// Now, retrieve the Feedforward values:
field = obj->getField(QString("FeedForward"));
Q_ASSERT(field);
m_aircraft->feedForwardSlider->setValue(field->getDouble()*100);
field = obj->getField(QString("AccelTime"));
Q_ASSERT(field);
m_aircraft->accelTime->setValue(field->getDouble());
field = obj->getField(QString("DecelTime"));
Q_ASSERT(field);
m_aircraft->decelTime->setValue(field->getDouble());
field = obj->getField(QString("MaxAccel"));
Q_ASSERT(field);
m_aircraft->maxAccelSlider->setValue(field->getDouble());
} else if (frameType == "HeliCP") {
m_aircraft->widget_3->requestccpmUpdate();
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Helicopter"));//"Helicopter"
} else if (frameType == "Custom") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Custom"));
}
updateCustomAirframeUI();
}
/**
\brief Sets up the mixer depending on Airframe type. Accepts either system settings or
combo box entry from airframe type, as those do not overlap.
*/
void ConfigAirframeWidget::setupAirframeUI(QString frameType)
{
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
// Setup the UI
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
m_aircraft->fwRudder1Channel->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true);
m_aircraft->fwRudder2Channel->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
m_aircraft->fwElevator1Channel->setEnabled(true);
m_aircraft->fwElevator1Label->setEnabled(true);
m_aircraft->fwElevator2Channel->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
m_aircraft->fwAileron1Channel->setEnabled(true);
m_aircraft->fwAileron1Label->setEnabled(true);
m_aircraft->fwAileron2Channel->setEnabled(true);
m_aircraft->fwAileron2Label->setEnabled(true);
m_aircraft->fwAileron1Label->setText("Aileron 1");
m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonMixBox->setHidden(true);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevon"));
m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2");
m_aircraft->fwElevator1Channel->setEnabled(false);
m_aircraft->fwElevator1Label->setEnabled(false);
m_aircraft->fwElevator2Channel->setEnabled(false);
m_aircraft->fwElevator2Label->setEnabled(false);
m_aircraft->fwRudder1Channel->setEnabled(true);
m_aircraft->fwRudder1Label->setEnabled(true);
m_aircraft->fwRudder2Channel->setEnabled(true);
m_aircraft->fwRudder2Label->setEnabled(true);
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonMixBox->setHidden(false);
m_aircraft->elevonLabel1->setText("Roll");
m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing"));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Vtail"));
m_aircraft->fwRudder1Channel->setEnabled(false);
m_aircraft->fwRudder1Label->setEnabled(false);
m_aircraft->fwRudder2Channel->setEnabled(false);
m_aircraft->fwRudder2Label->setEnabled(false);
m_aircraft->fwElevator1Channel->setEnabled(true);
m_aircraft->fwElevator1Label->setEnabled(true);
m_aircraft->fwElevator1Label->setText("Vtail 1");
m_aircraft->fwElevator2Label->setText("Vtail 2");
m_aircraft->elevonMixBox->setHidden(false);
m_aircraft->fwElevator2Channel->setEnabled(true);
m_aircraft->fwElevator2Label->setEnabled(true);
m_aircraft->fwAileron1Label->setText("Aileron 1");
m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->elevonLabel1->setText("Rudder");
m_aircraft->elevonLabel2->setText("Pitch");
} else if (frameType == "QuadX" || frameType == "Quad X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-X");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(false);
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "QuadP" || frameType == "Quad +") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad +"));
quad->setElementId("quad-plus");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(false);
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter"));
quad->setElementId("quad-hexa");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "Octo" || frameType == "Octocopter") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter"));
quad->setElementId("quad-octo");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter X"));
quad->setElementId("quad-hexa-H");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "OctoV" || frameType == "Octocopter V") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter V"));
quad->setElementId("quad-octo-v");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax +"));
quad->setElementId("octo-coax-P");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octo Coax X"));
quad->setElementId("octo-coax-X");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
quad->setElementId("hexa-coax");
m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(66);
} else if (frameType == "Tri" || frameType == "Tricopter Y") {
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Tricopter Y"));
quad->setElementId("tri");
m_aircraft->multiMotor4->setEnabled(false);
m_aircraft->multiMotor5->setEnabled(false);
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(true);
}
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
}
/**
Reset the contents of a field
*/
void ConfigAirframeWidget::resetField(UAVObjectField * field)
{
for (unsigned int i=0;i<field->getNumElements();i++) {
field->setValue(0,i);
}
}
/**
Reset actuator values
*/
void ConfigAirframeWidget::resetActuators()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
QList<UAVObjectField*> fieldList = obj->getFields();
// Reset all assignements first:
foreach (UAVObjectField* field, fieldList) {
// NOTE: we assume that all options in ActuatorSettings are a channel assignement
// except for the options called "ChannelXXX"
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
}
/**
Setup Elevator/Aileron/Rudder airframe.
If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
Returns False if impossible to create the mixer.
*/
bool ConfigAirframeWidget::setupFrameFixedWing()
{
// Check coherence:
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannel->currentText() == "None" ||
m_aircraft->fwElevator1Channel->currentText() == "None" ||
((m_aircraft->fwAileron1Channel->currentText() == "None") &&
(m_aircraft->fwRudder1Channel->currentText() == "None"))) {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevator
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1Channel->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2Channel->currentText());
// Aileron
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1Channel->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2Channel->currentText());
// Rudder
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1Channel->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannel->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int eng = m_aircraft->fwEngineChannel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(eng));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
// Rudder
eng = m_aircraft->fwRudder1Channel->currentIndex()-1;
// eng will be -1 if rudder is set to "None"
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no rudder, only ailerons, we're fine with it.
// Ailerons
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127, ti);
// Only set Aileron 2 if Aileron 1 is defined
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127, ti);
}
} // Else we have no ailerons. Our consistency check guarantees we have
// rudder in this case, so we're fine with it too.
// Elevator
eng = m_aircraft->fwElevator1Channel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(127, ti);
// Only set Elevator 2 if it is defined
eng = m_aircraft->fwElevator2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(127, ti);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup Elevon
*/
bool ConfigAirframeWidget::setupFrameElevon()
{
// Check coherence:
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannel->currentText() == "None" ||
m_aircraft->fwAileron1Channel->currentText() == "None" ||
m_aircraft->fwAileron2Channel->currentText() == "None") {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1Channel->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2Channel->currentText());
// Rudder 1 (can be None)
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1Channel->currentText());
// Rudder 2 (can be None)
field = obj->getField("FixedWingYaw2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder2Channel->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannel->currentText());
obj->updated();
// Save the curve:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int eng = m_aircraft->fwEngineChannel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(eng));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
// Rudder 1
eng = m_aircraft->fwRudder1Channel->currentIndex()-1;
// eng will be -1 if rudder 1 is set to "None"
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
// Rudder 2
eng = m_aircraft->fwRudder2Channel->currentIndex()-1;
// eng will be -1 if rudder 2 is set to "None"
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-127, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup VTail
*/
bool ConfigAirframeWidget::setupFrameVtail()
{
// Check coherence:
// - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannel->currentText() == "None" ||
m_aircraft->fwElevator1Channel->currentText() == "None" ||
m_aircraft->fwElevator2Channel->currentText() == "None") {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1Channel->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2Channel->currentText());
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1Channel->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2Channel->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannel->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int eng = m_aircraft->fwEngineChannel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(eng));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(127,ti);
}
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-127,ti);
}
// Now compute the VTail
eng = m_aircraft->fwElevator1Channel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
eng = m_aircraft->fwElevator2Channel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Set up a complete mixer, taking a table of factors. The factors
shoudl mainly be +/- 1 factors, since they will be weighted by the
value of the Pitch/Roll/Yaw sliders.
Example:
double xMixer [8][3] = {
P R Y
{ 1, 1, -1}, Motor 1
{ 1, -1, 1}, Motor 2
{-1, -1, -1}, Motor 3
{-1, 1, 1}, ...
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
*/
bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
{
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
<< m_aircraft->multiMotor4 << m_aircraft->multiMotor5 << m_aircraft->multiMotor6
<< m_aircraft->multiMotor7 << m_aircraft->multiMotor8;
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
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]);
}
// obj->updated(); // Let caller do this...
return true;
}
/**
Help function: setupQuadMotor
*/
void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(mixerTypes.at(channel));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(channel));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(127, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(roll*127,ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(pitch*127,ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(yaw*127,ti);
}
/**
Helper function: setup motors. Takes a list of channel names in input.
*/
void ConfigAirframeWidget::setupMotors(QList<QString> motorList)
{
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
