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Code Issues Releases Activity

Merge remote-tracking branch 'origin/laurent/OP-1605_FWing_normalize_mixers_and_store_mix_values' into rel-14.10

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This commit is contained in:
Fredrik Arvidsson 2014-11-11 18:15:07 +01:00
commit 9f3aad0a1e
4 changed files with 102 additions and 64 deletions
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145
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -112,6 +112,13 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
planeimg = new QGraphicsSvgItem();
planeimg->setSharedRenderer(renderer);
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
if (frameType == "FixedWing" || frameType == "Aileron") {
planeimg->setElementId("aileron");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Aileron"));
@ -129,6 +136,9 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->elevonSlider1->setEnabled(false);
m_aircraft->elevonSlider2->setEnabled(false);
m_aircraft->elevonSlider1->setValue(100);
m_aircraft->elevonSlider2->setValue(100);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
planeimg->setElementId("elevon");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
@ -147,6 +157,15 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->elevonSlider1->setEnabled(true);
m_aircraft->elevonSlider2->setEnabled(true);
// Get values saved if frameType = current frameType set on board
if (field->getValue().toString() == "FixedWingElevon") {
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueRoll"));
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
} else {
m_aircraft->elevonSlider1->setValue(100);
m_aircraft->elevonSlider2->setValue(100);
}
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
planeimg->setElementId("vtail");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
@ -168,7 +187,17 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->elevonSlider1->setEnabled(true);
m_aircraft->elevonSlider2->setEnabled(true);
// Get values saved if frameType = current frameType set on board
if (field->getValue().toString() == "FixedWingVtail") {
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueYaw"));
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
} else {
m_aircraft->elevonSlider1->setValue(100);
m_aircraft->elevonSlider2->setValue(100);
}
}
QGraphicsScene *scene = new QGraphicsScene();
scene->addItem(planeimg);
scene->setSceneRect(planeimg->boundingRect());
@ -240,26 +269,13 @@ 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
// 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.
m_aircraft->elevonSlider1->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW) * 100);
m_aircraft->elevonSlider2->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
}
// Get mixing values for GUI sliders (values stored onboard)
if (frameType == "FixedWingElevon" || frameType == "Elevon") {
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueRoll"));
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueYaw"));
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
}
}
@ -404,37 +420,48 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
// 1. Assign the servo/motor/none for each channel
double value;
double pitch;
double roll;
double yaw;
// motor
int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// rudders
// Yaw mixer value, currently no slider (should be added for Rudder response ?)
yaw = 127;
setMixerValue(mixer, "MixerValueYaw", 100);
channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw);
channel = m_aircraft->fwRudder2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yaw);
// 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);
// Compute mixer absolute values
pitch = (double)(m_aircraft->elevonSlider2->value() * 1.27);
roll = (double)(m_aircraft->elevonSlider1->value() * 1.27);
// Store sliders values onboard
setMixerValue(mixer, "MixerValuePitch", m_aircraft->elevonSlider2->value());
setMixerValue(mixer, "MixerValueRoll", m_aircraft->elevonSlider1->value());
// First servo (left aileron)
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, -pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
// Second servo (right aileron)
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);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");
@ -474,46 +501,54 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
// 1. Assign the servo/motor/none for each channel
double pitch;
double roll;
double yaw;
// 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);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
// Roll mixer value, currently no slider (should be added for Ailerons response ?)
roll = 127;
// Store Roll fixed value onboard
setMixerValue(mixer, "MixerValueRoll", 100);
// First Aileron (left)
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
// Second Aileron (right)
channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
}
// vtail
// vtail (pitch / yaw mixing)
channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
double 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_YAW, value);
// Compute mixer absolute values
pitch = (double)(m_aircraft->elevonSlider2->value() * 1.27);
yaw = (double)(m_aircraft->elevonSlider1->value() * 1.27);
// Store sliders values onboard
setMixerValue(mixer, "MixerValuePitch", m_aircraft->elevonSlider2->value());
setMixerValue(mixer, "MixerValueYaw", m_aircraft->elevonSlider1->value());
// First Vtail servo
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, -pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw);
// Second Vtail servo
channel = m_aircraft->fwElevator2ChannelBox->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_YAW, -value);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");

11
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -807,18 +807,13 @@ void ConfigMultiRotorWidget::setupQuadMotor(int channel, double pitch, double ro
Q_ASSERT(mixer);
// Normalize mixer values, allow a well balanced mixer saved
pitch = (pitch < 0) ? qFloor(pitch * 127) : qCeil(pitch * 127);
roll = (roll < 0) ? qFloor(roll * 127) : qCeil(roll * 127);
yaw = (yaw < 0) ? qFloor(yaw * 127) : qCeil(yaw * 127);
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 0);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll * 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch * 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw * 127);
}
/**

4
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -29,6 +29,7 @@
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "systemsettings.h"
#include <QtCore/qmath.h>
#include <QDebug>
@ -254,6 +255,9 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject *mixer, int channel, Mixer
UAVObjectField *field = mixer->getField(mixerVectors.at(channel));
Q_ASSERT(field);
// Normalize mixer values
value = (value < 0) ? qFloor(value) : qCeil(value);
if (field) {
field->setDouble(value, elementName);
}

6
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -690,6 +690,10 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
break;
}
case VehicleConfigurationSource::VEHICLE_FIXEDWING:
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
break;
case VehicleConfigurationSource::VEHICLE_HELI:
case VehicleConfigurationSource::VEHICLE_SURFACE:
// TODO: Implement mixer / sliders settings for other vehicle types?
@ -1828,7 +1832,7 @@ void VehicleConfigurationHelper::setupDualAileron()
channels[0].type = MIXER_TYPE_SERVO;
channels[0].throttle1 = 0;
channels[0].throttle2 = 0;
channels[0].roll = -100;
channels[0].roll = 100;
channels[0].pitch = 0;
channels[0].yaw = 0;