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Code Issues Releases Activity

Added swapping of artwork when multirotor direction reversed.

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This commit is contained in:
Laura Sebesta 2012-09-24 22:01:19 +02:00
parent c04318493a
commit 9d5d67a45a
6 changed files with 5527 additions and 216 deletions
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6
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -1450,7 +1450,7 @@ font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Multirotor Yaw Direction</string>
<string>Multirotor Motor Direction</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@ -1506,9 +1506,9 @@ margin:1px;</string>
</widget>
</item>
<item row="3" column="4">
<widget class="QCheckBox" name="TricopterRevMixercheckBox">
<widget class="QCheckBox" name="MultirotorRevMixercheckBox">
<property name="text">
<string>Reverse Yaw Mix</string>
<string>Reverse all motors</string>
</property>
</widget>
</item>

97
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -49,7 +49,7 @@ const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChanne
/**
Constructor
*/
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent), invertMotors(1)
{
m_aircraft = aircraft;
}
@ -87,7 +87,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
if (frameType == "Tri" || frameType == "Tricopter Y") {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
quad->setElementId("tri");
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
@ -100,7 +99,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
}
else if (frameType == "QuadX" || frameType == "Quad X") {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-x");
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
@ -112,7 +110,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
}
else if (frameType == "QuadP" || frameType == "Quad +") {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
quad->setElementId("quad-plus");
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
@ -124,7 +121,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
else if (frameType == "Hexa" || frameType == "Hexacopter")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
quad->setElementId("quad-hexa");
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
@ -135,7 +131,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
}
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
quad->setElementId("quad-hexa-H");
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
@ -148,7 +143,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
quad->setElementId("hexa-coax");
//Enable all necessary motor channel boxes...
enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
@ -161,7 +155,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
else if (frameType == "Octo" || frameType == "Octocopter")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
quad->setElementId("quad-octo");
//Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
@ -173,7 +166,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
else if (frameType == "OctoV" || frameType == "Octocopter V")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
quad->setElementId("quad-octo-v");
//Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
@ -186,7 +178,6 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
quad->setElementId("octo-coax-P");
//Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
@ -199,13 +190,89 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
{
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
quad->setElementId("octo-coax-X");
//Enable all necessary motor channel boxes
enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
setYawMixLevel(50);
}
//Draw the appropriate airframe
drawAirframe(frameType);
}
void ConfigMultiRotorWidget::drawAirframe(QString frameType){
invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
if (frameType == "Tri" || frameType == "Tricopter Y") {
if(invertMotors > 0)
quad->setElementId("tri");
else
quad->setElementId("tri_reverse");
}
else if (frameType == "QuadX" || frameType == "Quad X") {
if(invertMotors > 0)
quad->setElementId("quad-x");
else
quad->setElementId("quad-x_reverse");
}
else if (frameType == "QuadP" || frameType == "Quad +") {
if(invertMotors > 0)
quad->setElementId("quad-plus");
else
quad->setElementId("quad-plus_reverse");
}
else if (frameType == "Hexa" || frameType == "Hexacopter")
{
if(invertMotors > 0)
quad->setElementId("quad-hexa");
else
quad->setElementId("quad-hexa_reverse");
}
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
if(invertMotors > 0)
quad->setElementId("quad-hexa-H");
else
quad->setElementId("quad-hexa-H_reverse");
}
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
{
if(invertMotors > 0)
quad->setElementId("hexa-coax");
else
quad->setElementId("hexa-coax_reverse");
}
else if (frameType == "Octo" || frameType == "Octocopter")
{
if(invertMotors > 0)
quad->setElementId("quad-octo");
else
quad->setElementId("quad-octo_reverse");
}
else if (frameType == "OctoV" || frameType == "Octocopter V")
{
if(invertMotors > 0)
quad->setElementId("quad-octo-v");
else
quad->setElementId("quad-octo-v_reverse");
}
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
{
if(invertMotors > 0)
quad->setElementId("octo-coax-P");
else
quad->setElementId("octo-coax-P_reverse");
}
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
{
if(invertMotors > 0)
quad->setElementId("octo-coax-X");
else
quad->setElementId("octo-coax-X_reverse");
}
}
@ -264,12 +331,12 @@ void ConfigMultiRotorWidget::setYawMixLevel(int value)
if(value<0)
{
m_aircraft->mrYawMixLevel->setValue((-1)*value);
m_aircraft->TricopterRevMixercheckBox->setChecked(true);
m_aircraft->MultirotorRevMixercheckBox->setChecked(true);
}
else
{
m_aircraft->mrYawMixLevel->setValue(value);
m_aircraft->TricopterRevMixercheckBox->setChecked(false);
m_aircraft->MultirotorRevMixercheckBox->setChecked(false);
}
}
@ -974,8 +1041,8 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
double invert=m_aircraft->TricopterRevMixercheckBox->isChecked() ? -1:1;
double yFactor =invert * (double)m_aircraft->mrYawMixLevel->value()/100;
invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
double yFactor =invertMotors * (double)m_aircraft->mrYawMixLevel->value()/100;
for (int i=0 ; i<8; i++) {
if(mmList.at(i)->isEnabled())
{

5
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -64,10 +64,15 @@ private:
void setupMotors(QList<QString> motorList);
void setupQuadMotor(int channel, double roll, double pitch, double yaw);
float invertMotors;
virtual void ResetActuators(GUIConfigDataUnion* configData);
static QStringList getChannelDescriptions();
static const QString CHANNELBOXNAME;
void setYawMixLevel(int);
void drawAirframe(QString multiRotorType);
private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);

11
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -215,6 +215,9 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
//Connect the multirotor motor reverse checkbox
connect(m_aircraft->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
// Connect the help pushbutton
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
enableControls(false);
@ -483,7 +486,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
UAVObjectField *field = system->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but here you go.
// is not ideal, but there you go.
QString frameType = field->getValue().toString();
setupAirframeUI(frameType);
@ -766,6 +769,12 @@ void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
box->setCurrentIndex(index);
}
void ConfigVehicleTypeWidget::reverseMultirotorMotor(){
QString frameType = m_aircraft->multirotorFrameType->currentText();
m_multirotor->drawAirframe(frameType);
}
/**
WHAT DOES THIS DO???
*/

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

@ -95,6 +95,7 @@ private slots:
void enableFFTest();
void openHelp();
void reverseMultirotorMotor();
protected:
void showEvent(QShowEvent *event);

5623
ground/openpilotgcs/src/plugins/config/images/multirotor-shapes.svg
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