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Code Issues Releases Activity

OP-138 Quad and Hexa implemented, custom table works (read only, not edit), and code improved to enable definition of matrices

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in simple tables instead of ugly lines of code. Testers needed. Cautious testers. Also reshuffled the AHRS UI to put 6-point above sensor noise.
Next will be octo and coaxial frames.




git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1999 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-10-21 22:05:07 +00:00 committed by edouard
parent d6e9080ec6
commit 9ad1618739
4 changed files with 332 additions and 208 deletions
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42
ground/src/plugins/config/ahrs.ui
View File

@ -32,7 +32,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>10</x> <x>10</x>
<y>10</y> <y>210</y>
<width>341</width> <width>341</width>
<height>131</height> <height>131</height>
</rect> </rect>
@ -52,8 +52,8 @@ Tip: lower is better!</string>
<widget class="QLabel" name="calibInstructions"> <widget class="QLabel" name="calibInstructions">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>390</x> <x>380</x>
<y>90</y> <y>280</y>
<width>231</width> <width>231</width>
<height>17</height> <height>17</height>
</rect> </rect>
@ -68,8 +68,8 @@ Tip: lower is better!</string>
</property> </property>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>440</x> <x>450</x>
<y>40</y> <y>240</y>
<width>93</width> <width>93</width>
<height>27</height> <height>27</height>
</rect> </rect>
@ -86,8 +86,8 @@ Hint: run this with engines at cruising speed.</string>
<widget class="Line" name="line"> <widget class="Line" name="line">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>127</x> <x>220</x>
<y>150</y> <y>180</y>
<width>411</width> <width>411</width>
<height>20</height> <height>20</height>
</rect> </rect>
@ -128,7 +128,7 @@ Hint: run this with engines at cruising speed.</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>10</x> <x>10</x>
<y>190</y> <y>40</y>
<width>191</width> <width>191</width>
<height>151</height> <height>151</height>
</rect> </rect>
@ -140,14 +140,14 @@ Hint: run this with engines at cruising speed.</string>
<widget class="QLabel" name="label_3"> <widget class="QLabel" name="label_3">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>40</x> <x>20</x>
<y>170</y> <y>10</y>
<width>151</width> <width>181</width>
<height>17</height> <height>17</height>
</rect> </rect>
</property> </property>
<property name="text"> <property name="text">
<string>Six Point Calibration</string> <string>#1: Six Point Calibration</string>
</property> </property>
</widget> </widget>
<widget class="QPushButton" name="sixPointsStart"> <widget class="QPushButton" name="sixPointsStart">
@ -156,8 +156,8 @@ Hint: run this with engines at cruising speed.</string>
</property> </property>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>220</x> <x>250</x>
<y>180</y> <y>10</y>
<width>111</width> <width>111</width>
<height>27</height> <height>27</height>
</rect> </rect>
@ -173,7 +173,7 @@ Hint: run this with engines at cruising speed.</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>220</x> <x>220</x>
<y>220</y> <y>50</y>
<width>411</width> <width>411</width>
<height>121</height> <height>121</height>
</rect> </rect>
@ -243,14 +243,14 @@ Disabled if there is no GPS fix.</string>
<widget class="QLabel" name="label"> <widget class="QLabel" name="label">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>370</x> <x>380</x>
<y>10</y> <y>210</y>
<width>251</width> <width>251</width>
<height>17</height> <height>17</height>
</rect> </rect>
</property> </property>
<property name="text"> <property name="text">
<string>Sensor noise calibration</string> <string>#2: Sensor noise calibration</string>
</property> </property>
</widget> </widget>
<widget class="QProgressBar" name="calibProgress"> <widget class="QProgressBar" name="calibProgress">
@ -260,7 +260,7 @@ Disabled if there is no GPS fix.</string>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>390</x> <x>390</x>
<y>120</y> <y>310</y>
<width>201</width> <width>201</width>
<height>23</height> <height>23</height>
</rect> </rect>
@ -281,8 +281,8 @@ Disabled if there is no GPS fix.</string>
</property> </property>
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>350</x> <x>380</x>
<y>180</y> <y>10</y>
<width>111</width> <width>111</width>
<height>27</height> <height>27</height>
</rect> </rect>

122
ground/src/plugins/config/airframe.ui
View File

@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>730</width> <width>730</width>
<height>527</height> <height>559</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -69,7 +69,7 @@
<item> <item>
<widget class="QStackedWidget" name="airframesWidget"> <widget class="QStackedWidget" name="airframesWidget">
<property name="currentIndex"> <property name="currentIndex">
<number>3</number> <number>1</number>
</property> </property>
<widget class="QWidget" name="fixedWing"> <widget class="QWidget" name="fixedWing">
<property name="enabled"> <property name="enabled">
