mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
Most functionality is now in the UI for ccpm mixing.
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
andrew
parent
2d0196a5ea
commit
9aae70fedf
@ -290,11 +290,21 @@
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<string>Front</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Right</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Rear</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Left</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="4" column="0">
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@ -668,10 +678,10 @@
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<number>0</number>
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</property>
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<property name="verticalScrollBarPolicy">
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<enum>Qt::ScrollBarAlwaysOff</enum>
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<enum>Qt::ScrollBarAlwaysOn</enum>
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</property>
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<property name="horizontalScrollBarPolicy">
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<enum>Qt::ScrollBarAlwaysOff</enum>
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<enum>Qt::ScrollBarAlwaysOn</enum>
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</property>
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<property name="backgroundBrush">
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<brush brushstyle="SolidPattern">
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@ -682,6 +692,15 @@
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</color>
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</brush>
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</property>
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<property name="foregroundBrush">
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<brush brushstyle="NoBrush">
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<color alpha="255">
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<red>0</red>
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<green>0</green>
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<blue>0</blue>
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</color>
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</brush>
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</property>
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<property name="alignment">
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<set>Qt::AlignHCenter|Qt::AlignTop</set>
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</property>
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@ -978,6 +997,12 @@
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<layout class="QFormLayout" name="formLayout_5">
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<item row="0" column="0">
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<widget class="QTableWidget" name="CurveSettings">
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<property name="minimumSize">
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<size>
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<width>260</width>
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<height>323</height>
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</size>
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</property>
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<property name="font">
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<font>
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<pointsize>8</pointsize>
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@ -1279,6 +1304,18 @@
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<property name="horizontalScrollBarPolicy">
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<enum>Qt::ScrollBarAlwaysOff</enum>
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</property>
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<property name="alternatingRowColors">
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<bool>true</bool>
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</property>
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<property name="selectionMode">
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<enum>QAbstractItemView::NoSelection</enum>
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</property>
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<property name="wordWrap">
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<bool>false</bool>
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</property>
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<property name="cornerButtonEnabled">
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<bool>true</bool>
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</property>
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<row>
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<property name="text">
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<string>Engine</string>
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@ -43,8 +43,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
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m_ccpm->setupUi(this);
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// Now connect the widget to the ManualControlCommand / Channel UAVObject
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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// Initialization of the swashplaye widget
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m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
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@ -59,6 +59,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
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SwashplateImg->setObjectName("Swashplate");
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m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg);
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m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect());
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m_ccpm->SwashplateImage->scale(.75,.75);
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ServoW = new QGraphicsSvgItem();
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@ -81,6 +82,35 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
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ServoZ->setElementId("ServoZ");
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m_ccpm->SwashplateImage->scene()->addItem(ServoZ);
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QFont serifFont("Times", 16, QFont::Bold);
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ServoWText = new QGraphicsTextItem();
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ServoWText->setDefaultTextColor(Qt::red);
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ServoWText->setPlainText(QString("-"));
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ServoWText->setFont(serifFont);
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m_ccpm->SwashplateImage->scene()->addItem(ServoWText);
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ServoXText = new QGraphicsTextItem();
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ServoXText->setDefaultTextColor(Qt::red);
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ServoXText->setPlainText(QString("-"));
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ServoXText->setFont(serifFont);
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m_ccpm->SwashplateImage->scene()->addItem(ServoXText);
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ServoYText = new QGraphicsTextItem();
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ServoYText->setDefaultTextColor(Qt::red);
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ServoYText->setPlainText(QString("-"));
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ServoYText->setFont(serifFont);
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m_ccpm->SwashplateImage->scene()->addItem(ServoYText);
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ServoZText = new QGraphicsTextItem();
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ServoZText->setDefaultTextColor(Qt::red);
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ServoZText->setPlainText(QString("-"));
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ServoZText->setFont(serifFont);
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m_ccpm->SwashplateImage->scene()->addItem(ServoZText);
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QStringList channels;
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channels << "Channel0" << "Channel1" << "Channel2" <<
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@ -99,12 +129,15 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
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m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
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QStringList Types;
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Types << "Custom - Advanced Settings" << "Custom - User Angles" << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" ;
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Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "Custom - User Angles" << "Custom - Advanced Settings" ;
