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Code Issues Releases Activity

Merge remote-tracking branch 'origin/laurent/OP-1491_HQuad_mixing_values' into laurent/OP-1222_FW_Wizard

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
	ground/openpilotgcs/src/plugins/setupwizard/resources/connection-diagrams.svg

Conflicts resolved in artwork, same style as FW branch
This commit is contained in:
Laurent Lalanne 2014-09-16 18:55:43 +02:00
commit bc9e6b24f9
13 changed files with 15297 additions and 395 deletions
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1
flight/libraries/sanitycheck.c
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@ -262,6 +262,7 @@ FrameType_t GetCurrentFrameType()
switch ((SystemSettingsAirframeTypeOptions)airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADH:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOX:

25
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
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@ -137,8 +137,8 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
m_aircraft->quadShape->setScene(scene);
QStringList multiRotorTypes;
multiRotorTypes << "Tricopter Y" << "Quad +" << "Quad X" << "Hexacopter" << "Hexacopter X" << "Hexacopter H" << "Hexacopter Y6"
<< "Octocopter" << "Octocopter X" << "Octocopter V" << "Octo Coax +" << "Octo Coax X";
multiRotorTypes << "Tricopter Y" << "Quad +" << "Quad X" << "Quad H" << "Hexacopter" << "Hexacopter X" << "Hexacopter H"
<< "Hexacopter Y6" << "Octocopter" << "Octocopter X" << "Octocopter V" << "Octo Coax +" << "Octo Coax X";
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
// Set default model to "Quad X"
@ -176,6 +176,12 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
setYawMixLevel(50);
} else if (frameType == "QuadH" || frameType == "Quad H") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad H"));
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(70);
setYawMixLevel(50);
} else if (frameType == "QuadP" || frameType == "Quad +") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
@ -271,6 +277,8 @@ void ConfigMultiRotorWidget::setupEnabledControls(QString frameType)
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
} else if (frameType == "QuadP" || frameType == "Quad +") {
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
} else if (frameType == "QuadH" || frameType == "Quad H") {
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
enableComboBoxes(this, CHANNELBOXNAME, 6, true);
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
@ -372,6 +380,12 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2, multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSW);
} else if (frameType == "QuadH") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2, multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSW);
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorN);
@ -490,6 +504,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
} else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
airframeType = "QuadX";
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Quad H") {
airframeType = "QuadH";
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
airframeType = "Hexa";
setupHexa(true);
@ -763,6 +780,8 @@ void ConfigMultiRotorWidget::updateAirframe(QString frameType)
elementId = "quad-x";
} else if (frameType == "QuadP" || frameType == "Quad +") {
elementId = "quad-plus";
} else if (frameType == "QuadH" || frameType == "Quad H") {
elementId = "quad-h";
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
elementId = "quad-hexa";
} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
@ -894,7 +913,7 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
setupMotors(motorList);
// Now, setup the mixer:
// Motor 1 to 4, X Layout:
// Motor 1 to 4, X Layout and Hlayout
// pitch roll yaw
// {0.5 ,0.5 ,-0.5 //Front left motor (CW)
// {0.5 ,-0.5 ,0.5 //Front right motor(CCW)

4
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -84,6 +84,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_QUADH:
case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
@ -264,7 +265,8 @@ int ConfigVehicleTypeWidget::frameCategory(QString frameType)
|| frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
return ConfigVehicleTypeWidget::FIXED_WING;
} else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Quad H" || frameType == "QuadH"
|| frameType == "Hexa" || frameType == "Hexacopter"
|| frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
|| frameType == "HexaH" || frameType == "Hexacopter H" || frameType == "Hexacopter Y6"
|| frameType == "Octo" || frameType == "Octocopter"

4656
ground/openpilotgcs/src/plugins/config/images/multirotor-shapes.svg
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3
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
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@ -107,6 +107,9 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
elementsToShow << "quad-p";
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_H:
elementsToShow << "quad-h";
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
elementsToShow << "hexa";
break;

5
ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
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@ -76,6 +76,11 @@ void MultiPage::setupSelection(Selection *selection)
"quad-plus",
SetupWizard::MULTI_ROTOR_QUAD_PLUS);
selection->addItem(tr("Quadcopter H"),
tr("Quadcopter H, Blackout miniH"),
"quad-h",
SetupWizard::MULTI_ROTOR_QUAD_H);
selection->addItem(tr("Hexacopter"),
tr("A multirotor with six motors, one motor in front."),
"quad-hexa",

6
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
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@ -131,6 +131,12 @@ void OutputCalibrationPage::setupVehicle()
m_channelIndex << 0 << 0 << 1 << 2 << 3;
setupActuatorMinMaxAndNeutral(0, 3, 4);
break;
case SetupWizard::MULTI_ROTOR_QUAD_H:
m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "quad-h" << "quad-h-frame" << "quad-h-m1" << "quad-h-m2" << "quad-h-m3" << "quad-h-m4";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 0 << 1 << 2 << 3;
break;
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
loadSVGFile(MULTI_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1 << 1 << 1;

1179
ground/openpilotgcs/src/plugins/setupwizard/resources/connection-diagrams.svg
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ground/openpilotgcs/src/plugins/setupwizard/resources/multirotor-shapes.svg
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3
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
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@ -253,6 +253,9 @@ QString SetupWizard::getSummaryText()
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
summary.append(tr("Quadcopter +"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_H:
summary.append(tr("Quadcopter H"));
break;
case SetupWizard::MULTI_ROTOR_HEXA:
summary.append(tr("Hexacopter"));
break;

45
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
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@ -282,6 +282,7 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_H:
setupQuadCopter();
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
@ -396,6 +397,7 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
}
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_H:
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
data.ChannelUpdateFreq[0] = escFrequence;
data.ChannelUpdateFreq[1] = escFrequence;
@ -647,6 +649,11 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
mixSettings->setMixerValuePitch(100);
mixSettings->setMixerValueYaw(50);
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_H:
mixSettings->setMixerValueRoll(50);
mixSettings->setMixerValuePitch(70);
mixSettings->setMixerValueYaw(50);
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
mixSettings->setMixerValueRoll(100);
mixSettings->setMixerValuePitch(50);
@ -1050,6 +1057,44 @@ void VehicleConfigurationHelper::setupQuadCopter()
break;
}
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_H:
{
frame = SystemSettings::AIRFRAMETYPE_QUADH;
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 50;
channels[0].pitch = 70;
channels[0].yaw = -50;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -50;
channels[1].pitch = 70;
channels[1].yaw = 50;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -50;
channels[2].pitch = -70;
channels[2].yaw = -50;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 50;
channels[3].pitch = -70;
channels[3].yaw = 50;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorNE = 2;
guiSettings.multi.VTOLMotorSE = 3;
guiSettings.multi.VTOLMotorSW = 4;
break;
}
default:
break;
}

2
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
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@ -57,7 +57,7 @@ public:
enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_NANO, CONTROLLER_OPLINK };
enum VEHICLE_TYPE { VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE };
enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS, MULTI_ROTOR_QUAD_H,
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
MULTI_ROTOR_OCTO_X, MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS,
FIXED_WING_DUAL_AILERON, FIXED_WING_AILERON, FIXED_WING_ELEVON, HELI_CCPM };

2
shared/uavobjectdefinition/systemsettings.xml
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@ -1,7 +1,7 @@
<xml>
<object name="SystemSettings" singleinstance="true" settings="true" category="System">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,QuadH,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" />
<!-- Which way the vehicle controls its thrust. Can be through
"Throttle" (quadcopter, simple brushless planes,