@ -504,6 +504,9 @@
<property name="text"> <property name="text">
<string>100</string> <string>100</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item> <item>
@ -528,18 +531,8 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
<property name="text"> <property name="text">
<string>R</string> <string>R</string>
</property> </property>
</widget> <property name="alignment">
</item> <set>Qt::AlignCenter</set>
<item>
<widget class="QCheckBox" name="checkBox_3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>All checked sliders will move together.</string>
</property>
<property name="text">
<string/>
</property> </property>
</widget> </widget>
</item> </item>
@ -552,6 +545,9 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
<property name="text"> <property name="text">
<string>100</string> <string>100</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item> <item>
@ -576,15 +572,8 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
<property name="text"> <property name="text">
<string>P</string> <string>P</string>
</property> </property>
</widget> <property name="alignment">
</item> <set>Qt::AlignCenter</set>
<item>
<widget class="QCheckBox" name="checkBox_2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string/>
</property> </property>
</widget> </widget>
</item> </item>
@ -597,6 +586,9 @@ Typical values are 100% for + configuration and 50% for X configuration on quads
<property name="text"> <property name="text">
<string>50</string> <string>50</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item> <item>
@ -618,18 +610,14 @@ Typical value is 50% for + or X configuration on quads.</string>
</item> </item>
<item> <item>
<widget class="QLabel" name="label_6"> <widget class="QLabel" name="label_6">
<property name="text"> <property name="autoFillBackground">
<string>Y</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox">
<property name="enabled">
<bool>false</bool> <bool>false</bool>
</property> </property>
<property name="text"> <property name="text">
<string/> <string>Y</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property> </property>
</widget> </widget>
</item> </item>
@ -825,10 +813,9 @@ In 'units per second', a sound default is 1000.</string>
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt; <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt; &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; } p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt; &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware! Check &lt;span style=&quot; font-weight:600;&quot;&gt;all three&lt;/span&gt; checkboxes to test the&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;selected channel.&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;It will run only if your airframe armed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="text"> <property name="text">
<string/> <string/>
@ -841,10 +828,9 @@ p, li { white-space: pre-wrap; }
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt; <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt; &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; } p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt; &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware! Check &lt;span style=&quot; font-weight:600;&quot;&gt;all three&lt;/span&gt; checkboxes to test the&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;selected channel.&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;It will run only if your airframe armed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="text"> <property name="text">
<string/> <string/>
@ -857,10 +843,9 @@ p, li { white-space: pre-wrap; }
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt; <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt; &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; } p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt; &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware! Check &lt;span style=&quot; font-weight:600;&quot;&gt;all three&lt;/span&gt; checkboxes to test the&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;selected channel.&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;It will run only if your airframe armed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Enable FF tuning</string> <string>Enable FF tuning</string>
@ -883,20 +868,30 @@ p, li { white-space: pre-wrap; }
</layout> </layout>
</item> </item>
<item> <item>
<spacer name="verticalSpacer_5"> <widget class="QTextBrowser" name="textBrowser">
<property name="orientation"> <property name="sizePolicy">
<enum>Qt::Vertical</enum> <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property> </property>
<property name="sizeHint" stdset="0"> <property name="minimumSize">
<size> <size>
<width>20</width> <width>0</width>
<height>40</height> <height>40</height>
</size> </size>
</property> </property>
</spacer> <property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;Beware&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item> </item>
<item> <item>
<spacer name="verticalSpacer_3"> <spacer name="verticalSpacer_5">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Vertical</enum>
