From d8086d6b72867bb98438c38e0badc91d9ecc39cf Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Thu, 14 Oct 2010 21:48:58 +0000
Subject: [PATCH] OP-138 Small updates to config widget, start of custom
 configuration interface, lots of work to do still...

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1961 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/config/airframe.ui         |   61 +-
 .../plugins/config/configairframewidget.cpp   |   88 +-
 .../src/plugins/config/configairframewidget.h |    1 +
 .../src/plugins/config/images/quad-shapes.svg | 1359 ++++++++++++++++-
 4 files changed, 1389 insertions(+), 120 deletions(-)

diff --git a/ground/src/plugins/config/airframe.ui b/ground/src/plugins/config/airframe.ui
index 8b4c1fbcb..e5d75ff58 100644
--- a/ground/src/plugins/config/airframe.ui
+++ b/ground/src/plugins/config/airframe.ui
@@ -69,7 +69,7 @@
       <item>
        <widget class="QStackedWidget" name="airframesWidget">
         <property name="currentIndex">
-         <number>1</number>
+         <number>3</number>
         </property>
         <widget class="QWidget" name="fixedWing">
          <property name="enabled">
@@ -1280,7 +1280,10 @@ p, li { white-space: pre-wrap; }
         <widget class="QWidget" name="custom">
          <layout class="QVBoxLayout" name="verticalLayout_9">
           <item>
-           <layout class="QVBoxLayout" name="verticalLayout_16">
+           <layout class="QVBoxLayout" name="verticalLayout_16" stretch="1,2">
+            <property name="spacing">
+             <number>2</number>
+            </property>
             <item>
              <layout class="QHBoxLayout" name="horizontalLayout_14">
               <item>
@@ -1304,7 +1307,7 @@ p, li { white-space: pre-wrap; }
                  </layout>
                 </item>
                 <item>
-                 <widget class="MixerCurveWidget" name="widget" native="true">
+                 <widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                     <horstretch>0</horstretch>
@@ -1313,8 +1316,8 @@ p, li { white-space: pre-wrap; }
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>150</width>
-                    <height>150</height>
+                    <width>100</width>
+                    <height>100</height>
                    </size>
                   </property>
                   <property name="maximumSize">
@@ -1323,6 +1326,7 @@ p, li { white-space: pre-wrap; }
                     <height>200</height>
                    </size>
                   </property>
+                  <zorder></zorder>
                  </widget>
                 </item>
                 <item>
@@ -1355,7 +1359,7 @@ p, li { white-space: pre-wrap; }
                  </layout>
                 </item>
                 <item>
-                 <widget class="MixerCurveWidget" name="widget_2" native="true">
+                 <widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                     <horstretch>0</horstretch>
@@ -1364,8 +1368,8 @@ p, li { white-space: pre-wrap; }
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>150</width>
-                    <height>150</height>
+                    <width>100</width>
+                    <height>100</height>
                    </size>
                   </property>
                   <property name="maximumSize">
@@ -1395,7 +1399,7 @@ p, li { white-space: pre-wrap; }
                  </widget>
                 </item>
                 <item row="0" column="1">
-                 <widget class="QSlider" name="horizontalSlider">
+                 <widget class="QSlider" name="customFFSlider">
                   <property name="orientation">
                    <enum>Qt::Horizontal</enum>
                   </property>
@@ -1409,7 +1413,7 @@ p, li { white-space: pre-wrap; }
                  </widget>
                 </item>
                 <item row="1" column="1">
-                 <widget class="QDoubleSpinBox" name="doubleSpinBox"/>
+                 <widget class="QDoubleSpinBox" name="customFFaccel"/>
                 </item>
                 <item row="2" column="0">
                  <widget class="QLabel" name="label_36">
@@ -1419,7 +1423,7 @@ p, li { white-space: pre-wrap; }
                  </widget>
                 </item>
                 <item row="2" column="1">
-                 <widget class="QDoubleSpinBox" name="doubleSpinBox_2"/>
+                 <widget class="QDoubleSpinBox" name="customFFdecel"/>
                 </item>
                 <item row="3" column="0">
                  <widget class="QLabel" name="label_38">
@@ -1429,7 +1433,7 @@ p, li { white-space: pre-wrap; }
                  </widget>
                 </item>
                 <item row="3" column="1">
-                 <widget class="QSlider" name="horizontalSlider_2">
+                 <widget class="QSlider" name="customFFMaxAccel">
                   <property name="minimum">
                    <number>500</number>
                   </property>
@@ -1449,7 +1453,13 @@ p, li { white-space: pre-wrap; }
              </layout>
             </item>
             <item>