<< m_aircraft->multiMotor4 << m_aircraft->multiMotor5 << m_aircraft->multiMotor6
<< m_aircraft->multiMotor7 << m_aircraft->multiMotor8;
foreach (QString motor, motorList) {
field = obj->getField(motor);
field->setValue(mmList.takeFirst()->currentText());
}
// obj->updated(); // Do not Save, let the caller do it...
}
/**
Set up a Quad-X or Quad-P
*/
bool ConfigAirframeWidget::setupQuad(bool pLayout)
{
// Check coherence:
// - Four engines have to be defined
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 4 motor channels");
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorE" << "VTOLMotorS"
<< "VTOLMotorW";
} else {
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorSE"
<< "VTOLMotorSW";
}
setupMotors(motorList);
// Now, setup the mixer:
// Motor 1 to 4, X Layout:
// pitch roll yaw
// {0.5 ,0.5 ,-0.5 //Front left motor (CW)
// {0.5 ,-0.5 ,0.5 //Front right motor(CCW)
// {-0.5 ,-0.5 ,-0.5 //rear right motor (CW)
// {-0.5 ,0.5 ,0.5 //Rear left motor (CCW)
double xMixer [8][3] = {
{ 1, 1, -1},
{ 1, -1, 1},
{-1, -1, -1},
{-1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
//
// Motor 1 to 4, P Layout:
// pitch roll yaw
// {1 ,0 ,-0.5 //Front motor (CW)
// {0 ,-1 ,0.5 //Right motor(CCW)
// {-1 ,0 ,-0.5 //Rear motor (CW)
// {0 ,1 ,0.5 //Left motor (CCW)
double pMixer [8][3] = {
{ 1, 0, -1},
{ 0, -1, 1},
{-1, 0, -1},
{ 0, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
if (pLayout) {
setupMixer(pMixer);
} else {
setupMixer(xMixer);
}
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
return true;
}
/**
Set up a Hexa-X or Hexa-P
*/
bool ConfigAirframeWidget::setupHexa(bool pLayout)
{
// Check coherence:
// - Four engines have to be defined
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 6 motor channels");
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorNW";
} else {
motorList << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
}
setupMotors(motorList);
// and set only the relevant channels:
// Motor 1 to 6, P Layout:
// pitch roll yaw
// 1 { 0.3 , 0 ,-0.3 // N CW
// 2 { 0.3 ,-0.5 , 0.3 // NE CCW
// 3 {-0.3 ,-0.5 ,-0.3 // SE CW
// 4 {-0.3 , 0 , 0.3 // S CCW
// 5 {-0.3 , 0.5 ,-0.3 // SW CW
// 6 { 0.3 , 0.5 , 0.3 // NW CCW
double pMixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{-1, -1, -1},
{-1, 0, 1},
{-1, 1, -1},
{ 1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
//
// Motor 1 to 6, X Layout:
// 1 [ 0.5, -0.3, -0.3 ] NE
// 2 [ 0 , -0.3, 0.3 ] E
// 3 [ -0.5, -0.3, -0.3 ] SE
// 4 [ -0.5, 0.3, 0.3 ] SW
// 5 [ 0 , 0.3, -0.3 ] W
// 6 [ 0.5, 0.3, 0.3 ] NW
double xMixer [8][3] = {
{ 1, -1, -1},
{ 0, -1, 1},
{ -1, -1, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
if (pLayout) {
setupMixer(pMixer);
} else {
setupMixer(xMixer);
}
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
return true;
}
/**
Updates the custom airframe settings based on the current airframe.
Note: does NOT ask for an object refresh itself!
*/
void ConfigAirframeWidget::updateCustomAirframeUI()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
for (double i=0; i<field->getNumElements(); i++) {
curveValues.append(i/(field->getNumElements()-1));
}
} else {
for (unsigned int i=0; i < field->getNumElements(); i++) {
curveValues.append(field->getValue(i).toDouble());
}
}
m_aircraft->customThrottle1Curve->initCurve(curveValues);
field = obj->getField(QString("ThrottleCurve2"));
curveValues.clear();;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
for (double i=0; i<field->getNumElements(); i++) {
curveValues.append(i/(field->getNumElements()-1));
}
} else {
for (unsigned int i=0; i < field->getNumElements(); i++) {
curveValues.append(field->getValue(i).toDouble());
}
}
m_aircraft->customThrottle2Curve->initCurve(curveValues);
// Retrieve Feed Forward:
field = obj->getField(QString("FeedForward"));
m_aircraft->customFFSlider->setValue(field->getDouble()*100);
field = obj->getField(QString("AccelTime"));
m_aircraft->customFFaccel->setValue(field->getDouble());
field = obj->getField(QString("DecelTime"));
m_aircraft->customFFdecel->setValue(field->getDouble());
field = obj->getField(QString("MaxAccel"));
m_aircraft->customFFMaxAccel->setValue(field->getDouble());
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
QString s = field->getValue().toString();
q->setCurrentIndex(q->findText(s));
//bool en = (s != "Disabled");
field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1");
m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("ThrottleCurve2");
m_aircraft->customMixerTable->item(2,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Roll");
m_aircraft->customMixerTable->item(3,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Pitch");
m_aircraft->customMixerTable->item(4,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Yaw");
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
}
}
/**
Sends the config to the board (airframe type)
We do all the tasks common to all airframes, or family of airframes, and
we call additional methods for specific frames, so that we do not have a code
that is too heavy.
*/
void ConfigAirframeWidget::sendAircraftUpdate()
{
QString airframeType = "Custom";
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
// Save the curve (common to all Fixed wing frames)
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Remove Feed Forward, it is pointless on a plane:
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble(0);
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
airframeType = "FixedWing";
setupFrameFixedWing();
} else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon();
} else { // "Vtail"
airframeType = "FixedWingVtail";
setupFrameVtail();
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
} else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
QList<QString> motorList;
// We can already setup the feedforward here, as it is common to all platforms
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->multiThrottleCurve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
setupQuad(true);
} else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
airframeType = "QuadX";
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
airframeType = "Hexa";
setupHexa(true);
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
airframeType = "Octo";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ||
m_aircraft->multiMotor7->currentText() == "None" ||
m_aircraft->multiMotor8->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
return;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{ 0, -1, -1},
{ -1, -1, 1},
{ -1, 0, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
airframeType = "HexaX";
setupHexa(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
airframeType = "OctoV";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ||
m_aircraft->multiMotor7->currentText() == "None" ||
m_aircraft->multiMotor8->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
return;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// IMPORTANT: Assumes evenly spaced engines
// pitch roll yaw
double mixer [8][3] = {
{ 0.33, -1, -1},
{ 1 , -1, 1},
{ -1 , -1, -1},
{ -0.33, -1, 1},
{ -0.33, 1, -1},
{ -1 , 1, 1},
{ 1 , 1, -1},
{ 0.33, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
airframeType = "OctoCoaxP";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ||
m_aircraft->multiMotor7->currentText() == "None" ||
m_aircraft->multiMotor8->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
return;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, 0, 1},
{ 0, -1, -1},
{ 0, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 1, -1},
{ 0, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
airframeType = "OctoCoaxX";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ||
m_aircraft->multiMotor7->currentText() == "None" ||
m_aircraft->multiMotor8->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
return;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 1, -1},
{ 1, 1, 1},
{ 1, -1, -1},
{ 1, -1, 1},
{ -1, -1, -1},
{ -1, -1, 1},
{ -1, 1, -1},
{ -1, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
airframeType = "HexaCoax";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ||
m_aircraft->multiMotor4->currentText() == "None" ||
m_aircraft->multiMotor5->currentText() == "None" ||
m_aircraft->multiMotor6->currentText() == "None" ) {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 6 motor channels");
return;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorS" << "VTOLMotorSE";
setupMotors(motorList);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, -1},
{ 0.5, 1, 1},
{ 0.5, -1, -1},
{ 0.5, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
airframeType = "Tri";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
m_aircraft->multiMotor3->currentText() == "None" ) {
m_aircraft->mrStatusLabel->setText("ERROR: Assign 3 motor channels");
return;
}
if (m_aircraft->triYawChannel->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("Error: Assign a Yaw channel");
return;
}
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
field = obj->getField("FixedWingYaw1");
field->setValue(m_aircraft->triYawChannel->currentText());
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, 0},
{ 0.5, -1, 0},
{ -1, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMixer(mixer);
int eng = m_aircraft->triYawChannel->currentIndex()-1;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
int ti = field->getElementNames().indexOf("Yaw");
field->setValue(127,ti);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
} else if (m_aircraft->aircraftType->currentText() == "Helicopter") {
airframeType = "HeliCP";
m_aircraft->widget_3->sendccpmUpdate();
} else {
airframeType = "Custom";
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->customFFSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->customFFaccel->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->customFFdecel->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->customFFMaxAccel->value());
// Curve is also common to all quads:
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->customThrottle1Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
field = obj->getField("ThrottleCurve2");
curve.clear();
curve = m_aircraft->customThrottle2Curve->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
// Update the table:
for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i));
QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
field->setValue(q->currentText());
field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(m_aircraft->customMixerTable->item(1,i)->text(),ti);
ti = field->getElementNames().indexOf("ThrottleCurve2");
field->setValue(m_aircraft->customMixerTable->item(2,i)->text(),ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(m_aircraft->customMixerTable->item(3,i)->text(),ti);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(m_aircraft->customMixerTable->item(4,i)->text(),ti);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
}
// obj->updated();
}
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
UAVObjectField* field = obj->getField(QString("AirframeType"));
field->setValue(airframeType);
obj->updated();
}
/**
Send airframe type to the board and request saving to SD card
*/
void ConfigAirframeWidget::saveAircraftUpdate()
{
// Send update so that the latest value is saved
sendAircraftUpdate();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
saveObjectToSD(obj);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
saveObjectToSD(obj);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
saveObjectToSD(obj);
}