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m_ccpm->ccpmType->addItems(Types);
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m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
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requestccpmUpdate();
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UpdateCurveSettings();
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//disable changing number of points in curves until UAVObjects have more than 5
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m_ccpm->NumCurvePoints->setEnabled(0);
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UpdateType();
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connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
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@ -117,13 +150,19 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
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connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
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connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
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connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
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connect(m_ccpm->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
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connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
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connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
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connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
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connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
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connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
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connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
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connect(m_ccpm->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
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connect(m_ccpm->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
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connect(m_ccpm->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
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connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
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connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
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connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
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@ -140,23 +179,30 @@ ConfigccpmWidget::~ConfigccpmWidget()
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void ConfigccpmWidget::UpdateType()
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{
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int TypeInt,angle,NumServo;
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int TypeInt,SingleServoIndex;
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QString TypeText;
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TypeInt = m_ccpm->ccpmType->currentIndex();
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TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
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TypeText = m_ccpm->ccpmType->currentText();
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SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
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//set visibility of user settings
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m_ccpm->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0);
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m_ccpm->ccpmAdvancedSettingsTable->clearFocus();;
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m_ccpm->ccpmAngleW->setEnabled(TypeInt==1);
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m_ccpm->ccpmAngleX->setEnabled(TypeInt==1);
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m_ccpm->ccpmAngleY->setEnabled(TypeInt==1);
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m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1);
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m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1);
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m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0);
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m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0);
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m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0);
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m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0);
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m_ccpm->ccpmSingleServo->setEnabled(TypeInt>1);
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m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0);
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m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0);
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m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0);
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@ -166,20 +212,37 @@ void ConfigccpmWidget::UpdateType()
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//set values for pre defined heli types
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if (TypeInt>1)
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if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
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{
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//NumServo = TypeText.mid(TypeText.indexOf(QRegExp("[0-9]{1,1} Servo"))).toInt();
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// angle = TypeText.mid(TypeText.indexOf(QRegExp("[0-9]{1,3}º"))).toInt();
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if (TypeText.compare(QString("CCPM 2 SERVO 90º")))
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m_ccpm->ccpmAngleW->setValue(0);
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m_ccpm->ccpmAngleX->setValue(90);
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m_ccpm->ccpmAngleY->setValue(0);
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m_ccpm->ccpmAngleZ->setValue(0);
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m_ccpm->ccpmAngleY->setEnabled(0);
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m_ccpm->ccpmAngleZ->setEnabled(0);
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m_ccpm->ccpmServoYChannel->setEnabled(0);
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m_ccpm->ccpmServoZChannel->setEnabled(0);
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m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
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}
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if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
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{
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m_ccpm->ccpmAngleW->setValue(60);
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m_ccpm->ccpmAngleX->setValue(180);
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m_ccpm->ccpmAngleY->setValue(300);
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m_ccpm->ccpmAngleW->setValue(0);
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m_ccpm->ccpmAngleX->setValue(120);
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m_ccpm->ccpmAngleY->setValue(240);
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m_ccpm->ccpmAngleZ->setValue(0);
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m_ccpm->ccpmAngleZ->setEnabled(0);
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m_ccpm->ccpmServoZChannel->setEnabled(0);
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m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
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}
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if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
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{
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m_ccpm->ccpmAngleW->setValue(0);
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m_ccpm->ccpmAngleX->setValue(140);
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m_ccpm->ccpmAngleY->setValue(220);
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m_ccpm->ccpmAngleZ->setValue(0);
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m_ccpm->ccpmAngleZ->setEnabled(0);
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m_ccpm->ccpmServoZChannel->setEnabled(0);
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m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
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}
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@ -316,38 +379,64 @@ void ConfigccpmWidget::GenerateCurve()
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void ConfigccpmWidget::ccpmSwashplateUpdate()
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{
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double angle,correctionangle,x,y;
