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Code Issues Releases Activity

OP-1620 Added Vtail frame to setup Wizard

Browse Source
This commit is contained in:
Laurent Lalanne 2014-11-17 00:27:16 +01:00
parent 4b68deb878
commit c1c0c87677
6 changed files with 105 additions and 20 deletions
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3
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
View File

@ -139,6 +139,9 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::FIXED_WING_ELEVON:
elementsToShow << "elevon";
break;
case VehicleConfigurationSource::FIXED_WING_VTAIL:
elementsToShow << "vtail";
break;
default:
break;
}

6
ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
View File

@ -71,4 +71,10 @@ void FixedWingPage::setupSelection(Selection *selection)
"supported. Setup should include only two elevons, and should explicitly not include a rudder."),
"elevon",
SetupWizard::FIXED_WING_ELEVON);
selection->addItem(tr("Vtail"),
tr("This setup expects a traditional glider airframe using two independent aileron servos "
"on their own channel (not connected by Y adapter) plus Vtail mixing elevator/rudder."),
"vtail",
SetupWizard::FIXED_WING_VTAIL);
}

11
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -211,6 +211,17 @@ void OutputCalibrationPage::setupVehicle()
setupActuatorMinMaxAndNeutral(2, 2, 3);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::FIXED_WING_VTAIL:
loadSVGFile(FIXEDWING_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2 << 2 << 2 << 2;
m_vehicleElementIds << "vtail" << "vtail-frame" << "vtail-motor" << "vtail-ail-left" << "vtail-ail-right" << "vtail-rudder-left" << "vtail-rudder-right";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 3 << 1;
setupActuatorMinMaxAndNeutral(2, 2, 5);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
default:

41
ground/openpilotgcs/src/plugins/setupwizard/resources/fixedwing-shapes-wizard.svg
View File

@ -966,13 +966,13 @@
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id="namedview4099"
showgrid="false"
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inkscape:window-x="0"
inkscape:window-y="27"
inkscape:window-maximized="1"
inkscape:current-layer="elevon-frame"
inkscape:current-layer="vtail-motor"
showborder="true"
inkscape:showpageshadow="false"
showguides="false"
@ -4327,21 +4327,6 @@
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id="path4097-7" /></g></g></g><g
id="vtail"><g
id="vtail-propeller"
transform="matrix(-0.63758198,0,0,0.63758198,573.85558,1590.3998)"><g
transform="translate(0,1008)"
id="g3577-1-6"><path
id="path3579-4-7"
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sodipodi:nodetypes="cscsc"
id="path3581-4-5"
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inkscape:connector-curvature="0" /></g><path
style="fill:#010101"
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transform="translate(-67.999261,-57.002699)"
id="vtail-frame"><path
style="fill:#3c3c3c;fill-opacity:1;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@ -4424,7 +4409,23 @@
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inkscape:connector-curvature="0"
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transform="translate(-67.999261,-57.002699)"
id="vtail-rudder-left"><g
transform="matrix(-1,0,0,1,772.16163,2186.5467)"

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 422 KiB

After

Width:  |  Height:  |  Size: 422 KiB

63
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -332,6 +332,9 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
case VehicleConfigurationSource::FIXED_WING_ELEVON:
setupElevon();
break;
case VehicleConfigurationSource::FIXED_WING_VTAIL:
setupVtail();
break;
default:
break;
}
@ -1920,3 +1923,63 @@ void VehicleConfigurationHelper::setupAileron()
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWING, guiSettings);
}
void VehicleConfigurationHelper::setupVtail()
{
// Typical vehicle setup
// 1. Setup mixer data
// 2. Setup GUI data
// 3. Apply changes
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Motor (Chan 3)
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = 0;
// Aileron Servo (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
channels[0].throttle1 = 0;
channels[0].throttle2 = 0;
channels[0].roll = 100;
channels[0].pitch = 0;
channels[0].yaw = 0;
// Aileron Servo 2 (Chan 6)
channels[5].type = MIXER_TYPE_SERVO;
channels[5].throttle1 = 0;
channels[5].throttle2 = 0;
channels[5].roll = 100;
channels[5].pitch = 0;
channels[5].yaw = 0;
// Right Vtail Servo (Chan 2)
channels[1].type = MIXER_TYPE_SERVO;
channels[1].throttle1 = 0;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 100;
channels[1].yaw = 100;
// Left Vtail Servo (Chan 4)
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = -100;
channels[3].yaw = 100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingRoll1 = 1;
guiSettings.fixedwing.FixedWingRoll2 = 6;
guiSettings.fixedwing.FixedWingPitch1 = 4; // Vtail left (top view, nose up)
guiSettings.fixedwing.FixedWingPitch2 = 2; // Vtail right
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL, guiSettings);
}

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

@ -113,6 +113,7 @@ private:
void setupElevon();
void setupDualAileron();
void setupAileron();
void setupVtail();
private slots:
void uAVOTransactionCompleted(UAVObject *object, bool success);