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Code Issues Releases Activity

Most functionality is now in the UI for ccpm mixing.

Browse Source 
Currently this will not update hardware correctly... 
but it will set the matrix under the Advanced Settings tab.
Do NOT use for flight!

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1952 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew 2010-10-13 06:06:32 +00:00 committed by andrew
parent 2d0196a5ea
commit 9aae70fedf
3 changed files with 192 additions and 51 deletions
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41
ground/src/plugins/config/ccpm.ui
View File

@ -290,11 +290,21 @@
<string>Front</string>
</property>
</item>
<item>
<property name="text">
<string>Right</string>
</property>
</item>
<item>
<property name="text">
<string>Rear</string>
</property>
</item>
<item>
<property name="text">
<string>Left</string>
</property>
</item>
</widget>
</item>
<item row="4" column="0">
@ -668,10 +678,10 @@
<number>0</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
<enum>Qt::ScrollBarAlwaysOn</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
<enum>Qt::ScrollBarAlwaysOn</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="SolidPattern">
@ -682,6 +692,15 @@
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="alignment">
<set>Qt::AlignHCenter|Qt::AlignTop</set>
</property>
@ -978,6 +997,12 @@
<layout class="QFormLayout" name="formLayout_5">
<item row="0" column="0">
<widget class="QTableWidget" name="CurveSettings">
<property name="minimumSize">
<size>
<width>260</width>
<height>323</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
@ -1279,6 +1304,18 @@
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<property name="selectionMode">
<enum>QAbstractItemView::NoSelection</enum>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
<property name="cornerButtonEnabled">
<bool>true</bool>
</property>
<row>
<property name="text">
<string>Engine</string>

