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Code Issues Releases Activity

Remove some redundant "elevon" stuff for now. Will come back later when proper "elevon + rudder" artwork exists. Currently no different from vtail anyway...

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Enabled proper channel mixing settings inside the FixedWing wizard Output configuration screen. Attempt to set GUIConfigDataUnion to fixedwing
This commit is contained in:
Kevin Finisterre 2013-12-18 12:57:35 -05:00
parent 6e5e7e4dd3
commit 9e417f5ee5
7 changed files with 78 additions and 224 deletions
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130
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -86,7 +86,7 @@ ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
populateChannelComboBoxes();
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
fixedWingTypes << "Elevator aileron rudder" << "Vtail";
m_aircraft->fixedWingType->addItems(fixedWingTypes);
// Set default model to "Elevator aileron rudder"
@ -134,23 +134,6 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->elevonSlider1->setEnabled(false);
m_aircraft->elevonSlider2->setEnabled(false);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
plane->setElementId("vtail");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2");
m_aircraft->fwElevator1ChannelBox->setEnabled(false);
m_aircraft->fwElevator2ChannelBox->setEnabled(false);
m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true);
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonLabel1->setText("Roll");
m_aircraft->elevonLabel2->setText("Pitch");
m_aircraft->elevonSlider1->setEnabled(true);
m_aircraft->elevonSlider2->setEnabled(true);
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
plane->setElementId("vtail");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
@ -192,7 +175,7 @@ void ConfigFixedWingWidget::setupEnabledControls(QString frameType)
}
}
if (frameType == "Vtail" || frameType == "Elevon") {
if (frameType == "Vtail" || frameType == "vtail") {
enableComboBoxes(this, CHANNELBOXNAME, 3, true);
} else if (frameType == "aileron" || frameType == "Elevator aileron rudder") {
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
@ -263,18 +246,9 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting
if (frameType == "FixedWingVtail") {
// If the airframe is vtail, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
int channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider1->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL) * 100);
m_aircraft->elevonSlider2->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
}
} else if (frameType == "FixedWingVtail") {
int channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check.
@ -308,10 +282,7 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder") {
airframeType = "FixedWing";
setupFrameFixedWing(airframeType);
} else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon(airframeType);
} else { // "Vtail"
} else if (m_aircraft->fixedWingType->currentText() == "vtail") {
airframeType = "FixedWingVtail";
setupFrameVtail(airframeType);
}
@ -404,76 +375,6 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
return true;
}
/**
Setup Elevon
*/
bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
double value;
// motor
int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// rudders
channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->fwRudder2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// ailerons
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, value);
channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -value);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup VTail
*/
@ -592,27 +493,6 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
m_aircraft->fwRudder1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
} else if (airframeType == "FixedWingElevon") {
if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
if (m_aircraft->fwAileron1ChannelBox->currentText() == "None") {
m_aircraft->fwAileron1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
if (m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
m_aircraft->fwAileron2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwAileron2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
} else if (airframeType == "FixedWingVtail") {
if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -67,7 +67,6 @@ private:
virtual void resetActuators(GUIConfigDataUnion *configData);
bool setupFrameFixedWing(QString airframeType);
bool setupFrameElevon(QString airframeType);
bool setupFrameVtail(QString airframeType);
void updateAirframe(QString multiRotorType);

7
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -68,9 +68,11 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
QStringList channelDesc;
switch (systemSettingsData.AirframeType) {
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
// do nothing for elevon support for the time being.
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
// fixed wing
channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_HELICP:
@ -268,8 +270,7 @@ QString ConfigVehicleTypeWidget::frameCategory(QString frameType)
{
QString category;
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingVtail" || frameType == "Vtail") {
category = "Fixed Wing";
} else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"

6
ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
View File

@ -83,10 +83,10 @@ void FixedWingPage::resizeEvent(QResizeEvent *event)
void FixedWingPage::setupFixedWingTypesCombo()
{
ui->typeCombo->addItem(tr("Aileron, Elevator, Rudder"), SetupWizard::FIXED_WING_AILERON);
m_descriptions << tr("A description for aileron driven fixed wing stuff goes here... ");
m_descriptions << tr("This setup currently expects a traditional 4 channel setup including two ailerons (not connected by Y adapter), an elevator and a rudder. ");
ui->typeCombo->addItem(tr("V-Tail, or Elevon"), SetupWizard::FIXED_WING_VTAIL);
m_descriptions << tr("A description for vtail driven fixed wing stuff goes here... ");
ui->typeCombo->addItem(tr("V-Tail"), SetupWizard::FIXED_WING_VTAIL);
m_descriptions << tr("This setup currently expects a flying-wing setup, an elevon plus rudder setup is not yet supported. Setup should include only two elevons, and should explicitly not include a rudder.");
}
void FixedWingPage::updateAvailableTypes()

37
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -147,10 +147,29 @@ void OutputCalibrationPage::setupVehicle()
ui->vehicleView->setScene(m_vehicleScene);
}
qDebug() << "no clue what a wizard index is!";
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "fixed-aileron" << "aileron";
m_vehicleHighlightElementIndexes << 0 << 1;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4;
// see Servo city for an example. 1500 usec is center on MS85mg for example. - http://www.servocity.com/html/hs-85mg__mighty_micro.html
// make sure Aileron servo one does not go to an extreme value
m_actuatorSettings[1].channelMin = 1500;
m_actuatorSettings[1].channelNeutral = 1500;
m_actuatorSettings[1].channelMax = 1500;
// make sure Aileron servo two does not go to an extreme value
m_actuatorSettings[2].channelMin = 1500;
m_actuatorSettings[2].channelNeutral = 1500;
m_actuatorSettings[2].channelMax = 1500;
// make sure Elevator servo one does not go to an extreme value
m_actuatorSettings[3].channelMin = 1500;
m_actuatorSettings[4].channelNeutral = 1500;
m_actuatorSettings[3].channelMax = 1500;
// make sure Rudder servo one does not go to an extreme value
m_actuatorSettings[4].channelMin = 1500;
m_actuatorSettings[4].channelNeutral = 1500;
m_actuatorSettings[4].channelMax = 1500;
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::FIXED_WING_VTAIL:
@ -160,10 +179,20 @@ void OutputCalibrationPage::setupVehicle()
ui->vehicleView->setScene(m_vehicleScene);
}
qDebug() << "no clue what a wizard index is!";
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_wizardIndexes << 0 << 1 << 1 << 1;
m_vehicleElementIds << "fixed-vtail" << "vtail";
m_vehicleHighlightElementIndexes << 0 << 1;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 0 << 1 << 2;
// make sure elevon servo one does not go to an extreme value
m_actuatorSettings[1].channelMin = 1500;
m_actuatorSettings[1].channelNeutral = 1500;
m_actuatorSettings[1].channelMax = 1500;
// make sure elevon servo two does not go to an extreme value
m_actuatorSettings[2].channelMin = 1500;
m_actuatorSettings[2].channelNeutral = 1500;
m_actuatorSettings[2].channelMax = 1500;
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
default:

120
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -219,9 +219,6 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
case VehicleConfigurationSource::FIXED_WING_AILERON:
setupAileron();
break;
/* case VehicleConfigurationSource::FIXED_WING_ELEVON:
setupElevon();
break; */
case VehicleConfigurationSource::FIXED_WING_VTAIL:
setupVtail();
break;
@ -1304,7 +1301,6 @@ void VehicleConfigurationHelper::setupOctoCopter()
applyMultiGUISettings(frame, guiSettings);
}
// This is all wrong... I just copied the Tricopter stuff
void VehicleConfigurationHelper::setupVtail()
{
@ -1314,41 +1310,32 @@ void VehicleConfigurationHelper::setupVtail()
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 100;
channels[0].pitch = 50;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 0;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].type = MIXER_TYPE_SERVO;
channels[1].throttle1 = 0;
channels[1].throttle2 = 0;
channels[1].roll = -100;
channels[1].pitch = 50;
channels[1].yaw = 0;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = -100;
channels[2].roll = 100;
channels[2].pitch = -50;
channels[2].yaw = 0;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 100;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorNE = 2;
guiSettings.multi.VTOLMotorS = 3;
guiSettings.multi.TRIYaw = 4;
guiSettings.fixedwing.FixedWingThrottle = 1;
guiSettings.fixedwing.FixedWingRoll1 = 2;
guiSettings.fixedwing.FixedWingRoll2 = 3;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL, guiSettings);
}
// This is all wrong... I just copied the Tricopter stuff
void VehicleConfigurationHelper::setupAileron()
{
// Typical vehicle setup
@ -1362,24 +1349,31 @@ void VehicleConfigurationHelper::setupAileron()
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 100;
channels[0].pitch = 50;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 0;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].type = MIXER_TYPE_SERVO;
channels[1].throttle1 = 0;
channels[1].throttle2 = 0;
channels[1].roll = -100;
channels[1].pitch = 50;
channels[1].pitch = 0;
channels[1].yaw = 0;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = -100;
channels[2].roll = 100;
channels[2].pitch = 0;
channels[2].yaw = 0;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 100;
channels[3].yaw = 0;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
@ -1387,60 +1381,12 @@ void VehicleConfigurationHelper::setupAileron()
channels[3].pitch = 0;
channels[3].yaw = 100;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorNE = 2;
guiSettings.multi.VTOLMotorS = 3;
guiSettings.multi.TRIYaw = 4;
guiSettings.fixedwing.FixedWingThrottle = 1;
guiSettings.fixedwing.FixedWingRoll1 = 2;
guiSettings.fixedwing.FixedWingRoll2 = 3;
guiSettings.fixedwing.FixedWingPitch1 = 4;
guiSettings.fixedwing.FixedWingYaw1 = 5;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL, guiSettings);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGAILERON, guiSettings);
}
// This is all wrong... I just copied the Tricopter stuff
void VehicleConfigurationHelper::setupElevon()
{
// Typical vehicle setup
// 1. Setup mixer data
// 2. Setup GUI data
// 3. Apply changes
mixerChannelSettings channels[10];
GUIConfigDataUnion guiSettings = getGUIConfigData();
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 100;
channels[0].pitch = 50;
channels[0].yaw = 0;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -100;
channels[1].pitch = 50;
channels[1].yaw = 0;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = -100;
channels[2].yaw = 0;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 100;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorNE = 2;
guiSettings.multi.VTOLMotorS = 3;
guiSettings.multi.TRIYaw = 4;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON, guiSettings);
}

1
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
View File

@ -105,7 +105,6 @@ private:
void setupOctoCopter();
void setupVtail();
void setupAileron();
void setupElevon();
private slots:
void uAVOTransactionCompleted(UAVObject *object, bool success);