7
ground/openpilotgcs/src/plugins/config/configgadgetfactory.cpp
View File

@ -32,7 +32,7 @@
#include <coreplugin/iuavgadget.h>
ConfigGadgetFactory::ConfigGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("ConfigGadget"), tr("Config Gadget"), parent)
IUAVGadgetFactory(QString("ConfigGadget"), tr("Config"), parent)
{
}
@ -50,8 +50,3 @@ IUAVGadgetConfiguration *ConfigGadgetFactory::createConfiguration(QSettings* qSe
{
return new ConfigGadgetConfiguration(QString("ConfigGadget"), qSettings);
}
IOptionsPage *ConfigGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new ConfigGadgetOptionsPage(qobject_cast<ConfigGadgetConfiguration*>(config));
}

1
ground/openpilotgcs/src/plugins/config/configgadgetfactory.h
View File

@ -46,7 +46,6 @@ public:
IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(QSettings* qSettings);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // CONFIGGADGETFACTORY_H

2832
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml Normal file
View File

@ -0,0 +1,2832 @@
<gcs>
<General>
<OverrideLanguage>en_AU</OverrideLanguage>
<SaveSettingsOnExit>true</SaveSettingsOnExit>
</General>
<KeyBindings>
<size>0</size>
</KeyBindings>
<MainWindow>
<Color>#666666</Color>
<FullScreen>false</FullScreen>
<Maximized>true</Maximized>
</MainWindow>
<Plugins>
<SoundNotifyPlugin>
<configInfo>
<locked>false</locked>
<version>1.0.0</version>
</configInfo>
<data>
<Current>
<arr_1>
<CurrentLanguage></CurrentLanguage>
<DataObject></DataObject>
<ExpireTimeout>0</ExpireTimeout>
<ObjectField></ObjectField>
<Repeat></Repeat>
<SayOrder></SayOrder>
<Sound1></Sound1>
<Sound2></Sound2>
<Sound3></Sound3>
<SoundCollectionPath></SoundCollectionPath>
<Value></Value>
<ValueSpinBox>0</ValueSpinBox>
</arr_1>
<size>1</size>
</Current>
<EnableSound>false</EnableSound>
<listNotifies>
<size>0</size>
</listNotifies>
</data>
</SoundNotifyPlugin>
</Plugins>
<UAVGadgetConfigurations>
<ConfigGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
</default>
</ConfigGadget>
<DialGadget>
<Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeActual</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeActual</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Attitude>
<Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Baro__PCT__20Altimeter>
<Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/barometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Barometer>
<Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/vsi.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
<needle1MinValue>-12</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Climbrate>
<Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Compass>
<Deluxe__PCT__20Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeActual</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeActual</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Attitude>
<Deluxe__PCT__20Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Baro__PCT__20Altimeter>
<Deluxe__PCT__20Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/barometer.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Barometer>
<Deluxe__PCT__20Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/vsi.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>11.2</needle1MaxValue>
<needle1MinValue>-11.2</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Climbrate>
<Deluxe__PCT__20Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Compass>
<Deluxe__PCT__20Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/speed.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Groundspeed__PCT__20kph>
<Deluxe__PCT__20Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/thermometer.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Temperature>
<Deluxe__PCT__20Turn__PCT__20Coordinator>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>/home/lafargue/OP/OpenPilot/trunk/artwork/Dials/deluxe/turncoordinator.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle2</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeRaw</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>-20</needle2MinValue>
<needle2Move>Horizontal</needle2Move>
<needle2ObjectField>accels-X</needle2ObjectField>
<needle3DataObject>AttitudeRaw</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>accels-X</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Turn__PCT__20Coordinator>
<Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/speed.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Groundspeed__PCT__20kph>
<HiContrast__PCT__20Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeActual</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeActual</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Attitude>
<HiContrast__PCT__20Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Baro__PCT__20Altimeter>
<HiContrast__PCT__20Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/barometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Barometer>
<HiContrast__PCT__20Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/vsi.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
<needle1MinValue>-12</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Climbrate>
<HiContrast__PCT__20Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Compass>
<HiContrast__PCT__20Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/speed.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Groundspeed__PCT__20kph>
<HiContrast__PCT__20Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Temperature>
<Servo__PCT__20Channel__PCT__201>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>ManualControlCommand</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>2000</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Channel-3</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Servo__PCT__20Channel__PCT__201>
<Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroAltitude</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroAltitude</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Temperature>
</DialGadget>
<GCSControlGadget>
<MS__PCT__20Sidewinder>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<button0Action>0</button0Action>
<button0Amount>0</button0Amount>
<button0Function>0</button0Function>
<button1Action>0</button1Action>
<button1Amount>0</button1Amount>
<button1Function>0</button1Function>
<button2Action>0</button2Action>
<button2Amount>0.1</button2Amount>
<button2Function>3</button2Function>
<button3Action>0</button3Action>
<button3Amount>0.1</button3Amount>
<button3Function>3</button3Function>
<button4Action>0</button4Action>
<button4Amount>0</button4Amount>
<button4Function>0</button4Function>
<button5Action>0</button5Action>
<button5Amount>0</button5Amount>
<button5Function>0</button5Function>
<button6Action>0</button6Action>
<button6Amount>0</button6Amount>
<button6Function>0</button6Function>
<button7Action>0</button7Action>
<button7Amount>0</button7Amount>
<button7Function>0</button7Function>
<channel0Reverse>false</channel0Reverse>
<channel1Reverse>false</channel1Reverse>
<channel2Reverse>true</channel2Reverse>
<channel3Reverse>false</channel3Reverse>
<channel4Reverse>false</channel4Reverse>
<channel5Reverse>false</channel5Reverse>
<channel6Reverse>false</channel6Reverse>
<channel7Reverse>false</channel7Reverse>
<controlsMode>2</controlsMode>
<pitchChannel>1</pitchChannel>
<rollChannel>0</rollChannel>
<throttleChannel>2</throttleChannel>
<yawChannel>3</yawChannel>
</data>
</MS__PCT__20Sidewinder>
</GCSControlGadget>
<GpsDisplayGadget>
<Flight__PCT__20GPS>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<connectionMode>Telemetry</connectionMode>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>Serial port 0</defaultPort>
<defaultSpeed>11</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</Flight__PCT__20GPS>
<GPS__PCT__20Mouse>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<connectionMode>Serial</connectionMode>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>Serial port 0</defaultPort>
<defaultSpeed>17</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</GPS__PCT__20Mouse>
</GpsDisplayGadget>
<HITL>
<Flightgear__PCT__20HITL>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<binPath>\usr\games\fgfs</binPath>
<dataPath>\usr\share\games\FlightGear</dataPath>
<hostAddress>127.0.0.1</hostAddress>
<inPort>9009</inPort>
<latitude></latitude>
<longitude></longitude>
<manual>false</manual>
<outPort>9010</outPort>
<remoteHostAddress>127.0.0.1</remoteHostAddress>
<simulatorId>FG</simulatorId>
<startSim>true</startSim>
</data>
</Flightgear__PCT__20HITL>
<XPlane__PCT__20HITL>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<binPath>\home\lafargue\X-Plane 9\X-Plane-i686</binPath>
<dataPath>\usr\share\games\FlightGear</dataPath>
<hostAddress>127.0.0.3</hostAddress>
<inPort>6756</inPort>
<latitude></latitude>
<longitude></longitude>
<manual>false</manual>
<outPort>49000</outPort>
<remoteHostAddress>127.0.0.1</remoteHostAddress>
<simulatorId>X-Plane</simulatorId>
<startSim>false</startSim>
</data>
</XPlane__PCT__20HITL>
</HITL>
<ImportExportGadget>
<default>
<configInfo>
<locked>false</locked>
<version>1.0.1</version>
</configInfo>
<data>
<iniFile>gcs.ini</iniFile>
</data>
</default>
</ImportExportGadget>
<LineardialGadget>
<AHRS__PCT__20CPU>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>50</greenMax>
<greenMin>0</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>100</redMax>
<redMin>80</redMin>
<sourceDataObject>AhrsStatus</sourceDataObject>
<sourceObjectField>CPULoad</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>80</yellowMax>
<yellowMin>50</yellowMin>
</data>
</AHRS__PCT__20CPU>
<Accel__PCT__20Horizontal__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AttitudeRaw</sourceDataObject>
<sourceObjectField>accels-X</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20X>
<Accel__PCT__20Horizontal__PCT__20Y>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,6,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AttitudeRaw</sourceDataObject>
<sourceObjectField>accels-Y</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20Y>
<Accel__PCT__20Horizontal__PCT__20Z>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AttitudeRaw</sourceDataObject>
<sourceObjectField>accels-Z</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20Z>
<Arm__PCT__20Status>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/arm-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>FlightStatus</sourceDataObject>
<sourceObjectField>Armed</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Arm__PCT__20Status>
<Flight__PCT__20Time>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/textonly.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>0.001</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>SystemStats</sourceDataObject>
<sourceObjectField>FlightTime</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Flight__PCT__20Time>
<Flight__PCT__20mode>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/flightmode-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>FlightStatus</sourceDataObject>
<sourceObjectField>FlightMode</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Flight__PCT__20mode>
<GPS__PCT__20Sats>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/gps-signal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>0</greenMax>
<greenMin>0</greenMin>
<maxValue>12</maxValue>
<minValue>0</minValue>
<redMax>0</redMax>
<redMin>0</redMin>
<sourceDataObject>GPSPosition</sourceDataObject>
<sourceObjectField>Satellites</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0</yellowMax>
<yellowMin>0</yellowMin>
</data>
</GPS__PCT__20Sats>
<GPS__PCT__20Status>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/gps-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>GPSPosition</sourceDataObject>
<sourceObjectField>Status</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</GPS__PCT__20Status>
<Mainboard__PCT__20CPU>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>50</greenMax>
<greenMin>0</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>100</redMax>
<redMin>80</redMin>
<sourceDataObject>SystemStats</sourceDataObject>
<sourceObjectField>CPULoad</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>80</yellowMax>
<yellowMin>50</yellowMin>
</data>
</Mainboard__PCT__20CPU>
<Pitch__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Pitch__PCT__20Desired>
<Pitch>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Pitch>
<PitchActual>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.8</greenMax>
<greenMin>0.3</greenMin>
<maxValue>90</maxValue>
<minValue>-90</minValue>
<redMax>1</redMax>
<redMin>0</redMin>
<sourceDataObject>AttitudeActual</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.9</yellowMax>
<yellowMin>0.1</yellowMin>
</data>
</PitchActual>
<Roll__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Roll</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Roll__PCT__20Desired>
<Roll>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Roll</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Roll>
<Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>650</greenMax>
<greenMin>0</greenMin>
<maxValue>1200</maxValue>
<minValue>0</minValue>
<redMax>1200</redMax>
<redMin>900</redMin>
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
<sourceObjectField>RxDataRate</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>900</yellowMax>
<yellowMin>650</yellowMin>
</data>
</Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
<Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>650</greenMax>
<greenMin>0</greenMin>
<maxValue>1200</maxValue>
<minValue>0</minValue>
<redMax>1200</redMax>
<redMin>900</redMin>
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
<sourceObjectField>TxDataRate</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>900</yellowMax>
<yellowMin>650</yellowMin>
</data>
</Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
<Throttle>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>0</greenMin>
<maxValue>1</maxValue>
<minValue>0</minValue>
<redMax>1</redMax>
<redMin>0.75</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Throttle</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.75</yellowMax>
<yellowMin>0.5</yellowMin>
</data>
</Throttle>
<Yaw__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Yaw</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Yaw__PCT__20Desired>
<Yaw>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Yaw</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Yaw>
</LineardialGadget>
<ModelViewGadget>
<Aeroquad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/aeroquad/aeroquad_+.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Aeroquad__PCT__20__PCT__2B>
<Easyquad__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/easy_quad/easy_quad_X.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Easyquad__PCT__20X>
<Easystar>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/Easystar/easystar.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Easystar>
<Firecracker>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/firecracker/firecracker.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Firecracker>
<Funjet>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/funjet/funjet.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Funjet>
<Gaui__PCT__20330X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/gaui_330x/gaui_330x.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Gaui__PCT__20330X>
<Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/helis/t-rex/t-rex_450_xl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
<Hexacopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_Hexa.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Hexacopter>
<Quadcopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_L4-ME.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Quadcopter>
