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

212
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->setSceneRect(-50,-30,500,500);
//m_ccpm->SwashplateImage->scale(.85,.85); //m_ccpm->SwashplateImage->scale(.85,.85);
QSvgRenderer *renderer = new QSvgRenderer(); QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/ccpm_setup.svg")); 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); m_ccpm->PitchCurve->setMin(-1);
resetMixer(m_ccpm->PitchCurve, 5); resetMixer(m_ccpm->PitchCurve, 5);
resetMixer(m_ccpm->ThrottleCurve, 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; QStringList channels;
channels << "Channel1" << "Channel2" << channels << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
"Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" ; "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None";
m_ccpm->ccpmCollectiveChannel->addItems(channels);
m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8);
channels << "None" ;
m_ccpm->ccpmEngineChannel->addItems(channels); m_ccpm->ccpmEngineChannel->addItems(channels);
m_ccpm->ccpmEngineChannel->setCurrentIndex(8); m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
m_ccpm->ccpmTailChannel->addItems(channels); m_ccpm->ccpmTailChannel->addItems(channels);
@ -277,8 +229,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
ccpmSwashplateRedraw(); ccpmSwashplateRedraw();
// connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
} }
ConfigccpmWidget::~ConfigccpmWidget() ConfigccpmWidget::~ConfigccpmWidget()
@ -292,7 +242,7 @@ void ConfigccpmWidget::UpdateType()
QString TypeText; QString TypeText;
double AdjustmentAngle=0; double AdjustmentAngle=0;
UpdatCCPMOptionsFromUI(); UpdateCCPMOptionsFromUI();
SetUIComponentVisibilities(); SetUIComponentVisibilities();
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
@ -915,14 +865,10 @@ void ConfigccpmWidget::UpdateMixer()
bool useCyclic; bool useCyclic;
int i,j,ThisEnable[6]; int i,j,ThisEnable[6];
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6]; float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
//QTableWidgetItem *newItem;// = new QTableWidgetItem();
QString Channel; QString Channel;
ccpmChannelCheck(); ccpmChannelCheck();
//Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; UpdateCCPMOptionsFromUI();
//CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
//CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
UpdatCCPMOptionsFromUI();
useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
useCyclic = GUIConfigData.heli.ccpmLinkRollState; useCyclic = GUIConfigData.heli.ccpmLinkRollState;
@ -978,15 +924,6 @@ void ConfigccpmWidget::UpdateMixer()
//go through the user data and update the mixer matrix //go through the user data and update the mixer matrix
for (i=0;i<6;i++) 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))) if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2)))
{ {
m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 )); m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 ));
@ -1055,7 +992,7 @@ void ConfigccpmWidget::UpdateMixer()
} __attribute__((packed)) heliGUISettingsStruct; } __attribute__((packed)) heliGUISettingsStruct;
*/ */
void ConfigccpmWidget::UpdatCCPMOptionsFromUI() void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
{ {
bool useCCPM; bool useCCPM;
bool useCyclic; bool useCyclic;
@ -1097,7 +1034,6 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value(); GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value();
} }
GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value();
//GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value();
//servo assignments //servo assignments
GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex();
@ -1106,7 +1042,7 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex();
} }
void ConfigccpmWidget::UpdatCCPMUIFromOptions() void ConfigccpmWidget::UpdateCCPMUIFromOptions()
{ {
//swashplate config //swashplate config
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1)); 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->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2);
m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0);
//m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider);
//servo assignments //servo assignments
m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW); m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW);
@ -1147,7 +1082,7 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions()
void ConfigccpmWidget::SetUIComponentVisibilities() void ConfigccpmWidget::SetUIComponentVisibilities()
{ {
UpdatCCPMOptionsFromUI(); UpdateCCPMOptionsFromUI();
