mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-21 13:28:58 +01:00
Treat the tricopter yaw channel like the other motor channels
This commit is contained in:
James Cotton
parent
f5af60af3e
commit
9f1a8416f5
@ -288,188 +288,183 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
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*/
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QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
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{
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QString airframeType;
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QList<QString> motorList;
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QString airframeType;
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QList<QString> motorList;
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UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(mixerObj);
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// Curve is also common to all quads:
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setThrottleCurve(mixerObj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
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if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
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airframeType = "QuadP";
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setupQuad(true);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
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airframeType = "QuadX";
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setupQuad(false);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
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airframeType = "Hexa";
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setupHexa(true);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
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airframeType = "HexaX";
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setupHexa(false);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
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airframeType = "HexaCoax";
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//Show any config errors in GUI
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if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
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airframeType = "QuadP";
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setupQuad(true);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
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airframeType = "QuadX";
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setupQuad(false);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
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airframeType = "Hexa";
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setupHexa(true);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
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airframeType = "HexaX";
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setupHexa(false);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
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airframeType = "HexaCoax";
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//Show any config errors in GUI
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if (throwConfigError(6)) {
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return airframeType;
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}
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motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
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<< "VTOLMotorS" << "VTOLMotorSE";
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setupMotors(motorList);
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// Motor 1 to 6, Y6 Layout:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 0.5, 1, -1},
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{ 0.5, 1, 1},
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{ 0.5, -1, -1},
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{ 0.5, -1, 1},
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{ -1, 0, -1},
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{ -1, 0, 1},
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{ 0, 0, 0},
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{ 0, 0, 0}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
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airframeType = "Octo";
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//Show any config errors in GUI
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if (throwConfigError(8)) {
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return airframeType;
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return airframeType;
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}
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motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
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<< "VTOLMotorS" << "VTOLMotorSE";
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setupMotors(motorList);
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 0, -1},
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{ 1, -1, 1},
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{ 0, -1, -1},
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{ -1, -1, 1},
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{ -1, 0, -1},
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{ -1, 1, 1},
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{ 0, 1, -1},
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{ 1, 1, 1}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
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airframeType = "OctoV";
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//Show any config errors in GUI
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if (throwConfigError(8)) {
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return airframeType;
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// IMPORTANT: Assumes evenly spaced engines
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// pitch roll yaw
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double mixer [8][3] = {
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{ 0.33, -1, -1},
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{ 1 , -1, 1},
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{ -1 , -1, -1},
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{ -0.33, -1, 1},
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{ -0.33, 1, -1},
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{ -1 , 1, 1},
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{ 1 , 1, -1},
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{ 0.33, 1, 1}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
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airframeType = "OctoCoaxP";
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// Motor 1 to 6, Y6 Layout:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 0.5, 1, -1},
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{ 0.5, 1, 1},
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{ 0.5, -1, -1},
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{ 0.5, -1, 1},
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{ -1, 0, -1},
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{ -1, 0, 1},
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{ 0, 0, 0},
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{ 0, 0, 0}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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//Show any config errors in GUI
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if (throwConfigError(8)) {
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return airframeType;
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 0, -1},
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{ 1, 0, 1},
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{ 0, -1, -1},
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{ 0, -1, 1},
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{ -1, 0, -1},
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{ -1, 0, 1},
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{ 0, 1, -1},
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{ 0, 1, 1}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
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airframeType = "OctoCoaxX";
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//Show any config errors in GUI
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if (throwConfigError(8)) {
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return airframeType;
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}
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motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
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<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 1, -1},
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{ 1, 1, 1},
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{ 1, -1, -1},
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{ 1, -1, 1},
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{ -1, -1, -1},
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{ -1, -1, 1},
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{ -1, 1, -1},
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{ -1, 1, 1}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
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airframeType = "Tri";
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
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airframeType = "Octo";
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//Show any config errors in GUI
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//Show any config errors in GUI
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if (throwConfigError(8)) {
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return airframeType;
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 0, -1},
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{ 1, -1, 1},
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{ 0, -1, -1},