<Scorpion__PCT__20Tricopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/scorpion_tricopter/scorpion_tricopter.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Scorpion__PCT__20Tricopter>
<Test__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_+.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20__PCT__2B>
<Test__PCT__20Quad__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_X.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20X>
</ModelViewGadget>
<OPMapGadget>
<Google__PCT__20Sat>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>ServerAndCache</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>0</defaultLatitude>
<defaultLongitude>0</defaultLongitude>
<defaultZoom>2</defaultZoom>
<mapProvider>GoogleSatellite</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
</data>
</Google__PCT__20Sat>
<Memory__PCT__20Only>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>CacheOnly</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>0</defaultLatitude>
<defaultLongitude>0</defaultLongitude>
<defaultZoom>2</defaultZoom>
<mapProvider>GoogleMap</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>airplanepip.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
</data>
</Memory__PCT__20Only>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>ServerAndCache</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>0</defaultLatitude>
<defaultLongitude>0</defaultLongitude>
<defaultZoom>2</defaultZoom>
<mapProvider>GoogleMap</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
</data>
</default>
</OPMapGadget>
<PFDGadget>
<raw>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialFile>%%DATAPATH%%pfd/default/pfd.svg</dialFile>
<hqFonts>false</hqFonts>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</raw>
<smooth>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>true</beSmooth>
<dialFile>%%DATAPATH%%pfd/default/pfd.svg</dialFile>
<hqFonts>false</hqFonts>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</smooth>
</PFDGadget>
<PipXtreme>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
</default>
</PipXtreme>
<ScopeGadget>
<Accel>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<uavField>accels-X</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<uavField>accels-Y</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<uavField>accels-Z</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Accel>
<Actuators>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>20</dataSize>
<plotCurve0>
<color>4294901760</color>
<uavField>Channel-4</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294901760</color>
<uavField>Channel-5</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4289374847</color>
<uavField>Channel-6</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4289374847</color>
<uavField>Channel-7</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurveCount>4</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Actuators>
<Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4283760895</color>
<uavField>Roll</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4278233600</color>
<uavField>Yaw</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<uavField>Pitch</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Attitude>
<Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4278190080</color>
<uavField>Pressure</uavField>
<uavObject>BaroAltitude</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurveCount>1</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>1000</refreshInterval>
</data>
</Barometer>
<Inputs>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>40</dataSize>
<plotCurve0>
<color>4278190207</color>
<uavField>Channel-1</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294901760</color>
<uavField>Channel-4</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<uavField>Channel-5</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4294901760</color>
<uavField>Channel-6</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4294901760</color>
<uavField>Channel-7</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4283825920</color>
<uavField>Channel-2</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4294923520</color>
<uavField>Channel-3</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
<plotCurve7>
<color>4294967040</color>
<uavField>Channel-0</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
<plotCurveCount>8</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>200</refreshInterval>
</data>
</Inputs>
<Raw__PCT__20Accels>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<uavField>accels-X</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<uavField>accels-Y</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<uavField>accels-Z</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20Accels>
<Raw__PCT__20Gyros>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4283804160</color>
<uavField>gyros-Z</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<uavField>gyros-Y</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<uavField>gyros-X</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20Gyros>
<Raw__PCT__20magnetometers>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<uavField>magnetometers-X</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<uavField>magnetometers-Y</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<uavField>magnetometers-Z</uavField>
<uavObject>AttitudeRaw</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20magnetometers>
<Stacks__PCT__20monitor>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>240</dataSize>
<plotCurve0>
<color>4294945280</color>
<uavField>StackRemaining-System</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294945280</color>
<uavField>StackRemaining-Actuator</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve10>
<color>4294945280</color>
<uavField>StackRemaining-Guidance</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
<plotCurve11>
<color>4294945280</color>
<uavField>StackRemaining-Watchdog</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve11>
<plotCurve2>
<color>4294945280</color>
<uavField>StackRemaining-TelemetryTx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4294945280</color>
<uavField>StackRemaining-TelemetryTxPri</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4294945280</color>
<uavField>StackRemaining-TelemetryRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4294945280</color>
<uavField>StackRemaining-GPS</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4294945280</color>
<uavField>StackRemaining-ManualControl</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
<plotCurve7>
<color>4294945280</color>
<uavField>StackRemaining-Altitude</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
<plotCurve8>
<color>4294945280</color>
<uavField>StackRemaining-AHRSComms</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve8>
<plotCurve9>
<color>4294945280</color>
<uavField>StackRemaining-Stabilization</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve9>
<plotCurveCount>12</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>1000</refreshInterval>
</data>
</Stacks__PCT__20monitor>
<Telemetry__PCT__20quality>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>20</dataSize>
<plotCurve0>
<color>4289374847</color>
<uavField>TxFailures</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<uavField>RxFailures</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<uavField>TxRetries</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Telemetry__PCT__20quality>
<Uptimes>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>240</dataSize>
<plotCurve0>
<color>4289374847</color>
<uavField>RunningTime</uavField>
<uavObject>AhrsStatus</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294945407</color>
<uavField>FlightTime</uavField>
<uavObject>SystemStats</uavObject>
<yMaximum>0</yMaximum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurveCount>2</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>800</refreshInterval>
</data>
</Uptimes>
</ScopeGadget>
<SystemHealthGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<diagram>%%DATAPATH%%diagrams/default/system-health.svg</diagram>
</data>
</default>
</SystemHealthGadget>
<UAVObjectBrowser>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<manuallyChangedColor>#5baa56</manuallyChangedColor>
<recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
<recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
</data>
</default>
</UAVObjectBrowser>
<Uploader>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>/dev/ttyS0</defaultPort>
<defaultSpeed>14</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</default>
</Uploader>
<configInfo>
<locked>false</locked>
<version>1.2.0</version>
</configInfo>
</UAVGadgetConfigurations>
<UAVGadgetManager>
<Mode1>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<side0>
<side0>
<side0>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Flight Time</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>GPS Sats</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Flight mode</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Arm Status</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAA1wAAAAIAAADt)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>PFDGadget</classId>
<gadget>
<activeConfiguration>raw</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAkAAAAAIAAAJg)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>ModelViewGadget</classId>
<gadget>
<activeConfiguration>Test Quad X</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<side0>
<classId>SystemHealthGadget</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Mainboard CPU</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>AHRS CPU</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAABA)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIwAAAAIAAACN)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Telemetry RX Rate Horizontal</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Telemetry TX Rate Horizontal</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABJQAAAAIAAABA)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABMAAAAAIAAAGx)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABxQAAAAIAAAFH)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>OPMapGadget</classId>
<gadget>
<activeConfiguration>Google Sat</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<side0>
<side0>
<side0>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Groundspeed kph</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Barometer</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Attitude</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Compass</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAgwAAAAIAAACK)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Baro Altimeter</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Climbrate</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABFQAAAAIAAACH)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Throttle</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Roll Desired</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Pitch Desired</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Yaw Desired</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAE3)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAF4)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG5)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABuQAAAAIAAAED)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7AAAAAIAAAEg)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAC4gAAAAIAAAK9)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode1>
<Mode2>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<side0>
<classId>ConfigGadget</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Telemetry RX Rate Horizontal</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Telemetry TX Rate Horizontal</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACNQAAAAIAAABC)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>UAVObjectBrowser</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>GCSControlGadget</classId>
<gadget>
<activeConfiguration>MS Sidewinder</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABqgAAAAIAAAFi)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAC3gAAAAIAAAJ3)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode2>
<Mode3>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<classId>OPMapGadget</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>ModelViewGadget</classId>
<gadget>
<activeConfiguration>Test Quad X</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Attitude</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Compass</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABiwAAAAIAAADs)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAD1AAAAAIAAAGB)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode3>
<Mode4>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<side0>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Accel</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Raw Gyros</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<side0>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Attitude</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Uptimes</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABhgAAAAIAAAEO)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>LoggingGadget</classId>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAClQAAAAIAAAB3)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACjQAAAAIAAAKU)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode4>
<Mode5>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<side0>
<classId>HITL</classId>
<gadget>
<activeConfiguration>XPlane HITL</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>GCSControlGadget</classId>
<gadget>
<activeConfiguration>MS Sidewinder</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Pitch Desired</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>PitchActual</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Pitch</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABFAAAAAIAAABA)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABaQAAAAIAAAEO)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>UAVObjectBrowser</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADDAAAAAIAAAJJ)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode5>
<Mode6>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<classId>Uploader</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<side0>
<classId>SystemHealthGadget</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>PFDGadget</classId>
<gadget>
<activeConfiguration>raw</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABQgAAAAIAAAGM)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Uptimes</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABEgAAAAIAAAH6)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode6>
</UAVGadgetManager>
<ViewGroup_Default>@ByteArray(AAAA/wAAAAD9AAAAAAAABQAAAALCAAAABAAAAAQAAAABAAAACPwAAAAA)</ViewGroup_Default>
<Workspace>
<Icon1>:/core/images/ah.png</Icon1>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<Icon2>:/core/images/config.png</Icon2>
<Icon3>:/core/images/world.png</Icon3>
<Icon4>:/core/images/scopes.png</Icon4>
<Icon5>:/core/images/joystick.png</Icon5>
<Icon6>:/core/images/cog.png</Icon6>
<Icon7>:/core/images/openpilot_logo_64.png</Icon7>
<Icon8>:/core/images/openpilot_logo_64.png</Icon8>
<Icon9>:/core/images/openpilot_logo_64.png</Icon9>
<NumberOfWorkspaces>6</NumberOfWorkspaces>
<Workspace1>Flight data</Workspace1>
<Workspace10>Workspace10</Workspace10>
<Workspace2>Configuration</Workspace2>
<Workspace3>Flight Planner</Workspace3>
<Workspace4>Scopes</Workspace4>
<Workspace5>HITL</Workspace5>
<Workspace6>Firmware</Workspace6>
<Workspace7>Workspace7</Workspace7>
<Workspace8>Workspace8</Workspace8>
<Workspace9>Workspace9</Workspace9>
</Workspace>
</gcs>