</property> </property>
@ -1464,18 +1459,15 @@ p, li { white-space: pre-wrap; }
<pointsize>8</pointsize> <pointsize>8</pointsize>
</font> </font>
</property> </property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<attribute name="horizontalHeaderDefaultSectionSize"> <attribute name="horizontalHeaderDefaultSectionSize">
<number>50</number> <number>50</number>
</attribute> </attribute>
<attribute name="horizontalHeaderStretchLastSection"> <attribute name="horizontalHeaderStretchLastSection">
<bool>false</bool> <bool>false</bool>
</attribute> </attribute>
<attribute name="horizontalHeaderStretchLastSection">
<bool>false</bool>
</attribute>
<attribute name="horizontalHeaderDefaultSectionSize">
<number>50</number>
</attribute>
<row> <row>
<property name="text"> <property name="text">
<string>Type</string> <string>Type</string>
@ -2014,11 +2006,11 @@ p, li { white-space: pre-wrap; }
<hints> <hints>
<hint type="sourcelabel"> <hint type="sourcelabel">
<x>78</x> <x>78</x>
<y>116</y> <y>111</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>78</x> <x>78</x>
<y>118</y> <y>113</y>
</hint> </hint>
</hints> </hints>
</connection> </connection>
@ -2030,11 +2022,11 @@ p, li { white-space: pre-wrap; }
<hints> <hints>
<hint type="sourcelabel"> <hint type="sourcelabel">
<x>74</x> <x>74</x>
<y>116</y> <y>111</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>74</x> <x>74</x>
<y>118</y> <y>113</y>
</hint> </hint>
</hints> </hints>
</connection> </connection>
@ -2045,8 +2037,8 @@ p, li { white-space: pre-wrap; }
<slot>setNum(int)</slot> <slot>setNum(int)</slot>
<hints> <hints>
<hint type="sourcelabel"> <hint type="sourcelabel">
<x>496</x> <x>493</x>
<y>171</y> <y>173</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>271</x> <x>271</x>
@ -2097,8 +2089,8 @@ p, li { white-space: pre-wrap; }
<y>199</y> <y>199</y>
</hint> </hint>
<hint type="destinationlabel"> <hint type="destinationlabel">
<x>108</x> <x>135</x>
<y>151</y> <y>150</y>
</hint> </hint>
</hints> </hints>
</connection> </connection>

366
ground/src/plugins/config/configairframewidget.cpp
View File

@ -98,6 +98,15 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
scene->setSceneRect(quad->boundingRect()); scene->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->setScene(scene); 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("Mixer0Type"));
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);
}
connect(m_aircraft->saveAircraftToSD, SIGNAL(clicked()), this, SLOT(saveAircraftUpdate())); connect(m_aircraft->saveAircraftToSD, SIGNAL(clicked()), this, SLOT(saveAircraftUpdate()));
@ -139,6 +148,13 @@ void ConfigAirframeWidget::switchAirframeType(int index){
m_aircraft->airframesWidget->setCurrentIndex(index); m_aircraft->airframesWidget->setCurrentIndex(index);
m_aircraft->quadShape->setSceneRect(quad->boundingRect()); m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); 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) void ConfigAirframeWidget::showEvent(QShowEvent *event)
@ -345,7 +361,6 @@ void ConfigAirframeWidget::requestAircraftUpdate()
// Setup all Throttle1 curves for all types of airframes // Setup all Throttle1 curves for all types of airframes
m_aircraft->fixedWingThrottle->initCurve(curveValues); m_aircraft->fixedWingThrottle->initCurve(curveValues);
m_aircraft->multiThrottleCurve->initCurve(curveValues); m_aircraft->multiThrottleCurve->initCurve(curveValues);
m_aircraft->customThrottle1Curve->initCurve(curveValues);
// Load the Settings for fixed wing frames: // Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) { if (frameType.startsWith("FixedWing")) {
@ -477,28 +492,55 @@ void ConfigAirframeWidget::requestAircraftUpdate()
} else if (frameType == "Hexa") { } else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW // Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
field = obj->getField(QString("VTOLMotorN")); field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString())); m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE")); field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString())); m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE")); field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString())); m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS")); field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString())); m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW")); field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString())); m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW")); field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString())); 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. // 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 // This assumes that all vectors are identical - if not, the user should use the
// "custom" setting. // "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); 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 = 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; int eng= m_aircraft->multiMotor1->currentIndex()-1;
// eng will be -1 if value is set to "None" // eng will be -1 if value is set to "None"
if (eng > -1) { if (eng > -1) {
@ -564,6 +606,8 @@ void ConfigAirframeWidget::requestAircraftUpdate()
m_aircraft->widget_3->requestccpmUpdate(); m_aircraft->widget_3->requestccpmUpdate();
m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Helicopter"));//"Helicopter" m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Helicopter"));//"Helicopter"
} }
updateCustomAirframeUI();
} }
/** /**
@ -673,32 +717,49 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor8->setEnabled(true); m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->mrRollMixLevel->setValue(33); m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33); m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(12); m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "HexaX" || frameType == "Hexacopter X" ) { } 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-X"); quad->setElementId("quad-hexa-X");
m_aircraft->multiMotor4->setEnabled(true); m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true); m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true); m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false); m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false); m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(33);
} else if (frameType == "OctoV" || frameType == "Octocopter V") { } 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"); quad->setElementId("quad-octo-v");
m_aircraft->multiMotor4->setEnabled(true); m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true); m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true); m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true); m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true); m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
m_aircraft->mrYawMixLevel->setValue(25);
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") { } 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"); quad->setElementId("octo-coax-P");
m_aircraft->multiMotor4->setEnabled(true); m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true); m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true); m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true); m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true); m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X") { } 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"); quad->setElementId("octo-coax-X");
m_aircraft->multiMotor4->setEnabled(true); m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true); m_aircraft->multiMotor5->setEnabled(true);
@ -707,14 +768,17 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor8->setEnabled(true); m_aircraft->multiMotor8->setEnabled(true);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") { } 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"); quad->setElementId("hexa-coax");
m_aircraft->multiMotor4->setEnabled(true); m_aircraft->multiMotor4->setEnabled(true);
m_aircraft->multiMotor5->setEnabled(true); m_aircraft->multiMotor5->setEnabled(true);
m_aircraft->multiMotor6->setEnabled(true); m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false); m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false); m_aircraft->multiMotor8->setEnabled(false);
} else if (frameType == "Tri" || frameType == "Tricopter Y") { } 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"); quad->setElementId("tri");
m_aircraft->multiMotor4->setEnabled(false); m_aircraft->multiMotor4->setEnabled(false);
m_aircraft->multiMotor5->setEnabled(false); m_aircraft->multiMotor5->setEnabled(false);
@ -1103,6 +1167,56 @@ bool ConfigAirframeWidget::setupFrameVtail()
} }
/**
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();
return true;
}
/** /**
Help function: setupQuadMotor Help function: setupQuadMotor
*/ */
@ -1125,6 +1239,27 @@ void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll
field->setValue(yaw*127,ti); field->setValue(yaw*127,ti);
} }
/**
Helper function: setup motors.
*/
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(); // Save...
}
/** /**
Set up a Quad-X or Quad-P Set up a Quad-X or Quad-P
*/ */
@ -1140,44 +1275,34 @@ bool ConfigAirframeWidget::setupQuad(bool pLayout)
return false; return false;
} }
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
// Save the actuator channels for motor 1 to 4 (N/E/S/W)
field = pLayout ? obj->getField("VTOLMotorN") : obj->getField("VTOLMotorNW");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor1->currentText());
field = pLayout ? obj->getField("VTOLMotorE") : obj->getField("VTOLMotorNE");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor2->currentText());
field = pLayout ? obj->getField("VTOLMotorS") : obj->getField("VTOLMotorSE");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor3->currentText());
field = pLayout ? obj->getField("VTOLMotorW") : obj->getField("VTOLMotorSW");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor4->currentText());
obj->updated(); // Save... QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorE" << "VTOLMotorS"
<< "VTOLMotorW";
} else {
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorSE"
<< "VTOLMotorSW";
}
setupMotors(motorList);
// Now, setup the mixer: // Now, setup the mixer:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// 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:
// Motor 1 to 4, X Layout: // Motor 1 to 4, X Layout:
// pitch roll yaw // pitch roll yaw
// {0.5 ,0.5 ,-0.5 //Front left motor (CW) // {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 //Front right motor(CCW)
// {-0.5 ,-0.5 ,-0.5 //rear right motor (CW) // {-0.5 ,-0.5 ,-0.5 //rear right motor (CW)
// {-0.5 ,0.5 ,0.5 //Rear left motor (CCW) // {-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: // Motor 1 to 4, P Layout:
// pitch roll yaw // pitch roll yaw
@ -1185,32 +1310,32 @@ bool ConfigAirframeWidget::setupQuad(bool pLayout)
// {0 ,-1 ,0.5 //Right motor(CCW) // {0 ,-1 ,0.5 //Right motor(CCW)
// {-1 ,0 ,-0.5 //Rear motor (CW) // {-1 ,0 ,-0.5 //Rear motor (CW)
// {0 ,1 ,0.5 //Left motor (CCW) // {0 ,1 ,0.5 //Left motor (CCW)
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100; double pMixer [8][3] = {
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100; { 1, 0, -1},
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100; { 0, -1, 1},
int channel = m_aircraft->multiMotor1->currentIndex()-1; {-1, 0, -1},
pLayout ? setupQuadMotor(channel, pFactor, 0, -yFactor) { 0, 1, 1},
: setupQuadMotor(channel, pFactor, rFactor, -yFactor); { 0, 0, 0},
channel = m_aircraft->multiMotor2->currentIndex()-1; { 0, 0, 0},
pLayout ? setupQuadMotor(channel, 0, -rFactor, yFactor) { 0, 0, 0},
: setupQuadMotor(channel, pFactor, -rFactor, yFactor); { 0, 0, 0}
channel = m_aircraft->multiMotor3->currentIndex()-1; };
pLayout ? setupQuadMotor(channel, -pFactor, 0, -yFactor)
: setupQuadMotor(channel, -pFactor, -rFactor, -yFactor);
channel = m_aircraft->multiMotor4->currentIndex()-1;
pLayout ? setupQuadMotor(channel, 0, rFactor, yFactor)
: setupQuadMotor(channel, -pFactor, rFactor, yFactor);
obj->updated(); if (pLayout) {
setupMixer(pMixer);
} else {
setupMixer(xMixer);
}
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK"); m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
return true; return true;
} }
/** /**
Set up a Quad-X or Quad-P Set up a Hexa-X or Hexa-P
*/ */
bool ConfigAirframeWidget::setupHexa() bool ConfigAirframeWidget::setupHexa(bool pLayout)
{ {
// Check coherence: // Check coherence:
// - Four engines have to be defined // - Four engines have to be defined
@ -1224,42 +1349,16 @@ bool ConfigAirframeWidget::setupHexa()
return false; return false;
} }
resetActuators(); QList<QString> motorList;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); if (pLayout) {
Q_ASSERT(obj); motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
UAVObjectField *field; << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorNW";
// Save the actuator channels for motor 1 to 6 (N/NE/SE/S/SW/NW) } else {
field = obj->getField("VTOLMotorN"); motorList << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
Q_ASSERT(field); << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
field->setValue(m_aircraft->multiMotor1->currentText());
field = obj->getField("VTOLMotorNE");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor2->currentText());
field = obj->getField("VTOLMotorSE");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor3->currentText());
field = obj->getField("VTOLMotorS");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor4->currentText());
field = obj->getField("VTOLMotorSW");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor5->currentText());
field = obj->getField("VTOLMotorNW");
Q_ASSERT(field);
field->setValue(m_aircraft->multiMotor6->currentText());
obj->updated(); // Save...
// Now, setup the mixer:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// 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");
} }
setupMotors(motorList);
// and set only the relevant channels: // and set only the relevant channels:
// Motor 1 to 6, P Layout: // Motor 1 to 6, P Layout:
@ -1270,30 +1369,50 @@ bool ConfigAirframeWidget::setupHexa()
// 4 {-0.3 , 0 , 0.3 // S CCW // 4 {-0.3 , 0 , 0.3 // S CCW
// 5 {-0.3 , 0.5 ,-0.3 // SW CW // 5 {-0.3 , 0.5 ,-0.3 // SW CW
// 6 { 0.3 , 0.5 , 0.3 // NW CCW // 6 { 0.3 , 0.5 , 0.3 // NW CCW
//
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
int channel = m_aircraft->multiMotor1->currentIndex()-1;
setupQuadMotor(channel, pFactor, 0, -yFactor);
channel = m_aircraft->multiMotor2->currentIndex()-1;
setupQuadMotor(channel, pFactor, -rFactor, yFactor);
channel = m_aircraft->multiMotor3->currentIndex()-1;
setupQuadMotor(channel, -pFactor, -rFactor, -yFactor);
channel = m_aircraft->multiMotor4->currentIndex()-1;
setupQuadMotor(channel, -pFactor, 0, yFactor);
channel = m_aircraft->multiMotor5->currentIndex()-1;
setupQuadMotor(channel, -pFactor, rFactor, -yFactor);
channel = m_aircraft->multiMotor6->currentIndex()-1;
setupQuadMotor(channel, pFactor, rFactor, yFactor);
obj->updated(); 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"); m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
return true; return true;
} }
/** /**
Updates the custom airframe settings based on the current airframe Updates the custom airframe settings based on the current airframe.
