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Code Issues Releases Activity

OP-138 Added Reset button for curves, and display of value when moving a curve point.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1816 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-10-01 08:40:46 +00:00 committed by edouard
parent b385ce961e
commit b5eb89ed5e
6 changed files with 115 additions and 33 deletions
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54
ground/src/plugins/config/airframe.ui
View File

@ -69,7 +69,7 @@
<item>
<widget class="QStackedWidget" name="airframesWidget">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="fixedWing">
<property name="enabled">
@ -402,6 +402,13 @@
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="fwThrottleCurveItemValue">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@ -616,7 +623,7 @@
</spacer>
</item>
<item>
<widget class="QPushButton" name="resetMultiThrottleon_2">
<widget class="QPushButton" name="mrThrottleCurveReset">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
@ -651,6 +658,13 @@
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="mrThrottleCurveItemValue">
<property name="text">
<string>Val: 0.00</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@ -823,6 +837,9 @@
</item>
<item row="0" column="1">
<widget class="QComboBox" name="multiMotor5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -845,6 +862,9 @@
</item>
<item row="1" column="1">
<widget class="QComboBox" name="multiMotor6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
@ -861,6 +881,9 @@
</item>
<item row="2" column="1">
<widget class="QComboBox" name="multiMotor7">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
@ -877,6 +900,9 @@
</item>
<item row="3" column="1">
<widget class="QComboBox" name="multiMotor8">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
@ -1294,12 +1320,12 @@
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>127</x>
<y>105</y>
<x>309</x>
<y>277</y>
</hint>
<hint type="destinationlabel">
<x>127</x>
<y>105</y>
<x>341</x>
<y>300</y>
</hint>
</hints>
</connection>
@ -1310,12 +1336,12 @@
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>127</x>
<y>105</y>
<x>236</x>
<y>277</y>
</hint>
<hint type="destinationlabel">
<x>127</x>
<y>105</y>
<x>283</x>
<y>300</y>
</hint>
</hints>
</connection>
@ -1326,12 +1352,12 @@
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>214</x>
<y>157</y>
<x>118</x>
<y>96</y>
</hint>
<hint type="destinationlabel">
<x>144</x>
<y>161</y>
<x>118</x>
<y>96</y>
</hint>
</hints>
</connection>

74
ground/src/plugins/config/configairframewidget.cpp
View File

@ -101,6 +101,11 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
requestAircraftUpdate();
connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
connect(m_aircraft->fixedWingThrottle, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateFwThrottleCurveValue(QList<double>,double)));
connect(m_aircraft->multiThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateMrThrottleCurveValue(QList<double>,double)));
// connect(m_aircraft->fwAileron1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleAileron2(int)));
// connect(m_aircraft->fwElevator1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleElevator2(int)));
@ -165,6 +170,58 @@ void ConfigAirframeWidget::toggleElevator2(int index)
}
}
/**
Resets Fixed wing throttle mixer
*/
void ConfigAirframeWidget::resetFwMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements());
}
/**
Resets Multirotor throttle mixer
*/
void ConfigAirframeWidget::resetMrMixer()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements());
}
/**
Resets a mixer curve
*/
void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
{
QList<double> curveValues;
for (double i=0; i<numElements; i++) {
curveValues.append(i/(numElements-1));
}
// Setup all Throttle1 curves for all types of airframes
mixer->initCurve(curveValues);
}
/**
Updates the currently moved throttle curve item value
*/
void ConfigAirframeWidget::updateFwThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->fwThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**
Updates the currently moved throttle curve item value
*/
void ConfigAirframeWidget::updateMrThrottleCurveValue(QList<double> list, double value)
{
Q_UNUSED(list);
m_aircraft->mrThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
}
/**************************
* Aircraft settings
**************************/
@ -173,11 +230,8 @@ void ConfigAirframeWidget::toggleElevator2(int index)
*/
void ConfigAirframeWidget::requestAircraftUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("SystemSettings")));
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
UAVObjectField *field = obj->getField(QString("AirframeType"));
@ -187,7 +241,7 @@ void ConfigAirframeWidget::requestAircraftUpdate()
QString frameType = field->getValue().toString();
setupAirframeUI(frameType);
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
field = obj->getField(QString("ThrottleCurve1"));
@ -211,7 +265,7 @@ void ConfigAirframeWidget::requestAircraftUpdate()
// Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) {
// Then retrieve how channels are setup
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
@ -265,7 +319,7 @@ void ConfigAirframeWidget::requestAircraftUpdate()
// Retrieve Multirotor settings
//////////////////////////////////////////////////////////////////
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
if (frameType == "QuadP") {
// Motors 1/2/3/4 are: N / E / S / W
@ -344,7 +398,7 @@ void ConfigAirframeWidget::requestAircraftUpdate()
m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
}
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// Now, retrieve the Feedforward values:
field = obj->getField(QString("FeedForward"));
@ -1022,9 +1076,7 @@ void ConfigAirframeWidget::saveAircraftUpdate()
{
// Send update so that the latest value is saved
sendAircraftUpdate();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("SystemSettings")));
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
saveObjectToSD(obj);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));

5
ground/src/plugins/config/configairframewidget.h
View File

@ -53,6 +53,7 @@ private:
bool setupQuad(bool pLayout);
void resetField(UAVObjectField * field);
void resetMixer (MixerCurveWidget *mixer, int numElements);
void resetActuators();
//void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
void setupQuadMotor(int channel, double roll, double pitch, double yaw);
@ -69,6 +70,10 @@ private slots:
void toggleAileron2(int index);
void toggleElevator2(int index);
void switchAirframeType(int index);
void resetFwMixer();
void resetMrMixer();
void updateFwThrottleCurveValue(QList<double> list, double value);
void updateMrThrottleCurveValue(QList<double> list, double value);
protected:
void showEvent(QShowEvent *event);

6
ground/src/plugins/config/mixercurvepoint.cpp
View File

@ -102,17 +102,17 @@ void Node::verticalMove(bool flag){
QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
{
QPointF newPos = value.toPointF();
double h = graph->sceneRect().height();
switch (change) {
case ItemPositionChange: {
if (!vertical)
break;
// Force node to move vertically
QPointF newPos = value.toPointF();
newPos.setX(pos().x());
// Stay inside graph
if (newPos.y() < 0)
newPos.setY(0);
double h = graph->sceneRect().height();
//qDebug() << h << " - " << newPos.y();
if (newPos.y() > h)
newPos.setY(h);
@ -121,7 +121,7 @@ QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
case ItemPositionHasChanged:
foreach (Edge *edge, edgeList)
edge->adjust();
graph->itemMoved();
graph->itemMoved((h-newPos.y())/h);
break;
default:
break;

4
ground/src/plugins/config/mixercurvewidget.cpp
View File

@ -152,8 +152,8 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
void MixerCurveWidget::itemMoved()
void MixerCurveWidget::itemMoved(double itemValue)
{
QList<double> list = getCurve();
emit curveUpdated(list);
emit curveUpdated(list, itemValue);
}

5
ground/src/plugins/config/mixercurvewidget.h
View File

@ -42,13 +42,12 @@ class MixerCurveWidget : public QGraphicsView
public:
MixerCurveWidget(QWidget *parent = 0);
~MixerCurveWidget();
void itemMoved(); // Callback when a point is moved, to be updated
void itemMoved(double itemValue); // Callback when a point is moved, to be updated
void initCurve (QList<double> points);
QList<double> getCurve();
signals:
// Shall create a "curve updated" signal here, maybe ?
void curveUpdated(QList<double> );
void curveUpdated(QList<double>, double );
private slots: