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Code Issues Releases Activity

Add support for coaxial helicopter.

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Untested.
This commit is contained in:
Laura Sebesta 2012-09-24 19:17:38 +02:00
parent 8b91e19733
commit c3a402e52f
3 changed files with 143 additions and 82 deletions
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4
ground/openpilotgcs/src/plugins/config/ccpm.ui
View File

@ -126,7 +126,7 @@ QGroupBox::title {
</size>
</property>
<property name="title">
<string>Outputs</string>
<string>Motor outputs</string>
</property>
<layout class="QGridLayout" name="gridLayout_18">
<property name="horizontalSpacing">
@ -266,7 +266,7 @@ QGroupBox::title {
</size>
</property>
<property name="title">
<string>Swashplate Outputs</string>
<string>Swashplate outputs</string>
</property>
<layout class="QGridLayout" name="gridLayout_19">
<property name="horizontalSpacing">

219
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -155,9 +155,10 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
QStringList Types;
Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") <<
QString::fromUtf8("CCPM 4 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 120º") <<
QString::fromUtf8("CCPM 3 Servo 140º") << QString::fromUtf8("FP 2 Servo 90º") <<
Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") << QString::fromUtf8("CCPM 4 Servo 90º") <<
QString::fromUtf8("CCPM 3 Servo 120º") << QString::fromUtf8("CCPM 3 Servo 140º") <<
QString::fromUtf8("FP 2 Servo 90º") <<
QString::fromUtf8("Coax 2 Servo 90º") <<
QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings");
m_ccpm->ccpmType->addItems(Types);
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
@ -287,7 +288,6 @@ QStringList ConfigCcpmWidget::getChannelDescriptions()
void ConfigCcpmWidget::UpdateType()
{
int TypeInt,SingleServoIndex,NumServosDefined;
QString TypeText;
double AdjustmentAngle=0;
SetUIComponentVisibilities();
@ -327,8 +327,8 @@ void ConfigCcpmWidget::UpdateType()
NumServosDefined=4;
//set values for pre defined heli types
if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(0);
@ -342,9 +342,9 @@ void ConfigCcpmWidget::UpdateType()
//m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=2;
}
if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0)
{
}
else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
@ -355,9 +355,9 @@ void ConfigCcpmWidget::UpdateType()
//m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
}
if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0)
{
}
else if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
@ -367,9 +367,9 @@ void ConfigCcpmWidget::UpdateType()
m_ccpm->ccpmSingleServo->setCurrentIndex(0);
NumServosDefined=4;
}
if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
{
}
else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360));
@ -380,9 +380,9 @@ void ConfigCcpmWidget::UpdateType()
//m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
}
if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
{
}
else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360));
m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360));
@ -393,9 +393,9 @@ void ConfigCcpmWidget::UpdateType()
//m_ccpm->ccpmCorrectionAngle->setValue(0);
NumServosDefined=3;
}
if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
}
else if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(0);
@ -416,7 +416,42 @@ void ConfigCcpmWidget::UpdateType()
//m_ccpm->customThrottleCurve2Value->setVisible(0);
//m_ccpm->label_41->setVisible(0);
NumServosDefined=2;
}
}
else if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
m_ccpm->ccpmAngleY->setValue(0);
m_ccpm->ccpmAngleZ->setValue(0);
m_ccpm->ccpmAngleY->setEnabled(0);
m_ccpm->ccpmAngleZ->setEnabled(0);
m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
m_ccpm->ccpmServoYChannel->setEnabled(0);
m_ccpm->ccpmServoZChannel->setEnabled(0);
//m_ccpm->ccpmCorrectionAngle->setValue(0);
m_ccpm->ccpmCollectivespinBox->setEnabled(0);
m_ccpm->ccpmCollectiveSlider->setEnabled(0);
m_ccpm->ccpmCollectivespinBox->setValue(0);
m_ccpm->ccpmCollectiveSlider->setValue(0);
m_ccpm->PitchCurve->setVisible(0);
//m_ccpm->customThrottleCurve2Value->setVisible(0);
//m_ccpm->label_41->setVisible(0);
NumServosDefined=2;
}
//Set the text of the motor boxes
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmEngineLabel->setText("CW motor");
m_ccpm->ccpmTailLabel->setText("CCW motor");
}
else{
m_ccpm->ccpmEngineLabel->setText("Engine");
m_ccpm->ccpmTailLabel->setText("Tail rotor");
}
//set the visibility of the swashplate servo selection boxes
m_ccpm->ccpmServoWLabel->setVisible(NumServosDefined>=1);
@ -445,9 +480,6 @@ void ConfigCcpmWidget::UpdateType()
m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
}
//update UI
ccpmSwashplateUpdate();
@ -630,25 +662,40 @@ void ConfigCcpmWidget::UpdateMixer()
//go through the user data and update the mixer matrix
for (i=0;i<6;i++)
{
if ((MixerChannelData[i]>0)&&((ThisEnable[i])||(i<2)))
if ((MixerChannelData[i]>0) && ((ThisEnable[i])||(i<2)))
{
m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i] ));
//config the vector
if (i==0)
{//motor-engine
//Generate the mixer vector
if (i==0)
{//main motor-engine
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0)
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(-127));//Yaw
else
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
}
if (i==1)
{//tailrotor
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
{//tailrotor --or-- counter-clockwise motor
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw
}
else{
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw
}
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw
}
if (i>1)
{//Swashplate
@ -915,12 +962,20 @@ void ConfigCcpmWidget::setMixer()
{
if (MixerChannelData[i]>0)
{
//set the mixer type
*(mixerTypes[MixerChannelData[i] - 1]) = i==0 ?
MixerSettings::MIXER1TYPE_MOTOR :
MixerSettings::MIXER1TYPE_SERVO;
//Set the mixer type. If Coax, then first two are motors. Otherwise, only first is motor
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive)==0)
{
*(mixerTypes[MixerChannelData[i] - 1]) = i > 1 ?
MixerSettings::MIXER1TYPE_SERVO :
MixerSettings::MIXER1TYPE_MOTOR;
}
else{
*(mixerTypes[MixerChannelData[i] - 1]) = i > 0 ?
MixerSettings::MIXER1TYPE_SERVO :
MixerSettings::MIXER1TYPE_MOTOR;
}
//config the vector
//Configure the vector
for (j=0;j<5;j++)
mixers[MixerChannelData[i] - 1][j] = m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt();
}
@ -1455,60 +1510,64 @@ bool ConfigCcpmWidget::throwConfigError(QString airframeType)
bool error = false;
if((m_ccpm->ccpmServoWChannel->currentIndex()==0)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
if((m_ccpm->ccpmServoWChannel->currentIndex()==0) && (m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
m_ccpm->ccpmServoWLabel->setText("<font color=red>" + m_ccpm->ccpmServoWLabel->text() + "</font>");
error = true;
}
else
{
m_ccpm->ccpmServoWLabel->setText("<font color=black>Servo W</font>");
}
if((m_ccpm->ccpmServoXChannel->currentIndex()==0)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
error = true;
}
else
{
m_ccpm->ccpmServoXLabel->setText("<font color=black>Servo X</font>");
}
if((m_ccpm->ccpmServoYChannel->currentIndex()==0)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
error = true;
}
else
{
m_ccpm->ccpmServoYLabel->setText("<font color=black>Servo Y</font>");
}
if((m_ccpm->ccpmServoZChannel->currentIndex()==0)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
error = true;
}
else
{
m_ccpm->ccpmServoZLabel->setText("<font color=black>Servo Z</font>");
m_ccpm->ccpmServoWLabel->setText(QTextEdit(m_ccpm->ccpmServoWLabel->text()).toPlainText());
}
if((m_ccpm->ccpmEngineChannel->currentIndex()==0)&&(m_ccpm->ccpmEngineChannel->isEnabled()))
if((m_ccpm->ccpmServoXChannel->currentIndex()==0) && (m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmEngineLabel->setText("<font color=red>Engine</font>");
}
else
{
m_ccpm->ccpmEngineLabel->setText("<font color=black>Engine</font>");
}
if((m_ccpm->ccpmTailChannel->currentIndex()==0)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
m_ccpm->ccpmServoXLabel->setText("<font color=red>" + m_ccpm->ccpmServoXLabel->text() + "</font>");
error = true;
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
m_ccpm->ccpmServoXLabel->setText(QTextEdit(m_ccpm->ccpmServoXLabel->text()).toPlainText());
}
if((m_ccpm->ccpmServoYChannel->currentIndex()==0) && (m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>" + m_ccpm->ccpmServoYLabel->text() + "</font>");
error = true;
}
else
{
m_ccpm->ccpmServoYLabel->setText(QTextEdit(m_ccpm->ccpmServoYLabel->text()).toPlainText());
}
if((m_ccpm->ccpmServoZChannel->currentIndex()==0) && (m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>" + m_ccpm->ccpmServoZLabel->text()+ "</font>");
error = true;
}
else
{
m_ccpm->ccpmServoZLabel->setText(QTextEdit(m_ccpm->ccpmServoZLabel->text()).toPlainText());
}
if((m_ccpm->ccpmEngineChannel->currentIndex()==0) && (m_ccpm->ccpmEngineChannel->isEnabled()))
{
m_ccpm->ccpmEngineLabel->setText("<font color=red>" + m_ccpm->ccpmEngineLabel->text() + "</font>");
}
else
{
m_ccpm->ccpmEngineLabel->setText(QTextEdit(m_ccpm->ccpmEngineLabel->text()).toPlainText());
}
if((m_ccpm->ccpmTailChannel->currentIndex()==0) && (m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>" + m_ccpm->ccpmTailLabel->text() + "</font>");
error = true;
}
else
{
m_ccpm->ccpmTailLabel->setText(QTextEdit(m_ccpm->ccpmTailLabel->text()).toPlainText());
}
return error;

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -72,6 +72,8 @@ private:
QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS];
QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS];
QString TypeText;
bool SwashLvlConfigurationInProgress;
UAVObject::Metadata SwashLvlaccInitialData;
int SwashLvlState;