2
ground/openpilotgcs/src/plugins/coreplugin/core.qrc
View File

@ -50,7 +50,6 @@
<file>images/optionsicon.png</file>
<file>images/helpicon.png</file>
<file>images/openpiloticon.png</file>
<file>OpenPilotGCS.ini</file>
<file>CREDITS.html</file>
<file>images/ah.png</file>
<file>images/config.png</file>
@ -60,5 +59,6 @@
<file>images/scopes.png</file>
<file>images/world.png</file>
<file>images/cog.png</file>
<file>OpenPilotGCS.xml</file>
</qresource>
</RCC>

10
ground/openpilotgcs/src/plugins/coreplugin/dialogs/ioptionspage.h
View File

@ -32,6 +32,7 @@
#include <coreplugin/core_global.h>
#include <QtCore/QObject>
#include <QtGui/QIcon>
QT_BEGIN_NAMESPACE
class QWidget;
@ -43,9 +44,14 @@ class CORE_EXPORT IOptionsPage : public QObject
{
Q_OBJECT
public:
IOptionsPage(QObject *parent = 0) : QObject(parent) {}
IOptionsPage(QObject *parent = 0) :
QObject(parent),
m_icon(QIcon()) {}
virtual ~IOptionsPage() {}
void setIcon(QIcon icon) { m_icon = icon; }
QIcon icon() { return m_icon; }
/* gadget options pages can leave these 4 functions as is,
since they are decorated by UAVGadgetOptionsPageDecorator,
all other options pages must override these */
@ -57,6 +63,8 @@ public:
virtual QWidget *createPage(QWidget *parent) = 0;
virtual void apply() = 0;
virtual void finish() = 0;
private:
QIcon m_icon;
};
} // namespace Core

2
ground/openpilotgcs/src/plugins/coreplugin/dialogs/settingsdialog.cpp
View File