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double angle,CorrectionAngle,x,y,CenterX,CenterY;
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int used;
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correctionangle=m_ccpm->ccpmCorrectionAngle->value();
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CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
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used=m_ccpm->ccpmServoWChannel->currentIndex()<8;
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//CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x();
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// CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y();
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CenterX=200;
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CenterY=220;
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SwashplateImg->setPos(CenterX-200,CenterY-200);
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used=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
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ServoW->setVisible(used!=0);
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angle=(180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
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x=200.00-(200.00*sin(angle))-10.00;
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y=200.00+(200.00*cos(angle))-10.00;
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ServoWText->setVisible(used!=0);
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angle=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
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x=CenterX-(200.00*sin(angle))-10.00;
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y=CenterY+(200.00*cos(angle))-10.00;
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ServoW->setPos(x, y);
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x=CenterX-(170.00*sin(angle))-10.00;
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y=CenterY+(170.00*cos(angle))-10.00;
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ServoWText->setPos(x, y);
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used=m_ccpm->ccpmServoXChannel->currentIndex()<8;
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used=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
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ServoX->setVisible(used!=0);
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angle=(180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
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x=200.00-(200.00*sin(angle))-10.00;
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y=200.00+(200.00*cos(angle))-10.00;
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ServoXText->setVisible(used!=0);
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angle=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
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x=CenterX-(200.00*sin(angle))-10.00;
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y=CenterY+(200.00*cos(angle))-10.00;
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ServoX->setPos(x, y);
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x=CenterX-(170.00*sin(angle))-10.00;
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y=CenterY+(170.00*cos(angle))-10.00;
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ServoXText->setPos(x, y);
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used=m_ccpm->ccpmServoYChannel->currentIndex()<8;
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used=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
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ServoY->setVisible(used!=0);
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angle=(180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
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x=200.00-(200.00*sin(angle))-10.00;
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y=200.00+(200.00*cos(angle))-10.00;
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ServoYText->setVisible(used!=0);
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angle=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
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x=CenterX-(200.00*sin(angle))-10.00;
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y=CenterY+(200.00*cos(angle))-10.00;
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ServoY->setPos(x, y);
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x=CenterX-(170.00*sin(angle))-10.00;
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y=CenterY+(170.00*cos(angle))-10.00;
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ServoYText->setPos(x, y);
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used=m_ccpm->ccpmServoZChannel->currentIndex()<8;
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used=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
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ServoZ->setVisible(used!=0);
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angle=(180+m_ccpm->ccpmAngleZ->value())*Pi/180.00;
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x=200.00-(200.00*sin(angle))-10.00;
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y=200.00+(200.00*cos(angle))-10.00;
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ServoZText->setVisible(used!=0);
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angle=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00;
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x=CenterX-(200.00*sin(angle))-10.00;
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y=CenterY+(200.00*cos(angle))-10.00;
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ServoZ->setPos(x, y);
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x=CenterX-(170.00*sin(angle))-10.00;
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y=CenterY+(170.00*cos(angle))-10.00;
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ServoZText->setPos(x, y);
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//m_ccpm->SwashplateImage->centerOn (CenterX, CenterY);
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UpdateMixer();
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@ -355,13 +444,14 @@ void ConfigccpmWidget::ccpmSwashplateUpdate()
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void ConfigccpmWidget::UpdateMixer()
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{
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int i,j,Type;
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float CollectiveConstant,ThisAngle[6];
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QTableWidgetItem *newItem;// = new QTableWidgetItem();
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int i,j,Type,ThisEnable[6];
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float CollectiveConstant,CorrectionAngle,ThisAngle[6];
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//QTableWidgetItem *newItem;// = new QTableWidgetItem();
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QString Channel;
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Type = m_ccpm->ccpmType->currentIndex();
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Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
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CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
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CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
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if (Type>0)
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@ -380,6 +470,18 @@ void ConfigccpmWidget::UpdateMixer()
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ThisAngle[4] = m_ccpm->ccpmAngleY->value();
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ThisAngle[5] = m_ccpm->ccpmAngleZ->value();
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//get the angle data from the ui
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ThisEnable[2] = m_ccpm->ccpmServoWChannel->isEnabled();
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ThisEnable[3] = m_ccpm->ccpmServoXChannel->isEnabled();
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ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled();
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ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled();
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ServoWText->setPlainText(QString("%1").arg( MixerChannelData[2] ));
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ServoXText->setPlainText(QString("%1").arg( MixerChannelData[3] ));
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ServoYText->setPlainText(QString("%1").arg( MixerChannelData[4] ));
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ServoZText->setPlainText(QString("%1").arg( MixerChannelData[5] ));
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//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());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -55,6 +55,10 @@ private:
|
||||
QGraphicsSvgItem *ServoX;
|
||||
QGraphicsSvgItem *ServoY;
|
||||
QGraphicsSvgItem *ServoZ;
|
||||
QGraphicsTextItem *ServoWText;
|
||||
QGraphicsTextItem *ServoXText;
|
||||
QGraphicsTextItem *ServoYText;
|
||||
QGraphicsTextItem *ServoZText;
|
||||
|
||||
int MixerChannelData[6];
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user