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OP-1063 Multi_config_Hexa_fixes : Added real HexaX, renamed HexaX > HexaH

Browse Source 
Added artwork in config and wizard svg. Cleanup on svg connection diagram (layers)
DO NOT USE until mixers are fixed
This commit is contained in:
Laurent Lalanne 2014-07-10 06:01:28 +02:00
parent 01b01052a8
commit a46480a99b
14 changed files with 4045 additions and 22342 deletions
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1
flight/libraries/sanitycheck.c
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@ -266,6 +266,7 @@ FrameType_t GetCurrentFrameType()
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAH:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:

2
flight/modules/VtolPathFollower/vtolpathfollower.c
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@ -190,7 +190,7 @@ static void vtolPathFollowerTask(__attribute__((unused)) void *parameters)
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX)
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTO)
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP)
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_TRI)) {
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_TRI) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXAH)) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
vTaskDelay(1000);
continue;

102
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
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@ -110,7 +110,7 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
m_aircraft->quadShape->setScene(scene);
QStringList multiRotorTypes;
multiRotorTypes << "Tricopter Y" << "Quad +" << "Quad X" << "Hexacopter" << "Hexacopter X" << "Hexacopter Y6"
multiRotorTypes << "Tricopter Y" << "Quad +" << "Quad X" << "Hexacopter" << "Hexacopter X" << "Hexacopter H" << "Hexacopter Y6"
<< "Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X";
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
@ -165,6 +165,13 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType,
m_aircraft->multirotorFrameType->findText("Hexacopter X"));
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
setYawMixLevel(33);
} else if (frameType == "HexaH" || frameType == "Hexacopter H") {
setComboCurrentIndex(m_aircraft->multirotorFrameType,
m_aircraft->multirotorFrameType->findText("Hexacopter H"));
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
setYawMixLevel(33);
@ -235,6 +242,8 @@ void ConfigMultiRotorWidget::setupEnabledControls(QString frameType)
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
} else if (frameType == "HexaH" || frameType == "Hexacopter H") {
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
} else if (frameType == "Octo" || frameType == "Octocopter") {
@ -390,6 +399,31 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
} else if (frameType == "HexaH") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2, multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5, multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6, multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
@ -549,6 +583,36 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
airframeType = "HexaX";
setupHexa(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter H") {
airframeType = "HexaH";
// Show any config errors in GUI
if (throwConfigError(6)) {
return airframeType;
}
motorList << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 6, H layout (old hexaX)
// 1 [ 0.5, -0.3, -0.3 ] NE
// 2 [ 0 , -0.3, 0.3 ] E
// 3 [ -0.5, -0.3, -0.3 ] SE
// 4 [ -0.5, 0.3, 0.3 ] SW
// 5 [ 0 , 0.3, -0.3 ] W
// 6 [ 0.5, 0.3, 0.3 ] NW
// pitch roll yaw
double hMixer[8][3] = {
{ 1 , -1, -1 },
{ 0 , -1, 1 },
{ -1 , -1, -1 },
{ -1 , 1, 1 },
{ 0 , 1, -1 },
{ 1 , 1, 1 },
{ 0, 0, 0 },
{ 0, 0, 0 }
};
setupMultiRotorMixer(hMixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
airframeType = "HexaCoax";
@ -748,6 +812,8 @@ void ConfigMultiRotorWidget::updateAirframe(QString frameType)
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
elementId = "quad-hexa";
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
elementId = "quad-hexa-X";
} else if (frameType == "HexaH" || frameType == "Hexacopter H") {
elementId = "quad-hexa-H";
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
elementId = "hexa-coax";
@ -923,17 +989,17 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
// 5 {-0.3 , 0.5 ,-0.3 // SW CW
// 6 { 0.3 , 0.5 , 0.3 // NW CCW
double pMixer[8][3] = {
{ 1, 0, -1 },
{ 1, -1, 1 },
{ -1, -1, -1 },
{ -1, 0, 1 },
{ -1, 1, -1 },
{ 1, 1, 1 },
{ 0, 0, 0 },
{ 0, 0, 0 }
{ 1 , 0 , -1 },
{ 0.5, -0.87, 1 },
{ -0.5, -0.87, -1 },
{ -1 , 0 , 1 },
{ -0.5, 0.87, -1 },
{ 0.5, 0.87, 1 },
{ 0, 0, 0 },
{ 0, 0, 0 }
};
// Motor 1 to 6, X Layout:
// Motor 1 to 6, X Layout (Real X layout)
// 1 [ 0.5, -0.3, -0.3 ] NE
// 2 [ 0 , -0.3, 0.3 ] E
// 3 [ -0.5, -0.3, -0.3 ] SE
@ -941,14 +1007,14 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
// 5 [ 0 , 0.3, -0.3 ] W
// 6 [ 0.5, 0.3, 0.3 ] NW
double xMixer[8][3] = {
{ 1, -1, -1 },
{ 0, -1, 1 },
{ -1, -1, -1 },
{ -1, 1, 1 },
{ 0, 1, -1 },
{ 1, 1, 1 },
{ 0, 0, 0 },
{ 0, 0, 0 }
{ 0.87, -0.5, -1 },
{ 0 , -1 , 1 },
{ -0.87, -0.5, -1 },
{ -0.87, 0.5, 1 },
{ 0 , 1 , -1 },
{ 0.87, 0.5, 1 },
{ 0, 0, 0 },
{ 0, 0, 0 }
};
if (pLayout) {

1
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
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@ -263,6 +263,7 @@ int ConfigVehicleTypeWidget::frameCategory(QString frameType)
} else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
|| frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
|| frameType == "HexaH" || frameType == "Hexacopter H"
|| frameType == "Hexacopter Y6" || frameType == "Octo" || frameType == "Octocopter" || frameType == "OctoV"
|| frameType == "Octocopter V" || frameType == "OctoCoaxP" || frameType == "Octo Coax +"
|| frameType == "OctoCoaxX" || frameType == "Octo Coax X") {

12004
ground/openpilotgcs/src/plugins/config/images/multirotor-shapes.svg
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3
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
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@ -107,6 +107,9 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
elementsToShow << "hexa";
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X:
elementsToShow << "hexa-x";
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
elementsToShow << "hexa-y";
break;

11
ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
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@ -101,11 +101,15 @@ void MultiPage::setupMultiTypesCombo()
ui->typeCombo->addItem(tr("Hexacopter"), SetupWizard::MULTI_ROTOR_HEXA);
m_descriptions << tr("Hexacopter");
ui->typeCombo->addItem(tr("Hexacopter X"), SetupWizard::MULTI_ROTOR_HEXA_X);
m_descriptions << tr("Hexacopter X");
ui->typeCombo->addItem(tr("Hexacopter H"), SetupWizard::MULTI_ROTOR_HEXA_H);
m_descriptions << tr("Hexacopter H");
ui->typeCombo->addItem(tr("Hexacopter Coax (Y6)"), SetupWizard::MULTI_ROTOR_HEXA_COAX_Y);
m_descriptions << tr("Hexacopter Coax (Y6)");
ui->typeCombo->addItem(tr("Hexacopter X"), SetupWizard::MULTI_ROTOR_HEXA_H);
m_descriptions << tr("Hexacopter H");
// Fredrik Arvidsson(m_thread) 2012-08-26 Disable Octos until further notice
/*
@ -159,6 +163,9 @@ void MultiPage::updateImageAndDescription()
case SetupWizard::MULTI_ROTOR_HEXA_H:
elementId = "quad-hexa-H";
break;
case SetupWizard::MULTI_ROTOR_HEXA_X:
elementId = "quad-hexa-X";
break;
case SetupWizard::MULTI_ROTOR_OCTO:
elementId = "quad-octo";
break;

8
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
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@ -104,6 +104,12 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
break;
case SetupWizard::MULTI_ROTOR_HEXA_X:
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa-x" << "hexa-x-frame" << "hexa-x-m1" << "hexa-x-m2" << "hexa-x-m3" << "hexa-x-m4" << "hexa-x-m5" << "hexa-x-m6";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
break;
default:
break;
}
@ -131,7 +137,7 @@ void OutputCalibrationPage::setupVehicleItems()
m_vehicleScene->addItem(m_vehicleBoundsItem);
QRectF parentBounds = m_vehicleRenderer->boundsOnElement(m_vehicleElementIds[0]);
qDebug() << "parentBounds " << parentBounds;
for (int i = 1; i < m_vehicleElementIds.size(); i++) {
QGraphicsSvgItem *item = new QGraphicsSvgItem();
item->setSharedRenderer(m_vehicleRenderer);

6972
ground/openpilotgcs/src/plugins/setupwizard/resources/connection-diagrams.svg
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ground/openpilotgcs/src/plugins/setupwizard/resources/multirotor-shapes.svg
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3
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
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@ -204,6 +204,9 @@ QString SetupWizard::getSummaryText()
summary.append(tr("Hexacopter Coax (Y6)"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_H:
summary.append(tr("Hexacopter H"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_X:
summary.append(tr("Hexacopter X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO:

59
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
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@ -202,6 +202,7 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X:
setupHexaCopter();
break;
case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
@ -279,6 +280,7 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
@ -940,7 +942,62 @@ void VehicleConfigurationHelper::setupHexaCopter()
}
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
{
frame = SystemSettings::AIRFRAMETYPE_HEXAX;
frame = SystemSettings::AIRFRAMETYPE_HEXAH;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = -33;
channels[0].pitch = 50;
channels[0].yaw = -33;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -33;
channels[1].pitch = 0;
channels[1].yaw = 33;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -33;
channels[2].pitch = -50;
channels[2].yaw = -33;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -33;
channels[3].pitch = -50;
channels[3].yaw = 33;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 33;
channels[4].pitch = 0;
channels[4].yaw = -33;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 33;
channels[5].pitch = 50;
channels[5].yaw = -33;
guiSettings.multi.VTOLMotorNE = 1;
guiSettings.multi.VTOLMotorE = 2;
guiSettings.multi.VTOLMotorSE = 3;
guiSettings.multi.VTOLMotorSW = 4;
guiSettings.multi.VTOLMotorW = 5;
guiSettings.multi.VTOLMotorNW = 6;
break;
}
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X:
{
frame = SystemSettings::AIRFRAMETYPE_HEXAH;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;

2
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
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@ -58,7 +58,7 @@ public:
enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_OPLINK };
enum VEHICLE_TYPE { VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE };
enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS, FIXED_WING_AILERON,
FIXED_WING_VTAIL, HELI_CCPM };
enum ESC_TYPE { ESC_RAPID, ESC_LEGACY, ESC_UNKNOWN };

2
shared/uavobjectdefinition/systemsettings.xml
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@ -1,7 +1,7 @@
<xml>
<object name="SystemSettings" singleinstance="true" settings="true" category="System">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" />
<!-- Which way the vehicle controls its thrust. Can be through
"Throttle" (quadcopter, simple brushless planes,