@ -114,6 +114,7 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
splitter->setCollapsible(0, false);
splitter->setCollapsible(1, false);
pageTree->header()->setVisible(false);
// pageTree->setIconSize(QSize(24, 24));
connect(pageTree, SIGNAL(currentItemChanged(QTreeWidgetItem *, QTreeWidgetItem *)),
this, SLOT(pageSelected()));
@ -150,6 +151,7 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
}
}
categoryItem = new QTreeWidgetItem(pageTree);
categoryItem->setIcon(0, page->icon());
categoryItem->setText(0, trCategories);
categoryItem->setData(0, Qt::UserRole, qVariantFromValue(pageData));
categories.insert(currentCategory, categoryItem);

12
ground/openpilotgcs/src/plugins/coreplugin/iuavgadgetfactory.h
View File

@ -31,6 +31,7 @@
#include "core_global.h"
#include <QtCore/QObject>
#include <QtGui/QIcon>
#include <QSettings>
#include "uavconfiginfo.h"
@ -51,7 +52,9 @@ public:
IUAVGadgetFactory(QString classId, QString name, QObject *parent = 0) :
QObject(parent),
m_classId(classId),
m_name(name) {}
m_name(name),
m_icon(QIcon()),
m_singleConfigurationGadget(false) {}
virtual ~IUAVGadgetFactory() {}
virtual IUAVGadget *createGadget(QWidget *parent) = 0;
@ -60,9 +63,16 @@ public:
virtual IOptionsPage *createOptionsPage(IUAVGadgetConfiguration */*config*/) { return 0; }
QString classId() const { return m_classId; }
QString name() const { return m_name; }
QIcon icon() const { return m_icon; }
bool isSingleConfigurationGadget() { return m_singleConfigurationGadget; }
protected:
void setIcon(QIcon icon) { m_icon = icon; }
void setSingleConfigurationGadgetTrue() { m_singleConfigurationGadget = true; }
private:
QString m_classId; // unique class id
QString m_name; // display name, should also be unique
QIcon m_icon;
bool m_singleConfigurationGadget; // true if there is exactly one configuration for this gadget
};
} // namespace Core

41
ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
View File

@ -30,6 +30,7 @@
#include "actioncontainer.h"
#include "actionmanager_p.h"
#include "basemode.h"
#include "connectionmanager.h"
#include "coreimpl.h"
#include "coreconstants.h"
#include "fancytabwidget.h"
@ -39,35 +40,34 @@
#include "mimedatabase.h"
#include "outputpane.h"
#include "plugindialog.h"
#include "qxtlogger.h"
#include "qxtbasicstdloggerengine.h"
#include "shortcutsettings.h"
#include "workspacesettings.h"
#include "modemanager.h"
#include "uavgadgetmode.h"
#include "uavgadgetmanager.h"
#include "uavgadgetinstancemanager.h"
#include "connectionmanager.h"
#include "qxtlogger.h"
#include "qxtbasicstdloggerengine.h"
#include "workspacesettings.h"
#include "settingsdialog.h"
#include "variablemanager.h"
#include "threadmanager.h"
#include "versiondialog.h"
#include "authorsdialog.h"
#include "viewmanager.h"
#include "uniqueidmanager.h"
#include "manhattanstyle.h"
#include "dialogs/iwizard.h"
#include "rightpane.h"
#include "baseview.h"
#include "ioutputpane.h"
#include "icorelistener.h"
#include "iconfigurableplugin.h"
#include "manhattanstyle.h"
#include "rightpane.h"
#include "settingsdialog.h"
#include "threadmanager.h"
#include "uniqueidmanager.h"
#include "variablemanager.h"
#include "versiondialog.h"
#include "viewmanager.h"
#include <coreplugin/settingsdatabase.h>
#include <extensionsystem/pluginmanager.h>
#include "dialogs/iwizard.h"
#include <utils/pathchooser.h>
#include <utils/stylehelper.h>
#include <extensionsystem/pluginmanager.h>
#include <utils/xmlconfig.h>
#include <QtCore/QDebug>
#include <QtCore/QFileInfo>
@ -112,9 +112,9 @@ MainWindow::MainWindow() :
m_globalContext(QList<int>() << Constants::C_GLOBAL_ID),
m_additionalContexts(m_globalContext),
// keep this in sync with main() in app/main.cpp
m_settings(new QSettings(QSettings::IniFormat, QSettings::UserScope,
m_settings(new QSettings(XmlConfig::XmlSettingsFormat, QSettings::UserScope,
QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS"), this)),
m_globalSettings(new QSettings(QSettings::IniFormat, QSettings::SystemScope,
m_globalSettings(new QSettings(XmlConfig::XmlSettingsFormat, QSettings::SystemScope,
QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS"), this)),
m_settingsDatabase(new SettingsDatabase(QFileInfo(m_settings->fileName()).path(),
QLatin1String("OpenPilotGCS"),
@ -155,7 +155,7 @@ MainWindow::MainWindow() :
QCoreApplication::setApplicationVersion(QLatin1String(Core::Constants::GCS_VERSION_LONG));
QCoreApplication::setOrganizationName(QLatin1String("OpenPilot"));
QCoreApplication::setOrganizationDomain(QLatin1String("openpilot.org"));
QSettings::setDefaultFormat(QSettings::IniFormat);
QSettings::setDefaultFormat(XmlConfig::XmlSettingsFormat);
QString baseName = qApp->style()->objectName();
#ifdef Q_WS_X11
if (baseName == QLatin1String("windows")) {
@ -284,7 +284,8 @@ void MainWindow::extensionsInitialized()
{
QSettings* qs = m_settings;
QSettings defaultSettings(":/core/OpenPilotGCS.ini", QSettings::IniFormat);
QSettings defaultSettings(":/core/OpenPilotGCS.xml", XmlConfig::XmlSettingsFormat);
// QSettings defaultSettings(":/core/OpenPilotGCS.ini", QSettings::IniFormat);
if ( ! qs->allKeys().count() ){
QMessageBox msgBox;
@ -293,7 +294,7 @@ void MainWindow::extensionsInitialized()
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::Yes);
if ( msgBox.exec() == QMessageBox::Yes ){
qDebug() << "Load default config from resource /core/OpenPilotGCS.ini";
qDebug() << "Load default config from resource /core/OpenPilotGCS.xml";
qs = &defaultSettings;
}
}

19
ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp
View File

@ -56,7 +56,9 @@ UAVGadgetInstanceManager::UAVGadgetInstanceManager(QObject *parent) :
m_factories.append(f);
QString classId = f->classId();
QString name = f->name();
m_classIds.insert(classId, name);
QIcon icon = f->icon();
m_classIdNameMap.insert(classId, name);
m_classIdIconMap.insert(classId, icon);
}
}
}
@ -108,7 +110,7 @@ void UAVGadgetInstanceManager::readConfigs_1_2_0(QSettings *qs)
{
UAVConfigInfo configInfo;
foreach (QString classId, m_classIds.keys())
foreach (QString classId, m_classIdNameMap.keys())
{
IUAVGadgetFactory *f = factory(classId);
qs->beginGroup(classId);
@ -159,7 +161,7 @@ void UAVGadgetInstanceManager::readConfigs_1_1_0(QSettings *qs)
{
UAVConfigInfo configInfo;
foreach (QString classId, m_classIds.keys())
foreach (QString classId, m_classIdNameMap.keys())
{
IUAVGadgetFactory *f = factory(classId);
qs->beginGroup(classId);
@ -242,7 +244,8 @@ void UAVGadgetInstanceManager::createOptionsPages()
IUAVGadgetFactory *f = factory(config->classId());
IOptionsPage *p = f->createOptionsPage(config);
if (p) {
IOptionsPage *page = new UAVGadgetOptionsPageDecorator(p, config);
IOptionsPage *page = new UAVGadgetOptionsPageDecorator(p, config, f->isSingleConfigurationGadget());
page->setIcon(f->icon());
m_optionsPages.append(page);
m_pm->addObject(page);
}
@ -334,6 +337,7 @@ void UAVGadgetInstanceManager::cloneConfiguration(IUAVGadgetConfiguration *conf
IUAVGadgetFactory *f = factory(config->classId());
IOptionsPage *p = f->createOptionsPage(config);
IOptionsPage *page = new UAVGadgetOptionsPageDecorator(p, config);
page->setIcon(f->icon());
m_provisionalConfigs.append(config);
m_provisionalOptionsPages.append(page);
m_settingsDialog->insertPage(page);
@ -452,7 +456,12 @@ QStringList UAVGadgetInstanceManager::configurationNames(QString classId) const
QString UAVGadgetInstanceManager::gadgetName(QString classId) const
{
return m_classIds.value(classId);
return m_classIdNameMap.value(classId);
}
QIcon UAVGadgetInstanceManager::gadgetIcon(QString classId) const
{
return m_classIdIconMap.value(classId);
}
IUAVGadgetFactory *UAVGadgetInstanceManager::factory(QString classId) const

