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Code Issues Releases Activity

OP-1422 Tricopter_mixers_settings Normalize mixer values saved from Wizard and Config tab. Fix bad values saved previously like -63/64.

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This commit is contained in:
Laurent Lalanne 2014-08-26 17:07:00 +02:00
parent 458120cce2
commit aea2adf2df
3 changed files with 42 additions and 6 deletions
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25
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -968,14 +968,33 @@ void ConfigMultiRotorWidget::setupQuadMotor(int channel, double pitch, double ro
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
//Normalize mixer values, allow a well balanced mixer saved
if(pitch < 0) {
pitch = qFloor(pitch * 127);
} else {
pitch = qCeil(pitch * 127);
}
if(roll < 0) {
roll = qFloor(roll * 127);
} else {
roll = qCeil(roll * 127);
}
if(yaw < 0) {
yaw = qFloor(yaw * 127);
} else {
yaw = qCeil(yaw * 127);
}
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 0);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll * 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch * 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw * 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw);
}
/**

22
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -440,9 +440,25 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
Q_ASSERT(field);
field->setValue((channels[i].throttle1 * 127) / 100, 0);
field->setValue((channels[i].throttle2 * 127) / 100, 1);
field->setValue(qRound(((double)channels[i].roll * 127) / 100), 2);
field->setValue(qRound(((double)channels[i].pitch * 127) / 100), 3);
field->setValue((channels[i].yaw * 127) / 100, 4);
//Normalize mixer values, allow a well balanced mixer saved
if(channels[i].roll < 0) {
field->setValue(qFloor((double)(channels[i].roll * 127) / 100), 2);
} else {
field->setValue(qCeil((double)(channels[i].roll * 127) / 100), 2);
}
if(channels[i].pitch < 0) {
field->setValue(qFloor((double)(channels[i].pitch * 127) / 100), 3);
} else {
field->setValue(qCeil((double)(channels[i].pitch * 127) / 100), 3);
}
if(channels[i].yaw < 0) {
field->setValue(qFloor((double)(channels[i].yaw * 127) / 100), 4);
} else {
field->setValue(qCeil((double)(channels[i].yaw * 127) / 100), 4);
}
}
// Apply updates

1
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
View File

@ -30,6 +30,7 @@
#include <QList>
#include <QPair>
#include <QtCore/qmath.h>
#include "vehicleconfigurationsource.h"
#include "uavobjectmanager.h"
#include "systemsettings.h"