mirror of
https://bitbucket.org/librepilot/librepilot.git
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OP-138 All multirotor frame types except Tricopter now supported, but... not tested yet!
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2008 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard
edouard
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commit
d232461f9d
@ -414,7 +414,10 @@ void ConfigAirframeWidget::requestAircraftUpdate()
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}
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} else if (frameType == "QuadX" || frameType == "QuadP" ||
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frameType == "Hexa" || frameType == "Octo" ) {
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frameType == "Hexa" || frameType == "Octo" ||
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frameType == "HexaCoax" || frameType == "OctoV" ||
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frameType == "HexaX" || frameType == "OctoCoaxP" ||
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frameType == "OctoCoaxX") {
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//////////////////////////////////////////////////////////////////
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// Retrieve Multirotor settings
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//////////////////////////////////////////////////////////////////
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@ -557,8 +560,40 @@ void ConfigAirframeWidget::requestAircraftUpdate()
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val = floor(1-field->getDouble(i)/1.27);
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m_aircraft->mrRollMixLevel->setValue(val);
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}
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} else if (frameType == "Octo") {
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} else if (frameType == "HexaCoax") {
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// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
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field = obj->getField(QString("VTOLMotorNW"));
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m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorW"));
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m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorNE"));
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m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorE"));
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m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorS"));
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m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorSE"));
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m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
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// This assumes that all vectors are identical - if not, the user should use the
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// "custom" setting.
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obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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int eng= m_aircraft->multiMotor1->currentIndex()-1;
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// eng will be -1 if value is set to "None"
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if (eng > -1) {
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field = obj->getField(mixerVectors.at(eng));
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int i = field->getElementNames().indexOf("Pitch");
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double val = floor(2*field->getDouble(i)/1.27);
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m_aircraft->mrPitchMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Yaw");
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val = floor(-field->getDouble(i)/1.27);
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m_aircraft->mrYawMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Roll");
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val = floor(field->getDouble(i)/1.27);
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m_aircraft->mrRollMixLevel->setValue(val);
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}
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} else if (frameType == "Octo" || frameType == "OctoV" ||
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frameType == "OctoCoaxP") {
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// Motors 1 to 8 are N / NE / E / etc
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field = obj->getField(QString("VTOLMotorN"));
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Q_ASSERT(field);
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@ -584,6 +619,100 @@ void ConfigAirframeWidget::requestAircraftUpdate()
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field = obj->getField(QString("VTOLMotorNW"));
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Q_ASSERT(field);
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m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
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// This assumes that all vectors are identical - if not, the user should use the
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// "custom" setting.
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obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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int eng= m_aircraft->multiMotor1->currentIndex()-1;
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// eng will be -1 if value is set to "None"
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if (eng > -1) {
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if (frameType == "Octo") {
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field = obj->getField(mixerVectors.at(eng));
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int i = field->getElementNames().indexOf("Pitch");
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double val = floor(field->getDouble(i)/1.27);
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m_aircraft->mrPitchMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Yaw");
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val = floor(-field->getDouble(i)/1.27);
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m_aircraft->mrYawMixLevel->setValue(val);
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eng = m_aircraft->multiMotor2->currentIndex()-1;
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field = obj->getField(mixerVectors.at(eng));
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i = field->getElementNames().indexOf("Roll");
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val = floor(-field->getDouble(i)/1.27);
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m_aircraft->mrRollMixLevel->setValue(val);
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} else if (frameType == "OctoV") {
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field = obj->getField(mixerVectors.at(eng));
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int i = field->getElementNames().indexOf("Yaw");
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double val = floor(-field->getDouble(i)/1.27);
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m_aircraft->mrYawMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Roll");
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val = floor(-field->getDouble(i)/1.27);
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m_aircraft->mrRollMixLevel->setValue(val);
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eng = m_aircraft->multiMotor2->currentIndex()-1;
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field = obj->getField(mixerVectors.at(eng));
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i = field->getElementNames().indexOf("Pitch");
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val = floor(field->getDouble(i)/1.27);
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m_aircraft->mrPitchMixLevel->setValue(val);
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} else if (frameType == "OctoCoaxP") {
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field = obj->getField(mixerVectors.at(eng));
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int i = field->getElementNames().indexOf("Pitch");
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double val = floor(field->getDouble(i)/1.27);
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m_aircraft->mrPitchMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Yaw");
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val = floor(-field->getDouble(i)/1.27);
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m_aircraft->mrYawMixLevel->setValue(val);
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eng = m_aircraft->multiMotor3->currentIndex()-1;
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field = obj->getField(mixerVectors.at(eng));
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i = field->getElementNames().indexOf("Roll");
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val = floor(-field->getDouble(i)/1.27);
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m_aircraft->mrRollMixLevel->setValue(val);
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}
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}
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} else if (frameType == "OctoCoaxX") {
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// Motors 1 to 8 are N / NE / E / etc
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field = obj->getField(QString("VTOLMotorNW"));
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Q_ASSERT(field);
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m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorN"));
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Q_ASSERT(field);
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m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorNE"));
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Q_ASSERT(field);
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m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorE"));
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Q_ASSERT(field);
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m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorSE"));
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Q_ASSERT(field);
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m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorS"));
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Q_ASSERT(field);
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m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorSW"));
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Q_ASSERT(field);
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m_aircraft->multiMotor7->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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field = obj->getField(QString("VTOLMotorW"));
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Q_ASSERT(field);
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m_aircraft->multiMotor8->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
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// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
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// This assumes that all vectors are identical - if not, the user should use the
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// "custom" setting.
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obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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int eng= m_aircraft->multiMotor1->currentIndex()-1;
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// eng will be -1 if value is set to "None"
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if (eng > -1) {
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field = obj->getField(mixerVectors.at(eng));
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int i = field->getElementNames().indexOf("Pitch");
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double val = floor(field->getDouble(i)/1.27);
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m_aircraft->mrPitchMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Yaw");
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val = floor(-field->getDouble(i)/1.27);
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m_aircraft->mrYawMixLevel->setValue(val);
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i = field->getElementNames().indexOf("Roll");
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val = floor(field->getDouble(i)/1.27);
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m_aircraft->mrRollMixLevel->setValue(val);
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}
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}
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obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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@ -766,6 +895,9 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
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m_aircraft->multiMotor6->setEnabled(true);
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m_aircraft->multiMotor7->setEnabled(true);
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m_aircraft->multiMotor8->setEnabled(true);
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m_aircraft->mrRollMixLevel->setValue(50);
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m_aircraft->mrPitchMixLevel->setValue(50);
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m_aircraft->mrYawMixLevel->setValue(50);
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} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
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m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
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@ -776,6 +908,10 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
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m_aircraft->multiMotor6->setEnabled(true);
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m_aircraft->multiMotor7->setEnabled(false);
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m_aircraft->multiMotor8->setEnabled(false);
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m_aircraft->mrRollMixLevel->setValue(100);
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m_aircraft->mrPitchMixLevel->setValue(50);
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m_aircraft->mrYawMixLevel->setValue(66);
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} else if (frameType == "Tri" || frameType == "Tricopter Y") {
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m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
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m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Tricopter Y"));
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@ -1184,8 +1320,6 @@ bool ConfigAirframeWidget::setupFrameVtail()
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{ 0, 0, 0},
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{ 0, 0, 0}
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};
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*/
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bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
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{
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@ -1240,7 +1374,7 @@ void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll
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}
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/**
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Helper function: setup motors.
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Helper function: setup motors. Takes a list of channel names in input.
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*/
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void ConfigAirframeWidget::setupMotors(QList<QString> motorList)
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{
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@ -1514,6 +1648,9 @@ void ConfigAirframeWidget::sendAircraftUpdate()
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// Now reflect those settings in the "Custom" panel as well
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updateCustomAirframeUI();
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} else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
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QList<QString> motorList;
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// We can already setup the feedforward here, as it is common to all platforms
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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UAVObjectField* field = obj->getField(QString("FeedForward"));
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@ -1543,19 +1680,183 @@ void ConfigAirframeWidget::sendAircraftUpdate()
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setupHexa(true);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
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airframeType = "Octo";
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if (m_aircraft->multiMotor1->currentText() == "None" ||
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m_aircraft->multiMotor2->currentText() == "None" ||
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m_aircraft->multiMotor3->currentText() == "None" ||
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m_aircraft->multiMotor4->currentText() == "None" ||
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m_aircraft->multiMotor5->currentText() == "None" ||
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m_aircraft->multiMotor6->currentText() == "None" ||
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m_aircraft->multiMotor7->currentText() == "None" ||
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m_aircraft->multiMotor8->currentText() == "None") {
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m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
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return;
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 0, -1},
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{ 1, -1, 1},
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{ 0, -1, -1},
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{ -1, -1, 1},
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{ -1, 0, -1},
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{ -1, 1, 1},
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{ 0, 1, -1},
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{ 1, 1, 1}
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};
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setupMixer(mixer);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
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airframeType = "HexaX";
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setupHexa(false);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
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airframeType = "OctoV";
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if (m_aircraft->multiMotor1->currentText() == "None" ||
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m_aircraft->multiMotor2->currentText() == "None" ||
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m_aircraft->multiMotor3->currentText() == "None" ||
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m_aircraft->multiMotor4->currentText() == "None" ||
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m_aircraft->multiMotor5->currentText() == "None" ||
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m_aircraft->multiMotor6->currentText() == "None" ||
