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Code Issues Releases Activity

CCPM config: Fix the collective pass through mode for multi receiver support.

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Now the user must configure Accessory# in the input configuration section
though.
This commit is contained in:
James Cotton 2011-09-04 03:09:48 -05:00
parent 6344bc8f83
commit a81f14a575
3 changed files with 74 additions and 170 deletions
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2
ground/openpilotgcs/src/plugins/config/ccpm.ui
View File

@ -70,7 +70,7 @@
</size>
</property>
<property name="currentIndex">
<number>2</number>
<number>0</number>
</property>
<widget class="QWidget" name="BasicTab">
<attribute name="title">

238
ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
View File

@ -70,8 +70,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500);
//m_ccpm->SwashplateImage->scale(.85,.85);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/ccpm_setup.svg"));
@ -142,68 +140,22 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
}
/*
Servos[0] = new QGraphicsSvgItem();
Servos[0]->setSharedRenderer(renderer);
Servos[0]->setElementId("ServoW");
m_ccpm->SwashplateImage->scene()->addItem(Servos[0]);
Servos[1] = new QGraphicsSvgItem();
Servos[1]->setSharedRenderer(renderer);
Servos[1]->setElementId("ServoX");
m_ccpm->SwashplateImage->scene()->addItem(Servos[1]);
Servos[2] = new QGraphicsSvgItem();
Servos[2]->setSharedRenderer(renderer);
Servos[2]->setElementId("ServoY");
m_ccpm->SwashplateImage->scene()->addItem(Servos[2]);
Servos[3] = new QGraphicsSvgItem();
Servos[3]->setSharedRenderer(renderer);
Servos[3]->setElementId("ServoZ");
m_ccpm->SwashplateImage->scene()->addItem(Servos[3]);
ServosText[0] = new QGraphicsTextItem();
ServosText[0]->setDefaultTextColor(Qt::red);
ServosText[0]->setPlainText(QString("-"));
ServosText[0]->setFont(serifFont);
m_ccpm->SwashplateImage->scene()->addItem(ServosText[0]);
ServosText[1] = new QGraphicsTextItem();
ServosText[1]->setDefaultTextColor(Qt::red);
ServosText[1]->setPlainText(QString("-"));
ServosText[1]->setFont(serifFont);
m_ccpm->SwashplateImage->scene()->addItem(ServosText[1]);
ServosText[2] = new QGraphicsTextItem();
ServosText[2]->setDefaultTextColor(Qt::red);
ServosText[2]->setPlainText(QString("-"));
ServosText[2]->setFont(serifFont);
m_ccpm->SwashplateImage->scene()->addItem(ServosText[2]);
ServosText[3] = new QGraphicsTextItem();
ServosText[3]->setDefaultTextColor(Qt::red);
ServosText[3]->setPlainText(QString("-"));
ServosText[3]->setFont(serifFont);
m_ccpm->SwashplateImage->scene()->addItem(ServosText[3]);
*/
m_ccpm->PitchCurve->setMin(-1);
resetMixer(m_ccpm->PitchCurve, 5);
resetMixer(m_ccpm->ThrottleCurve, 5);
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
UAVObjectField * curve2source = mixerSettings->getField("Curve2Source");
Q_ASSERT(curve2source);
m_ccpm->ccpmCollectiveChannel->addItems(curve2source->getOptions());
m_ccpm->ccpmCollectiveChannel->setCurrentIndex(0);
QStringList channels;
channels << "Channel1" << "Channel2" <<
"Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" ;
m_ccpm->ccpmCollectiveChannel->addItems(channels);
m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8);
channels << "None" ;
channels << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
"Channel5" << "Channel6" << "Channel7" << "Channel8" << "None";
m_ccpm->ccpmEngineChannel->addItems(channels);
m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
m_ccpm->ccpmTailChannel->addItems(channels);
@ -277,8 +229,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
ccpmSwashplateRedraw();
// connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
}
ConfigccpmWidget::~ConfigccpmWidget()
