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OP-1063 Multi_config_Hexa_fixes : Uncrustify
This commit is contained in:
Laurent Lalanne
parent
748a522b5d
commit
d2471361bb
@ -186,21 +186,21 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
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setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
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m_aircraft->mrRollMixLevel->setValue(100); // Old Roll 50 - Pitch 33 - Yaw 33
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m_aircraft->mrPitchMixLevel->setValue(100);// Do not alter mixer matrix
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m_aircraft->mrPitchMixLevel->setValue(100); // Do not alter mixer matrix
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setYawMixLevel(100);
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} else if (frameType == "HexaX" || frameType == "Hexacopter X") {
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setComboCurrentIndex(m_aircraft->multirotorFrameType,
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m_aircraft->multirotorFrameType->findText("Hexacopter X"));
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m_aircraft->mrRollMixLevel->setValue(100); // Old: Roll 33 - Pitch 50 - Yaw 33
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m_aircraft->mrPitchMixLevel->setValue(100);// Do not alter mixer matrix
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m_aircraft->mrPitchMixLevel->setValue(100); // Do not alter mixer matrix
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setYawMixLevel(100);
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} else if (frameType == "HexaH" || frameType == "Hexacopter H") {
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setComboCurrentIndex(m_aircraft->multirotorFrameType,
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m_aircraft->multirotorFrameType->findText("Hexacopter H"));
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m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
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m_aircraft->mrPitchMixLevel->setValue(100);// All mixers RPY levels = 100%
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m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100%
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setYawMixLevel(100);
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} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
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setComboCurrentIndex(m_aircraft->multirotorFrameType,
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@ -212,13 +212,13 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
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} else if (frameType == "Octo" || frameType == "Octocopter") {
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setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
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m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
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m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
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m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100%
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setYawMixLevel(100);
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} else if (frameType == "OctoX" || frameType == "Octocopter X") {
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setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter X"));
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m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
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m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
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m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100%
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setYawMixLevel(100);
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} else if (frameType == "OctoV" || frameType == "Octocopter V") {
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@ -314,22 +314,22 @@ void ConfigMultiRotorWidget::registerWidgets(ConfigTaskWidget &parent)
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void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
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{
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configData->multi.VTOLMotorN = 0;
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configData->multi.VTOLMotorNE = 0;
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configData->multi.VTOLMotorE = 0;
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configData->multi.VTOLMotorSE = 0;
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configData->multi.VTOLMotorS = 0;
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configData->multi.VTOLMotorSW = 0;
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configData->multi.VTOLMotorW = 0;
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configData->multi.VTOLMotorNW = 0;
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configData->multi.VTOLMotorN = 0;
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configData->multi.VTOLMotorNE = 0;
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configData->multi.VTOLMotorE = 0;
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configData->multi.VTOLMotorSE = 0;
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configData->multi.VTOLMotorS = 0;
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configData->multi.VTOLMotorSW = 0;
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configData->multi.VTOLMotorW = 0;
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configData->multi.VTOLMotorNW = 0;
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configData->multi.TRIYaw = 0;
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configData->multi.VTOLMotorNNE = 0;
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configData->multi.VTOLMotorNNE = 0;
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configData->multi.VTOLMotorENE = 0;
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configData->multi.VTOLMotorESE = 0;
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configData->multi.VTOLMotorESE = 0;
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configData->multi.VTOLMotorSSE = 0;
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configData->multi.VTOLMotorSSW = 0;
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configData->multi.VTOLMotorSSW = 0;
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configData->multi.VTOLMotorWSW = 0;
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configData->multi.VTOLMotorWNW = 0;
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configData->multi.VTOLMotorWNW = 0;
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configData->multi.VTOLMotorNNW = 0;
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}
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@ -418,13 +418,13 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
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int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
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if (channel > -1) {
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//get motor 1 value for Pitch
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// get motor 1 value for Pitch
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double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
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m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