//set which sliders are user... //set which sliders are user...
m_ccpm->ccpmRevoMixingBox->setVisible(0); m_ccpm->ccpmRevoMixingBox->setVisible(0);
@ -1205,7 +1140,7 @@ void ConfigccpmWidget::requestccpmUpdate()
for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++) for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++)
GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i]; GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
UpdatCCPMUIFromOptions(); UpdateCCPMUIFromOptions();
// Get existing mixer settings // Get existing mixer settings
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
@ -1299,7 +1234,7 @@ void ConfigccpmWidget::requestccpmUpdate()
} }
updatingFromHardware=FALSE; updatingFromHardware=FALSE;
UpdatCCPMUIFromOptions(); UpdateCCPMUIFromOptions();
ccpmSwashplateUpdate(); ccpmSwashplateUpdate();
} }
@ -1317,109 +1252,78 @@ void ConfigccpmWidget::sendccpmUpdate()
updatingToHardware=TRUE; updatingToHardware=TRUE;
//ShowDisclaimer(1); //ShowDisclaimer(1);
UpdateCCPMOptionsFromUI();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); // Store the data required to reconstruct
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); 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();
UpdatCCPMOptionsFromUI(); MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings"))); Q_ASSERT(mixerSettings);
field = obj->getField(QString("GUIConfigData")); MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
field->setValue(GUIConfigData.UAVObject[0],0);
field->setValue(GUIConfigData.UAVObject[1],1);
obj->updated();
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
UpdateMixer(); UpdateMixer();
//clear the output types // Set up some helper pointers
for (i=0;i<8;i++) qint8 * mixers[8] = {mixerSettingsData.Mixer1Vector,
{ mixerSettingsData.Mixer2Vector,
field = obj->getField( QString( "Mixer%1Type" ).arg( i+1 )); mixerSettingsData.Mixer3Vector,
//clear the mixer type mixerSettingsData.Mixer4Vector,
field->setValue("Disabled"); mixerSettingsData.Mixer5Vector,
} mixerSettingsData.Mixer6Vector,
mixerSettingsData.Mixer7Vector,
mixerSettingsData.Mixer8Vector
};
quint8 * mixerTypes[8] = {
&mixerSettingsData.Mixer1Type,
&mixerSettingsData.Mixer2Type,
&mixerSettingsData.Mixer3Type,
&mixerSettingsData.Mixer4Type,
&mixerSettingsData.Mixer5Type,
&mixerSettingsData.Mixer6Type,
&mixerSettingsData.Mixer7Type,
&mixerSettingsData.Mixer8Type
};
//go through the user data and update the mixer matrix //go through the user data and update the mixer matrix
for (i=0;i<6;i++) 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) 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 //set the mixer type
if (i==0) *(mixerTypes[MixerChannelData[i]]) = i==0 ?
{ MixerSettings::MIXER1TYPE_MOTOR :
field->setValue("Motor"); MixerSettings::MIXER1TYPE_SERVO;
}
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 //config the vector
for (j=0;j<5;j++) for (j=0;j<5;j++)
{ mixers[MixerChannelData[i]][j] = m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt();
field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j);
} }
} }
}
//get the user data for the curve into the mixer settings //get the user data for the curve into the mixer settings
field = obj->getField(QString("ThrottleCurve1"));
for (i=0;i<5;i++) for (i=0;i<5;i++)
{ mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble();
field->setValue(m_ccpm->CurveSettings->item(i, 0)->text().toDouble(),i);
}
field = obj->getField(QString("ThrottleCurve2"));
for (i=0;i<5;i++) for (i=0;i<5;i++)
{ mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble();
field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i);
}
obj->updated();
field = obj->getField(QString("Curve2Source"));
//mapping of collective input to curve 2... //mapping of collective input to curve 2...
//MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5 //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
//check if we are using throttle or directly from a channel... //check if we are using throttle or directly from a channel...
if (GUIConfigData.heli.ccpmCollectivePassthroughState) if (GUIConfigData.heli.ccpmCollectivePassthroughState)
{// input channel mixerSettingsData.Curve2Source = GUIConfigData.heli.CollectiveChannel;
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));
}
else else
{// throttle mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE;
field->setValue("Throttle"); mixerSettings->setData(mixerSettingsData);
} mixerSettings->updated();
obj->updated();
updatingToHardware=FALSE; updatingToHardware=FALSE;
} }

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

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