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Code Issues Releases Activity

Heli configuration: Make swashplate leveling routine using static accessor

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methods.  Also got rid of incredibly annoying message when you tried to alt-tab
out of GCS.
This commit is contained in:
James Cotton 2011-09-04 14:51:02 -05:00
parent a81f14a575
commit acfb28b04b
2 changed files with 53 additions and 111 deletions
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162
ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
View File

@ -39,6 +39,7 @@
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
#define Pi 3.14159265358979323846
@ -130,10 +131,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView
m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]);
//SwashLvlSpinBoxes[i]->move(i*50+50,20);
//SwashLvlSpinBoxes[i]->resize(40,20);
//SwashLvlSpinBoxes[i]->heightForWidth()
SwashLvlSpinBoxes[i]->setFixedSize(50,20);
SwashLvlSpinBoxes[i]->setMaximum(10000);
SwashLvlSpinBoxes[i]->setMinimum(0);
SwashLvlSpinBoxes[i]->setValue(0);
@ -455,6 +452,9 @@ void ConfigccpmWidget::UpdateCurveWidgets()
void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
{
Q_UNUSED(curveValues0);
Q_UNUSED(Value0);
int NumCurvePoints,i;
double CurrentValue;
QList<double> internalCurveValues;
@ -476,6 +476,9 @@ void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double V
void ConfigccpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
{
Q_UNUSED(curveValues0);
Q_UNUSED(Value0);
int NumCurvePoints,i;
double CurrentValue;
QList<double> internalCurveValues;
@ -1118,20 +1121,17 @@ void ConfigccpmWidget::requestccpmUpdate()
#define MaxAngleError 2
int MixerDataFromHeli[8][5];
quint8 MixerOutputType[8];
int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],CalcAngles[4],ServoCurve2[4];
int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],ServoCurve2[4];
int NumServos=0;
double Collective=0.0;
double a1,a2;
int HeadRotation,temp;
int isCCPM=0;
if (SwashLvlConfigurationInProgress)return;
if (updatingToHardware)return;
updatingFromHardware=TRUE;
int i,j;
unsigned int i,j;
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
@ -1245,8 +1245,6 @@ void ConfigccpmWidget::requestccpmUpdate()
void ConfigccpmWidget::sendccpmUpdate()
{
int i,j;
UAVObjectField *field;
UAVDataObject* obj;
if (SwashLvlConfigurationInProgress)return;
updatingToHardware=TRUE;
@ -1724,7 +1722,6 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryUpdatePeriod = 100;
SwashLvlConfigurationInProgress=1;
connect(qApp, SIGNAL(focusChanged(QWidget*,QWidget*)),this, SLOT(FocusChanged(QWidget*,QWidget*)));
m_ccpm->TabObject->setTabEnabled(0,0);
m_ccpm->TabObject->setTabEnabled(2,0);
m_ccpm->TabObject->setTabEnabled(3,0);
@ -1735,7 +1732,6 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
mdata = SwashLvlaccInitialData; // Restore metadata
SwashLvlConfigurationInProgress=0;
disconnect(qApp, SIGNAL(focusChanged(QWidget*,QWidget*)),this, SLOT(FocusChanged(QWidget*,QWidget*)));
m_ccpm->TabObject->setTabEnabled(0,1);
m_ccpm->TabObject->setTabEnabled(2,1);
m_ccpm->TabObject->setTabEnabled(3,1);
@ -1761,41 +1757,24 @@ void ConfigccpmWidget::setSwashplateLevel(int percent)
SwashLvlServoInterlock=1;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
UAVObjectField * channel = obj->getField("Channel");
ActuatorCommand * actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData();
if (level==0)
{
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
channel->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]);
SwashLvlSpinBoxes[i]->setValue(newSwashLvlConfiguration.Neutral[i]);
}
}
else if (level>0)
{
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) {
if (level==0)
value = newSwashLvlConfiguration.Neutral[i];
else if (level > 0)
