mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-27 16:54:15 +01:00
Merge branch 'master' of ssh://git.openpilot.org/OpenPilot
This commit is contained in:
dankers
commit
9adc440b20
71
Makefile
71
Makefile
@ -71,6 +71,7 @@ help:
|
||||
@echo " qt_sdk_install - Install the QT v4.6.2 tools"
|
||||
@echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain"
|
||||
@echo " openocd_install - Install the OpenOCD JTAG daemon"
|
||||
@echo " stm32flash_install - Install the stm32flash tool for unbricking boards"
|
||||
@echo
|
||||
@echo " [Big Hammer]"
|
||||
@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
|
||||
@ -92,21 +93,25 @@ help:
|
||||
@echo " <board> - Build firmware for <board>"
|
||||
@echo " supported boards are ($(ALL_BOARDS))"
|
||||
@echo " fw_<board> - Build firmware for <board>"
|
||||
@echo " supported boards are ($(FW_TARGETS))"
|
||||
@echo " supported boards are ($(FW_BOARDS))"
|
||||
@echo " fw_<board>_clean - Remove firmware for <board>"
|
||||
@echo " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
|
||||
@echo
|
||||
@echo " [Bootloader]"
|
||||
@echo " bl_<board> - Build bootloader for <board>"
|
||||
@echo " supported boards are ($(BL_TARGETS))"
|
||||
@echo " supported boards are ($(BL_BOARDS))"
|
||||
@echo " bl_<board>_clean - Remove bootloader for <board>"
|
||||
@echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
|
||||
@echo
|
||||
@echo " [Bootloader Updater]"
|
||||
@echo " bu_<board> - Build bootloader updater for <board>"
|
||||
@echo " supported boards are ($(BU_TARGETS))"
|
||||
@echo " supported boards are ($(BU_BOARDS))"
|
||||
@echo " bu_<board>_clean - Remove bootloader updater for <board>"
|
||||
@echo
|
||||
@echo " [Unbrick a board]"
|
||||
@echo " unbrick_<board> - Use the STM32's built in boot ROM to write a bootloader to <board>"
|
||||
@echo " supported boards are ($(BL_BOARDS))"
|
||||
@echo
|
||||
@echo " [Simulation]"
|
||||
@echo " sim_posix - Build OpenPilot simulation firmware for"
|
||||
@echo " a POSIX compatible system (Linux, Mac OS X, ...)"
|
||||
@ -226,6 +231,25 @@ openocd_install: openocd_clean
|
||||
openocd_clean:
|
||||
$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
|
||||
|
||||
STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
|
||||
|
||||
.PHONY: stm32flash_install
|
||||
stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
|
||||
stm32flash_install: STM32FLASH_REV := 52
|
||||
stm32flash_install: stm32flash_clean
|
||||
# download the source
|
||||
$(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
|
||||
$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
|
||||
|
||||
# build
|
||||
$(V0) @echo " BUILD $(STM32FLASH_DIR)"
|
||||
$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
|
||||
|
||||
.PHONY: stm32flash_clean
|
||||
stm32flash_clean:
|
||||
$(V0) @echo " CLEAN $(STM32FLASH_DIR)"
|
||||
$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
|
||||
|
||||
##############################
|
||||
#
|
||||
# Set up paths to tools
|
||||
@ -277,7 +301,7 @@ openpilotgcs: uavobjects_gcs
|
||||
|
||||
.PHONY: openpilotgcs_clean
|
||||
openpilotgcs_clean:
|
||||
$(V0) @echo " CLEAN $@"
|
||||
$(V0) @echo " CLEAN $@"
|
||||
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
|
||||
|
||||
.PHONY: uavobjgenerator
|
||||
@ -307,7 +331,7 @@ uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
|
||||
$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
|
||||
|
||||
uavobjects_clean:
|
||||
$(V0) @echo " CLEAN $@"
|
||||
$(V0) @echo " CLEAN $@"
|
||||
$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
|
||||
|
||||
##############################
|
||||
@ -335,7 +359,7 @@ fw_$(1)_%: uavobjects_flight
|
||||
.PHONY: $(1)_clean
|
||||
$(1)_clean: fw_$(1)_clean
|
||||
fw_$(1)_clean:
|
||||
$(V0) @echo " CLEAN $$@"
|
||||
$(V0) @echo " CLEAN $$@"
|
||||
$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
|
||||
endef
|
||||
|
||||
@ -355,9 +379,23 @@ bl_$(1)_%:
