diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp deleted file mode 100644 index 6d7a974c2..000000000 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ /dev/null @@ -1,1810 +0,0 @@ -/** - ****************************************************************************** - * - * @file configccpmwidget.cpp - * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @addtogroup GCSPlugins GCS Plugins - * @{ - * @addtogroup ConfigPlugin Config Plugin - * @{ - * @brief ccpm configuration panel - *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License - * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ -#include "configccpmwidget.h" -#include "mixersettings.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "mixersettings.h" -#include "systemsettings.h" -#include "actuatorcommand.h" - -#define Pi 3.14159265358979323846 - - -ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) -{ - int i; - - m_ccpm = new Ui_ccpmWidget(); - m_ccpm->setupUi(this); - SwashLvlConfigurationInProgress=0; - SwashLvlState=0; - SwashLvlServoInterlock=0; - updatingFromHardware=FALSE; - updatingToHardware=FALSE; - - // Now connect the widget to the ManualControlCommand / Channel UAVObject - //ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - //UAVObjectManager *objManager = pm->getObject(); - - // Initialization of the swashplaye widget - m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this)); - - m_ccpm->SwashLvlSwashplateImage->setScene(m_ccpm->SwashplateImage->scene()); - m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500); - //m_ccpm->SwashLvlSwashplateImage->scale(.85,.85); - - //m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect()); - 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")); - - - SwashplateImg = new QGraphicsSvgItem(); - SwashplateImg->setSharedRenderer(renderer); - SwashplateImg->setElementId("Swashplate"); - SwashplateImg->setObjectName("Swashplate"); - //SwashplateImg->setScale(0.75); - m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg); - - QFont serifFont("Times", 24, QFont::Bold); - QPen pen; // creates a default pen - - pen.setStyle(Qt::DotLine); - pen.setWidth(2); - pen.setBrush(Qt::gray); - pen.setCapStyle(Qt::RoundCap); - pen.setJoinStyle(Qt::RoundJoin); - - - QBrush brush(Qt::darkBlue); - QPen pen2; // creates a default pen - - //pen2.setStyle(Qt::DotLine); - pen2.setWidth(1); - pen2.setBrush(Qt::blue); - //pen2.setCapStyle(Qt::RoundCap); - //pen2.setJoinStyle(Qt::RoundJoin); - - - //brush.setStyle(Qt::RadialGradientPattern); - - QList ServoNames; - ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ; - - for (i=0;iSwashLvlSwashplateImage->scene()->addLine(0,0,100*i,i*i*100,pen); - - Servos[i] = new QGraphicsSvgItem(); - Servos[i]->setSharedRenderer(renderer); - Servos[i]->setElementId(ServoNames.at(i)); - m_ccpm->SwashplateImage->scene()->addItem(Servos[i]); - - ServosText[i] = new QGraphicsTextItem(); - ServosText[i]->setDefaultTextColor(Qt::yellow); - ServosText[i]->setPlainText(QString("-")); - ServosText[i]->setFont(serifFont); - - ServosTextCircles[i] = new QGraphicsEllipseItem(1,1,30,30); - ServosTextCircles[i]->setBrush(brush); - ServosTextCircles[i]->setPen(pen2); - m_ccpm->SwashplateImage->scene()->addItem(ServosTextCircles[i]); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]); - - - - SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView - m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]); - SwashLvlSpinBoxes[i]->setMaximum(10000); - SwashLvlSpinBoxes[i]->setMinimum(0); - SwashLvlSpinBoxes[i]->setValue(0); - - } - - 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); - - QStringList channels; - 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); - m_ccpm->ccpmTailChannel->setCurrentIndex(8); - m_ccpm->ccpmServoWChannel->addItems(channels); - m_ccpm->ccpmServoWChannel->setCurrentIndex(8); - m_ccpm->ccpmServoXChannel->addItems(channels); - m_ccpm->ccpmServoXChannel->setCurrentIndex(8); - m_ccpm->ccpmServoYChannel->addItems(channels); - m_ccpm->ccpmServoYChannel->setCurrentIndex(8); - m_ccpm->ccpmServoZChannel->addItems(channels); - m_ccpm->ccpmServoZChannel->setCurrentIndex(8); - - QStringList Types; - Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") << - QString::fromUtf8("CCPM 4 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 120º") << - QString::fromUtf8("CCPM 3 Servo 140º") << QString::fromUtf8("FP 2 Servo 90º") << - QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings"); - m_ccpm->ccpmType->addItems(Types); - m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); - requestccpmUpdate(); - UpdateCurveSettings(); - - //disable changing number of points in curves until UAVObjects have more than 5 - m_ccpm->NumCurvePoints->setEnabled(0); - - UpdateType(); - - //connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate())); - //connect(m_ccpm->saveccpmToRAM, SIGNAL(clicked()), this, SLOT(sendccpmUpdate())); - //connect(m_ccpm->getccpmCurrent, SIGNAL(clicked()), this, SLOT(requestccpmUpdate())); - connect(m_ccpm->ccpmGenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve())); - connect(m_ccpm->NumCurvePoints, SIGNAL(valueChanged(int)), this, SLOT(UpdateCurveSettings())); - connect(m_ccpm->CurveToGenerate, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings())); - connect(m_ccpm->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings())); - connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate())); - connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer())); - connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); - connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType())); - connect(m_ccpm->CurveSettings, SIGNAL(cellChanged (int, int)), this, SLOT(UpdateCurveWidgets())); - connect(m_ccpm->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType())); - -// connect(m_ccpm->SwashLvlSwashplateImage, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateRedraw())); - - - connect(m_ccpm->PitchCurve, SIGNAL(curveUpdated(QList,double)), this, SLOT(updatePitchCurveValue(QList,double))); - connect(m_ccpm->ThrottleCurve, SIGNAL(curveUpdated(QList,double)), this, SLOT(updateThrottleCurveValue(QList,double))); - - connect(m_ccpm->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed())); - connect(m_ccpm->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed())); - connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); - connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); - - connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); - connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); - - - - ccpmSwashplateRedraw(); -} - -ConfigccpmWidget::~ConfigccpmWidget() -{ - // Do nothing -} - -void ConfigccpmWidget::UpdateType() -{ - int TypeInt,SingleServoIndex,NumServosDefined; - QString TypeText; - double AdjustmentAngle=0; - - UpdateCCPMOptionsFromUI(); - SetUIComponentVisibilities(); - - TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - TypeText = m_ccpm->ccpmType->currentText(); - SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); - - //set visibility of user settings - m_ccpm->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0); - m_ccpm->ccpmAdvancedSettingsTable->clearFocus();; - - m_ccpm->ccpmAngleW->setEnabled(TypeInt==1); - m_ccpm->ccpmAngleX->setEnabled(TypeInt==1); - m_ccpm->ccpmAngleY->setEnabled(TypeInt==1); - m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1); - m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt!=0); - - m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmSingleServo->setEnabled(TypeInt>1); - - m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0); - m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0); - m_ccpm->ccpmCollectivespinBox->setEnabled(TypeInt>0); - m_ccpm->ccpmRevoSlider->setEnabled(TypeInt>0); - m_ccpm->ccpmREVOspinBox->setEnabled(TypeInt>0); - - AdjustmentAngle=SingleServoIndex*90; - - m_ccpm->CurveToGenerate->setEnabled(1); - m_ccpm->CurveSettings->setColumnHidden(1,0); - m_ccpm->PitchCurve->setVisible(1); - //m_ccpm->customThrottleCurve2Value->setVisible(1); - //m_ccpm->label_41->setVisible(1); - - NumServosDefined=4; - //set values for pre defined heli types - if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) - { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(0); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleY->setEnabled(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoYChannel->setCurrentIndex(8); - m_ccpm->ccpmServoZChannel->setCurrentIndex(8); - m_ccpm->ccpmServoYChannel->setEnabled(0); - m_ccpm->ccpmServoZChannel->setEnabled(0); - //m_ccpm->ccpmCorrectionAngle->setValue(0); - NumServosDefined=2; - - } - if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) - { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(8); - m_ccpm->ccpmServoZChannel->setEnabled(0); - //m_ccpm->ccpmCorrectionAngle->setValue(0); - NumServosDefined=3; - - } - if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) - { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); - m_ccpm->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360)); - //m_ccpm->ccpmCorrectionAngle->setValue(0); - m_ccpm->ccpmSingleServo->setEnabled(0); - m_ccpm->ccpmSingleServo->setCurrentIndex(0); - NumServosDefined=4; - - } - if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) - { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360)); - m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360)); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(8); - m_ccpm->ccpmServoZChannel->setEnabled(0); - //m_ccpm->ccpmCorrectionAngle->setValue(0); - NumServosDefined=3; - - } - if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) - { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360)); - m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360)); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoZChannel->setCurrentIndex(8); - m_ccpm->ccpmServoZChannel->setEnabled(0); - //m_ccpm->ccpmCorrectionAngle->setValue(0); - NumServosDefined=3; - - } - if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) - { - m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); - m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); - m_ccpm->ccpmAngleY->setValue(0); - m_ccpm->ccpmAngleZ->setValue(0); - m_ccpm->ccpmAngleY->setEnabled(0); - m_ccpm->ccpmAngleZ->setEnabled(0); - m_ccpm->ccpmServoYChannel->setCurrentIndex(8); - m_ccpm->ccpmServoZChannel->setCurrentIndex(8); - m_ccpm->ccpmServoYChannel->setEnabled(0); - m_ccpm->ccpmServoZChannel->setEnabled(0); - //m_ccpm->ccpmCorrectionAngle->setValue(0); - - m_ccpm->ccpmCollectivespinBox->setEnabled(0); - m_ccpm->ccpmCollectiveSlider->setEnabled(0); - m_ccpm->ccpmCollectivespinBox->setValue(0); - m_ccpm->ccpmCollectiveSlider->setValue(0); - m_ccpm->CurveToGenerate->setCurrentIndex(0); - m_ccpm->CurveToGenerate->setEnabled(0); - m_ccpm->CurveSettings->setColumnHidden(1,1); - m_ccpm->PitchCurve->setVisible(0); - //m_ccpm->customThrottleCurve2Value->setVisible(0); - //m_ccpm->label_41->setVisible(0); - NumServosDefined=2; - } - - //set the visibility of the swashplate servo selection boxes - m_ccpm->ccpmServoWLabel->setVisible(NumServosDefined>=1); - m_ccpm->ccpmServoXLabel->setVisible(NumServosDefined>=2); - m_ccpm->ccpmServoYLabel->setVisible(NumServosDefined>=3); - m_ccpm->ccpmServoZLabel->setVisible(NumServosDefined>=4); - m_ccpm->ccpmServoWChannel->setVisible(NumServosDefined>=1); - m_ccpm->ccpmServoXChannel->setVisible(NumServosDefined>=2); - m_ccpm->ccpmServoYChannel->setVisible(NumServosDefined>=3); - m_ccpm->ccpmServoZChannel->setVisible(NumServosDefined>=4); - - //set the visibility of the swashplate angle selection boxes - m_ccpm->ccpmServoWLabel_2->setVisible(NumServosDefined>=1); - m_ccpm->ccpmServoXLabel_2->setVisible(NumServosDefined>=2); - m_ccpm->ccpmServoYLabel_2->setVisible(NumServosDefined>=3); - m_ccpm->ccpmServoZLabel_2->setVisible(NumServosDefined>=4); - m_ccpm->ccpmAngleW->setVisible(NumServosDefined>=1); - m_ccpm->ccpmAngleX->setVisible(NumServosDefined>=2); - m_ccpm->ccpmAngleY->setVisible(NumServosDefined>=3); - m_ccpm->ccpmAngleZ->setVisible(NumServosDefined>=4); - - - m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); - for (int i=0;i<6;i++) { - m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- - m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); - } - - - - - //update UI - ccpmSwashplateUpdate(); - -} - -/** - Resets a mixer curve - */ -void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements) -{ - mixer->initLinearCurve(numElements,(double)1); -} - -void ConfigccpmWidget::UpdateCurveWidgets() -{ - int NumCurvePoints,i,Changed; - QList curveValues; - QList OldCurveValues; - double ThisValue; - //get the user settings - NumCurvePoints=m_ccpm->NumCurvePoints->value(); - - curveValues.clear(); - Changed=0; - OldCurveValues=m_ccpm->ThrottleCurve->getCurve(); - for (i=0; iCurveSettings->item(i, 0 )->text().toDouble(); - curveValues.append(ThisValue); - if (ThisValue!=OldCurveValues.at(i))Changed=1; - } - // Setup all Throttle1 curves for all types of airframes - if (Changed==1)m_ccpm->ThrottleCurve->setCurve(curveValues); - - curveValues.clear(); - Changed=0; - OldCurveValues=m_ccpm->PitchCurve->getCurve(); - for (i=0; iCurveSettings->item(i, 1 )->text().toDouble(); - curveValues.append(ThisValue); - if (ThisValue!=OldCurveValues.at(i))Changed=1; - } - // Setup all Throttle1 curves for all types of airframes - if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues); -} - -void ConfigccpmWidget::updatePitchCurveValue(QList curveValues0,double Value0) -{ - Q_UNUSED(curveValues0); - Q_UNUSED(Value0); - - int NumCurvePoints,i; - double CurrentValue; - QList internalCurveValues; - //get the user settings - NumCurvePoints=m_ccpm->NumCurvePoints->value(); - internalCurveValues=m_ccpm->PitchCurve->getCurve(); - - for (i=0; iCurveSettings->item(i, 1 )->text().toDouble(); - if (CurrentValue!=internalCurveValues[i]) - { - m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",internalCurveValues.at(i))); - } - - } - -} - -void ConfigccpmWidget::updateThrottleCurveValue(QList curveValues0,double Value0) -{ - Q_UNUSED(curveValues0); - Q_UNUSED(Value0); - - int NumCurvePoints,i; - double CurrentValue; - QList internalCurveValues; - //get the user settings - NumCurvePoints=m_ccpm->NumCurvePoints->value(); - internalCurveValues=m_ccpm->ThrottleCurve->getCurve(); - - for (i=0; iCurveSettings->item(i, 1 )->text().toDouble(); - if (CurrentValue!=internalCurveValues[i]) - { - m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i))); - } - - } - -} - - -void ConfigccpmWidget::UpdateCurveSettings() -{ - int NumCurvePoints,i; - double scale; - QString CurveType; - QStringList vertHeaders; - - //get the user settings - NumCurvePoints=m_ccpm->NumCurvePoints->value(); - CurveType=m_ccpm->CurveType->currentText(); - - vertHeaders << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" ; - for (i=0;iCurveSettings->setVerticalHeaderLabels( vertHeaders ); - - if (m_ccpm->CurveToGenerate->currentIndex()==0) - { - m_ccpm->CurveValue1->setMinimum(0.0); - m_ccpm->CurveValue2->setMinimum(0.0); - m_ccpm->CurveValue3->setMinimum(0.0); - } - else - { - m_ccpm->CurveValue1->setMinimum(-1.0); - m_ccpm->CurveValue2->setMinimum(-1.0); - m_ccpm->CurveValue3->setMinimum(0.0); - } - m_ccpm->CurveValue1->setMaximum(1.0); - m_ccpm->CurveValue2->setMaximum(1.0); - m_ccpm->CurveValue3->setMaximum(100.0); - m_ccpm->CurveValue1->setSingleStep(0.1); - m_ccpm->CurveValue2->setSingleStep(0.1); - m_ccpm->CurveValue3->setSingleStep(1.0); - m_ccpm->CurveValue1->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);; - m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue); - m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue); - - if ( CurveType.compare("Flat")==0) - { - m_ccpm->CurveLabel1->setText("Value"); - m_ccpm->CurveLabel1->setVisible(true); - m_ccpm->CurveValue1->setVisible(true); - m_ccpm->CurveLabel2->setVisible(false); - m_ccpm->CurveValue2->setVisible(false); - m_ccpm->CurveLabel3->setVisible(false); - m_ccpm->CurveValue3->setVisible(false); - m_ccpm->ccpmGenerateCurve->setVisible(true); - m_ccpm->CurveToGenerate->setVisible(true); - } - if ( CurveType.compare("Linear")==0) - { - m_ccpm->CurveLabel1->setText("Min"); - m_ccpm->CurveLabel1->setVisible(true); - m_ccpm->CurveValue1->setVisible(true); - m_ccpm->CurveLabel2->setText("Max"); - m_ccpm->CurveLabel2->setVisible(true); - m_ccpm->CurveValue2->setVisible(true); - m_ccpm->CurveLabel3->setVisible(false); - m_ccpm->CurveValue3->setVisible(false); - m_ccpm->ccpmGenerateCurve->setVisible(true); - m_ccpm->CurveToGenerate->setVisible(true); - } - if ( CurveType.compare("Step")==0) - { - m_ccpm->CurveLabel1->setText("Min"); - m_ccpm->CurveLabel1->setVisible(true); - m_ccpm->CurveValue1->setVisible(true); - m_ccpm->CurveLabel2->setText("Max"); - m_ccpm->CurveLabel2->setVisible(true); - m_ccpm->CurveValue2->setVisible(true); - m_ccpm->CurveLabel3->setText("Step at"); - m_ccpm->CurveLabel3->setVisible(true); - m_ccpm->CurveValue3->setVisible(true); - m_ccpm->ccpmGenerateCurve->setVisible(true); - m_ccpm->CurveToGenerate->setVisible(true); - } - if ( CurveType.compare("Exp")==0) - { - m_ccpm->CurveLabel1->setText("Min"); - m_ccpm->CurveLabel1->setVisible(true); - m_ccpm->CurveValue1->setVisible(true); - m_ccpm->CurveLabel2->setText("Max"); - m_ccpm->CurveLabel2->setVisible(true); - m_ccpm->CurveValue2->setVisible(true); - m_ccpm->CurveLabel3->setText("Strength"); - m_ccpm->CurveLabel3->setVisible(true); - m_ccpm->CurveValue3->setVisible(true); - m_ccpm->CurveValue3->setMinimum(1.0); - m_ccpm->CurveValue3->setMaximum(100.0); - m_ccpm->CurveValue3->setSingleStep(1.0); - m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);; - m_ccpm->ccpmGenerateCurve->setVisible(true); - m_ccpm->CurveToGenerate->setVisible(true); - } - if ( CurveType.compare("Log")==0) - { - m_ccpm->CurveLabel1->setText("Min"); - m_ccpm->CurveLabel1->setVisible(true); - m_ccpm->CurveValue1->setVisible(true); - m_ccpm->CurveLabel2->setText("Max"); - m_ccpm->CurveLabel2->setVisible(true); - m_ccpm->CurveValue2->setVisible(true); - m_ccpm->CurveLabel3->setText("Strength"); - m_ccpm->CurveLabel3->setVisible(true); - m_ccpm->CurveValue3->setVisible(true); - m_ccpm->CurveValue3->setMinimum(1.0); - m_ccpm->CurveValue3->setMaximum(100.0); - m_ccpm->CurveValue3->setSingleStep(1.0); - m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);; - m_ccpm->ccpmGenerateCurve->setVisible(true); - m_ccpm->CurveToGenerate->setVisible(true); - } - if ( CurveType.compare("Custom")==0) - { - m_ccpm->CurveLabel1->setVisible(false); - m_ccpm->CurveValue1->setVisible(false); - m_ccpm->CurveLabel2->setVisible(false); - m_ccpm->CurveValue2->setVisible(false); - m_ccpm->CurveLabel3->setVisible(false); - m_ccpm->CurveValue3->setVisible(false); - m_ccpm->ccpmGenerateCurve->setVisible(false); - m_ccpm->CurveToGenerate->setVisible(false); - } -UpdateCurveWidgets(); - -} -void ConfigccpmWidget::GenerateCurve() -{ - int NumCurvePoints,CurveToGenerate,i; - double value1, value2, value3, scale; - QString CurveType; - QTableWidgetItem *item; - double newValue; - - - //get the user settings - NumCurvePoints=m_ccpm->NumCurvePoints->value(); - value1=m_ccpm->CurveValue1->value(); - value2=m_ccpm->CurveValue2->value(); - value3=m_ccpm->CurveValue3->value(); - CurveToGenerate=m_ccpm->CurveToGenerate->currentIndex(); - CurveType=m_ccpm->CurveType->currentText(); - - - - for (i=0;iCurveSettings->item(i, CurveToGenerate ); - - if ( CurveType.compare("Flat")==0) - { - //item->setText( tr( "%1" ).arg( value1 ) ); - item->setText(QString().sprintf("%.3f",value1)); - } - if ( CurveType.compare("Linear")==0) - { - newValue =value1 +(scale*(value2-value1)); - //item->setText( tr( "%1" ).arg(value1 +(scale*(value2-value1))) ); - item->setText(QString().sprintf("%.3f",newValue)); - } - if ( CurveType.compare("Step")==0) - { - if (scale*100setText( tr( "%1" ).arg(value1) ); - item->setText(QString().sprintf("%.3f",value1)); - } - else - { - //item->setText( tr( "%1" ).arg(value2) ); - item->setText(QString().sprintf("%.3f",value2)); - } - } - if ( CurveType.compare("Exp")==0) - { - newValue =value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1)); - //item->setText( tr( "%1" ).arg(value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1))) ); - item->setText(QString().sprintf("%.3f",newValue)); - } - if ( CurveType.compare("Log")==0) - { - newValue = value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1)); - //item->setText( tr( "%1" ).arg(value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1))) ); - item->setText(QString().sprintf("%.3f",newValue)); - } - } - for (i=NumCurvePoints;i<10;i++) - { - item =m_ccpm->CurveSettings->item(i, CurveToGenerate ); - item->setText( tr( "" ) ); - } - UpdateCurveWidgets(); - -} - -void ConfigccpmWidget::ccpmSwashplateRedraw() -{ - double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY; - int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i; - QRectF bounds; - QRect size; - double scale,xscale,yscale; - - - size = m_ccpm->SwashplateImage->rect(); - xscale=size.width(); - yscale=size.height(); - scale=xscale; - if (yscaleSwashplateImage->resetTransform (); - m_ccpm->SwashplateImage->scale(scale,scale); - - size = m_ccpm->SwashLvlSwashplateImage->rect(); - xscale=size.width(); - yscale=size.height(); - scale=xscale; - if (yscaleSwashLvlSwashplateImage->resetTransform (); - m_ccpm->SwashLvlSwashplateImage->scale(scale,scale); - - CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); - - CenterX=200; - CenterY=200; - - bounds=SwashplateImg->boundingRect(); - - SwashplateImg->setPos(CenterX-bounds.width()/2,CenterY-bounds.height()/2); - - defined[0]=(m_ccpm->ccpmServoWChannel->isEnabled()); - defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled()); - defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled()); - defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled()); - used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled())); - used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled())); - used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled())); - used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled())); - angle[0]=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00; - angle[1]=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00; - angle[2]=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00; - angle[3]=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00; - - - for (i=0;isetPos(x, y); - Servos[i]->setVisible(used[i]!=0); - - radius=150; - bounds=ServosText[i]->boundingRect(); - x=CenterX-(radius*sin(angle[i]))-bounds.width()/2; - y=CenterY+(radius*cos(angle[i]))-bounds.height()/2; - - ServosText[i]->setPos(x, y); - ServosText[i]->setVisible(used[i]!=0); - - if (bounds.width()>bounds.height()) - { - bounds.setHeight(bounds.width()); - } - else - { - bounds.setWidth(bounds.height()); - } - x=CenterX-(radius*sin(angle[i]))-bounds.width()/2; - y=CenterY+(radius*cos(angle[i]))-bounds.height()/2; - - ServosTextCircles[i]->setRect(bounds); - ServosTextCircles[i]->setPos(x, y); - ServosTextCircles[i]->setVisible(used[i]!=0); - - w=SwashLvlSpinBoxes[i]->width()/2; - h=SwashLvlSpinBoxes[i]->height()/2; - radius = (215.00+w+h); - x=CenterX-(radius*sin(angle[i]))-w; - y=CenterY+(radius*cos(angle[i]))-h; - SwashLvlSpinBoxes[i]->move(m_ccpm->SwashLvlSwashplateImage->mapFromScene (x, y)); - SwashLvlSpinBoxes[i]->setVisible(used[i]!=0); - - radius=220; - x=CenterX-(radius*sin(angle[i])); - y=CenterY+(radius*cos(angle[i])); - ServoLines[i]->setLine(CenterX,CenterY,x,y); - ServoLines[i]->setVisible(defined[i]!