7
ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.h
View File

@ -32,6 +32,7 @@
#include <QSettings>
#include <QtCore/QMap>
#include <QtCore/QStringList>
#include <QtGui/QIcon>
#include "core_global.h"
#include "uavconfiginfo.h"
@ -68,9 +69,10 @@ public:
void cloneConfiguration(IUAVGadgetConfiguration *config);
void applyChanges(IUAVGadgetConfiguration *config);
void configurationNameEdited(QString text, bool hasText = true);
QStringList classIds() const { return m_classIds.keys(); }
QStringList classIds() const { return m_classIdNameMap.keys(); }
QStringList configurationNames(QString classId) const;
QString gadgetName(QString classId) const;
QIcon gadgetIcon(QString classId) const;
signals:
void configurationChanged(IUAVGadgetConfiguration* config);
@ -91,7 +93,8 @@ private:
QList<IUAVGadgetFactory*> m_factories;
QList<IUAVGadgetConfiguration*> m_configurations;
QList<IOptionsPage*> m_optionsPages;
QMap<QString, QString> m_classIds;
QMap<QString, QString> m_classIdNameMap;
QMap<QString, QIcon> m_classIdIconMap;
QMap<QString, QStringList> m_takenNames;
QList<IUAVGadgetConfiguration*> m_provisionalConfigs;
QList<IUAVGadgetConfiguration*> m_provisionalDeletes;

2
ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp
View File

@ -91,6 +91,7 @@ UAVGadgetView::UAVGadgetView(Core::UAVGadgetManager *uavGadgetManager, IUAVGadge
m_defaultIndex = 0;
startFromOne = true;
m_uavGadgetList->insertItem(0, im->gadgetName(classId), classId);
m_uavGadgetList->setItemIcon(0, im->gadgetIcon(classId));
m_uavGadgetList->insertSeparator(1);
} else {
@ -101,6 +102,7 @@ UAVGadgetView::UAVGadgetView(Core::UAVGadgetManager *uavGadgetManager, IUAVGadge
break;
}
m_uavGadgetList->insertItem(i, im->gadgetName(classId), classId);
m_uavGadgetList->setItemIcon(i, im->gadgetIcon(classId));
}
++index;
}

9
ground/openpilotgcs/src/plugins/coreplugin/uavgadgetoptionspagedecorator.cpp
View File

@ -34,10 +34,12 @@
using namespace Core;
UAVGadgetOptionsPageDecorator::UAVGadgetOptionsPageDecorator(IOptionsPage *page, IUAVGadgetConfiguration *config, QObject *parent) :
UAVGadgetOptionsPageDecorator::UAVGadgetOptionsPageDecorator(IOptionsPage *page, IUAVGadgetConfiguration *config,
bool isSingleConfigurationGadget, QObject *parent) :
Core::IOptionsPage(parent),
m_optionsPage(page),
m_config(config),
m_isSingleConfigurationGadget(isSingleConfigurationGadget),
m_id(config->name()),
m_category(config->classId())
{
@ -65,6 +67,11 @@ QWidget *UAVGadgetOptionsPageDecorator::createPage(QWidget *parent)
wi->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
m_page->verticalLayout_4->addWidget(wi);
// For some gadgets it might not make sense to have multiple configurations
if (m_isSingleConfigurationGadget) {
m_page->configurationBox->hide();
}
connect(m_page->cloneButton, SIGNAL(clicked()), this, SLOT(cloneConfiguration()));
connect(m_page->deleteButton, SIGNAL(clicked()), this, SLOT(deleteConfiguration()));
connect(m_page->nameLineEdit, SIGNAL(textEdited(QString)), this, SLOT(textEdited(QString)));

3
ground/openpilotgcs/src/plugins/coreplugin/uavgadgetoptionspagedecorator.h
View File

@ -43,7 +43,7 @@ class CORE_EXPORT UAVGadgetOptionsPageDecorator : public Core::IOptionsPage
{
Q_OBJECT
public:
explicit UAVGadgetOptionsPageDecorator(IOptionsPage *page, IUAVGadgetConfiguration *config, QObject *parent = 0);
explicit UAVGadgetOptionsPageDecorator(IOptionsPage *page, IUAVGadgetConfiguration *config, bool isSingleConfigurationGadget = false, QObject *parent = 0);
QString id() const { return m_id; }
QString trName() const { return m_id; }
@ -66,6 +66,7 @@ private slots:
private:
IOptionsPage *m_optionsPage;
IUAVGadgetConfiguration *m_config;
bool m_isSingleConfigurationGadget;
UAVGadgetInstanceManager *m_instanceManager;
QString m_id;
QString m_category;

2
ground/openpilotgcs/src/plugins/dial/dialgadgetfactory.cpp
View File

@ -34,7 +34,7 @@
DialGadgetFactory::DialGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("DialGadget"),
tr("Analog Dial Gadget"),
tr("Analog Dial"),
parent)
{
}

2
ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetfactory.cpp
View File

@ -33,7 +33,7 @@
GpsDisplayGadgetFactory::GpsDisplayGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("GpsDisplayGadget"),
tr("GPS Display Gadget"),
tr("GPS Display"),
parent)
{
}

6
ground/openpilotgcs/src/plugins/importexport/importexport.pro
View File

@ -6,16 +6,14 @@ include(../../openpilotgcsplugin.pri)
include(importexport_dependencies.pri)
HEADERS += importexportplugin.h \
importexportgadgetwidget.h \
importexportdialog.h \
xmlconfig.h
importexportdialog.h
HEADERS += importexportgadget.h
HEADERS += importexportgadgetfactory.h
HEADERS += importexportgadgetconfiguration.h
HEADERS += importexportgadgetoptionspage.h
SOURCES += importexportplugin.cpp \
importexportgadgetwidget.cpp \
importexportdialog.cpp \
xmlconfig.cpp
importexportdialog.cpp
SOURCES += importexportgadget.cpp
SOURCES += importexportgadgetfactory.cpp
SOURCES += importexportgadgetconfiguration.cpp

2
ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp
View File

@ -28,7 +28,7 @@
*/
#include "importexportgadgetwidget.h"
#include "ui_importexportgadgetwidget.h"
#include "xmlconfig.h"
#include "utils/xmlconfig.h"
#include "coreplugin/uavgadgetinstancemanager.h"
#include "coreplugin/icore.h"
#include <extensionsystem/pluginmanager.h>

2
ground/openpilotgcs/src/plugins/lineardial/lineardialgadgetfactory.cpp
View File

@ -33,7 +33,7 @@
LineardialGadgetFactory::LineardialGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("LineardialGadget"),
tr("Bargraph Dial Gadget"),
tr("Bargraph Dial"),
parent)
{
}

2
ground/openpilotgcs/src/plugins/modelview/modelviewgadgetfactory.cpp
View File

@ -33,7 +33,7 @@
#include <coreplugin/iuavgadget.h>
ModelViewGadgetFactory::ModelViewGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("ModelViewGadget"), tr("ModelView Gadget"), parent)
IUAVGadgetFactory(QString("ModelViewGadget"), tr("ModelView"), parent)
{
}

2
ground/openpilotgcs/src/plugins/opmap/opmapgadgetfactory.cpp
View File

@ -32,7 +32,7 @@
#include <coreplugin/iuavgadget.h>
OPMapGadgetFactory::OPMapGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("OPMapGadget"), tr("OPMap Gadget"), parent)
IUAVGadgetFactory(QString("OPMapGadget"), tr("OPMap"), parent)
{
}

2
ground/openpilotgcs/src/plugins/pfd/pfdgadgetfactory.cpp
View File

@ -33,7 +33,7 @@
PFDGadgetFactory::PFDGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("PFDGadget"),
tr("Primary Flight Display Gadget"),
tr("Primary Flight Display"),
parent)
{
}

7
ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetfactory.cpp
View File

@ -31,7 +31,7 @@
#include <coreplugin/iuavgadget.h>
PipXtremeGadgetFactory::PipXtremeGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("PipXtreme"), tr("PipXtreme Gadget"), parent)
IUAVGadgetFactory(QString("PipXtreme"), tr("PipXtreme"), parent)
{
}
@ -49,8 +49,3 @@ IUAVGadgetConfiguration * PipXtremeGadgetFactory::createConfiguration(QSettings
{
return new PipXtremeGadgetConfiguration(QString("PipXtreme"), qSettings);
}
IOptionsPage * PipXtremeGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new PipXtremeGadgetOptionsPage(qobject_cast<PipXtremeGadgetConfiguration *>(config));
}