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//get motor 2 value for Yaw and Roll
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// get motor 2 value for Yaw and Roll
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channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
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setYawMixLevel(-qRound(value / 1.27));
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// change channels
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@ -447,11 +447,11 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
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int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
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if (channel > -1) {
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//get motor 1 value for Pitch
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// get motor 1 value for Pitch
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double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
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m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
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//get motor 2 value for Yaw and Roll
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// get motor 2 value for Yaw and Roll
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channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
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setYawMixLevel(-qRound(value / 1.27));
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@ -475,17 +475,17 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
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int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
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if (channel > -1) {
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//get motor 1 value for Pitch
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// get motor 1 value for Pitch
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double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
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m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
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//get motor 2 value for Yaw and Roll
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// get motor 2 value for Yaw and Roll
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channel += 1;
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
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setYawMixLevel(-qRound(value / 1.27));
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channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
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channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
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m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
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}
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} else if (frameType == "HexaCoax") {
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@ -539,7 +539,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
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channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
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m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
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} else if (frameType == "OctoV") {
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} else if (frameType == "OctoV") {
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double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
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m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
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@ -586,11 +586,11 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
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setYawMixLevel(-qRound(value / 1.27));
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// Get M2 Roll value
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// Get M2 Roll value
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channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
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value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
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m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
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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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setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
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@ -681,16 +681,16 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
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// YAW {-0.50, 1.00, -0.50, 0.50, -1.00, 0.50}
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// ---------------------------------------------
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// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
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// pitch roll yaw
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// pitch roll yaw
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double hMixer[8][3] = {
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{ 1 , -0.5, -0.5 },
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{ 0 , -1 , 1 },
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{ -1 , -0.5, -0.5 },
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{ -1 , 0.5, 0.5 },
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{ 0 , 1 , -1 },
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{ 1 , 0.5, 0.5 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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{ 1, -0.5, -0.5 },
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{ 0, -1, 1 },
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{ -1, -0.5, -0.5 },
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{ -1, 0.5, 0.5 },
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{ 0, 1, -1 },
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{ 1, 0.5, 0.5 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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};
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setupMultiRotorMixer(hMixer);
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m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
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@ -736,16 +736,16 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
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// YAW {-1.00, 1.00, -1.00, 1.00, -1.00, 1.00,-1.00, 1.00}
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// -------------------------------------------------------
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// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
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// pitch roll yaw
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// pitch roll yaw
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double mixerMatrix[8][3] = {
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{ 1 , 0 , -1 },
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{ 0.71,-0.71, 1 },
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{ 0 ,-1 , -1 },
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{ -0.71,-0.71, 1 },
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{ -1 , 0 , -1 },
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{ -0.71, 0.71, 1 },
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{ 0 , 1 , -1 },
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{ 0.71, 0.71, 1 }
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{ 1, 0, -1 },
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{ 0.71, -0.71, 1 },
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{ 0, -1, -1 },
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{ -0.71, -0.71, 1 },
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{ -1, 0, -1 },
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{ -0.71, 0.71, 1 },
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{ 0, 1, -1 },
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{ 0.71, 0.71, 1 }
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};
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setupMultiRotorMixer(mixerMatrix);
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m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
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@ -769,14 +769,14 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
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// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
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// pitch roll yaw
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double mixerMatrix[8][3] = {
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{ 1 ,-0.41, -1 },
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{ 0.41, -1 , 1 },
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{ -0.41, -1 , -1 },
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{ -1 ,-0.41, 1 },
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{ -1 , 0.41, -1 },
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{ -0.41, 1 , 1 },
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{ 0.41, 1 , -1 },
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{ 1 , 0.41, 1 }
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{ 1, -0.41, -1 },
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{ 0.41, -1, 1 },
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{ -0.41, -1, -1 },
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{ -1, -0.41, 1 },
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{ -1, 0.41, -1 },
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{ -0.41, 1, 1 },
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{ 0.41, 1, -1 },
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{ 1, 0.41, 1 }
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};
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setupMultiRotorMixer(mixerMatrix);
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m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
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@ -1011,7 +1011,7 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
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configData.multi.VTOLMotorW = index;
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} else if (motor == QString("VTOLMotorNW")) {
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configData.multi.VTOLMotorNW = index;
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//OctoX
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// OctoX
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} else if (motor == QString("VTOLMotorNNE")) {
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configData.multi.VTOLMotorNNE = index;
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} else if (motor == QString("VTOLMotorENE")) {
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@ -1128,14 +1128,14 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
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// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
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// pitch roll yaw
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double pMixer[8][3] = {
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{ 1 , 0 , -1 },
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{ 0.5, -1, 1 },
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{ 1, 0, -1 },
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{ 0.5, -1, 1 },
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{ -0.5, -1, -1 },
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{ -1 , 0 , 1 },
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{ -0.5, 1 , -1 },
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{ 0.5, 1 , 1 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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{ -1, 0, 1 },
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{ -0.5, 1, -1 },
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{ 0.5, 1, 1 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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};
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// Motor 1 to 6, HexaX Layout
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@ -1148,14 +1148,14 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
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// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
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// pitch roll yaw
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double xMixer[8][3] = {
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{ 1, -0.5, -1 },
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{ 0, -1 , 1 },
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{ 1, -0.5, -1 },
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{ 0, -1, 1 },
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{ -1, -0.5, -1 },
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{ -1, 0.5, 1 },
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{ 0, 1 , -1 },
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{ 1, 0.5, 1 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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{ -1, 0.5, 1 },
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{ 0, 1, -1 },
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{ 1, 0.5, 1 },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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};
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if (pLayout) {
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@ -50,7 +50,7 @@ typedef struct {
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uint VTOLMotorSSW : 4;
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uint VTOLMotorWSW : 4;
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uint VTOLMotorWNW : 4;
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uint VTOLMotorNNW : 4; // 32 bits
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uint VTOLMotorNNW : 4; // 32 bits
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uint TRIYaw : 4;
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quint32 padding : 28; // 64 bits
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quint32 padding1;
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@ -265,9 +265,9 @@ int ConfigVehicleTypeWidget::frameCategory(QString frameType)
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|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
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|| frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
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|| frameType == "HexaH" || frameType == "Hexacopter H" || frameType == "Hexacopter Y6"
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|| frameType == "Octo" || frameType == "Octocopter"
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|| frameType == "OctoX" || frameType == "Octocopter X"