@ -292,7 +242,7 @@ void ConfigccpmWidget::UpdateType()
QString TypeText;
double AdjustmentAngle=0;
UpdatCCPMOptionsFromUI();
UpdateCCPMOptionsFromUI();
SetUIComponentVisibilities();
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
@ -915,14 +865,10 @@ void ConfigccpmWidget::UpdateMixer()
bool useCyclic;
int i,j,ThisEnable[6];
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
//QTableWidgetItem *newItem;// = new QTableWidgetItem();
QString Channel;
ccpmChannelCheck();
//Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
//CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
//CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
UpdatCCPMOptionsFromUI();
UpdateCCPMOptionsFromUI();
useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
useCyclic = GUIConfigData.heli.ccpmLinkRollState;
@ -978,15 +924,6 @@ void ConfigccpmWidget::UpdateMixer()
//go through the user data and update the mixer matrix
for (i=0;i<6;i++)
{
/*
data.Mixer0Type = 0;//Disabled,Motor,Servo
data.Mixer0Vector[0] = 0;//ThrottleCurve1
data.Mixer0Vector[1] = 0;//ThrottleCurve2
data.Mixer0Vector[2] = 0;//Roll
data.Mixer0Vector[3] = 0;//Pitch
data.Mixer0Vector[4] = 0;//Yaw
*/
if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2)))
{
m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 ));
@ -1055,7 +992,7 @@ void ConfigccpmWidget::UpdateMixer()
} __attribute__((packed)) heliGUISettingsStruct;
*/
void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
{
bool useCCPM;
bool useCyclic;
@ -1097,7 +1034,6 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value();
}
GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value();
//GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value();
//servo assignments
GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex();
@ -1106,7 +1042,7 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex();
}
void ConfigccpmWidget::UpdatCCPMUIFromOptions()
void ConfigccpmWidget::UpdateCCPMUIFromOptions()
{
//swashplate config
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1));
@ -1134,7 +1070,6 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions()
m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2);
m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0);
//m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider);
//servo assignments
m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW);
@ -1147,7 +1082,7 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions()
void ConfigccpmWidget::SetUIComponentVisibilities()
{
UpdatCCPMOptionsFromUI();
UpdateCCPMOptionsFromUI();
//set which sliders are user...
m_ccpm->ccpmRevoMixingBox->setVisible(0);
@ -1205,7 +1140,7 @@ void ConfigccpmWidget::requestccpmUpdate()
for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++)
GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
UpdatCCPMUIFromOptions();
UpdateCCPMUIFromOptions();
// Get existing mixer settings
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
@ -1299,7 +1234,7 @@ void ConfigccpmWidget::requestccpmUpdate()
}
updatingFromHardware=FALSE;
UpdatCCPMUIFromOptions();
UpdateCCPMUIFromOptions();
ccpmSwashplateUpdate();
}
@ -1317,109 +1252,78 @@ void ConfigccpmWidget::sendccpmUpdate()
updatingToHardware=TRUE;
//ShowDisclaimer(1);
UpdateCCPMOptionsFromUI();
// Store the data required to reconstruct
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
systemSettingsData.GUIConfigData[0] = GUIConfigData.UAVObject[0];
systemSettingsData.GUIConfigData[1] = GUIConfigData.UAVObject[1];
systemSettings->setData(systemSettingsData);
systemSettings->updated();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
UpdatCCPMOptionsFromUI();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
field = obj->getField(QString("GUIConfigData"));
field->setValue(GUIConfigData.UAVObject[0],0);