1
ground/openpilotgcs/src/plugins/pipxtreme/pipxtremegadgetfactory.h
View File

@ -45,7 +45,6 @@ public:
Core::IUAVGadget * createGadget(QWidget *parent);
IUAVGadgetConfiguration * createConfiguration(QSettings *qSettings);
IOptionsPage * createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif

2
ground/openpilotgcs/src/plugins/scope/scopegadgetfactory.cpp
View File

@ -33,7 +33,7 @@
ScopeGadgetFactory::ScopeGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("ScopeGadget"),
tr("Scope Gadget"),
tr("Scope"),
parent)
{
}

2
ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetfactory.cpp
View File

@ -33,7 +33,7 @@
SystemHealthGadgetFactory::SystemHealthGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("SystemHealthGadget"),
tr("System Health Gadget"),
tr("System Health"),
parent)
{
}

7
ground/openpilotgcs/src/plugins/uploader/uploadergadgetfactory.cpp
View File

@ -33,7 +33,7 @@
#include <coreplugin/iuavgadget.h>
UploaderGadgetFactory::UploaderGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("Uploader"), tr("Uploader Gadget"), parent)
IUAVGadgetFactory(QString("Uploader"), tr("Uploader"), parent)
{
}
@ -52,8 +52,3 @@ IUAVGadgetConfiguration *UploaderGadgetFactory::createConfiguration(QSettings* q
return new UploaderGadgetConfiguration(QString("Uploader"), qSettings);
}
IOptionsPage *UploaderGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new UploaderGadgetOptionsPage(qobject_cast<UploaderGadgetConfiguration*>(config));
}

1
ground/openpilotgcs/src/plugins/uploader/uploadergadgetfactory.h
View File

@ -46,7 +46,6 @@ public:
Core::IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(QSettings* qSettings);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // UPLOADERGADGETFACTORY_H

96
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -33,7 +33,6 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
m_config = new Ui_UploaderWidget();
m_config->setupUi(this);
currentStep = IAP_STATE_READY;
rescueStep = RESCUE_STEP0;
resetOnly=false;
dfu = NULL;
@ -393,8 +392,6 @@ void UploaderGadgetWidget::systemBoot()
void UploaderGadgetWidget::systemRescue()
{
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
switch (rescueStep) {
case RESCUE_STEP0: {
cm->disconnectDevice();
// stop the polling thread: otherwise it will mess up DFU
cm->suspendPolling();
@ -419,29 +416,48 @@ void UploaderGadgetWidget::systemRescue()
log("** Follow those instructions to attempt a system rescue **");
log("**********************************************************");
log("You will be prompted to first connect USB, then system power");
log ("Connect USB in 2 seconds...");
rescueStep = RESCUE_STEP1;
QTimer::singleShot(1000, this, SLOT(systemRescue()));
if(USBMonitor::instance()->availableDevices(0x20a0,-1,-1,-1).length()>0)
{
if(QMessageBox::warning(this,tr("OpenPilot Uploader"),tr("Please disconnect all openpilot boards"),QMessageBox::Ok,QMessageBox::Cancel)==QMessageBox::Cancel)
{
m_config->rescueButton->setEnabled(true);
return;
}
break;
case RESCUE_STEP1:
rescueStep = RESCUE_STEP2;
log (" ...1...");
QTimer::singleShot(1000, this, SLOT(systemRescue()));
break;
case RESCUE_STEP2:
rescueStep = RESCUE_STEP3;
log(" ...Now!");
QTimer::singleShot(1000, this, SLOT(systemRescue()));
break;
case RESCUE_STEP3:
}
// Now we're good to go:
clearLog();
log("**********************************************************");
log("** Follow those instructions to attempt a system rescue **");
log("**********************************************************");
log("You will be prompted to first connect USB, then system power");
pd = new QProgressDialog(tr("Please connect the board (USB only!)"), tr("Cancel"), 0, 20);
QProgressBar * bar=new QProgressBar(pd);
bar->setFormat("Timeout");
pd->setBar(bar);
pd->setMinimumDuration(0);
pd->setRange(0,20);
connect(pd, SIGNAL(canceled()), this, SLOT(cancel()));
t = new QTimer(this);
connect(t, SIGNAL(timeout()), this, SLOT(perform()));
t->start(1000);
connect(USBMonitor::instance(), SIGNAL(deviceDiscovered(USBPortInfo)),&q, SLOT(quit()));
q.exec();
if(!t->isActive())
{
pd->close();
t->stop();
QMessageBox::warning(this,tr("Openpilot Uploader"),tr("No board connection was detected!"));
m_config->rescueButton->setEnabled(true);
return;
}
pd->close();
t->stop();
log("... Detecting First Board...");
repaint();
dfu = new DFUObject(DFU_DEBUG, false, QString());
dfu->AbortOperation();
if(!dfu->enterDFU(0))
{
rescueStep = RESCUE_STEP0;
log("Could not enter DFU mode.");
delete dfu;
dfu = NULL;
@ -451,7 +467,6 @@ void UploaderGadgetWidget::systemRescue()
}
if(!dfu->findDevices() || (dfu->numberOfDevices != 1))
{
rescueStep = RESCUE_STEP0;
log("Could not detect a board, aborting!");
delete dfu;
dfu = NULL;
@ -459,23 +474,11 @@ void UploaderGadgetWidget::systemRescue()
m_config->rescueButton->setEnabled(true);
return;
}
rescueStep = RESCUE_POWER1;
log("Connect Power in 2 second...");
log("(not required on CopterControl)");
QTimer::singleShot(1000, this, SLOT(systemRescue()));
break;
case RESCUE_POWER1:
rescueStep = RESCUE_POWER2;
log(" ...1...");
QTimer::singleShot(1000, this, SLOT(systemRescue()));
break;
case RESCUE_POWER2:
log("... NOW!\n***\nWaiting...");
rescueStep = RESCUE_DETECT;
QTimer::singleShot(5000, this, SLOT(systemRescue()));
break;
case RESCUE_DETECT:
rescueStep = RESCUE_STEP0;
if(QMessageBox::question(this,tr("OpenPilot Uploader"),tr("If you want to search for other boards connect power now and press Yes"),QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes)
{
log("\nWaiting...");
QTimer::singleShot(3000, &q, SLOT(quit()));
q.exec();
log("Detecting second board...");
repaint();
if(!dfu->findDevices())
@ -489,6 +492,7 @@ void UploaderGadgetWidget::systemRescue()
m_config->rescueButton->setEnabled(true);
return;
}
}
log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
if (dfu->numberOfDevices > 5) {
log("Inconsistent number of devices, aborting!");
@ -510,7 +514,20 @@ void UploaderGadgetWidget::systemRescue()
m_config->bootButton->setEnabled(true);
m_config->rescueButton->setEnabled(false);
currentStep = IAP_STATE_BOOTLOADER; // So that we can boot from the GUI afterwards.
}
void UploaderGadgetWidget::perform()
{
if(pd->value()==19)
{
t->stop();
q.exit();
}
pd->setValue(pd->value()+1);
}
void UploaderGadgetWidget::cancel()
{
t->stop();
q.exit();
}
/**
@ -538,6 +555,11 @@ UploaderGadgetWidget::~UploaderGadgetWidget()
m_config->systemElements->removeTab(0);
delete qw;
}
if (pd)
delete pd;
if (t)
delete t;
}

10
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
View File

@ -53,6 +53,7 @@
#include <QMessageBox>
#include <QTimer>
#include <QProgressDialog>
using namespace OP_DFU;
@ -64,7 +65,6 @@ public:
UploaderGadgetWidget(QWidget *parent = 0);
~UploaderGadgetWidget();
typedef enum { IAP_STATE_READY, IAP_STATE_STEP_1, IAP_STATE_STEP_2, IAP_STEP_RESET, IAP_STATE_BOOTLOADER} IAPStep;
typedef enum { RESCUE_STEP0, RESCUE_STEP1, RESCUE_STEP2, RESCUE_STEP3, RESCUE_POWER1, RESCUE_POWER2, RESCUE_DETECT } RescueStep;
void log(QString str);
public slots:
@ -75,13 +75,13 @@ private:
Ui_UploaderWidget *m_config;
DFUObject *dfu;
IAPStep currentStep;
RescueStep rescueStep;
bool resetOnly;
void clearLog();
QString getPortDevice(const QString &friendName);
QProgressDialog* pd;
QTimer* t;
QLineEdit* openFileNameLE;
QEventLoop q;
private slots:
void error(QString errorString,int errorNumber);
void info(QString infoString,int infoNumber);
@ -90,6 +90,8 @@ private slots:
void systemBoot();
void systemRescue();
void getSerialPorts();
void perform();
void cancel();
};