-             <widget class="QTableWidget" name="tableWidget">
+             <widget class="QTableWidget" name="customMixerTable">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
               <property name="font">
                <font>
                 <pointsize>8</pointsize>
@@ -1461,6 +1471,11 @@ p, li { white-space: pre-wrap; }
               <attribute name="horizontalHeaderDefaultSectionSize">
                <number>50</number>
               </attribute>
+              <row>
+               <property name="text">
+                <string>Type</string>
+               </property>
+              </row>
               <row>
                <property name="text">
                 <string>Curve 1</string>
@@ -1488,50 +1503,50 @@ p, li { white-space: pre-wrap; }
               </row>
               <column>
                <property name="text">
-                <string>C0</string>
+                <string>Ch 0</string>
                </property>
               </column>
               <column>
                <property name="text">
-                <string>C1</string>
+                <string>Ch 1</string>
                </property>
               </column>
               <column>
                <property name="text">
-                <string>C2</string>
+                <string>Ch 2</string>
                </property>
               </column>
               <column>
                <property name="text">
-                <string>C3</string>
+                <string>Ch 3</string>
                </property>
               </column>
               <column>
                <property name="text">
-                <string>C4</string>
+                <string>Ch 4</string>
                </property>
               </column>
               <column>
                <property name="text">
-                <string>C5</string>
+                <string>Ch 5</string>
                </property>
               </column>
               <column>
                <property name="text">
-                <string>C6</string>
+                <string>Ch 6</string>
                </property>
               </column>
               <column>
                <property name="text">
-                <string>C7</string>
+                <string>Ch 7</string>
                </property>
               </column>
-              <item row="0" column="0">
+              <item row="1" column="0">
                <property name="text">
                 <string/>
                </property>
               </item>
-              <item row="1" column="0">
+              <item row="2" column="0">
                <property name="text">
                 <string/>
                </property>
diff --git a/ground/src/plugins/config/configairframewidget.cpp b/ground/src/plugins/config/configairframewidget.cpp
index 970cf1aca..0db57aab6 100644
--- a/ground/src/plugins/config/configairframewidget.cpp
+++ b/ground/src/plugins/config/configairframewidget.cpp
@@ -188,7 +188,7 @@ void ConfigAirframeWidget::enableFFTest()
 {
     // Role:
     // - Check if all three checkboxes are checked
-    // - Every other timer event: toggle engine from 1/3 to 2/3
+    // - Every other timer event: toggle engine from 45% to 55%
     // - Every other time event: send FF settings to flight FW
     if (m_aircraft->ffTestBox1->isChecked() &&
         m_aircraft->ffTestBox2->isChecked() &&
@@ -196,26 +196,15 @@ void ConfigAirframeWidget::enableFFTest()
         if (!ffTuningInProgress)
         {
             // Initiate tuning:
-            // Setup a special mixer with all channels disabled but one
-            // and no RPY dependency.
             UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
             UAVObject::Metadata mdata = obj->getMetadata();
             accInitialData = mdata;
             mdata.flightAccess = UAVObject::ACCESS_READONLY;
-/*
-            mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
-            mdata.gcsTelemetryAcked = false;
-            mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
-            // NOTE: if actuators not updated at least every 100ms, then the
-            // flight sw goes into failsafe, hence this very low update period:
-            mdata.gcsTelemetryUpdatePeriod = 25;
-            */
             obj->setMetadata(mdata);
         }
         // Depending on phase, either move actuator or send FF settings:
         if (ffTuningPhase) {
             // Send FF settings to the board
-            // We can already setup the feedforward here, as it is common to all platforms
             UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
             UAVObjectField* field = obj->getField(QString("FeedForward"));
             field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
@@ -342,6 +331,7 @@ void ConfigAirframeWidget::requestAircraftUpdate()
     // Setup all Throttle1 curves for all types of airframes
     m_aircraft->fixedWingThrottle->initCurve(curveValues);
     m_aircraft->multiThrottleCurve->initCurve(curveValues);
+    m_aircraft->customThrottle1Curve->initCurve(curveValues);
 