field->setValue(GUIConfigData.UAVObject[1],1);
obj->updated();
UpdateMixer();
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// Set up some helper pointers
qint8 * mixers[8] = {mixerSettingsData.Mixer1Vector,
mixerSettingsData.Mixer2Vector,
mixerSettingsData.Mixer3Vector,
mixerSettingsData.Mixer4Vector,
mixerSettingsData.Mixer5Vector,
mixerSettingsData.Mixer6Vector,
mixerSettingsData.Mixer7Vector,
mixerSettingsData.Mixer8Vector
};
UpdateMixer();
quint8 * mixerTypes[8] = {
&mixerSettingsData.Mixer1Type,
&mixerSettingsData.Mixer2Type,
&mixerSettingsData.Mixer3Type,
&mixerSettingsData.Mixer4Type,
&mixerSettingsData.Mixer5Type,
&mixerSettingsData.Mixer6Type,
&mixerSettingsData.Mixer7Type,
&mixerSettingsData.Mixer8Type
};
//clear the output types
for (i=0;i<8;i++)
//go through the user data and update the mixer matrix
for (i=0;i<6;i++)
{
if (MixerChannelData[i]<8)
{
field = obj->getField( QString( "Mixer%1Type" ).arg( i+1 ));
//clear the mixer type
field->setValue("Disabled");
//set the mixer type
*(mixerTypes[MixerChannelData[i]]) = i==0 ?
MixerSettings::MIXER1TYPE_MOTOR :
MixerSettings::MIXER1TYPE_SERVO;
//config the vector
for (j=0;j<5;j++)
mixers[MixerChannelData[i]][j] = m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt();
}
}
//get the user data for the curve into the mixer settings
for (i=0;i<5;i++)
mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble();
//go through the user data and update the mixer matrix
for (i=0;i<6;i++)
{
/*
data.Mixer0Type = 0;//Disabled,Motor,Servo
data.Mixer0Vector[0] = 0;//ThrottleCurve1
data.Mixer0Vector[1] = 0;//ThrottleCurve2
data.Mixer0Vector[2] = 0;//Roll
data.Mixer0Vector[3] = 0;//Pitch
data.Mixer0Vector[4] = 0;//Yaw
*/
if (MixerChannelData[i]<8)
{
//select the correct mixer for this config element
field = obj->getField(QString( "Mixer%1Type" ).arg( MixerChannelData[i]+1 ));
//set the mixer type
if (i==0)
{
field->setValue("Motor");
}
else
{
field->setValue("Servo");
}
//select the correct mixer for this config element
field = obj->getField(QString( "Mixer%1Vector" ).arg( MixerChannelData[i]+1 ));
//config the vector
for (j=0;j<5;j++)
{
field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j);
}
}
}
//get the user data for the curve into the mixer settings
field = obj->getField(QString("ThrottleCurve1"));
for (i=0;i<5;i++)
{
field->setValue(m_ccpm->CurveSettings->item(i, 0)->text().toDouble(),i);
}
field = obj->getField(QString("ThrottleCurve2"));
for (i=0;i<5;i++)
{
field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i);
}
obj->updated();
field = obj->getField(QString("Curve2Source"));
for (i=0;i<5;i++)
mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble();
//mapping of collective input to curve 2...
//MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
//check if we are using throttle or directly from a channel...
if (GUIConfigData.heli.ccpmCollectivePassthroughState)
{// input channel
field->setValue("Accessory0");
obj->updated();
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("Accessory0"));
field->setValue(tr( "Channel%1" ).arg(GUIConfigData.heli.CollectiveChannel+1));
}
mixerSettingsData.Curve2Source = GUIConfigData.heli.CollectiveChannel;
else
{// throttle
field->setValue("Throttle");
}
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE;
obj->updated();
mixerSettings->setData(mixerSettingsData);
mixerSettings->updated();
updatingToHardware=FALSE;
}

4
ground/openpilotgcs/src/plugins/config/configccpmwidget.h
View File

@ -136,8 +136,8 @@ private:
void SwashLvlCancelButtonPressed();
void SwashLvlFinishButtonPressed();
void UpdatCCPMOptionsFromUI();
void UpdatCCPMUIFromOptions();
void UpdateCCPMOptionsFromUI();
void UpdateCCPMUIFromOptions();
void SetUIComponentVisibilities();
void ccpmChannelCheck();