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{ -1, -1, 1},
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{ -1, 0, -1},
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{ -1, 1, 1},
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{ 0, 1, -1},
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{ 1, 1, 1}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
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airframeType = "OctoV";
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//Show any config errors in GUI
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if (throwConfigError(8)) {
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return airframeType;
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// IMPORTANT: Assumes evenly spaced engines
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// pitch roll yaw
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double mixer [8][3] = {
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{ 0.33, -1, -1},
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{ 1 , -1, 1},
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{ -1 , -1, -1},
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{ -0.33, -1, 1},
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{ -0.33, 1, -1},
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{ -1 , 1, 1},
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{ 1 , 1, -1},
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{ 0.33, 1, 1}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
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airframeType = "OctoCoaxP";
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//Show any config errors in GUI
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if (throwConfigError(8)) {
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return airframeType;
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 0, -1},
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{ 1, 0, 1},
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{ 0, -1, -1},
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{ 0, -1, 1},
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{ -1, 0, -1},
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{ -1, 0, 1},
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{ 0, 1, -1},
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{ 0, 1, 1}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
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airframeType = "OctoCoaxX";
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//Show any config errors in GUI
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if (throwConfigError(8)) {
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return airframeType;
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}
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motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
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<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 1, -1},
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{ 1, 1, 1},
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{ 1, -1, -1},
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{ 1, -1, 1},
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{ -1, -1, -1},
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{ -1, -1, 1},
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{ -1, 1, -1},
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{ -1, 1, 1}
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};
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setupMultiRotorMixer(mixer);
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m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
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} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
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airframeType = "Tri";
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//Show any config errors in GUI
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if (throwConfigError(3)) {
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return airframeType;
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return airframeType;
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}
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if (m_aircraft->triYawChannelBox->currentText() == "None") {
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m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
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return airframeType;
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}
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motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
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setupMotors(motorList);
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}
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if (m_aircraft->triYawChannelBox->currentText() == "None") {
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m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
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return airframeType;
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}
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motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS" << "" << "" << "" << "" << "" << "VTOLYaw";
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setupMotors(motorList);
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GUIConfigDataUnion config = GetConfigData();
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config.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
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SetConfigData(config);
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// Motor 1 to 6, Y6 Layout:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 0.5, 1, 0},
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{ 0.5, -1, 0},
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{ -1, 0, 0},
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{ 0, 0, 0},
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{ 0, 0, 0},
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{ 0, 0, 0},
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{ 0, 0, 0},
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{ 0, 0, 0}
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};
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setupMultiRotorMixer(mixer);
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// Motor 1 to 6, Y6 Layout:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 0.5, 1, 0},
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{ 0.5, -1, 0},
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{ -1, 0, 0},
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{ 0, 0, 0},
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{ 0, 0, 0},
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{ 0, 0, 0},
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{ 0, 0, 0},
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{ 0, 0, 0}
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};
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setupMultiRotorMixer(mixer);
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//tell the mixer about tricopter yaw channel
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@ -719,13 +714,12 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
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m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
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}
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} else if (frameType == "Tri") {
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} else if (frameType == "Tri") {
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// Motors 1 to 8 are N / NE / E / etc
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setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
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setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
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setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
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setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
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setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
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channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
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@ -771,8 +765,8 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
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{
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QList<QComboBox*> mmList;
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mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
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<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
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<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
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<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
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<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8 << m_aircraft->triYawChannelBox;
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GUIConfigDataUnion configData = GetConfigData();
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ResetActuators(&configData);
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@ -800,6 +794,8 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
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configData.multi.VTOLMotorW = index;
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else if (motor == QString( "VTOLMotorNW"))
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configData.multi.VTOLMotorNW = index;
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else if (motor == QString( "VTOLYaw" ))
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configData.multi.TRIYaw = index;
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}
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SetConfigData(configData);
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