=0); - } - - //m_ccpm->SwashplateImage->centerOn (CenterX, CenterY); - - //m_ccpm->SwashplateImage->fitInView(SwashplateImg, Qt::KeepAspectRatio); -} - -void ConfigccpmWidget::ccpmSwashplateUpdate() -{ - ccpmSwashplateRedraw(); - SetUIComponentVisibilities(); - UpdateMixer(); -} - -void ConfigccpmWidget::ccpmChannelCheck() -{ - if((m_ccpm->ccpmServoWChannel->currentIndex()==8)&&(m_ccpm->ccpmServoWChannel->isEnabled())) - { - m_ccpm->ccpmServoWLabel->setText("Servo W"); - } - else - { - m_ccpm->ccpmServoWLabel->setText("Servo W"); - } - if((m_ccpm->ccpmServoXChannel->currentIndex()==8)&&(m_ccpm->ccpmServoXChannel->isEnabled())) - { - m_ccpm->ccpmServoXLabel->setText("Servo X"); - } - else - { - m_ccpm->ccpmServoXLabel->setText("Servo X"); - } - if((m_ccpm->ccpmServoYChannel->currentIndex()==8)&&(m_ccpm->ccpmServoYChannel->isEnabled())) - { - m_ccpm->ccpmServoYLabel->setText("Servo Y"); - } - else - { - m_ccpm->ccpmServoYLabel->setText("Servo Y"); - } - if((m_ccpm->ccpmServoZChannel->currentIndex()==8)&&(m_ccpm->ccpmServoZChannel->isEnabled())) - { - m_ccpm->ccpmServoZLabel->setText("Servo Z"); - } - else - { - m_ccpm->ccpmServoZLabel->setText("Servo Z"); - } - - if((m_ccpm->ccpmEngineChannel->currentIndex()==8)&&(m_ccpm->ccpmEngineChannel->isEnabled())) - { - m_ccpm->ccpmEngineLabel->setText("Engine"); - } - else - { - m_ccpm->ccpmEngineLabel->setText("Engine"); - } - - if((m_ccpm->ccpmTailChannel->currentIndex()==8)&&(m_ccpm->ccpmTailChannel->isEnabled())) - { - m_ccpm->ccpmTailLabel->setText("Tail Rotor"); - } - else - { - m_ccpm->ccpmTailLabel->setText("Tail Rotor"); - } - -} - -void ConfigccpmWidget::UpdateMixer() -{ - bool useCCPM; - bool useCyclic; - int i,j,ThisEnable[6]; - float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6]; - QString Channel; - - ccpmChannelCheck(); - UpdateCCPMOptionsFromUI(); - - useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); - useCyclic = GUIConfigData.heli.ccpmLinkRollState; - - CollectiveConstant = (float)GUIConfigData.heli.SliderValue0 / 100.00; - - if (useCCPM) - {//cyclic = 1 - collective - PitchConstant = 1-CollectiveConstant; - RollConstant = PitchConstant; - } - else - { - PitchConstant = (float)GUIConfigData.heli.SliderValue1 / 100.00;; - if (useCyclic) - { - RollConstant = PitchConstant; - } - else - { - RollConstant = (float)GUIConfigData.heli.SliderValue2 / 100.00;; - } - } - - if (GUIConfigData.heli.SwasplateType>0) - {//not advanced settings - //get the channel data from the ui - MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); - MixerChannelData[1] = m_ccpm->ccpmTailChannel->currentIndex(); - MixerChannelData[2] = m_ccpm->ccpmServoWChannel->currentIndex(); - MixerChannelData[3] = m_ccpm->ccpmServoXChannel->currentIndex(); - MixerChannelData[4] = m_ccpm->ccpmServoYChannel->currentIndex(); - MixerChannelData[5] = m_ccpm->ccpmServoZChannel->currentIndex(); - - //get the angle data from the ui - ThisAngle[2] = m_ccpm->ccpmAngleW->value(); - ThisAngle[3] = m_ccpm->ccpmAngleX->value(); - ThisAngle[4] = m_ccpm->ccpmAngleY->value(); - ThisAngle[5] = m_ccpm->ccpmAngleZ->value(); - - //get the angle data from the ui - ThisEnable[2] = m_ccpm->ccpmServoWChannel->isEnabled(); - ThisEnable[3] = m_ccpm->ccpmServoXChannel->isEnabled(); - ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled(); - ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled(); - - ServosText[0]->setPlainText(QString("%1").arg( MixerChannelData[2]+1 )); - ServosText[1]->setPlainText(QString("%1").arg( MixerChannelData[3]+1 )); - ServosText[2]->setPlainText(QString("%1").arg( MixerChannelData[4]+1 )); - ServosText[3]->setPlainText(QString("%1").arg( MixerChannelData[5]+1 )); - - - //go through the user data and update the mixer matrix - for (i=0;i<6;i++) - { - if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2))) - { - m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 )); - //config the vector - if (i==0) - {//motor-engine - m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1 - m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 - m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll - m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch - m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw - } - if (i==1) - {//tailrotor - m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 - m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2 - m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll - m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch - m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw - } - if (i>1) - {//Swashplate - m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 - m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2 - m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll - m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch - m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw - - } - } - else - { - for (j=0;j<6;j++) m_ccpm->ccpmAdvancedSettingsTable->item(i,j)->setText(QString("-")); - } - - } - } - else - {//advanced settings - for (i=0;i<6;i++) - { - Channel =m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->text(); - if (Channel == "-") Channel = QString("9"); - MixerChannelData[i]= Channel.toInt(); - } - } - - - -} - -/************************** - * ccpm settings - **************************/ -/* - Get the state of the UI check boxes and change the visibility of sliders - typedef struct { - uint SwasplateType:3; - uint FirstServoIndex:2; - uint CorrectionAngle:9; - uint ccpmCollectivePassthroughState:1; - uint ccpmLinkCyclicState:1; - uint ccpmLinkRollState:1; - uint CollectiveChannel:3; - uint padding:12; - } __attribute__((packed)) heliGUISettingsStruct; - - */ -void ConfigccpmWidget::UpdateCCPMOptionsFromUI() -{ - bool useCCPM; - bool useCyclic; - - if (updatingFromHardware) return; - //get the user options - //swashplate config - GUIConfigData.heli.SwasplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); - - //ccpm mixing options - GUIConfigData.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); - GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); - GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); - useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); - useCyclic = GUIConfigData.heli.ccpmLinkRollState; - - //correction angle - GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value(); - - //update sliders - if (useCCPM) - { - GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value(); - } - else - { - GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value(); - } - if (useCyclic) - { - GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value(); - } - else - { - GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value(); - } - GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); - - //servo assignments - GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); - GUIConfigData.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex(); - GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex(); - GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); - -} -void ConfigccpmWidget::UpdateCCPMUIFromOptions() -{ - //swashplate config - m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1)); - m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex); - - //ccpm mixing options - m_ccpm->ccpmCollectivePassthrough->setChecked(GUIConfigData.heli.ccpmCollectivePassthroughState); - m_ccpm->ccpmLinkCyclic->setChecked(GUIConfigData.heli.ccpmLinkCyclicState); - m_ccpm->ccpmLinkRoll->setChecked(GUIConfigData.heli.ccpmLinkRollState); - - //correction angle - m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle); - - //update sliders - m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0); - m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0); - m_ccpm->ccpmCyclicScale->setValue(GUIConfigData.heli.SliderValue1); - m_ccpm->ccpmCyclicScaleBox->setValue(GUIConfigData.heli.SliderValue1); - m_ccpm->ccpmPitchScale->setValue(GUIConfigData.heli.SliderValue1); - m_ccpm->ccpmPitchScaleBox->setValue(GUIConfigData.heli.SliderValue1); - m_ccpm->ccpmRollScale->setValue(GUIConfigData.heli.SliderValue2); - m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2); - m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0); - m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0); - - //servo assignments - m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW); - m_ccpm->ccpmServoXChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexX); - m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY); - m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ); - -} - - -void ConfigccpmWidget::SetUIComponentVisibilities() -{ - UpdateCCPMOptionsFromUI(); - //set which sliders are user... - m_ccpm->ccpmRevoMixingBox->setVisible(0); - - m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState); - m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); - - m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState); - - m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState); - if (!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState) - { - m_ccpm->ccpmPitchScalingBox->setVisible(0); - m_ccpm->ccpmRollScalingBox->setVisible(0); - m_ccpm->ccpmLinkRoll->setVisible(0); - - } - else - { - m_ccpm->ccpmPitchScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState); - m_ccpm->ccpmRollScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState); - m_ccpm->ccpmLinkRoll->setVisible(1); - } - -} -/** - Request the current value of the SystemSettings which holds the ccpm type - */ -void ConfigccpmWidget::requestccpmUpdate() -{ -#define MaxAngleError 2 - int MixerDataFromHeli[8][5]; - quint8 MixerOutputType[8]; - int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],ServoCurve2[4]; - int NumServos=0; - - if (SwashLvlConfigurationInProgress)return; - if (updatingToHardware)return; - updatingFromHardware=TRUE; - - unsigned int i,j; - - SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager()); - Q_ASSERT(systemSettings); - SystemSettings::DataFields systemSettingsData = systemSettings->getData(); - - Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM == - (sizeof(GUIConfigData.UAVObject) / sizeof(GUIConfigData.UAVObject[0]))); - - for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++) - GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i]; - - UpdateCCPMUIFromOptions(); - - // Get existing mixer settings - MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); - MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); - - //go through the user data and update the mixer matrix - for (j=0;j<5;j++) - { - MixerDataFromHeli[0][j] = mixerSettingsData.Mixer1Vector[j]; - MixerDataFromHeli[1][j] = mixerSettingsData.Mixer2Vector[j]; - MixerDataFromHeli[2][j] = mixerSettingsData.Mixer3Vector[j]; - MixerDataFromHeli[3][j] = mixerSettingsData.Mixer4Vector[j]; - MixerDataFromHeli[4][j] = mixerSettingsData.Mixer5Vector[j]; - MixerDataFromHeli[5][j] = mixerSettingsData.Mixer6Vector[j]; - MixerDataFromHeli[6][j] = mixerSettingsData.Mixer7Vector[j]; - MixerDataFromHeli[7][j] = mixerSettingsData.Mixer8Vector[j]; - } - - MixerOutputType[0] = mixerSettingsData.Mixer1Type; - MixerOutputType[1] = mixerSettingsData.Mixer2Type; - MixerOutputType[2] = mixerSettingsData.Mixer3Type; - MixerOutputType[3] = mixerSettingsData.Mixer4Type; - MixerOutputType[4] = mixerSettingsData.Mixer5Type; - MixerOutputType[5] = mixerSettingsData.Mixer6Type; - MixerOutputType[6] = mixerSettingsData.Mixer7Type; - MixerOutputType[7] = mixerSettingsData.Mixer8Type; - - EngineChannel =-1; - TailRotorChannel =-1; - for (j=0;j<5;j++) - { - ServoChannels[j]=8; - ServoCurve2[j]=0; - ServoAngles[j]=0; - SortAngles[j]=j; - } - - NumServos=0; - //process the data from Heli and try to figure out the settings... - for (i=0;i<8;i++) - { - //check if this is the engine... Throttle only - if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_MOTOR)&& - (MixerDataFromHeli[i][0]>0)&&//ThrottleCurve1 - (MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2 - (MixerDataFromHeli[i][2]==0)&&//Roll - (MixerDataFromHeli[i][3]==0)&&//Pitch - (MixerDataFromHeli[i][4]==0))//Yaw - { - EngineChannel = i; - m_ccpm->ccpmEngineChannel->setCurrentIndex(i); - - } - //check if this is the tail rotor... REVO and YAW - if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_SERVO)&& - //(MixerDataFromHeli[i][0]!=0)&&//ThrottleCurve1 - (MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2 - (MixerDataFromHeli[i][2]==0)&&//Roll - (MixerDataFromHeli[i][3]==0)&&//Pitch - (MixerDataFromHeli[i][4]!=0))//Yaw - { - TailRotorChannel = i; - m_ccpm->ccpmTailChannel->setCurrentIndex(i); - m_ccpm->ccpmRevoSlider->setValue((MixerDataFromHeli[i][0]*100)/127); - m_ccpm->ccpmREVOspinBox->setValue((MixerDataFromHeli[i][0]*100)/127); - } - //check if this is a swashplate servo... Throttle is zero - if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_SERVO)&& - (MixerDataFromHeli[i][0]==0)&&//ThrottleCurve1 - //(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2 - //(MixerDataFromHeli[i][2]==0)&&//Roll - //(MixerDataFromHeli[i][3]==0)&&//Pitch - (MixerDataFromHeli[i][4]==0))//Yaw - { - ServoChannels[NumServos] = i;//record the channel for this servo - ServoCurve2[NumServos]=MixerDataFromHeli[i][1];//record the ThrottleCurve2 contribution to this servo - ServoAngles[NumServos]=NumServos*45;//make this 0 for the final version - - NumServos++; - } - - } - - //get the settings for the curve from the mixer settings - for (i=0;i<5;i++) - { - m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f", - mixerSettingsData.ThrottleCurve1[i])); - m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f", - mixerSettingsData.ThrottleCurve2[i])); - } - - updatingFromHardware=FALSE; - UpdateCCPMUIFromOptions(); - ccpmSwashplateUpdate(); -} - - -/** - Sends the config to the board (ccpm type) - */ -void ConfigccpmWidget::sendccpmUpdate() -{ - int i,j; - - if (SwashLvlConfigurationInProgress)return; - 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(); - - MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); - Q_ASSERT(mixerSettings); - MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); - - UpdateMixer(); - - // Set up some helper pointers - qint8 * mixers[8] = {mixerSettingsData.Mixer1Vector, - mixerSettingsData.Mixer2Vector, - mixerSettingsData.Mixer3Vector, - mixerSettingsData.Mixer4Vector, - 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 - for (i=0;i<6;i++) - { - if (MixerChannelData[i]<8) - { - //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(); - - 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) - mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE; - else - mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE; - - mixerSettings->setData(mixerSettingsData); - mixerSettings->updated(); - updatingToHardware=FALSE; - -} - -/** - Send ccpm type to the board and request saving to SD card - */ -void ConfigccpmWidget::saveccpmUpdate() -{ - if (SwashLvlConfigurationInProgress)return; - ShowDisclaimer(0); - // Send update so that the latest value is saved - sendccpmUpdate(); - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); - Q_ASSERT(obj); - saveObjectToSD(obj); -} - -void ConfigccpmWidget::resizeEvent(QResizeEvent* event) -{ - Q_UNUSED(event); - // Make the custom table columns autostretch: - m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); - for (int i=0;i<6;i++) { - m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- - m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); - } - ccpmSwashplateRedraw(); - -} -void ConfigccpmWidget::showEvent(QShowEvent *event) -{ - Q_UNUSED(event) - m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); - for (int i=0;i<6;i++) { - m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- - m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); - } - ccpmSwashplateRedraw(); -} - - -void ConfigccpmWidget::SwashLvlStartButtonPressed() -{ - QMessageBox msgBox; - int i; - msgBox.setText("

Swashplate Leveling Routine

"); - msgBox.setInformativeText("You are about to start the Swashplate levelling routine.

This process will start by downloading the current configuration from the GCS to the OP hardware and will adjust your configuration at various stages.

The final state of your system should match the current configuration in the GCS config gadget.

Please ensure all ccpm settings in the GCS are correct before continuing.

If this process is interrupted, then the state of your OP board may not match the GCS configuration.

After completing this process, please check all settings before attempting to fly.

Please disconnect your motor to ensure it will not spin up.

Do you wish to proceed?"); - msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); - msgBox.setDefaultButton(QMessageBox::Cancel); - msgBox.setIcon(QMessageBox::Information); - int ret = msgBox.exec(); - - UAVObjectField* MinField; - UAVObjectField* NeutralField; - UAVObjectField* MaxField; - UAVDataObject* obj; - ExtensionSystem::PluginManager *pm; - UAVObjectManager *objManager; - - switch (ret) { - case QMessageBox::Yes: - // Yes was clicked - SwashLvlState=0; - //remove Flight control of ActuatorCommand - enableSwashplateLevellingControl(true); - - m_ccpm->SwashLvlStartButton->setEnabled(false); - m_ccpm->SwashLvlNextButton->setEnabled(true); - m_ccpm->SwashLvlCancelButton->setEnabled(true); - m_ccpm->SwashLvlFinishButton->setEnabled(false); - //clear status check boxes - m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked); - - - //download the current settings to the OP hw - sendccpmUpdate(); - - //change control mode to gcs control / disarmed - //set throttle to 0 - - - //save off the old ActuatorSettings for the swashplate servos - pm = ExtensionSystem::PluginManager::instance(); - objManager = pm->getObject(); - - - // Get the channel assignements: - obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); - Q_ASSERT(obj); - // obj->requestUpdate(); - MinField = obj->getField(QString("ChannelMin")); - NeutralField = obj->getField(QString("ChannelNeutral")); - MaxField = obj->getField(QString("ChannelMax")); - - //channel assignments - oldSwashLvlConfiguration.ServoChannels[0]=m_ccpm->ccpmServoWChannel->currentIndex(); - oldSwashLvlConfiguration.ServoChannels[1]=m_ccpm->ccpmServoXChannel->currentIndex(); - oldSwashLvlConfiguration.ServoChannels[2]=m_ccpm->ccpmServoYChannel->currentIndex(); - oldSwashLvlConfiguration.ServoChannels[3]=m_ccpm->ccpmServoZChannel->currentIndex(); - //if servos are used - oldSwashLvlConfiguration.Used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled())); - oldSwashLvlConfiguration.Used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled())); - oldSwashLvlConfiguration.Used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled())); - oldSwashLvlConfiguration.Used[3]=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled())); - //min,neutral,max values for the servos - for (i=0;igetValue(oldSwashLvlConfiguration.ServoChannels[i]).toInt(); - oldSwashLvlConfiguration.Neutral[i]=NeutralField->getValue(oldSwashLvlConfiguration.ServoChannels[i]).toInt(); - oldSwashLvlConfiguration.Max[i]=MaxField->getValue(oldSwashLvlConfiguration.ServoChannels[i]).toInt(); - } - - //copy to new Actuator settings. - memcpy((void*)&newSwashLvlConfiguration,(void*)&oldSwashLvlConfiguration,sizeof(SwashplateServoSettingsStruct)); - - //goto the first step - SwashLvlNextButtonPressed(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - SwashLvlState=0; - //restore Flight control of ActuatorCommand - enableSwashplateLevellingControl(false); - - m_ccpm->SwashLvlStartButton->setEnabled(true); - m_ccpm->SwashLvlNextButton->setEnabled(false); - m_ccpm->SwashLvlCancelButton->setEnabled(false); - m_ccpm->SwashLvlFinishButton->setEnabled(false); - break; - default: - // should never be reached - break; - } - - -} -void ConfigccpmWidget::SwashLvlNextButtonPressed() -{ - //ShowDisclaimer(2); - SwashLvlState++; - int i; - - - - - switch (SwashLvlState) - { - case 0: - break; - case 1: //Neutral levelling - m_ccpm->SwashLvlStepList->setCurrentRow(0); - //set spin boxes and swashplate servos to Neutral values - setSwashplateLevel(50); - //disable position slider - m_ccpm->SwashLvlPositionSlider->setEnabled(false); - m_ccpm->SwashLvlPositionSpinBox->setEnabled(false); - //set position slider to 50% - m_ccpm->SwashLvlPositionSlider->setValue(50); - m_ccpm->SwashLvlPositionSpinBox->setValue(50); - //connect spinbox signals to slots and ebnable them - for (i=0;isetEnabled(true); - } - //issue user instructions - m_ccpm->SwashLvlStepInstruction->setHtml("

Neutral levelling

Using adjustment of:

  • servo horns
  • link lengths and
  • Neutral timing spinboxes to the right

ensure that the swashplate is in the center of desired travel range and is level."); - break; - case 2: //Max levelling - //check Neutral status as complete - m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Checked); - m_ccpm->SwashLvlStepList->setCurrentRow(1); - //set spin boxes and swashplate servos to Max values - setSwashplateLevel(100); - //set position slider to 100% - m_ccpm->SwashLvlPositionSlider->setValue(100); - m_ccpm->SwashLvlPositionSpinBox->setValue(100); - //issue user instructions - m_ccpm->SwashLvlStepInstruction->setText("

Max levelling

Using adjustment of:

  • Max timing spinboxes to the right ONLY

ensure that the swashplate is at the top of desired travel range and is level."); - break; - case 3: //Min levelling - //check Max status as complete - m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Checked); - m_ccpm->SwashLvlStepList->setCurrentRow(2); - //set spin boxes and swashplate servos to Min values - setSwashplateLevel(0); - //set position slider to 0% - m_ccpm->SwashLvlPositionSlider->setValue(0); - m_ccpm->SwashLvlPositionSpinBox->setValue(0); - //issue user instructions - m_ccpm->SwashLvlStepInstruction->setText("

Min levelling

Using adjustment of:

  • Min timing spinboxes to the right ONLY

ensure that the swashplate is at the bottom of desired travel range and is level."); - break; - case 4: //levelling verification - //check Min status as complete - m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Checked); - m_ccpm->SwashLvlStepList->setCurrentRow(3); - //enable position slider - m_ccpm->SwashLvlPositionSlider->setEnabled(true); - m_ccpm->SwashLvlPositionSpinBox->setEnabled(true); - //make heli respond to slider movement - connect(m_ccpm->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int))); - //disable spin boxes - for (i=0;isetEnabled(false); - } - - //issue user instructions - m_ccpm->SwashLvlStepInstruction->setText("

levelling verification

Adjust the slider to the right over it's full range and observe the swashplate motion. It should remain level over the entire range of travel."); - break; - case 5: //levelling complete - //check verify status as complete - m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Checked); - //issue user instructions - m_ccpm->SwashLvlStepInstruction->setText("

levelling complete

Press the Finish button to save these settings to the SD card

Press the cancel button to return to the pre-levelling settings"); - //disable position slider - m_ccpm->SwashLvlPositionSlider->setEnabled(false); - m_ccpm->SwashLvlPositionSpinBox->setEnabled(false); - //disconnect levelling slots from signals - disconnect(m_ccpm->SwashLvlPositionSlider, SIGNAL(valueChanged(int)), this, SLOT(setSwashplateLevel(int))); - for (i=0;iSwashLvlStartButton->setEnabled(false); - m_ccpm->SwashLvlNextButton->setEnabled(false); - m_ccpm->SwashLvlCancelButton->setEnabled(true); - m_ccpm->SwashLvlFinishButton->setEnabled(true); - - default: - //restore collective/cyclic setting - //restore pitch curve - //clear spin boxes - //change control mode to gcs control (OFF) / disarmed - //issue user confirmation - break; - } -} -void ConfigccpmWidget::SwashLvlCancelButtonPressed() -{ - int i; - SwashLvlState=0; - - UAVObjectField* MinField; - UAVObjectField* NeutralField; - UAVObjectField* MaxField; - - m_ccpm->SwashLvlStartButton->setEnabled(true); - m_ccpm->SwashLvlNextButton->setEnabled(false); - m_ccpm->SwashLvlCancelButton->setEnabled(false); - m_ccpm->SwashLvlFinishButton->setEnabled(false); - - m_ccpm->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked); - m_ccpm->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked); - - //restore old Actuator Settings - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); - Q_ASSERT(obj); - //update settings to match our changes. - MinField = obj->getField(QString("ChannelMin")); - NeutralField = obj->getField(QString("ChannelNeutral")); - MaxField = obj->getField(QString("ChannelMax")); - - //min,neutral,max values for the servos - for (i=0;isetValue(oldSwashLvlConfiguration.Min[i],oldSwashLvlConfiguration.ServoChannels[i]); - NeutralField->setValue(oldSwashLvlConfiguration.Neutral[i],oldSwashLvlConfiguration.ServoChannels[i]); - MaxField->setValue(oldSwashLvlConfiguration.Max[i],oldSwashLvlConfiguration.ServoChannels[i]); - } - - obj->updated(); - - - //restore Flight control of ActuatorCommand - enableSwashplateLevellingControl(false); - - m_ccpm->SwashLvlStepInstruction->setText("

Levelling Cancelled

Previous settings have been restored."); - -} - - -void ConfigccpmWidget::SwashLvlFinishButtonPressed() -{ - int i; - - UAVObjectField* MinField; - UAVObjectField* NeutralField; - UAVObjectField* MaxField; - - m_ccpm->SwashLvlStartButton->setEnabled(true); - m_ccpm->SwashLvlNextButton->setEnabled(false); - m_ccpm->SwashLvlCancelButton->setEnabled(false); - m_ccpm->SwashLvlFinishButton->setEnabled(false); - - //save new Actuator Settings to memory and SD card - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); - Q_ASSERT(obj); - //update settings to match our changes. - MinField = obj->getField(QString("ChannelMin")); - NeutralField = obj->getField(QString("ChannelNeutral")); - MaxField = obj->getField(QString("ChannelMax")); - - //min,neutral,max values for the servos - for (i=0;isetValue(newSwashLvlConfiguration.Min[i],newSwashLvlConfiguration.ServoChannels[i]); - NeutralField->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]); - MaxField->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]); - } - - obj->updated(); - saveObjectToSD(obj); - - //restore Flight control of ActuatorCommand - enableSwashplateLevellingControl(false); - - m_ccpm->SwashLvlStepInstruction->setText("

Levelling Completed

New settings have been saved to the SD card"); - - ShowDisclaimer(0); - //ShowDisclaimer(2); - -} - -int ConfigccpmWidget::ShowDisclaimer(int messageID) -{ - QMessageBox msgBox; - msgBox.setText("

Warning!!!

"); - int ret; - switch (messageID) { - case 0: - // Basic disclaimer - msgBox.setInformativeText("

This code has many configurations.

Please double check all settings before attempting flight!"); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.setIcon(QMessageBox::Information); - ret = msgBox.exec(); - return 0; - break; - case 1: - // Not Tested disclaimer - msgBox.setInformativeText("

The CCPM mixer code needs more testing!

Use it at your own risk!

Do you wish to continue?"); - msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); - msgBox.setDefaultButton(QMessageBox::Cancel); - msgBox.setIcon(QMessageBox::Warning); - ret = msgBox.exec(); - switch (ret) - { - case QMessageBox::Cancel: return -1; - case QMessageBox::Yes: return 0; - } - break; - case 2: - // DO NOT use - msgBox.setInformativeText("

The CCPM swashplate levelling code is NOT complete!

DO NOT use it for flight!"); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.setIcon(QMessageBox::Critical); - ret = msgBox.exec(); - return 0; - break; - default: - // should never be reached - break; - } - return -1; -} - - -/** - Toggles the channel testing mode by making the GCS take over - the ActuatorCommand objects - */ -void ConfigccpmWidget::enableSwashplateLevellingControl(bool state) -{ - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - - UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ActuatorCommand"))); - UAVObject::Metadata mdata = obj->getMetadata(); - if (state) - { - SwashLvlaccInitialData = mdata; - mdata.flightAccess = UAVObject::ACCESS_READONLY; - mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; - mdata.gcsTelemetryAcked = false; - mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; - mdata.gcsTelemetryUpdatePeriod = 100; - SwashLvlConfigurationInProgress=1; - m_ccpm->TabObject->setTabEnabled(0,0); - m_ccpm->TabObject->setTabEnabled(2,0); - m_ccpm->TabObject->setTabEnabled(3,0); - m_ccpm->ccpmType->setEnabled(0); - } - else - { - mdata = SwashLvlaccInitialData; // Restore metadata - SwashLvlConfigurationInProgress=0; - - m_ccpm->TabObject->setTabEnabled(0,1); - m_ccpm->TabObject->setTabEnabled(2,1); - m_ccpm->TabObject->setTabEnabled(3,1); - m_ccpm->ccpmType->setEnabled(1); - - } - obj->setMetadata(mdata); - -} - -/** - Sets the swashplate level to a given value based on current settings for Max, Neutral and Min values. - level ranges -1 to +1 - */ -void ConfigccpmWidget::setSwashplateLevel(int percent) -{ - if (percent<0)return;// -1; - if (percent>100)return;// -1; - if (SwashLvlConfigurationInProgress!=1)return;// -1; - int i; - double value; - double level = ((double)percent /50.00) - 1.00; - - SwashLvlServoInterlock=1; - - ActuatorCommand * actuatorCommand = ActuatorCommand::GetInstance(getObjectManager()); - ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData(); - - for (i=0;i 0) - value = (newSwashLvlConfiguration.Max[i] - newSwashLvlConfiguration.Neutral[i])*level + newSwashLvlConfiguration.Neutral[i]; - else if (level < 0) - value = (newSwashLvlConfiguration.Neutral[i] - newSwashLvlConfiguration.Min[i])*level + newSwashLvlConfiguration.Neutral[i]; - - actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; - SwashLvlSpinBoxes[i]->setValue(value); - } - - actuatorCommand->setData(actuatorCommandData); - actuatorCommand->updated(); - - SwashLvlServoInterlock=0; - -return; -} - - -void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value) -{ - Q_UNUSED(value); - int i; - if (SwashLvlServoInterlock==1)return; - - 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) - { - 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; - } - - actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; - } - - - actuatorCommand->setData(actuatorCommandData); - actuatorCommand->updated(); - - return; -} diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h deleted file mode 100644 index 1e72028a2..000000000 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ /dev/null @@ -1,160 +0,0 @@ -/** - ****************************************************************************** - * - * @file configccpmtwidget.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @addtogroup GCSPlugins GCS Plugins - * @{ - * @addtogroup ConfigPlugin Config Plugin - * @{ - * @brief ccpm configuration panel - *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License - * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ -#ifndef CONFIGccpmWIDGET_H -#define CONFIGccpmWIDGET_H - -#include "ui_ccpm.h" -#include "../uavobjectwidgetutils/configtaskwidget.h" -#include "extensionsystem/pluginmanager.h" -#include "uavobjectmanager.h" -#include "uavobject.h" -#include -#include -#include -#include -#include - -#define CCPM_MAX_SWASH_SERVOS 4 - -class Ui_Widget; - -typedef struct { - int ServoChannels[CCPM_MAX_SWASH_SERVOS]; - int Used[CCPM_MAX_SWASH_SERVOS]; - int Max[CCPM_MAX_SWASH_SERVOS]; - int Neutral[CCPM_MAX_SWASH_SERVOS]; - int Min[CCPM_MAX_SWASH_SERVOS]; -} SwashplateServoSettingsStruct; - -typedef struct { - uint SwasplateType:3; - uint FirstServoIndex:2; - uint CorrectionAngle:9; - uint ccpmCollectivePassthroughState:1; - uint ccpmLinkCyclicState:1; - uint ccpmLinkRollState:1; - uint SliderValue0:7; - uint SliderValue1:7; - uint SliderValue2:7;//41bits - uint ServoIndexW:4; - uint ServoIndexX:4; - uint ServoIndexY:4; - uint ServoIndexZ:4;//57bits - uint padding:7; -} __attribute__((packed)) heliGUISettingsStruct; - -typedef union -{ - uint UAVObject[2];//32bits * 2 - heliGUISettingsStruct heli;//64bits -} GUIConfigDataUnion; - -class ConfigccpmWidget: public ConfigTaskWidget -{ - Q_OBJECT - -public: - ConfigccpmWidget(QWidget *parent = 0); - ~ConfigccpmWidget(); - - friend class ConfigAirframeWidget; - -private: - Ui_ccpmWidget *m_ccpm; - QGraphicsSvgItem *SwashplateImg; - QGraphicsSvgItem *CurveImg; - //QGraphicsSvgItem *ServoW; - //QGraphicsSvgItem *ServoX; - //QGraphicsSvgItem *ServoY; - //QGraphicsSvgItem *ServoZ; - //QGraphicsTextItem *ServoWText; - //QGraphicsTextItem *ServoXText; - //QGraphicsTextItem *ServoYText; - //QGraphicsTextItem *ServoZText; - QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS]; - QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS]; - QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS]; - QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS]; - QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS]; - - bool SwashLvlConfigurationInProgress; - UAVObject::Metadata SwashLvlaccInitialData; - int SwashLvlState; - int SwashLvlServoInterlock; - - SwashplateServoSettingsStruct oldSwashLvlConfiguration; - SwashplateServoSettingsStruct newSwashLvlConfiguration; - - GUIConfigDataUnion GUIConfigData; - - int MixerChannelData[6]; - int ShowDisclaimer(int messageID); - virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget - - bool updatingFromHardware; - bool updatingToHardware; - - private slots: - void ccpmSwashplateUpdate(); - void ccpmSwashplateRedraw(); - void UpdateCurveSettings(); - void GenerateCurve(); - void UpdateMixer(); - void UpdateType(); - void resetMixer(MixerCurveWidget *mixer, int numElements); - void UpdateCurveWidgets(); - void updatePitchCurveValue(QList,double); - void updateThrottleCurveValue(QList,double); - - void SwashLvlStartButtonPressed(); - void SwashLvlNextButtonPressed(); - void SwashLvlCancelButtonPressed(); - void SwashLvlFinishButtonPressed(); - - void UpdateCCPMOptionsFromUI(); - void UpdateCCPMUIFromOptions(); - - void SetUIComponentVisibilities(); - void ccpmChannelCheck(); - - void enableSwashplateLevellingControl(bool state); - void setSwashplateLevel(int percent); - void SwashLvlSpinBoxChanged(int value); - virtual void refreshValues() {}; // Not used - - public slots: - void requestccpmUpdate(); - void sendccpmUpdate(); - void saveccpmUpdate(); - -protected: - void showEvent(QShowEvent *event); - void resizeEvent(QResizeEvent *event); - -}; - -#endif // CONFIGccpmWIDGET_H