Note: doe NOT ask for an object refresh itself!
*/ */
void ConfigAirframeWidget::updateCustomAirframeUI() void ConfigAirframeWidget::updateCustomAirframeUI()
{ {
@ -1341,7 +1460,10 @@ void ConfigAirframeWidget::updateCustomAirframeUI()
// Update the table: // Update the table:
for (int i=0; i<8; i++) { for (int i=0; i<8; i++) {
field = obj->getField(mixerTypes.at(i)); field = obj->getField(mixerTypes.at(i));
m_aircraft->customMixerTable->item(0,i)->setText(field->getValue().toString());; 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)); field = obj->getField(mixerVectors.at(i));
int ti = field->getElementNames().indexOf("ThrottleCurve1"); int ti = field->getElementNames().indexOf("ThrottleCurve1");
m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString()); m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
@ -1353,14 +1475,10 @@ void ConfigAirframeWidget::updateCustomAirframeUI()
m_aircraft->customMixerTable->item(4,i)->setText(field->getValue(ti).toString()); m_aircraft->customMixerTable->item(4,i)->setText(field->getValue(ti).toString());
ti = field->getElementNames().indexOf("Yaw"); ti = field->getElementNames().indexOf("Yaw");
m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString()); m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
} }
} }
/** /**
Sends the config to the board (airframe type) Sends the config to the board (airframe type)
@ -1370,7 +1488,7 @@ void ConfigAirframeWidget::updateCustomAirframeUI()
*/ */
void ConfigAirframeWidget::sendAircraftUpdate() void ConfigAirframeWidget::sendAircraftUpdate()
{ {
QString airframeType; QString airframeType = "Custom";
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") { if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
// Save the curve (common to all Fixed wing frames) // Save the curve (common to all Fixed wing frames)
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
@ -1422,9 +1540,22 @@ void ConfigAirframeWidget::sendAircraftUpdate()
setupQuad(false); setupQuad(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") { } else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
airframeType = "Hexa"; airframeType = "Hexa";
setupHexa(); setupHexa(true);
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") { } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
airframeType = "Octo"; airframeType = "Octo";
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
airframeType = "HexaX";
setupHexa(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
airframeType = "OctoV";
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
airframeType = "OctoCoaxP";
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
airframeType = "OctoCoaxX";
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
airframeType = "HexaCoax";
} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter") {
airframeType = "Tri";
} }
// Now reflect those settings in the "Custom" panel as well // Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI(); updateCustomAirframeUI();
@ -1437,7 +1568,6 @@ void ConfigAirframeWidget::sendAircraftUpdate()
} }
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
UAVObjectField* field = obj->getField(QString("AirframeType")); UAVObjectField* field = obj->getField(QString("AirframeType"));
field->setValue(airframeType); field->setValue(airframeType);
obj->updated(); obj->updated();

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

@ -51,9 +51,11 @@ private:
bool setupFrameElevon(); bool setupFrameElevon();
bool setupFrameVtail(); bool setupFrameVtail();
bool setupQuad(bool pLayout); bool setupQuad(bool pLayout);
bool setupHexa(); bool setupHexa(bool pLayout);
bool setupOcto(); bool setupOcto();
void updateCustomAirframeUI(); void updateCustomAirframeUI();
bool setupMixer(double mixerFactors[8][3]);
void setupMotors(QList<QString> motorList);
void resetField(UAVObjectField * field); void resetField(UAVObjectField * field);
void resetMixer (MixerCurveWidget *mixer, int numElements); void resetMixer (MixerCurveWidget *mixer, int numElements);