198
ground/src/plugins/config/configccpmwidget.cpp
View File

@ -43,8 +43,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ccpm->setupUi(this);
// Now connect the widget to the ManualControlCommand / Channel UAVObject
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Initialization of the swashplaye widget
m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
@ -59,6 +59,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
SwashplateImg->setObjectName("Swashplate");
m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg);
m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect());
m_ccpm->SwashplateImage->scale(.75,.75);
ServoW = new QGraphicsSvgItem();
@ -81,6 +82,35 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
ServoZ->setElementId("ServoZ");
m_ccpm->SwashplateImage->scene()->addItem(ServoZ);
QFont serifFont("Times", 16, QFont::Bold);
ServoWText = new QGraphicsTextItem();
ServoWText->setDefaultTextColor(Qt::red);
ServoWText->setPlainText(QString("-"));
ServoWText->setFont(serifFont);
m_ccpm->SwashplateImage->scene()->addItem(ServoWText);
ServoXText = new QGraphicsTextItem();
ServoXText->setDefaultTextColor(Qt::red);
ServoXText->setPlainText(QString("-"));
ServoXText->setFont(serifFont);
m_ccpm->SwashplateImage->scene()->addItem(ServoXText);
ServoYText = new QGraphicsTextItem();
ServoYText->setDefaultTextColor(Qt::red);
ServoYText->setPlainText(QString("-"));
ServoYText->setFont(serifFont);
m_ccpm->SwashplateImage->scene()->addItem(ServoYText);
ServoZText = new QGraphicsTextItem();
ServoZText->setDefaultTextColor(Qt::red);
ServoZText->setPlainText(QString("-"));
ServoZText->setFont(serifFont);
m_ccpm->SwashplateImage->scene()->addItem(ServoZText);
QStringList channels;
channels << "Channel0" << "Channel1" << "Channel2" <<
@ -99,12 +129,15 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
QStringList Types;
Types << "Custom - Advanced Settings" << "Custom - User Angles" << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" ;
Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "Custom - User Angles" << "Custom - Advanced Settings" ;
m_ccpm->ccpmType->addItems(Types);
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
requestccpmUpdate();
UpdateCurveSettings();
//disable changing number of points in curves until UAVObjects have more than 5
m_ccpm->NumCurvePoints->setEnabled(0);
UpdateType();
connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
@ -117,13 +150,19 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
@ -140,23 +179,30 @@ ConfigccpmWidget::~ConfigccpmWidget()
void ConfigccpmWidget::UpdateType()
{
int TypeInt,angle,NumServo;
int TypeInt,SingleServoIndex;
QString TypeText;
TypeInt = m_ccpm->ccpmType->currentIndex();
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
TypeText = m_ccpm->ccpmType->currentText();
SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
//set visibility of user settings
m_ccpm->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0);
m_ccpm->ccpmAdvancedSettingsTable->clearFocus();;
m_ccpm->ccpmAngleW->setEnabled(TypeInt==1);
m_ccpm->ccpmAngleX->setEnabled(TypeInt==1);
m_ccpm->ccpmAngleY->setEnabled(TypeInt==1);
m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1);
m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1);
m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmSingleServo->setEnabled(TypeInt>1);
m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0);
m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0);
@ -166,21 +212,38 @@ void ConfigccpmWidget::UpdateType()
//set values for pre defined heli types
if (TypeInt>1)
{
//NumServo = TypeText.mid(TypeText.indexOf(QRegExp("[0-9]{1,1} Servo"))).toInt();
// angle = TypeText.mid(TypeText.indexOf(QRegExp("[0-9]{1,3}º"))).toInt();
if (TypeText.compare(QString("CCPM 2 SERVO 90º")))
if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(60);
m_ccpm->ccpmAngleX->setValue(180);
m_ccpm->ccpmAngleY->setValue(300);
m_ccpm->ccpmAngleW->setValue(0);
m_ccpm->ccpmAngleX->setValue(90);
m_ccpm->ccpmAngleY->setValue(0);
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
}
if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(0);
m_ccpm->ccpmAngleX->setValue(120);
m_ccpm->ccpmAngleY->setValue(240);
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
}
if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(0);
m_ccpm->ccpmAngleX->setValue(140);
m_ccpm->ccpmAngleY->setValue(220);
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
}
}
//update UI
@ -316,38 +379,64 @@ void ConfigccpmWidget::GenerateCurve()
void ConfigccpmWidget::ccpmSwashplateUpdate()
{
double angle,correctionangle,x,y;
double angle,CorrectionAngle,x,y,CenterX,CenterY;
int used;
correctionangle=m_ccpm->ccpmCorrectionAngle->value();
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
used=m_ccpm->ccpmServoWChannel->currentIndex()<8;
//CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x();
// CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y();
CenterX=200;
CenterY=220;
SwashplateImg->setPos(CenterX-200,CenterY-200);
used=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
ServoW->setVisible(used!=0);
angle=(180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