|
||||
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
|
||||
$$*
|
||||
|
||||
.PHONY: unbrick_$(1)
|
||||
unbrick_$(1): bl_$(1)_hex
|
||||
$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
|
||||
$(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)"
|
||||
$(V1) $(STM32FLASH_DIR)/stm32flash \
|
||||
-w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
|
||||
-g 0x0 \
|
||||
$$(UNBRICK_TTY)
|
||||
,
|
||||
$(V0) @echo
|
||||
$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
|
||||
$(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
|
||||
)
|
||||
|
||||
.PHONY: bl_$(1)_clean
|
||||
bl_$(1)_clean:
|
||||
$(V0) @echo " CLEAN $$@"
|
||||
$(V0) @echo " CLEAN $$@"
|
||||
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
|
||||
endef
|
||||
|
||||
@ -377,7 +415,7 @@ bu_$(1)_%: bl_$(1)_bino
|
||||
|
||||
.PHONY: bu_$(1)_clean
|
||||
bu_$(1)_clean:
|
||||
$(V0) @echo " CLEAN $$@"
|
||||
$(V0) @echo " CLEAN $$@"
|
||||
$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
|
||||
endef
|
||||
|
||||
@ -403,14 +441,20 @@ pipxtreme_friendly := PipXtreme
|
||||
ins_friendly := INS
|
||||
ahrs_friendly := AHRS
|
||||
|
||||
FW_TARGETS := $(addprefix fw_, $(ALL_BOARDS))
|
||||
BL_TARGETS := $(addprefix bl_, $(ALL_BOARDS))
|
||||
BU_TARGETS := $(addprefix bu_, $(ALL_BOARDS))
|
||||
# Start out assuming that we'll build fw, bl and bu for all boards
|
||||
FW_BOARDS := $(ALL_BOARDS)
|
||||
BL_BOARDS := $(ALL_BOARDS)
|
||||
BU_BOARDS := $(ALL_BOARDS)
|
||||
|
||||
# FIXME: The INS build doesn't have a bootloader or bootloader
|
||||
# updater yet so we need to filter them out to prevent errors.
|
||||
BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
|
||||
BU_TARGETS := $(filter-out bu_ins, $(BU_TARGETS))
|
||||
BL_BOARDS := $(filter-out ins, $(ALL_BOARDS))
|
||||
BU_BOARDS := $(filter-out ins, $(ALL_BOARDS))
|
||||
|
||||
# Generate the targets for whatever boards are left in each list
|
||||
FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
|
||||
BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
|
||||
BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
|
||||
|
||||
.PHONY: all_fw all_fw_clean
|
||||
all_fw: $(addsuffix _opfw, $(FW_TARGETS))
|
||||
@ -428,6 +472,7 @@ all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
|
||||
all_flight: all_fw all_bl all_bu
|
||||
all_flight_clean: all_fw_clean all_bl_clean all_bu_clean
|
||||
|
||||
# Expand the groups of targets for each board
|
||||
$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
|
||||
|
||||
# Expand the bootloader updater rules
|
||||
|
||||
@ -166,6 +166,7 @@ SRC += $(PIOSWIN32)/pios_udp.c
|
||||
SRC += $(PIOSWIN32)/pios_com.c
|
||||
SRC += $(PIOSWIN32)/pios_servo.c
|
||||
SRC += $(PIOSWIN32)/pios_wdg.c
|
||||
SRC += $(PIOSWIN32)/pios_crc.c
|
||||
#
|
||||
## RTOS
|
||||
SRC += $(RTOSSRCDIR)/list.c
|
||||
|
||||
31
flight/PiOS.win32/inc/pios_crc.h
Normal file
31
flight/PiOS.win32/inc/pios_crc.h
Normal file
@ -0,0 +1,31 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_CRC CRC Functions
|
||||
* @{
|
||||
*
|
||||
* @file pios_crc.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief CRC functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
|
||||
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
|
||||
@ -63,6 +63,7 @@
|
||||
#include <pios_com.h>
|
||||
#include <pios_servo.h>
|
||||
#include <pios_wdg.h>
|
||||
#include <pios_crc.h>
|
||||
|
||||
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
|
||||
|
||||
|
||||
@ -941,3 +941,8 @@ void vPortExitCritical( void )
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
unsigned long ulPortGetTimerValue( void )
|
||||
{
|
||||
return (unsigned long) clock();
|
||||
}
|
||||
74
flight/PiOS.win32/win32/pios_crc.c
Normal file
74
flight/PiOS.win32/win32/pios_crc.c
Normal file
@ -0,0 +1,74 @@
|
||||
/*
|
||||
* pios_crc.c
|
||||
* OpenPilotOSX
|
||||
*
|
||||
* Created by James Cotton on 6/4/11.
|
||||
* Copyright 2011 OpenPilot. All rights reserved.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "pios.h"
|
||||
|
||||
// CRC lookup table
|
||||
static const uint8_t crc_table[256] = {
|
||||
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
|
||||
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
|
||||
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
|
||||
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
|
||||
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
|
||||
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
|
||||
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
|
||||
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
|
||||
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
|
||||
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
|
||||
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
|
||||
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
|
||||
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
|
||||
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
|
||||
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
|
||||
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
|
||||
};
|
||||
|
||||
/**
|
||||
* Update the crc value with new data.
|
||||
*
|
||||
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
|
||||
* using the configuration:
|
||||
* Width = 8
|
||||
* Poly = 0x07
|
||||
* XorIn = 0x00
|
||||
* ReflectIn = False
|
||||
* XorOut = 0x00
|
||||
* ReflectOut = False
|
||||
* Algorithm = table-driven
|
||||
*
|
||||
* \param crc The current crc value.
|
||||
* \param data Pointer to a buffer of \a data_len bytes.
|
||||
* \param length Number of bytes in the \a data buffer.
|
||||
* \return The updated crc value.
|
||||
*/
|
||||
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data)
|
||||
{
|
||||
return crc_table[crc ^ data];
|
||||
}
|
||||
|
||||
/*
|
||||
* @brief Update a CRC with a data buffer
|
||||
* @param[in] crc Starting CRC value
|
||||
* @param[in] data Data buffer
|
||||
* @param[in] length Number of bytes to process
|
||||
* @returns Updated CRC
|
||||
*/
|
||||
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
|
||||
{
|
||||
// use registers for speed
|
||||
register int32_t len = length;
|
||||
register uint8_t crc8 = crc;
|
||||
register const uint8_t *p = data;
|
||||
|
||||
while (len--)
|
||||
crc8 = crc_table[crc8 ^ *p++];
|
||||
|
||||
return crc8;
|
||||
}
|
||||
|
||||
@ -374,7 +374,7 @@ void ConfigAirframeWidget::resetFwMixer()
|
||||
{
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
|
||||
resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements());
|
||||
resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -384,7 +384,7 @@ void ConfigAirframeWidget::resetMrMixer()
|
||||
{
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
|
||||
resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements());
|
||||
resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -394,7 +394,7 @@ void ConfigAirframeWidget::resetCt1Mixer()
|
||||
{
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
|
||||
resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements());
|
||||
resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements(),1);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -404,21 +404,17 @@ void ConfigAirframeWidget::resetCt2Mixer()
|
||||
{
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
|
||||
resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements());
|
||||
resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
Resets a mixer curve
|
||||
*/
|
||||
void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
|
||||
void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements, double maxvalue)
|
||||
{
|
||||
QList<double> curveValues;
|
||||
for (double i=0; i<numElements; i++) {
|
||||
curveValues.append(i/(numElements-1));
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
mixer->initCurve(curveValues);
|
||||
mixer->initLinearCurve((quint32)numElements,maxvalue);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -484,18 +480,29 @@ void ConfigAirframeWidget::refreshValues()
|
||||
// If the 1st element of the curve is <= -10, then the curve
|
||||
// is a straight line (that's how the mixer works on the mainboard):
|
||||
if (field->getValue(0).toInt() <= -10) {
|
||||
for (double i=0; i<field->getNumElements(); i++) {
|
||||
curveValues.append(i/(field->getNumElements()-1));
|
||||
}
|
||||
} else {
|
||||
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
|
||||
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
|
||||
}
|
||||
else {
|
||||
double temp=0;
|
||||
double value;
|
||||
for (unsigned int i=0; i < field->getNumElements(); i++) {
|
||||
curveValues.append(field->getValue(i).toDouble());
|
||||
value=field->getValue(i).toDouble();
|
||||
temp+=value;
|
||||
curveValues.append(value);
|
||||
}
|
||||
if(temp==0)
|
||||
{
|
||||
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);;
|
||||
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_aircraft->multiThrottleCurve->initCurve(curveValues);
|
||||
m_aircraft->fixedWingThrottle->initCurve(curveValues);
|
||||
}
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
m_aircraft->fixedWingThrottle->initCurve(curveValues);
|
||||
m_aircraft->multiThrottleCurve->initCurve(curveValues);
|
||||
|
||||
// Load the Settings for fixed wing frames:
|
||||
if (frameType.startsWith("FixedWing")) {
|
||||
// Then retrieve how channels are setup
|
||||
@ -1754,31 +1761,32 @@ void ConfigAirframeWidget::updateCustomAirframeUI()
|
||||
// If the 1st element of the curve is <= -10, then the curve
|
||||
// is a straight line (that's how the mixer works on the mainboard):
|
||||
if (field->getValue(0).toInt() <= -10) {
|
||||
for (double i=0; i<field->getNumElements(); i++) {
|
||||
curveValues.append(i/(field->getNumElements()-1));
|
||||
}
|
||||
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
|
||||
} else {
|
||||
double temp=0;
|
||||
double value;
|
||||
for (unsigned int i=0; i < field->getNumElements(); i++) {
|
||||
curveValues.append(field->getValue(i).toDouble());
|
||||
value=field->getValue(i).toDouble();
|
||||
temp+=value;
|
||||
curveValues.append(value);
|
||||
}
|
||||
if(temp==0)
|
||||
m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
|
||||
else
|
||||
m_aircraft->customThrottle1Curve->initCurve(curveValues);
|
||||
}
|
||||
m_aircraft->customThrottle1Curve->initCurve(curveValues);
|
||||
|
||||
field = obj->getField(QString("ThrottleCurve2"));
|
||||
curveValues.clear();;
|
||||
// If the 1st element of the curve is <= -10, then the curve
|
||||
// is a straight line (that's how the mixer works on the mainboard):
|
||||
if (field->getValue(0).toInt() <= -10) {
|
||||
for (double i=0; i<field->getNumElements(); i++) {
|
||||
curveValues.append(i/(field->getNumElements()-1));
|
||||
}
|
||||
m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1);
|
||||
} else {
|
||||
for (unsigned int i=0; i < field->getNumElements(); i++) {
|
||||
curveValues.append(field->getValue(i).toDouble());
|
||||
}
|
||||
m_aircraft->customThrottle2Curve->initCurve(curveValues);
|
||||
}
|
||||
m_aircraft->customThrottle2Curve->initCurve(curveValues);
|
||||
|
||||
// Retrieve Feed Forward:
|
||||
field = obj->getField(QString("FeedForward"));
|
||||
m_aircraft->customFFSlider->setValue(field->getDouble()*100);
|
||||
|
||||
@ -61,7 +61,7 @@ private:
|
||||
virtual void enableControls(bool enable);
|
||||
|
||||
void resetField(UAVObjectField * field);
|
||||
void resetMixer (MixerCurveWidget *mixer, int numElements);
|
||||
void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue);
|
||||
void resetActuators();
|
||||
//void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
|
||||
void setupQuadMotor(int channel, double roll, double pitch, double yaw);
|
||||
|
||||
@ -372,12 +372,7 @@ void ConfigccpmWidget::UpdateType()
|
||||
*/
|
||||
void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
|
||||
{
|
||||
QList<double> curveValues;
|
||||
for (double i=0; i<numElements; i++) {
|
||||
curveValues.append(i/(numElements-1));
|
||||
}
|
||||
// Setup all Throttle1 curves for all types of airframes
|
||||
mixer->initCurve(curveValues);
|
||||
mixer->initLinearCurve(numElements,(double)1);
|
||||
}
|
||||
|
||||
void ConfigccpmWidget::UpdateCurveWidgets()
|
||||
|
||||
@ -538,7 +538,7 @@ void ConfigInputWidget::updateChannels(UAVObject* controlCommand)
|
||||
obj->setMetadata(mdata);
|
||||
|
||||
// Set some slider values to better defaults
|
||||
// Find what channel we used for throttle, set it 5% about min:
|
||||
// Find some channels first
|
||||
int throttleChannel = -1;
|
||||
int fmChannel = -1;
|
||||
for (int i=0; i < inChannelAssign.length(); i++) {
|
||||
|
||||
@ -147,7 +147,17 @@ QList<double> MixerCurveWidget::getCurve() {
|
||||
|
||||
return list;
|
||||
}
|
||||
|
||||
/**
|
||||
Sets a linear graph
|
||||
*/
|
||||
void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
|
||||
{
|
||||
QList<double> points;
|
||||