value = (newSwashLvlConfiguration.Max[i] - newSwashLvlConfiguration.Neutral[i])*level + newSwashLvlConfiguration.Neutral[i];
channel->setValue(value,newSwashLvlConfiguration.ServoChannels[i]);
SwashLvlSpinBoxes[i]->setValue(value);
}
}
else if (level<0)
{
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
else if (level < 0)
value = (newSwashLvlConfiguration.Neutral[i] - newSwashLvlConfiguration.Min[i])*level + newSwashLvlConfiguration.Neutral[i];
channel->setValue(value,newSwashLvlConfiguration.ServoChannels[i]);
SwashLvlSpinBoxes[i]->setValue(value);
}
actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value;
SwashLvlSpinBoxes[i]->setValue(value);
}
obj->updated();
actuatorCommand->setData(actuatorCommandData);
actuatorCommand->updated();
SwashLvlServoInterlock=0;
return;
@ -1804,76 +1783,41 @@ return;
void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
{
Q_UNUSED(value);
int i;
if (SwashLvlServoInterlock==1)return;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
UAVObjectField * channel = obj->getField("Channel");
switch (SwashLvlState)
{
case 0:
break;
case 1: //Neutral levelling
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
ActuatorCommand * actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData();
for (i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) {
value = SwashLvlSpinBoxes[i]->value();
switch (SwashLvlState)
{
newSwashLvlConfiguration.Neutral[i]=SwashLvlSpinBoxes[i]->value();
channel->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]);
case 1: //Neutral levelling
newSwashLvlConfiguration.Neutral[i]=value;
break;
case 2: //Max levelling
newSwashLvlConfiguration.Max[i] = value;
break;
case 3: //Min levelling
newSwashLvlConfiguration.Min[i]= value;
break;
case 4: //levelling verification
break;
case 5: //levelling complete
break;
default:
break;
}
obj->updated();
break;
case 2: //Max levelling
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
newSwashLvlConfiguration.Max[i]=SwashLvlSpinBoxes[i]->value();
channel->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]);
}
obj->updated();
break;
case 3: //Min levelling
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
newSwashLvlConfiguration.Min[i]=SwashLvlSpinBoxes[i]->value();
channel->setValue(newSwashLvlConfiguration.Min[i],newSwashLvlConfiguration.ServoChannels[i]);
}
obj->updated();
break;
case 4: //levelling verification
break;
case 5: //levelling complete
break;
default:
break;
actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value;
}
actuatorCommand->setData(actuatorCommandData);
actuatorCommand->updated();
return;
}
void ConfigccpmWidget::FocusChanged(QWidget *oldFocus, QWidget *newFocus)
{
if (SwashLvlConfigurationInProgress!=1) return;
QMessageBox msgBox;
int ret;
msgBox.setText("<h1>Warning!!!</h1>");
if ((this->isAncestorOf(oldFocus))&&(!this->isAncestorOf(newFocus)))
{
msgBox.setInformativeText("<b>You are in the middle of the levelling routine</b><br>Changing focus will cancel all levelling and return the OP hardware to the state it was in before levelling began.<p>Do you want to continue the levelling routine?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::Yes);
msgBox.setIcon(QMessageBox::Information);
ret = msgBox.exec();
if (ret == QMessageBox::Yes)
{
//m_ccpm->TabObject->setCurrentIndex(1);
//m_ccpm->SwashPlateLevel->setFocus(Qt::MouseFocusReason);
//m_ccpm->SwashLvlInstructionsBox->setFocus(Qt::MouseFocusReason);
oldFocus->setFocus(Qt::MouseFocusReason);
}
if (ret == QMessageBox::No)
{
SwashLvlCancelButtonPressed();
}
}
}

2
ground/openpilotgcs/src/plugins/config/configccpmwidget.h
View File

@ -145,8 +145,6 @@ private:
void enableSwashplateLevellingControl(bool state);
void setSwashplateLevel(int percent);
void SwashLvlSpinBoxChanged(int value);
void FocusChanged(QWidget *oldFocus, QWidget *newFocus);
virtual void refreshValues() {}; // Not used
public slots: