rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-30 15:52:12 +01:00
Code Issues Releases Activity

OP-1643 First commit : Add ground vehicle to setup wizard

Browse Source
This commit is contained in:
Laurent Lalanne 2014-12-07 04:26:09 +01:00 committed by Fredrik Larsson
parent 4f7fc1bac7
commit c213e923ca
16 changed files with 12918 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp
View File

@ -240,7 +240,7 @@ void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
if (MixerSettings * mxr = qobject_cast<MixerSettings *>(mixer)) {
MixerSettings::DataFields mixerSettingsData = mxr->getData();
if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE && Throttle2CurveMin >= 0 ) {
if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE && Throttle2CurveMin >= 0) {
m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
} else {
m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH);

37
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -32,6 +32,7 @@
const QString OutputCalibrationPage::MULTI_SVG_FILE = QString(":/setupwizard/resources/multirotor-shapes.svg");
const QString OutputCalibrationPage::FIXEDWING_SVG_FILE = QString(":/setupwizard/resources/fixedwing-shapes-wizard.svg");
const QString OutputCalibrationPage::GROUND_SVG_FILE = QString(":/setupwizard/resources/ground-shapes-wizard.svg");
OutputCalibrationPage::OutputCalibrationPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent), ui(new Ui::OutputCalibrationPage), m_vehicleBoundsItem(0),
@ -216,6 +217,42 @@ void OutputCalibrationPage::setupVehicle()
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
// Ground vehicles
case SetupWizard::GROUNDVEHICLE_CAR:
loadSVGFile(GROUND_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2;
m_vehicleElementIds << "car" << "car-frame" << "car-motor" << "car-steering";
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
setupActuatorMinMaxAndNeutral(0, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::GROUNDVEHICLE_DIFFERENTIAL:
loadSVGFile(GROUND_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1;
m_vehicleElementIds << "tank" << "tank-frame" << "tank-left-motor" << "tank-right-motor";
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
setupActuatorMinMaxAndNeutral(0, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::GROUNDVEHICLE_MOTORCYCLE:
loadSVGFile(GROUND_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2;
m_vehicleElementIds << "motorbike" << "motorbike-frame" << "motorbike-motor" << "motorbike-steering";
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
setupActuatorMinMaxAndNeutral(0, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
default:
break;
}

1
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
View File

@ -103,6 +103,7 @@ private:
static const QString MULTI_SVG_FILE;
static const QString FIXEDWING_SVG_FILE;
static const QString GROUND_SVG_FILE;
};
#endif // OUTPUTCALIBRATIONPAGE_H

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

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file multipage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @file selectionpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup
* @{
* @addtogroup MultiPage
* @addtogroup SelectionPage
* @{
* @brief
*****************************************************************************/

48
ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file surfacepage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup
* @{
* @addtogroup SurfacePage
@ -26,17 +26,47 @@
*/
#include "surfacepage.h"
#include "ui_surfacepage.h"
#include "setupwizard.h"
SurfacePage::SurfacePage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::SurfacePage)
{
ui->setupUi(this);
setFinalPage(true);
}
SelectionPage(wizard, QString(":/setupwizard/resources/ground-shapes-wizard-no-numbers.svg"), parent)
{}
SurfacePage::~SurfacePage()
{}
void SurfacePage::initializePage(VehicleConfigurationSource *settings)
{
delete ui;
Q_UNUSED(settings);
}
bool SurfacePage::validatePage(SelectionItem *selectedItem)
{
getWizard()->setVehicleSubType((SetupWizard::VEHICLE_SUB_TYPE)selectedItem->id());
return true;
}
void SurfacePage::setupSelection(Selection *selection)
{
selection->setTitle(tr("OpenPilot Ground Vehicle Configuration"));
selection->setText(tr("This part of the wizard will set up the OpenPilot controller for use with a ground "
"vehicle utilizing servos. The wizard supports the most common types of ground vehicle, "
"other variants can be configured by using customconfiguration options in the "
"Configuration plugin in the GCS.\n\n"
"Please select the type of ground vehicle you want to create a configuration for below:"));
selection->addItem(tr("Car"),
tr("This setup expects a traditional car a rear motor and a front streering servo"),
"car",
SetupWizard::GROUNDVEHICLE_CAR);
selection->addItem(tr("Tank"),
tr("This setup expects a traditional vehicle using only two motors and differential steering"),
"tank",
SetupWizard::GROUNDVEHICLE_DIFFERENTIAL);
selection->addItem(tr("Motorcycle"),
tr("This setup currently expects a motorcyle setup, using one motor and one servo for steering."),
"motorbike",
SetupWizard::GROUNDVEHICLE_MOTORCYCLE);
}

16
ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file surfacepage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup
* @{
* @addtogroup SurfacePage
@ -28,21 +28,19 @@
#ifndef SURFACEPAGE_H
#define SURFACEPAGE_H
#include "abstractwizardpage.h"
#include "selectionpage.h"
namespace Ui {
class SurfacePage;
}
class SurfacePage : public AbstractWizardPage {
class SurfacePage : public SelectionPage {
Q_OBJECT
public:
explicit SurfacePage(SetupWizard *wizard, QWidget *parent = 0);
~SurfacePage();
private:
Ui::SurfacePage *ui;
protected:
void initializePage(VehicleConfigurationSource *settings);
bool validatePage(SelectionItem *selectedItem);
void setupSelection(Selection *selection);
};
#endif // SURFACEPAGE_H

1
ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp
View File

@ -51,6 +51,7 @@ bool VehiclePage::validatePage()
getWizard()->setVehicleType(SetupWizard::VEHICLE_HELI);
} else if (ui->surfaceButton->isChecked()) {
getWizard()->setVehicleType(SetupWizard::VEHICLE_SURFACE);
getWizard()->setEscType(SetupWizard::ESC_STANDARD);
} else {
getWizard()->setVehicleType(SetupWizard::VEHICLE_UNKNOWN);
}

2
ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui
View File

@ -190,7 +190,7 @@ p, li { white-space: pre-wrap; }
<item>
<widget class="QToolButton" name="surfaceButton">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="font">
<font>

3540
ground/openpilotgcs/src/plugins/setupwizard/resources/ground-shapes-wizard-no-numbers.svg Normal file
View File

File diff suppressed because one or more lines are too long
Side by Side

After

Width:  |  Height:  |  Size: 216 KiB

9064
ground/openpilotgcs/src/plugins/setupwizard/resources/ground-shapes-wizard.svg Normal file
View File

File diff suppressed because one or more lines are too long
Side by Side

After

Width:  |  Height:  |  Size: 431 KiB

26
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
View File

@ -131,7 +131,12 @@ int SetupWizard::nextId() const
return PAGE_ESC;
case PAGE_FIXEDWING:
case PAGE_SURFACE:
if (getVehicleSubType() == GROUNDVEHICLE_DIFFERENTIAL) {
return PAGE_ESC;
} else {
return PAGE_SERVO;
}
case PAGE_INPUT:
if (isRestartNeeded()) {
@ -333,6 +338,24 @@ QString SetupWizard::getSummaryText()
break;
case VEHICLE_SURFACE:
summary.append(tr("Surface vehicle"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType()) {
case SetupWizard::GROUNDVEHICLE_CAR:
summary.append(tr("Car"));
break;
case SetupWizard::GROUNDVEHICLE_DIFFERENTIAL:
summary.append(tr("Tank"));
break;
case SetupWizard::GROUNDVEHICLE_MOTORCYCLE:
summary.append(tr("Motorcycle"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
default:
summary.append(tr("Unknown"));
@ -371,7 +394,8 @@ QString SetupWizard::getSummaryText()
}
// If Tricopter show tail servo speed
if (getVehicleSubType() == MULTI_ROTOR_TRI_Y || getVehicleType() == VEHICLE_FIXEDWING) {
if (getVehicleSubType() == MULTI_ROTOR_TRI_Y || getVehicleType() == VEHICLE_FIXEDWING
|| getVehicleSubType() == GROUNDVEHICLE_MOTORCYCLE || getVehicleSubType() == GROUNDVEHICLE_CAR) {
summary.append("<br>");
summary.append("<b>").append(tr("Servo type: ")).append("</b>");
switch (getServoType()) {

191
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -335,9 +335,25 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
case VehicleConfigurationSource::VEHICLE_HELI:
// TODO: Implement settings for Helis
break;
case VehicleConfigurationSource::VEHICLE_SURFACE:
// TODO: Implement settings for Surface
{
switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::GROUNDVEHICLE_CAR:
setupCar();
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL:
setupTank();
break;
case VehicleConfigurationSource::GROUNDVEHICLE_MOTORCYCLE:
setupMotorcycle();
break;
default:
break;
}
break;
}
default:
break;
}
@ -475,8 +491,36 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
break;
case VehicleConfigurationSource::VEHICLE_SURFACE:
// TODO: Implement settings for ground vehicle types
{
ActuatorSettings::DataFields data = actSettings->getData();
QList<actuatorChannelSettings> actuatorSettings = m_configSource->getActuatorSettings();
for (quint16 i = 0; i < ActuatorSettings::CHANNELMAX_NUMELEM; i++) {
data.ChannelType[i] = ActuatorSettings::CHANNELTYPE_PWM;
data.ChannelAddr[i] = i;
data.ChannelMin[i] = actuatorSettings[i].channelMin;
data.ChannelNeutral[i] = actuatorSettings[i].channelNeutral;
data.ChannelMax[i] = actuatorSettings[i].channelMax;
}
for (quint16 i = 0; i < ActuatorSettings::CHANNELUPDATEFREQ_NUMELEM; i++) {
data.ChannelUpdateFreq[i] = servoFrequence;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
if (i == 1) {
data.ChannelUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
if (i == 2) {
data.ChannelUpdateFreq[i] = escFrequence;
}
}
}
actSettings->setData(data);
addModifiedObject(actSettings, tr("Writing actuator settings"));
break;
}
default:
break;
@ -635,6 +679,9 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
}
}
// Default maxThrottle
float maxThrottle = 0.9;
// Save mixer values for sliders
switch (m_configSource->getVehicleType()) {
case VehicleConfigurationSource::VEHICLE_MULTI:
@ -682,14 +729,45 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
maxThrottle = 1;
break;
case VehicleConfigurationSource::VEHICLE_HELI:
break;
case VehicleConfigurationSource::VEHICLE_SURFACE:
// TODO: Implement mixer / sliders settings for other vehicle types?
{
switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::GROUNDVEHICLE_MOTORCYCLE:
case VehicleConfigurationSource::GROUNDVEHICLE_CAR:
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
maxThrottle = 1;
break;
case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL:
mSettings->setMixerValueRoll(100);
mSettings->setMixerValuePitch(100);
mSettings->setMixerValueYaw(100);
maxThrottle = 0.8;
break;
default:
break;
}
}
break;
default:
break;
}
// Apply Throttle curve max 90% for Multis, 100% for FixedWing/car/Motorbike, 80% for Tank
QString throttlePattern = "ThrottleCurve%1";
for (int i = 1; i <= 2; i++) {
UAVObjectField *field = mSettings->getField(throttlePattern.arg(i));
Q_ASSERT(field);
for (quint32 i = 0; i < field->getNumElements(); i++) {
field->setValue(i * (maxThrottle / (field->getNumElements() - 1)), i);
}
}
// Apply updates
mSettings->setData(mSettings->getData());
@ -891,7 +969,7 @@ void VehicleConfigurationHelper::resetVehicleConfig()
for (int i = 1; i <= 2; i++) {
UAVObjectField *field = mSettings->getField(throttlePattern.arg(i));
Q_ASSERT(field);
// Wizard support only Multirotors - Set default curve with 90% max
// Set default curve at 90% max for Multirotors
for (quint32 i = 0; i < field->getNumElements(); i++) {
field->setValue(i * (0.9f / (field->getNumElements() - 1)), i);
}
@ -1929,3 +2007,108 @@ void VehicleConfigurationHelper::setupVtail()
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL, guiSettings);
}
/*
*
* Ground vehicles
*
*/
void VehicleConfigurationHelper::setupCar()
{
// Typical vehicle setup
// 1. Setup mixer data
// 2. Setup GUI data
// 3. Apply changes
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Steering Servo (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
channels[0].throttle1 = 0;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 100;
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 0;
channels[1].throttle2 = 100;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = 0;
guiSettings.ground.GroundVehicleSteering1 = 1;
guiSettings.ground.GroundVehicleThrottle2 = 2;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR, guiSettings);
}
void VehicleConfigurationHelper::setupTank()
{
// Typical vehicle setup
// 1. Setup mixer data
// 2. Setup GUI data
// 3. Apply changes
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Left Motor (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
channels[0].throttle1 = 0;
channels[0].throttle2 = 100;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 100;
// Right Motor (Chan 2)
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 0;
channels[1].throttle2 = 100;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = -100;
guiSettings.ground.GroundVehicleThrottle1 = 1;
guiSettings.ground.GroundVehicleThrottle2 = 2;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL, guiSettings);
}
void VehicleConfigurationHelper::setupMotorcycle()
{
// Typical vehicle setup
// 1. Setup mixer data
// 2. Setup GUI data
// 3. Apply changes
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Steering Servo (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
channels[0].throttle1 = 0;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 100;
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 0;
channels[1].throttle2 = 100;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = 0;
guiSettings.ground.GroundVehicleSteering1 = 1;
guiSettings.ground.GroundVehicleThrottle2 = 2;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE, guiSettings);
}

4
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
View File

@ -115,6 +115,10 @@ private:
void setupAileron();
void setupVtail();
void setupCar();
void setupTank();
void setupMotorcycle();
private slots:
void uAVOTransactionCompleted(UAVObject *object, bool success);
void uAVOTransactionCompleted(int oid, bool success);

3
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
View File

@ -61,7 +61,8 @@ public:
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, FIXED_WING_VTAIL, HELI_CCPM };
FIXED_WING_DUAL_AILERON, FIXED_WING_AILERON, FIXED_WING_ELEVON, FIXED_WING_VTAIL, HELI_CCPM,
GROUNDVEHICLE_MOTORCYCLE, GROUNDVEHICLE_CAR, GROUNDVEHICLE_DIFFERENTIAL };
enum ESC_TYPE { ESC_RAPID, ESC_STANDARD, ESC_UNKNOWN };
enum SERVO_TYPE { SERVO_ANALOG, SERVO_DIGITAL, SERVO_UNKNOWN };
enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_UNKNOWN };

2
ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
View File

@ -39,6 +39,8 @@
<file>resources/multirotor-shapes.svg</file>
<file>resources/fixedwing-shapes-wizard.svg</file>
<file>resources/fixedwing-shapes-wizard-no-numbers.svg</file>
<file>resources/ground-shapes-wizard.svg</file>
<file>resources/ground-shapes-wizard-no-numbers.svg</file>
<file>resources/sensor-shapes.svg</file>
<file>resources/bttn-illustration-color-up.png</file>
<file>resources/bttn-illustration-color-down.png</file>