x=200.00-(200.00*sin(angle))-10.00;
y=200.00+(200.00*cos(angle))-10.00;
ServoWText->setVisible(used!=0);
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
x=CenterX-(200.00*sin(angle))-10.00;
y=CenterY+(200.00*cos(angle))-10.00;
ServoW->setPos(x, y);
x=CenterX-(170.00*sin(angle))-10.00;
y=CenterY+(170.00*cos(angle))-10.00;
ServoWText->setPos(x, y);
used=m_ccpm->ccpmServoXChannel->currentIndex()<8;
used=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
ServoX->setVisible(used!=0);
angle=(180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
x=200.00-(200.00*sin(angle))-10.00;
y=200.00+(200.00*cos(angle))-10.00;
ServoXText->setVisible(used!=0);
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
x=CenterX-(200.00*sin(angle))-10.00;
y=CenterY+(200.00*cos(angle))-10.00;
ServoX->setPos(x, y);
x=CenterX-(170.00*sin(angle))-10.00;
y=CenterY+(170.00*cos(angle))-10.00;
ServoXText->setPos(x, y);
used=m_ccpm->ccpmServoYChannel->currentIndex()<8;
used=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
ServoY->setVisible(used!=0);
angle=(180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
x=200.00-(200.00*sin(angle))-10.00;
y=200.00+(200.00*cos(angle))-10.00;
ServoYText->setVisible(used!=0);
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
x=CenterX-(200.00*sin(angle))-10.00;
y=CenterY+(200.00*cos(angle))-10.00;
ServoY->setPos(x, y);
x=CenterX-(170.00*sin(angle))-10.00;
y=CenterY+(170.00*cos(angle))-10.00;
ServoYText->setPos(x, y);
used=m_ccpm->ccpmServoZChannel->currentIndex()<8;
used=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
ServoZ->setVisible(used!=0);
angle=(180+m_ccpm->ccpmAngleZ->value())*Pi/180.00;
x=200.00-(200.00*sin(angle))-10.00;
y=200.00+(200.00*cos(angle))-10.00;
ServoZText->setVisible(used!=0);
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00;
x=CenterX-(200.00*sin(angle))-10.00;
y=CenterY+(200.00*cos(angle))-10.00;
ServoZ->setPos(x, y);
x=CenterX-(170.00*sin(angle))-10.00;
y=CenterY+(170.00*cos(angle))-10.00;
ServoZText->setPos(x, y);
//m_ccpm->SwashplateImage->centerOn (CenterX, CenterY);
UpdateMixer();
@ -355,13 +444,14 @@ void ConfigccpmWidget::ccpmSwashplateUpdate()
void ConfigccpmWidget::UpdateMixer()
{
int i,j,Type;
float CollectiveConstant,ThisAngle[6];
QTableWidgetItem *newItem;// = new QTableWidgetItem();
int i,j,Type,ThisEnable[6];
float CollectiveConstant,CorrectionAngle,ThisAngle[6];
//QTableWidgetItem *newItem;// = new QTableWidgetItem();
QString Channel;
Type = m_ccpm->ccpmType->currentIndex();
Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
if (Type>0)
@ -380,6 +470,18 @@ void ConfigccpmWidget::UpdateMixer()
ThisAngle[4] = m_ccpm->ccpmAngleY->value();
ThisAngle[5] = m_ccpm->ccpmAngleZ->value();
//get the angle data from the ui
ThisEnable[2] = m_ccpm->ccpmServoWChannel->isEnabled();
ThisEnable[3] = m_ccpm->ccpmServoXChannel->isEnabled();
ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled();
ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled();
ServoWText->setPlainText(QString("%1").arg( MixerChannelData[2] ));
ServoXText->setPlainText(QString("%1").arg( MixerChannelData[3] ));
ServoYText->setPlainText(QString("%1").arg( MixerChannelData[4] ));
ServoZText->setPlainText(QString("%1").arg( MixerChannelData[5] ));
//go through the user data and update the mixer matrix
for (i=0;i<6;i++)
{
@ -392,7 +494,7 @@ void ConfigccpmWidget::UpdateMixer()
data.Mixer0Vector[4] = 0;//Yaw
*/
if (MixerChannelData[i]<8)
if ((MixerChannelData[i]<8)&&(ThisEnable[i]))
{
m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i] ));
//config the vector
@ -416,8 +518,8 @@ void ConfigccpmWidget::UpdateMixer()
{//Swashplate
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin(ThisAngle[i]*Pi/180.00))));//Roll
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos(ThisAngle[i]*Pi/180.00))));//Pitch
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
}
@ -451,13 +553,12 @@ void ConfigccpmWidget::UpdateMixer()
*/
void ConfigccpmWidget::requestccpmUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
int i;
UAVObjectField *field;
QTableWidgetItem *newItem;// = new QTableWidgetItem();
//UAVObjectField *field;
//QTableWidgetItem *newItem;// = new QTableWidgetItem();
//not doing anything yet
@ -474,7 +575,6 @@ void ConfigccpmWidget::requestccpmUpdate()
void ConfigccpmWidget::sendccpmUpdate()
{
int i,j;
float CollectiveConstant,ThisAngle[6];
UAVObjectField *field;
UAVDataObject* obj;
@ -515,9 +615,9 @@ void ConfigccpmWidget::sendccpmUpdate()
//select the correct mixer for this config element
field = obj->getField(tr( "Mixer%1Vector" ).arg( MixerChannelData[i] ));
//config the vector
for (j=0;j<6;j++)
for (j=0;j<5;j++)
{
field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->text().toInt());
//field->setValue(j,m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt());
}
}

4
ground/src/plugins/config/configccpmwidget.h
View File

@ -55,6 +55,10 @@ private:
QGraphicsSvgItem *ServoX;
QGraphicsSvgItem *ServoY;
QGraphicsSvgItem *ServoZ;
QGraphicsTextItem *ServoWText;
QGraphicsTextItem *ServoXText;
QGraphicsTextItem *ServoYText;
QGraphicsTextItem *ServoZText;
int MixerChannelData[6];