rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

Delete commented code using direct vector object referencing

Browse Source
This commit is contained in:
Mike LaBranche 2012-05-25 11:47:38 -07:00
parent e9e6aece21
commit b5ac4306d3
3 changed files with 49 additions and 632 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

236
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -303,6 +303,12 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int channel;
//disable all
for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
@ -340,83 +346,6 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 127);
}
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// field->setValue("Disabled");
// }
// // and set only the relevant channels:
// // Engine
// int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(tmpVal));
// // First of all reset the vector
// resetField(field);
// int ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
// // Rudder
// tmpVal = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if rudder is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(127, ti);
// } // Else: we have no rudder, only ailerons, we're fine with it.
// // Ailerons
// tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(127, ti);
// // Only set Aileron 2 if Aileron 1 is defined
// tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(127, ti);
// }
// } // Else we have no ailerons. Our consistency check guarantees we have
// // rudder in this case, so we're fine with it too.
// // Elevator
// tmpVal = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue(127, ti);
// // Only set Elevator 2 if it is defined
// tmpVal = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue(127, ti);
// }
// obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
@ -456,6 +385,13 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Save the curve:
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int channel;
double value;
//disable all
@ -493,81 +429,6 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -value);
}
// Save the curve:
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// field->setValue("Disabled");
// }
// // and set only the relevant channels:
// // Engine
// int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(tmpVal));
// // First of all reset the vector
// resetField(field);
// int ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
// // Rudder 1
// tmpVal = m_aircraft->fwRudder1ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if rudder 1 is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(127, ti);
// } // Else: we have no rudder, only elevons, we're fine with it.
// // Rudder 2
// tmpVal = m_aircraft->fwRudder2ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if rudder 2 is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(-127, ti);
// } // Else: we have no rudder, only elevons, we're fine with it.
// tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
// }
// tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
// }
// obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
@ -606,6 +467,13 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Save the curve:
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
int channel;
double value;
//disable all
@ -654,70 +522,6 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -value);
}
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// field->setValue("Disabled");
// }
// // and set only the relevant channels:
// // Engine
// int tmpVal = m_aircraft->fwEngineChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(tmpVal));
// // First of all reset the vector
// resetField(field);
// int ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
// tmpVal = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(127,ti);
// }
// tmpVal = m_aircraft->fwAileron2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(-127,ti);
// }
// // Now compute the VTail
// tmpVal = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue((double)m_aircraft->elevonSlider1->value()*1.27,ti);
// tmpVal = m_aircraft->fwElevator2ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue((double)m_aircraft->elevonSlider2->value()*1.27, ti);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(-(double)m_aircraft->elevonSlider1->value()*1.27,ti);
// obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}

195
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -258,14 +258,9 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
if (channel >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
// field = obj->getField(mixerVectors.at(chMixerNumber));
// int ti = field->getElementNames().indexOf("Roll");
// m_aircraft->differentialSteeringSlider1->setValue(field->getDouble(ti)*100);
if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->differentialSteeringSlider1->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_ROLL)*100);
// ti = field->getElementNames().indexOf("Pitch");
m_aircraft->differentialSteeringSlider2->setValue(getMixerVectorValue(obj,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
}
}
@ -297,7 +292,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
throwConfigError(airframeType);
// - Motor, steering, and balance
if (m_aircraft->gvMotor1ChannelBox->currentText() == "None" ||
if (m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering2ChannelBox->currentText() == "None") )
{
@ -342,83 +337,6 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
// UAVObject* obj;
// UAVObjectField* field;
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// // ... and compute the matrix:
// // In order to make code a bit nicer, we assume:
// // - Channel dropdowns start with 'None', then 0 to 7
// // 1. Assign the servo/motor/none for each channel
// int tmpVal, ti;
// // Disable all output channels
// foreach(QString mixer, mixerTypes) {
// field = obj->getField(mixer);
// Q_ASSERT(field);
// //Disable output channel
// field->setValue("Disabled");
// }
// // Set all mixer values to zero
// foreach(QString mixer, mixerVectors) {
// field = obj->getField(mixer);
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(0, ti);
// ti = field->getElementNames().indexOf("ThrottleCurve2");
// field->setValue(0, ti);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(0, ti);
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue(0, ti);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(0, ti);
// }
// Motor
// Setup motor
// tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo"); //Set motor mixer type to Servo
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve1"); //Set motor to full forward
// field->setValue(127, ti);
// //Steering
// // Setup steering
// tmpVal = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo"); //Set motor mixer type to Servo
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw"); //Set steering response to roll
// field->setValue(-127, ti);
// ti = field->getElementNames().indexOf("Roll"); //Set steering response to roll
// field->setValue(-127, ti);
// //Balancing
// // Setup balancing servo
// tmpVal = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo"); //Set motor mixer type to Servo
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw"); //Set balance response to yaw
// field->setValue(127, ti);
// ti = field->getElementNames().indexOf("Roll"); //Set balance response to roll
// field->setValue(127, ti);
// obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
@ -475,40 +393,6 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// int tmpVal, ti;
// Motor
// Setup left motor
// tmpVal = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo"); //Set motor mixer type to Servo
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve1"); //Set motor to full forward
// field->setValue(127, ti);
// ti = field->getElementNames().indexOf("Yaw"); //Set motor to turn right with increasing throttle
// field->setValue(127, ti);
// // Setup right motor
// tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo"); //Set motor mixer type to Servo
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve2"); //Set motor to full forward
// field->setValue(127, ti);
// ti = field->getElementNames().indexOf("Yaw"); //Set motor to turn left with increasing throttle
// field->setValue(-127, ti);
// obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
@ -537,24 +421,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{
return false;
}
// else{
// // m_aircraft->gvStatusLabel->setText("Mixer generated");
// QTextEdit* htmlText=new QTextEdit(m_aircraft->gvSteering1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvSteering2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvSteering2Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor1Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor1Label->setText(htmlText->toPlainText());
// delete htmlText;
//
// htmlText=new QTextEdit(m_aircraft->gvMotor2Label->text()); // HtmlText is any QString with html tags.
// m_aircraft->gvMotor2Label->setText(htmlText->toPlainText());
// }
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
@ -592,62 +459,6 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Steering
// Only set front steering if it is defined
// tmpVal = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if steering is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(127, ti);
// } // Else: we have no front steering. We're fine with it as long as we have rear steering
// // Only set rear steering if it is defined
// tmpVal = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
// // tmpVal will be -1 if steering is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(-127, ti);
// } // Else: we have no rear steering. We're fine with it as long as we have front steering
// // Motor
// // Only set front motor if it is defined
// tmpVal = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
// }
// // Only set rear motor if it is defined
// tmpVal = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
// if (tmpVal > -1) {
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// ti = field->getElementNames().indexOf("ThrottleCurve2");
// field->setValue(127, ti);
// }
// obj->updated();
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");

250
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -536,15 +536,6 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setMixerType(mixerObj, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixerObj, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
}
// int tmpVal = m_aircraft->triYawChannelBox->currentIndex()-1;
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// field = obj->getField(mixerTypes.at(tmpVal));
// field->setValue("Servo");
// field = obj->getField(mixerVectors.at(tmpVal));
// resetField(field);
// int ti = field->getElementNames().indexOf("Yaw");
// field->setValue(127,ti);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
@ -594,26 +585,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrRollMixLevel->setValue( -value/1.27);
}
// int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = field->getDouble(i)/1.27;
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = (1-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = -field->getDouble(i)/1.27;
// m_aircraft->mrRollMixLevel->setValue(val);
// }
} else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
@ -621,6 +592,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
@ -634,25 +608,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrRollMixLevel->setValue( value/1.27);
}
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = field->getDouble(i)/1.27;
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = 1-field->getDouble(i)/1.27;
// m_aircraft->mrYawMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = field->getDouble(i)/1.27;
// m_aircraft->mrRollMixLevel->setValue(val);
// }
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
@ -663,6 +619,10 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
@ -672,35 +632,14 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(1-value/1.27) );
}
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
// if(tmpVal>-1)
// {
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(1-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// }
} else if (frameType == "HexaX") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
@ -711,7 +650,10 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
@ -724,29 +666,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(1-value/1.27) );
}
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(1-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
} else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
@ -757,7 +677,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSE);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
@ -770,27 +692,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( value/1.27);
}
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(2*field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
} else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc
@ -804,7 +706,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
@ -815,7 +719,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
//change channelboxes
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(-value/1.27) );
@ -827,6 +731,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(-value/1.27) );
@ -838,69 +743,13 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(-value/1.27) );
}
}
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// if (frameType == "Octo") {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// } else if (frameType == "OctoV") {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Yaw");
// double val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotorChannelBox2->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Pitch");
// val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// } else if (frameType == "OctoCoaxP") {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// tmpVal = m_aircraft->multiMotorChannelBox3->currentIndex()-1;
// field = obj->getField(mixerVectors.at(tmpVal));
// i = field->getElementNames().indexOf("Roll");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
// }
} else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc
@ -913,6 +762,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
@ -925,26 +777,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
}
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Yaw");
// val = floor(-field->getDouble(i)/1.27);
// m_aircraft->mrYawMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
} else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
@ -964,19 +796,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
}
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// // tmpVal will be -1 if value is set to "None"
// if (tmpVal > -1) {
// field = obj->getField(mixerVectors.at(tmpVal));
// int i = field->getElementNames().indexOf("Pitch");
// double val = floor(2*field->getDouble(i)/1.27);
// m_aircraft->mrPitchMixLevel->setValue(val);
// i = field->getElementNames().indexOf("Roll");
// val = floor(field->getDouble(i)/1.27);
// m_aircraft->mrRollMixLevel->setValue(val);
// }
}
}
@ -999,23 +818,6 @@ void ConfigMultiRotorWidget::setupQuadMotor(int channel, double pitch, double ro
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll*127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch*127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw*127);
// UAVObjectField *field = obj->getField(mixerTypes.at(channel));
// field->setValue("Motor");
// field = obj->getField(mixerVectors.at(channel));
// // First of all reset the vector
// resetField(field);
// int ti = field->getElementNames().indexOf("ThrottleCurve1");
// field->setValue(127, ti);
// ti = field->getElementNames().indexOf("Roll");
// field->setValue(roll*127,ti);
// qDebug()<<"Set roll="<<roll*127;
// ti = field->getElementNames().indexOf("Pitch");
// field->setValue(pitch*127,ti);
// qDebug()<<"Set pitch="<<pitch*127;
// ti = field->getElementNames().indexOf("Yaw");
// field->setValue(yaw*127,ti);
// qDebug()<<"Set yaw="<<yaw*127;
}