mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Added support for Mode 3 and Mode 4 to the TX Configuration Wizard. Fixed a number of bugs and issues in the wizard. Made some changes to wizard text and layouts as well.
This commit is contained in:
Richard Flay (Hyper)
Oleg Semyonov
parent
5f80268396
commit
b620c6ebc8
@ -49,7 +49,15 @@
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#define STICK_MIN_MOVE -8
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#define STICK_MAX_MOVE 8
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ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
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ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
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ConfigTaskWidget(parent),
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wizardStep(wizardNone),
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// not currently stored in the settings UAVO
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transmitterMode(mode2),
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transmitterType(acro),
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//
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loop(NULL),
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skipflag(false)
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{
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manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
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manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
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@ -295,7 +303,7 @@ void ConfigInputWidget::openHelp()
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void ConfigInputWidget::goToWizard()
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{
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QMessageBox msgBox;
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msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
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msgBox.setText(tr("Arming Settings are now set to 'Always Disarmed' for your safety."));
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msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually "
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"when the wizard is finished. After the last step of the "
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"wizard you will be taken to the Arming Settings screen."));
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@ -307,16 +315,28 @@ void ConfigInputWidget::goToWizard()
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if(m_config->tabWidget->currentIndex() != 0) {
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m_config->tabWidget->setCurrentIndex(0);
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}
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// Stash current manual settings data in case the wizard is
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// cancelled or the user proceeds far enough into the wizard such
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// that the UAVO is changed, but then backs out to the start and
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// chooses a different TX type (which could otherwise result in
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// unexpected TX channels being enabled)
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manualSettingsData=manualSettingsObj->getData();
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previousManualSettingsData = manualSettingsData;
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manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
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manualSettingsObj->setData(manualSettingsData);
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// start the wizard
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wizardSetUpStep(wizardWelcome);
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m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
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m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio);
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}
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void ConfigInputWidget::disableWizardButton(int value)
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{
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if(value!=0)
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m_config->configurationWizard->setVisible(false);
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m_config->groupBox_3->setVisible(false);
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else
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m_config->configurationWizard->setVisible(true);
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m_config->groupBox_3->setVisible(true);
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}
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void ConfigInputWidget::wzCancel()
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@ -345,12 +365,12 @@ void ConfigInputWidget::wzNext()
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// State transitions for next button
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switch(wizardStep) {
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case wizardWelcome:
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wizardSetUpStep(wizardChooseMode);
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break;
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case wizardChooseMode:
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wizardSetUpStep(wizardChooseType);
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break;
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case wizardChooseType:
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wizardSetUpStep(wizardChooseMode);
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break;
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case wizardChooseMode:
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wizardSetUpStep(wizardIdentifySticks);
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break;
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case wizardIdentifySticks:
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@ -371,6 +391,25 @@ void ConfigInputWidget::wzNext()
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break;
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case wizardFinish:
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wizardStep=wizardNone;
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// Leave setting the throttle neutral until the final Next press,
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// else the throttle scaling causes the graphical stick movement to not
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// match the tx stick
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manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
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manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
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((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
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manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
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if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] -
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manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
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(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE] -
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manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
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{
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manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=
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manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
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(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] -
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manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
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}
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manualSettingsObj->setData(manualSettingsData);
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// move to Arming Settings tab
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m_config->stackedWidget->setCurrentIndex(0);
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m_config->tabWidget->setCurrentIndex(2);
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break;
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@ -387,17 +426,17 @@ void ConfigInputWidget::wzBack()
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// State transitions for next button
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switch(wizardStep) {
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case wizardChooseMode:
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case wizardChooseType:
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wizardSetUpStep(wizardWelcome);
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break;
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case wizardChooseType:
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wizardSetUpStep(wizardChooseMode);
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case wizardChooseMode:
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wizardSetUpStep(wizardChooseType);
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break;
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case wizardIdentifySticks:
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prevChannel();
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if(currentChannelNum == -1) {
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wizardTearDownStep(wizardIdentifySticks);
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wizardSetUpStep(wizardChooseType);
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wizardSetUpStep(wizardChooseMode);
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}
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break;
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case wizardIdentifyCenter:
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@ -419,6 +458,8 @@ void ConfigInputWidget::wzBack()
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void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
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{
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m_config->wzText2->clear();
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switch(step) {
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case wizardWelcome:
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foreach(QPointer<QWidget> wd,extraWidgets)
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@ -429,53 +470,70 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
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extraWidgets.clear();
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m_config->graphicsView->setVisible(false);
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setTxMovement(nothing);
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manualSettingsData=manualSettingsObj->getData();
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manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
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previousManualSettingsData = manualSettingsData;
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manualSettingsObj->setData(manualSettingsData);
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m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
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m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n\n"
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"Please follow the instructions on the screen and only move your controls when asked to.\n"
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"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
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"You can press 'back' at any time to return to the previous screeen or press 'Cancel' to quit the wizard.\n"));
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"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n\n"
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"You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.\n"));
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m_config->stackedWidget->setCurrentIndex(1);
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m_config->wzBack->setEnabled(false);
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break;
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case wizardChooseMode:
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{
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m_config->graphicsView->setVisible(true);
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m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
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setTxMovement(nothing);
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m_config->wzText->setText(tr("Please choose your transmitter type.\n"
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"Mode 1 means your throttle stick is on the right.\n"
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"Mode 2 means your throttle stick is on the left.\n"));
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m_config->wzBack->setEnabled(true);
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QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
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QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
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mode2->setChecked(true);
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extraWidgets.clear();
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extraWidgets.append(mode1);
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extraWidgets.append(mode2);
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m_config->checkBoxesLayout->layout()->addWidget(mode1);
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m_config->checkBoxesLayout->layout()->addWidget(mode2);
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}
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break;
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case wizardChooseType:
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{
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m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
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"Acro means normal transmitter.\n"
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"Heli means there is a collective pitch and throttle input.\n"
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"If you are using a heli transmitter please engage throttle hold now.\n"));
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m_config->graphicsView->setVisible(true);
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m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio);
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setTxMovement(nothing);
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m_config->wzText->setText(tr("Please choose your transmitter type:"));
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m_config->wzBack->setEnabled(true);
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QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
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QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
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typeAcro->setChecked(true);
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typeHeli->setChecked(false);
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QRadioButton * typeAcro=new QRadioButton(tr("Acro: normal transmitter for fixed-wing or quad"),this);
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QRadioButton * typeHeli=new QRadioButton(tr("Helicopter: has collective pitch and throttle input"),this);
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if (transmitterType == heli) {
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typeHeli->setChecked(true);
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}
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else {
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typeAcro->setChecked(true);
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}
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m_config->wzText2->setText(tr("If selecting the Helicopter option, please engage throttle hold now."));
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extraWidgets.clear();
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extraWidgets.append(typeAcro);
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extraWidgets.append(typeHeli);
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m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
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m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
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wizardStep=wizardChooseType;
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m_config->radioButtonsLayout->layout()->addWidget(typeAcro);
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m_config->radioButtonsLayout->layout()->addWidget(typeHeli);
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}
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break;
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case wizardChooseMode:
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{
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m_config->wzBack->setEnabled(true);
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extraWidgets.clear();
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m_config->wzText->setText(tr("Please choose your transmitter mode:"));
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for (int i = 0; i <= mode4; ++i) {
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QString label;
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txMode mode = static_cast<txMode>(i);
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if (transmitterType == heli) {
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switch (mode) {
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case mode1: label = tr("Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right"); break;
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case mode2: label = tr("Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right"); break;
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case mode3: label = tr("Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right"); break;
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case mode4: label = tr("Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right"); break;
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default: Q_ASSERT(0); break;
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} }
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else {
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switch (mode) {
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case mode1: label = tr("Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right"); break;
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case mode2: label = tr("Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right"); break;
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case mode3: label = tr("Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right"); break;
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case mode4: label = tr("Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right"); break;
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default: Q_ASSERT(0); break;
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}
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m_config->wzText2->setText(tr("For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw."));
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}
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QRadioButton * modeButton = new QRadioButton(label, this);
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if (transmitterMode == mode) {
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modeButton->setChecked(true);
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}
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extraWidgets.append(modeButton);
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m_config->radioButtonsLayout->layout()->addWidget(modeButton);
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}
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}
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break;
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case wizardIdentifySticks:
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@ -488,7 +546,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
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break;
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case wizardIdentifyCenter:
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setTxMovement(centerAll);
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m_config->wzText->setText(QString(tr("Please center all controls and press next when ready (if your FlightMode switch has only two positions, leave it in either position).")));
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m_config->wzText->setText(QString(tr("Please center all controls and trims and press Next when ready.\n\n"
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"If your FlightMode switch has only two positions, leave it in either position.")));
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break;
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case wizardIdentifyLimits:
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{
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@ -496,7 +555,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
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accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
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accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
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setTxMovement(nothing);
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m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready.")));
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m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions.\n\nPress Next when ready.")));
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fastMdata();
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manualSettingsData=manualSettingsObj->getData();
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for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
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@ -521,24 +580,22 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
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dimOtherControls(true);
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setTxMovement(nothing);
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extraWidgets.clear();
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for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
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{
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QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
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if(!name.contains("Access") && !name.contains("Flight"))
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if(!name.contains("Access") && !name.contains("Flight") &&
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(!name.contains("Collective") || transmitterType == heli))
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{
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QCheckBox * cb=new QCheckBox(name,this);
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// Make sure checked status matches current one
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cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
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dynamic_cast<QGridLayout*>(m_config->checkBoxesLayout->layout())->addWidget(cb, extraWidgets.size()/4, extraWidgets.size()%4);
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extraWidgets.append(cb);
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m_config->checkBoxesLayout->layout()->addWidget(cb);
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connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
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}
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}
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connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
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m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement, press next when ready.")));
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m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.")));
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fastMdata();
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break;
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case wizardFinish:
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@ -546,22 +603,10 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
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connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
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connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
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connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
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m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n"
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"These new settings aren't saved to the board yet, after pressing next you will go to the Arming Settings "
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"screen where you can set your desired arming sequence and save the configuration.")));
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m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n\n"
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"IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings "
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"tab where you can set your desired arming sequence and save the configuration.")));
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fastMdata();
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manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
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manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
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((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
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manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
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if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
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(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
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{
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manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
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(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
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}
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manualSettingsObj->setData(manualSettingsData);
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break;
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default:
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Q_ASSERT(0);
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@ -576,17 +621,7 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
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switch(step) {
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case wizardWelcome:
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break;
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case wizardChooseMode:
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mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
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if(mode->isChecked())
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transmitterMode=mode1;
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else
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transmitterMode=mode2;
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delete extraWidgets.at(0);
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delete extraWidgets.at(1);
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extraWidgets.clear();
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break;
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case wizardChooseType:
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case wizardChooseType:
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type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
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if(type->isChecked())
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transmitterType=acro;
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@ -596,6 +631,16 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
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delete extraWidgets.at(1);
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extraWidgets.clear();
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break;
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case wizardChooseMode:
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for (int i = mode1; i <= mode4; ++i) {
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mode=qobject_cast<QRadioButton *>(extraWidgets.first());
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if(mode->isChecked()) {
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transmitterMode=static_cast<txMode>(i);
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}
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delete mode;
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extraWidgets.removeFirst();
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}
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break;
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case wizardIdentifySticks:
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disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
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m_config->wzNext->setEnabled(true);
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@ -674,19 +719,19 @@ void ConfigInputWidget::restoreMdata()
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void ConfigInputWidget::setChannel(int newChan)
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{
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if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
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m_config->wzText->setText(QString(tr("Please enable the throttle hold mode and move the collective pitch stick.")));
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m_config->wzText->setText(QString(tr("Please enable throttle hold mode.\n\nMove the Collective Pitch stick.")));
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else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
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m_config->wzText->setText(QString(tr("Please toggle the flight mode switch. For switches you may have to repeat this rapidly.")));
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m_config->wzText->setText(QString(tr("Please toggle the Flight Mode switch.\n\nFor switches you may have to repeat this rapidly.")));
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else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
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m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick.")));
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m_config->wzText->setText(QString(tr("Please disable throttle hold mode.\n\nMove the Throttle stick.")));
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else
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m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
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"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
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m_config->wzText->setText(QString(tr("Please move each control one at a time according to the instructions and picture below.\n\n"
|
||||
"Move the %1 stick.")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
|
||||
|
||||
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
|
||||
manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
|
||||
m_config->wzNext->setEnabled(true);
|
||||
m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
|
||||
m_config->wzText->setText(m_config->wzText->text() + tr(" Alternatively, click Next to skip this channel."));
|
||||
} else
|
||||
m_config->wzNext->setEnabled(false);
|
||||
|
||||
@ -731,8 +776,11 @@ void ConfigInputWidget::prevChannel()
|
||||
|
||||
for (int i = 1; i < order.length(); i++) {
|
||||
if(order[i] == currentChannelNum) {
|
||||
if (!usedChannels.isEmpty() &&
|
||||
usedChannels.back().channelIndex == currentChannelNum) {
|
||||
usedChannels.removeLast();
|
||||
}
|
||||
setChannel(order[i-1]);
|
||||
usedChannels.removeLast();
|
||||
return;
|
||||
}
|
||||
}
|
||||
@ -757,6 +805,7 @@ void ConfigInputWidget::identifyControls()
|
||||
++debounce;
|
||||
lastChannel.group= currentChannel.group;
|
||||
lastChannel.number=currentChannel.number;
|
||||
lastChannel.channelIndex = currentChannelNum;
|
||||
if(!usedChannels.contains(lastChannel) && debounce>1)
|
||||
{
|
||||
channelDetected = true;
|
||||
@ -771,7 +820,7 @@ void ConfigInputWidget::identifyControls()
|
||||
return;
|
||||
}
|
||||
|
||||
m_config->wzText->clear();
|
||||
//m_config->wzText->clear();
|
||||
setTxMovement(nothing);
|
||||
|
||||
QTimer::singleShot(2500, this, SLOT(wzNext()));
|
||||
@ -800,53 +849,56 @@ void ConfigInputWidget::identifyLimits()
|
||||
}
|
||||
void ConfigInputWidget::setMoveFromCommand(int command)
|
||||
{
|
||||
//CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem;
|
||||
if(command==ManualControlSettings::CHANNELNUMBER_ROLL)
|
||||
{
|
||||
setTxMovement(moveRightHorizontalStick);
|
||||
}
|
||||
else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
|
||||
{
|
||||
if(transmitterMode==mode2)
|
||||
setTxMovement(moveRightVerticalStick);
|
||||
else
|
||||
setTxMovement(moveLeftVerticalStick);
|
||||
}
|
||||
else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
|
||||
{
|
||||
setTxMovement(moveLeftHorizontalStick);
|
||||
}
|
||||
else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
|
||||
{
|
||||
if(transmitterMode==mode2)
|
||||
setTxMovement(moveLeftVerticalStick);
|
||||
else
|
||||
setTxMovement(moveRightVerticalStick);
|
||||
}
|
||||
else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
|
||||
{
|
||||
if(transmitterMode==mode2)
|
||||
setTxMovement(moveLeftVerticalStick);
|
||||
else
|
||||
setTxMovement(moveRightVerticalStick);
|
||||
}
|
||||
else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
|
||||
{
|
||||
setTxMovement(moveFlightMode);
|
||||
}
|
||||
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0)
|
||||
{
|
||||
setTxMovement(moveAccess0);
|
||||
}
|
||||
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1)
|
||||
{
|
||||
setTxMovement(moveAccess1);
|
||||
}
|
||||
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2)
|
||||
{
|
||||
setTxMovement(moveAccess2);
|
||||
}
|
||||
|
||||
// ManualControlSettings::ChannelNumberElem:
|
||||
// CHANNELNUMBER_ROLL=0,
|
||||
// CHANNELNUMBER_PITCH=1,
|
||||
// CHANNELNUMBER_YAW=2,
|
||||
// CHANNELNUMBER_THROTTLE=3,
|
||||
// CHANNELNUMBER_FLIGHTMODE=4,
|
||||
// CHANNELNUMBER_ACCESSORY0=5,
|
||||
// CHANNELNUMBER_ACCESSORY1=6,
|
||||
// CHANNELNUMBER_ACCESSORY2=7
|
||||
|
||||
txMovements movement;
|
||||
|
||||
switch (command) {
|
||||
case ManualControlSettings::CHANNELNUMBER_ROLL:
|
||||
movement = ((transmitterMode == mode3 || transmitterMode == mode4) ?
|
||||
moveLeftHorizontalStick: moveRightHorizontalStick);
|
||||
break;
|
||||
case ManualControlSettings::CHANNELNUMBER_PITCH:
|
||||
movement = (transmitterMode == mode1 || transmitterMode == mode3) ?
|
||||
moveLeftVerticalStick: moveRightVerticalStick;
|
||||
break;
|
||||
case ManualControlSettings::CHANNELNUMBER_YAW:
|
||||
movement = ((transmitterMode == mode1 || transmitterMode == mode2) ?
|
||||
moveLeftHorizontalStick: moveRightHorizontalStick);
|
||||
break;
|
||||
case ManualControlSettings::CHANNELNUMBER_THROTTLE:
|
||||
movement = (transmitterMode == mode2 || transmitterMode == mode4) ?
|
||||
moveLeftVerticalStick: moveRightVerticalStick;
|
||||
break;
|
||||
case ManualControlSettings::CHANNELNUMBER_COLLECTIVE:
|
||||
movement = (transmitterMode == mode2 || transmitterMode == mode4) ?
|
||||
moveLeftVerticalStick: moveRightVerticalStick;
|
||||
break;
|
||||
case ManualControlSettings::CHANNELNUMBER_FLIGHTMODE:
|
||||
movement = moveFlightMode;
|
||||
break;
|
||||
case ManualControlSettings::CHANNELNUMBER_ACCESSORY0:
|
||||
movement = moveAccess0;
|
||||
break;
|
||||
case ManualControlSettings::CHANNELNUMBER_ACCESSORY1:
|
||||
movement = moveAccess1;
|
||||
break;
|
||||
case ManualControlSettings::CHANNELNUMBER_ACCESSORY2:
|
||||
movement = moveAccess2;
|
||||
break;
|
||||
default:
|
||||
Q_ASSERT(0);
|
||||
break;
|
||||
}
|
||||
setTxMovement(movement);
|
||||
}
|
||||
|
||||
void ConfigInputWidget::setTxMovement(txMovements movement)
|
||||
@ -918,6 +970,7 @@ void ConfigInputWidget::setTxMovement(txMovements movement)
|
||||
animate->stop();
|
||||
break;
|
||||
default:
|
||||
Q_ASSERT(0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -1111,19 +1164,34 @@ void ConfigInputWidget::moveSticks()
|
||||
accessoryDesiredData1=accessoryDesiredObj1->getData();
|
||||
accessoryDesiredData2=accessoryDesiredObj2->getData();
|
||||
|
||||
if(transmitterMode==mode2)
|
||||
{
|
||||
trans=m_txLeftStickOrig;
|
||||
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
|
||||
trans=m_txRightStickOrig;
|
||||
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
|
||||
}
|
||||
else
|
||||
{
|
||||
trans=m_txRightStickOrig;
|
||||
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
|
||||
trans=m_txLeftStickOrig;
|
||||
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
|
||||
switch (transmitterMode) {
|
||||
case mode1:
|
||||
trans=m_txLeftStickOrig;
|
||||
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
|
||||
trans=m_txRightStickOrig;
|
||||
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
|
||||
break;
|
||||
case mode2:
|
||||
trans=m_txLeftStickOrig;
|
||||
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
|
||||
trans=m_txRightStickOrig;
|
||||
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
|
||||
break;
|
||||
case mode3:
|
||||
trans=m_txLeftStickOrig;
|
||||
m_txLeftStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
|
||||
trans=m_txRightStickOrig;
|
||||
m_txRightStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
|
||||
break;
|
||||
case mode4:
|
||||
trans=m_txLeftStickOrig;
|
||||
m_txLeftStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
|
||||
trans=m_txRightStickOrig;
|
||||
m_txRightStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
|
||||
break;
|
||||
default:
|
||||
Q_ASSERT(0);
|
||||
break;
|
||||
}
|
||||
if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
|
||||
{
|
||||
@ -1307,7 +1375,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
|
||||
m_config->configurationWizard->setEnabled(false);
|
||||
|
||||
QMessageBox msgBox;
|
||||
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
|
||||
msgBox.setText(tr("Arming Settings are now set to 'Always Disarmed' for your safety."));
|
||||
msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
|
||||
msgBox.setStandardButtons(QMessageBox::Ok);
|
||||
msgBox.setDefaultButton(QMessageBox::Ok);
|
||||
@ -1337,7 +1405,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
|
||||
|
||||
restoreMdata();
|
||||
|
||||
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
|
||||
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
|
||||
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
|
||||
|
||||
// Force flight mode neutral to middle
|
||||
|
||||
@ -56,7 +56,7 @@ public:
|
||||
ConfigInputWidget(QWidget *parent = 0);
|
||||
~ConfigInputWidget();
|
||||
enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish,wizardNone};
|
||||
enum txMode{mode1,mode2};
|
||||
enum txMode{mode1,mode2,mode3,mode4};
|
||||
enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
|
||||
enum txMovementType{vertical,horizontal,jump,mix};
|
||||
enum txType {acro, heli};
|
||||
@ -81,6 +81,7 @@ private:
|
||||
}
|
||||
int group;
|
||||
int number;
|
||||
int channelIndex;
|
||||
}lastChannel;
|
||||
channelsStruct currentChannel;
|
||||
QList<channelsStruct> usedChannels;
|
||||
|
||||
@ -249,36 +249,39 @@
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="wzText">
|
||||
<widget class="QLabel" name="wzText">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>90</height>
|
||||
</size>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>TextLabel</string>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="radioButtonsLayout"/>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="checkBoxesLayout"/>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="wzText2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<item>
|
||||
<widget class="QGraphicsView" name="graphicsView"/>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="checkBoxesLayout"/>
|
||||
</item>
|
||||
</layout>
|
||||
<widget class="QGraphicsView" name="graphicsView"/>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
|
||||
Loading…
Reference in New Issue
Block a user