     // Load the Settings for fixed wing frames:
     if (frameType.startsWith("FixedWing")) {
@@ -1240,22 +1230,79 @@ bool ConfigAirframeWidget::setupHexa()
     return true;
 }
 
+/**
+  Updates the custom airframe settings based on the current airframe
+  */
+void ConfigAirframeWidget::updateCustomAirframeUI()
+{
+    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
+    QList<double> curveValues;
+    // If the 1st element of the curve is <= -10, then the curve
+    // is a straight line (that's how the mixer works on the mainboard):
+    if (field->getValue(0).toInt() <= -10) {
+        for (double i=0; i<field->getNumElements(); i++) {
+            curveValues.append(i/(field->getNumElements()-1));
+        }
+    } else {
+        for (unsigned int i=0; i < field->getNumElements(); i++) {
+            curveValues.append(field->getValue(i).toDouble());
+        }
+    }
+    m_aircraft->customThrottle1Curve->initCurve(curveValues);
+
+    field = obj->getField(QString("ThrottleCurve2"));
+    curveValues.clear();;
+    // If the 1st element of the curve is <= -10, then the curve
+    // is a straight line (that's how the mixer works on the mainboard):
+    if (field->getValue(0).toInt() <= -10) {
+        for (double i=0; i<field->getNumElements(); i++) {
+            curveValues.append(i/(field->getNumElements()-1));
+        }
+    } else {
+        for (unsigned int i=0; i < field->getNumElements(); i++) {
+            curveValues.append(field->getValue(i).toDouble());
+        }
+    }
+    m_aircraft->customThrottle2Curve->initCurve(curveValues);
+
+    // Retrieve Feed Forward:
+    field = obj->getField(QString("FeedForward"));
+    m_aircraft->customFFSlider->setValue(field->getDouble()*100);
+    field = obj->getField(QString("AccelTime"));
+    m_aircraft->customFFaccel->setValue(field->getDouble());
+    field = obj->getField(QString("DecelTime"));
+    m_aircraft->customFFdecel->setValue(field->getDouble());
+    field = obj->getField(QString("MaxAccel"));
+    m_aircraft->customFFMaxAccel->setValue(field->getDouble());
+
+    // Update the table:
+    for (int i=0; i<8; i++) {
+
+    }
+
+}
+
+
+
 
 /**
   Sends the config to the board (airframe type)
 
-  We do all the tasks commong to all airframes, or family of airframes, and
+  We do all the tasks common to all airframes, or family of airframes, and
   we call additional methods for specific frames, so that we do not have a code
   that is too heavy.
-  */
+*/
 void ConfigAirframeWidget::sendAircraftUpdate()
 {
     QString airframeType;
     if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
         // Save the curve (common to all Fixed wing frames)
         UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-        Q_ASSERT(obj);
-        UAVObjectField* field = obj->getField("ThrottleCurve1");
+        // Remove Feed Forward, it is pointless on a plane:
+        UAVObjectField* field = obj->getField(QString("FeedForward"));
+        field->setDouble(0);
+        field = obj->getField("ThrottleCurve1");
         QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
         for (int i=0;i<curve.length();i++) {
             field->setValue(curve.at(i),i);
@@ -1274,18 +1321,13 @@ void ConfigAirframeWidget::sendAircraftUpdate()
     } else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
         // We can already setup the feedforward here, as it is common to all platforms
         UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-        Q_ASSERT(obj);
         UAVObjectField* field = obj->getField(QString("FeedForward"));
-        Q_ASSERT(field);
         field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
         field = obj->getField(QString("AccelTime"));
-        Q_ASSERT(field);
         field->setDouble(m_aircraft->accelTime->value());
         field = obj->getField(QString("DecelTime"));
-        Q_ASSERT(field);
         field->setDouble(m_aircraft->decelTime->value());
         field = obj->getField(QString("MaxAccel"));
-        Q_ASSERT(field);
         field->setDouble(m_aircraft->maxAccelSlider->value());
 
         // Curve is also common to all quads:
@@ -1308,8 +1350,10 @@ void ConfigAirframeWidget::sendAircraftUpdate()
             airframeType = "Octo";
         }
 
+        // Now reflect those settings in the "Custom" panel as well
+        updateCustomAirframeUI();
     } else {
-        airframeType = "FixedWing";
+        airframeType = "Custom";
     }
 
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
diff --git a/ground/src/plugins/config/configairframewidget.h b/ground/src/plugins/config/configairframewidget.h
index c388686fb..cae3788d5 100644
--- a/ground/src/plugins/config/configairframewidget.h
+++ b/ground/src/plugins/config/configairframewidget.h
@@ -53,6 +53,7 @@ private:
     bool setupQuad(bool pLayout);
     bool setupHexa();
     bool setupOcto();
+    void updateCustomAirframeUI();
 
     void resetField(UAVObjectField * field);
     void resetMixer (MixerCurveWidget *mixer, int numElements);
diff --git a/ground/src/plugins/config/images/quad-shapes.svg b/ground/src/plugins/config/images/quad-shapes.svg
index c1eb0214d..86753993a 100644
--- a/ground/src/plugins/config/images/quad-shapes.svg
+++ b/ground/src/plugins/config/images/quad-shapes.svg
@@ -9,8 +9,8 @@
    xmlns="http://www.w3.org/2000/svg"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="744.09448819"
-   height="1052.3622047"
+   width="649.92664"
+   height="953.03302"
    id="svg2917"
    version="1.1"
    inkscape:version="0.47 r22583"
@@ -31,6 +31,13 @@
        inkscape:vp_y="0 : 1000 : 0"
        inkscape:vp_x="0 : 0.5 : 1"
        sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3205"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
   </defs>
   <sodipodi:namedview
      id="base"
@@ -39,16 +46,16 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.70000001"
-     inkscape:cx="322.73603"
-     inkscape:cy="671.79344"
+     inkscape:zoom="0.49497475"
+     inkscape:cx="550.37918"
+     inkscape:cy="505.78716"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
      showguides="true"
      inkscape:guide-bbox="true"
      inkscape:snap-to-guides="false"
-     inkscape:snap-grids="false"
+     inkscape:snap-grids="true"
      inkscape:window-width="1366"
      inkscape:window-height="693"
      inkscape:window-x="0"
@@ -56,44 +63,48 @@
      inkscape:window-maximized="1">
     <sodipodi:guide
        orientation="0,1"
-       position="394.46457,984.89873"
+       position="332.98497,906.2995"
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     <sodipodi:guide
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-       position="242.85714,781.42857"
+       position="181.37754,702.82934"
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-       position="442.95189,999.54594"
+       position="381.47229,920.94671"
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     <sodipodi:guide
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+       position="91.053428,844.9722"
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     <sodipodi:guide
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-       position="90.714285,837.14285"
+       position="29.234683,758.54362"
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     <sodipodi:guide
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-       position="280,781.42857"
+       position="218.5204,702.82934"
        id="guide3713" />
     <sodipodi:guide
        orientation="0,1"
-       position="401.03056,668.2159"
+       position="339.55096,589.61667"
        id="guide3090" />
     <sodipodi:guide
        orientation="1,0"
-       position="212.85714,706.42857"
+       position="151.37754,627.82934"
        id="guide3092" />
     <sodipodi:guide
        orientation="0,1"
-       position="442.95189,724.78445"
+       position="500.66325,567.11505"
        id="guide3199" />
     <sodipodi:guide
        orientation="0,1"
-       position="442.95189,609.28571"
+       position="464.94896,507.82933"
        id="guide3207" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="299.14485,208.28409"
+       id="guide4220" />
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   <metadata
      id="metadata2922">
@@ -110,7 +121,8 @@
   <g
      inkscape:label="Layer 1"
      inkscape:groupmode="layer"
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        inkscape:label="#g3890"
@@ -120,14 +132,14 @@
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