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m_aircraft->multiMotor7->currentText() == "None" ||
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m_aircraft->multiMotor8->currentText() == "None") {
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m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
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return;
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// IMPORTANT: Assumes evenly spaced engines
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// pitch roll yaw
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double mixer [8][3] = {
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{ 0.33, -1, -1},
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{ 1 , -1, 1},
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{ -1 , -1, -1},
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{ -0.33, -1, 1},
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{ -0.33, 1, -1},
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{ -1 , 1, 1},
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{ 1 , 1, -1},
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{ 0.33, 1, 1}
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};
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setupMixer(mixer);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
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airframeType = "OctoCoaxP";
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if (m_aircraft->multiMotor1->currentText() == "None" ||
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m_aircraft->multiMotor2->currentText() == "None" ||
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m_aircraft->multiMotor3->currentText() == "None" ||
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m_aircraft->multiMotor4->currentText() == "None" ||
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m_aircraft->multiMotor5->currentText() == "None" ||
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m_aircraft->multiMotor6->currentText() == "None" ||
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m_aircraft->multiMotor7->currentText() == "None" ||
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m_aircraft->multiMotor8->currentText() == "None") {
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m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
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return;
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}
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motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
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<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 0, -1},
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{ 1, 0, 1},
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{ 0, -1, -1},
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{ 0, -1, 1},
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{ -1, 0, -1},
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{ -1, 0, 1},
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{ 0, 1, -1},
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{ 0, 1, 1}
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};
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setupMixer(mixer);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
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airframeType = "OctoCoaxX";
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if (m_aircraft->multiMotor1->currentText() == "None" ||
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m_aircraft->multiMotor2->currentText() == "None" ||
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m_aircraft->multiMotor3->currentText() == "None" ||
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m_aircraft->multiMotor4->currentText() == "None" ||
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m_aircraft->multiMotor5->currentText() == "None" ||
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m_aircraft->multiMotor6->currentText() == "None" ||
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m_aircraft->multiMotor7->currentText() == "None" ||
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m_aircraft->multiMotor8->currentText() == "None") {
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m_aircraft->mrStatusLabel->setText("ERROR: Assign 8 motor channels");
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return;
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}
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motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
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<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
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setupMotors(motorList);
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// Motor 1 to 8:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 1, 1, -1},
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{ 1, 1, 1},
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{ 1, -1, -1},
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{ 1, -1, 1},
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{ -1, -1, -1},
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{ -1, -1, 1},
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{ -1, 1, -1},
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{ -1, 1, 1}
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};
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setupMixer(mixer);
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} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
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airframeType = "HexaCoax";
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if (m_aircraft->multiMotor1->currentText() == "None" ||
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m_aircraft->multiMotor2->currentText() == "None" ||
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m_aircraft->multiMotor3->currentText() == "None" ||
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m_aircraft->multiMotor4->currentText() == "None" ||
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m_aircraft->multiMotor5->currentText() == "None" ||
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m_aircraft->multiMotor6->currentText() == "None" ) {
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m_aircraft->mrStatusLabel->setText("ERROR: Assign 6 motor channels");
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return;
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}
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motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
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<< "VTOLMotorS" << "VTOLMotorSE";
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setupMotors(motorList);
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// Motor 1 to 6, Y6 Layout:
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// pitch roll yaw
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double mixer [8][3] = {
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{ 0.5, 1, -1},
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{ 0.5, 1, 1},
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{ 0.5, -1, -1},
|
||||
{ 0.5, -1, 1},
|
||||
{ -1, 0, -1},
|
||||
{ -1, 0, 1},
|
||||
{ 0, 0, 0},
|
||||
{ 0, 0, 0}
|
||||
};
|
||||
setupMixer(mixer);
|
||||
|
||||
} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter") {
|
||||
airframeType = "Tri";
|
||||
if (m_aircraft->multiMotor1->currentText() == "None" ||
|
||||
m_aircraft->multiMotor2->currentText() == "None" ||
|
||||
m_aircraft->multiMotor3->currentText() == "None" ) {
|
||||
m_aircraft->mrStatusLabel->setText("ERROR: Assign 3 motor channels");
|
||||
return;
|
||||
}
|
||||
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
|
||||
setupMotors(motorList);
|
||||
|
||||
// Motor 1 to 6, Y6 Layout:
|
||||
// pitch roll yaw
|
||||
double mixer [8][3] = {
|
||||
{ 0.5, 1, 0},
|
||||
{ 0.5, -1, 0},
|
||||
{ -1, 0, 0},
|
||||
{ 0, 0, 0},
|
||||
{ 0, 0, 0},
|
||||
{ 0, 0, 0},
|
||||
{ 0, 0, 0},
|
||||
{ 0, 0, 0}
|
||||
};
|
||||
setupMixer(mixer);
|
||||
|
||||
// TODO: enable tricopter yaw channel!!
|
||||
}
|
||||
// Now reflect those settings in the "Custom" panel as well
|
||||
updateCustomAirframeUI();
|
||||
|
||||
Loading…
Reference in New Issue
Block a user