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|| frameType == "OctoV" || frameType == "Octocopter V"
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|| frameType == "Octo" || frameType == "Octocopter"
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|| frameType == "OctoX" || frameType == "Octocopter X"
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|| frameType == "OctoV" || frameType == "Octocopter V"
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|| frameType == "OctoCoaxP" || frameType == "Octo Coax +"
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|| frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
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return ConfigVehicleTypeWidget::MULTIROTOR;
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@ -835,15 +835,15 @@ void VehicleConfigurationHelper::setupHexaCopter()
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switch (m_configSource->getVehicleSubType()) {
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case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
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{
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frame = SystemSettings::AIRFRAMETYPE_HEXA;
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frame = SystemSettings::AIRFRAMETYPE_HEXA;
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// HexaPlus according to new mixer table and pitch-roll-yaw mixing at 100%
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// Pitch Roll Yaw
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//M1 { 1 , 0 , -1 },
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//M2 { 0.5, -1, 1 },
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//M3 { -0.5, -1, -1 },
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//M4 { -1 , 0 , 1 },
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//M5 { -0.5, 1 , -1 },
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//M6 { 0.5, 1 , 1 },
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// Pitch Roll Yaw
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// M1 { 1 , 0 , -1 },
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// M2 { 0.5, -1, 1 },
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// M3 { -0.5, -1, -1 },
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// M4 { -1 , 0 , 1 },
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// M5 { -0.5, 1 , -1 },
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// M6 { 0.5, 1 , 1 },
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channels[0].type = MIXER_TYPE_MOTOR;
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channels[0].throttle1 = 100;
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channels[0].throttle2 = 0;
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@ -954,13 +954,13 @@ void VehicleConfigurationHelper::setupHexaCopter()
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{
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frame = SystemSettings::AIRFRAMETYPE_HEXAH;
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// HexaH according to new mixer table and pitch-roll-yaw mixing at 100%
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// Pitch Roll Yaw
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//M1 { 1 , -0.5, -0.5 },
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//M2 { 0 , -1 , 1 },
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//M3 { -1 , -0.5, -0.5 },
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//M4 { -1 , 0.5, 0.5 },
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//M5 { 0 , 1 , -1 },
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//M6 { 1 , 0.5, 0.5 },
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// Pitch Roll Yaw
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// M1 { 1 , -0.5, -0.5 },
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// M2 { 0 , -1 , 1 },
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// M3 { -1 , -0.5, -0.5 },
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// M4 { -1 , 0.5, 0.5 },
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// M5 { 0 , 1 , -1 },
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// M6 { 1 , 0.5, 0.5 },
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channels[0].type = MIXER_TYPE_MOTOR;
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channels[0].throttle1 = 100;
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channels[0].throttle2 = 0;
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@ -1016,13 +1016,13 @@ void VehicleConfigurationHelper::setupHexaCopter()
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{
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frame = SystemSettings::AIRFRAMETYPE_HEXAH;
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// HexaX according to new mixer table and pitch-roll-yaw mixing at 100%
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// Pitch Roll Yaw
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//M1 { 1, -0.5, -1 },
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//M2 { 0, -1 , 1 },
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//M3 { -1, -0.5, -1 },
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//M4 { -1, 0.5, 1 },
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//M5 { 0, 1 , -1 },
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//M6 { 1, 0.5, 1 },
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// Pitch Roll Yaw
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// M1 { 1, -0.5, -1 },
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// M2 { 0, -1 , 1 },
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// M3 { -1, -0.5, -1 },
|
||||
// M4 { -1, 0.5, 1 },
|
||||
// M5 { 0, 1 , -1 },
|
||||
// M6 { 1, 0.5, 1 },
|
||||
channels[0].type = MIXER_TYPE_MOTOR;
|
||||
channels[0].throttle1 = 100;
|
||||
channels[0].throttle2 = 0;
|
||||
@ -1092,15 +1092,15 @@ void VehicleConfigurationHelper::setupOctoCopter()
|
||||
{
|
||||
frame = SystemSettings::AIRFRAMETYPE_OCTO;
|
||||
// OctoP according to new mixer table and pitch-roll-yaw mixing at 100%
|
||||
// Pitch Roll Yaw
|
||||
//M1{ 1 , 0 , -1 },
|
||||
//M2{ 0.71,-0.71, 1 },
|
||||
//M3{ 0 ,-1 , -1 },
|
||||
//M4{ -0.71,-0.71, 1 },
|
||||
//M5{ -1 , 0 , -1 },
|
||||
//M6{ -0.71, 0.71, 1 },
|
||||
//M7{ 0 , 1 , -1 },
|
||||
//M8{ 0.71, 0.71, 1 }
|
||||
// Pitch Roll Yaw
|
||||
// M1{ 1 , 0 , -1 },
|
||||
// M2{ 0.71,-0.71, 1 },
|
||||
// M3{ 0 ,-1 , -1 },
|
||||
// M4{ -0.71,-0.71, 1 },
|
||||
// M5{ -1 , 0 , -1 },
|
||||
// M6{ -0.71, 0.71, 1 },
|
||||
// M7{ 0 , 1 , -1 },
|
||||
// M8{ 0.71, 0.71, 1 }
|
||||
channels[0].type = MIXER_TYPE_MOTOR;
|
||||
channels[0].throttle1 = 100;
|
||||
channels[0].throttle2 = 0;
|
||||
@ -1172,15 +1172,15 @@ void VehicleConfigurationHelper::setupOctoCopter()
|
||||
{
|
||||
frame = SystemSettings::AIRFRAMETYPE_OCTOX;
|
||||
// OctoX according to new mixer table and pitch-roll-yaw mixing at 100%
|
||||
// Pitch Roll Yaw
|
||||
//M1{ 1 ,-0.41, -1 },
|
||||
//M2{ 0.41, -1 , 1 },
|
||||
//M3{ -0.41, -1 , -1 },
|
||||
//M4{ -1 ,-0.41, 1 },
|
||||
//M5{ -1 , 0.41, -1 },
|
||||
//M6{ -0.41, 1 , 1 },
|
||||
//M7{ 0.41, 1 , -1 },
|
||||
//M8{ 1 , 0.41, 1 }
|
||||
// Pitch Roll Yaw
|
||||
// M1{ 1 ,-0.41, -1 },
|
||||
// M2{ 0.41, -1 , 1 },
|
||||
// M3{ -0.41, -1 , -1 },
|
||||
// M4{ -1 ,-0.41, 1 },
|
||||
// M5{ -1 , 0.41, -1 },
|
||||
// M6{ -0.41, 1 , 1 },
|
||||
// M7{ 0.41, 1 , -1 },
|
||||
// M8{ 1 , 0.41, 1 }
|
||||
channels[0].type = MIXER_TYPE_MOTOR;
|
||||
channels[0].throttle1 = 100;
|
||||
channels[0].throttle2 = 0;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user