for (double i=0; i<numPoints;i++) {
|
||||
points.append(maxValue*(i/(numPoints-1)));
|
||||
}
|
||||
initCurve(points);
|
||||
}
|
||||
/**
|
||||
Setd the current curve settings
|
||||
*/
|
||||
|
||||
@ -45,6 +45,7 @@ public:
|
||||
void itemMoved(double itemValue); // Callback when a point is moved, to be updated
|
||||
void initCurve (QList<double> points);
|
||||
QList<double> getCurve();
|
||||
void initLinearCurve(quint32 numPoints, double maxValue);
|
||||
void setCurve(QList<double>);
|
||||
void setMin(double value);
|
||||
void setMax(double value);
|
||||
|
||||
@ -283,8 +283,8 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
|
||||
void GCSControlGadget::axesValues(QListInt16 values)
|
||||
{
|
||||
int chMax = values.length();
|
||||
if (rollChannel > chMax || pitchChannel > chMax ||
|
||||
yawChannel > chMax || throttleChannel > chMax ) {
|
||||
if (rollChannel >= chMax || pitchChannel >= chMax ||
|
||||
yawChannel >= chMax || throttleChannel >= chMax ) {
|
||||
qDebug() << "GCSControl: configuration is inconsistent with current joystick! Aborting update.";
|
||||
return;
|
||||
}
|
||||
|
||||
@ -37,6 +37,7 @@
|
||||
#include <QSettings>
|
||||
#include <QMessageBox>
|
||||
#include <QFileInfo>
|
||||
#include <QFileDialog>
|
||||
#include <QDesktopServices>
|
||||
#include <QUrl>
|
||||
#include <QDir>
|
||||
@ -47,10 +48,8 @@ ImportExportGadgetWidget::ImportExportGadgetWidget(QWidget *parent) :
|
||||
{
|
||||
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
|
||||
ui->setupUi(this);
|
||||
ui->configFile->setExpectedKind(Utils::PathChooser::File);
|
||||
ui->configFile->setPromptDialogFilter(tr("XML file (*.xml)"));
|
||||
ui->configFile->setPromptDialogTitle(tr("Choose configuration file"));
|
||||
|
||||
filename = "";
|
||||
}
|
||||
|
||||
ImportExportGadgetWidget::~ImportExportGadgetWidget()
|
||||
@ -72,35 +71,21 @@ void ImportExportGadgetWidget::changeEvent(QEvent *e)
|
||||
|
||||
void ImportExportGadgetWidget::on_exportButton_clicked()
|
||||
{
|
||||
QString file = ui->configFile->path();
|
||||
if (file.isEmpty()) {
|
||||
QMessageBox msgBox;
|
||||
msgBox.setText(tr("Empty File name."));
|
||||
msgBox.setInformativeText(tr("Please choose an export file name."));
|
||||
msgBox.setStandardButtons(QMessageBox::Ok);
|
||||
msgBox.exec();
|
||||
return;
|
||||
}
|
||||
// Add a "XML" extension to the file in case it does not exist:
|
||||
if (!file.endsWith(".xml"))
|
||||
QString file = filename;
|
||||
QString filter = tr("GCS Settings file (*.xml)");
|
||||
file = QFileDialog::getSaveFileName(this, tr("Save GCS Settings too file .."), QFileInfo(file).absoluteFilePath(), filter).trimmed();
|
||||
if (file.isEmpty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Add a "XML" extension to the file in case it does not exist:
|
||||
if (!file.toLower().endsWith(".xml"))
|
||||
file.append(".xml");
|
||||
|
||||
filename = file;
|
||||
|
||||
qDebug() << "Export pressed! Write to file " << QFileInfo(file).absoluteFilePath();
|
||||
|
||||
if ( QFileInfo(file).exists() ){
|
||||
QMessageBox msgBox;
|
||||
msgBox.setText(tr("File already exists."));
|
||||
msgBox.setInformativeText(tr("Do you want to overwrite the existing file?"));
|
||||
msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
|
||||
msgBox.setDefaultButton(QMessageBox::Ok);
|
||||
if ( msgBox.exec() == QMessageBox::Ok ){
|
||||
QFileInfo(file).absoluteDir().remove(QFileInfo(file).fileName());
|
||||
}
|
||||
else{
|
||||
qDebug() << "Export canceled!";
|
||||
return;
|
||||
}
|
||||
}
|
||||
QMessageBox msgBox;
|
||||
QDir dir = QFileInfo(file).absoluteDir();
|
||||
if (! dir.exists()) {
|
||||
@ -163,8 +148,17 @@ void ImportExportGadgetWidget::writeError(const QString& msg) const
|
||||
|
||||
void ImportExportGadgetWidget::on_importButton_clicked()
|
||||
{
|
||||
QString file = ui->configFile->path();
|
||||
QString file = filename;
|
||||
QString filter = tr("GCS Settings file (*.xml)");
|
||||
file = QFileDialog::getOpenFileName(this, tr("Load GCS Settings from file .."), QFileInfo(file).absoluteFilePath(), filter).trimmed();
|
||||
if (file.isEmpty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
filename = file;
|
||||
|
||||
qDebug() << "Import pressed! Read from file " << QFileInfo(file).absoluteFilePath();
|
||||
|
||||
QMessageBox msgBox;
|
||||
if (! QFileInfo(file).isReadable()) {
|
||||
msgBox.setText(tr("Can't read file ") + QFileInfo(file).absoluteFilePath());
|
||||
|
||||
@ -41,8 +41,10 @@ private:
|
||||
void importConfiguration(const QString& fileName);
