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Code Issues Releases Activity

GCS Control - controller now only updates the OP hardware when it is in GCSControl mode.

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Previously it would update all the time and this could create glitches in control when both a standard Tx and the GCS were connected to the flight H/W.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2221 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew 2010-12-12 04:57:43 +00:00 committed by andrew
parent 1007cbd115
commit c7eb0c912c
1 changed files with 49 additions and 36 deletions
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85
ground/src/plugins/gcscontrol/gcscontrolgadget.cpp
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@ -173,6 +173,9 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
if ((buttonSettings[i].FunctionID==4)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonThrottleControl=1;
}
//if we are not in local gcs control mode, ignore the joystick input
if (((GCSControlGadgetWidget *)m_widget)->getGCSControl()==false)return;
if((newThrottle != oldThrottle) || (newPitch != oldPitch) || (newYaw != oldYaw) || (newRoll != oldRoll)) {
if (buttonRollControl==0)obj->getField("Roll")->setDouble(newRoll);
if (buttonPitchControl==0)obj->getField("Pitch")->setDouble(newPitch);
@ -196,58 +199,68 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
bool currentCGSControl = ((GCSControlGadgetWidget *)m_widget)->getGCSControl();
switch (buttonSettings[number].ActionID)
{
case 1://increase
switch (buttonSettings[number].FunctionID)
if (currentCGSControl)
{
case 1://Roll
obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble()+buttonSettings[number].Amount));
break;
case 2://Pitch
obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble()+buttonSettings[number].Amount));
break;
case 3://Yaw
obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble()+buttonSettings[number].Amount));
break;
case 4://Throttle
obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble()+buttonSettings[number].Amount));
break;
switch (buttonSettings[number].FunctionID)
{
case 1://Roll
obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble()+buttonSettings[number].Amount));
break;
case 2://Pitch
obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble()+buttonSettings[number].Amount));
break;
case 3://Yaw
obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble()+buttonSettings[number].Amount));
break;
case 4://Throttle
obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble()+buttonSettings[number].Amount));
break;
}
}
break;
case 2://decrease
switch (buttonSettings[number].FunctionID)
if (currentCGSControl)
{
case 1://Roll
obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble()-buttonSettings[number].Amount));
break;
case 2://Pitch
obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble()-buttonSettings[number].Amount));
break;
case 3://Yaw
obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble()-buttonSettings[number].Amount));
break;
case 4://Throttle
obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble()-buttonSettings[number].Amount));
break;
switch (buttonSettings[number].FunctionID)
{
case 1://Roll
obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble()-buttonSettings[number].Amount));
break;
case 2://Pitch
obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble()-buttonSettings[number].Amount));
break;
case 3://Yaw
obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble()-buttonSettings[number].Amount));
break;
case 4://Throttle
obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble()-buttonSettings[number].Amount));
break;
}
}
break;
case 3://toggle
switch (buttonSettings[number].FunctionID)
{
case 1://Armed
if(obj->getField("Armed")->getValue().toString().compare("True")==0)
switch (buttonSettings[number].FunctionID)
{
case 1://Armed
if (currentCGSControl)
{
obj->getField("Armed")->setValue("False");
}
else
{
obj->getField("Armed")->setValue("True");
if(obj->getField("Armed")->getValue().toString().compare("True")==0)
{
obj->getField("Armed")->setValue("False");
}
else
{
obj->getField("Armed")->setValue("True");
}
}
break;
case 2://GCS Control
bool currentCGSControl = ((GCSControlGadgetWidget *)m_widget)->getGCSControl();
//Toggle the GCS Control checkbox, its built in signalling will handle the update to OP
((GCSControlGadgetWidget *)m_widget)->setGCSControl(!currentCGSControl);
break;