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mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-15 07:29:15 +01:00

Treat the tricopter yaw channel like the other motor channels

This commit is contained in:
James Cotton 2012-07-27 20:14:19 -05:00
parent f5af60af3e
commit 9f1a8416f5

View File

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