|
||||
QList<Core::IConfigurablePlugin*> getConfigurables();
|
||||
|
||||
QString filename;
|
||||
|
||||
private slots:
|
||||
void on_resetButton_clicked();
|
||||
void on_resetButton_clicked();
|
||||
void on_helpButton_clicked();
|
||||
void on_importButton_clicked();
|
||||
void on_exportButton_clicked();
|
||||
|
||||
@ -7,162 +7,118 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>483</width>
|
||||
<height>271</height>
|
||||
<height>174</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="0" colspan="2">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Config File</string>
|
||||
<widget class="QGroupBox" name="groupBoxItems">
|
||||
<property name="title">
|
||||
<string>Items</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBoxGeneral">
|
||||
<property name="text">
|
||||
<string>General (Workspace, Key-Bindings)</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBoxAllGadgets">
|
||||
<property name="text">
|
||||
<string>All Gadgets</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBoxPlugins">
|
||||
<property name="text">
|
||||
<string>Plugins</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="Utils::PathChooser" name="configFile" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QGroupBox" name="groupBoxItems">
|
||||
<property name="title">
|
||||
<string>Items</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBoxGeneral">
|
||||
<property name="text">
|
||||
<string>General (Workspace, Key-Bindings)</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBoxAllGadgets">
|
||||
<property name="text">
|
||||
<string>All Gadgets</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBoxPlugins">
|
||||
<property name="text">
|
||||
<string>Plugins</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0" colspan="2">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="helpButton">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>32</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset resource="../coreplugin/core.qrc">
|
||||
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
|
||||
</property>
|
||||
<property name="iconSize">
|
||||
<size>
|
||||
<width>32</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="exportButton">
|
||||
<property name="toolTip">
|
||||
<string>Export the GCS settings selected in the checkboxes above.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Export</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="importButton">
|
||||
<property name="toolTip">
|
||||
<string>Import settings from the config file, only for the items checked above.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Import</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="resetButton">
|
||||
<property name="toolTip">
|
||||
<string>Resets your GCS configuration to its default configuration.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reset Config</string>
|
||||
</property>
|
||||
</widget>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<widget class="QPushButton" name="helpButton">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>32</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset resource="../coreplugin/core.qrc">
|
||||
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
|
||||
</property>
|
||||
<property name="iconSize">
|
||||
<size>
|
||||
<width>32</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="exportButton">
|
||||
<property name="toolTip">
|
||||
<string>Export the GCS settings selected in the checkboxes above.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Export...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="importButton">
|
||||
<property name="toolTip">
|
||||
<string>Import settings from the config file, only for the items checked above.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Import...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="resetButton">
|
||||
<property name="toolTip">
|
||||
<string>Resets your GCS configuration to its default configuration.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reset Config</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
<customwidget>
|
||||
<class>Utils::PathChooser</class>
|
||||
<extends>QWidget</extends>
|
||||
<header>utils/pathchooser.h</header>
|
||||
<container>1</container>
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<resources>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
</resources>
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
|
||||
<field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user