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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
This commit is contained in:
edouard 2010-10-14 21:48:58 +00:00 committed by edouard
parent 3c205d7e83
commit d8086d6b72
4 changed files with 1389 additions and 120 deletions

View File

@ -69,7 +69,7 @@
<item> <item>
<widget class="QStackedWidget" name="airframesWidget"> <widget class="QStackedWidget" name="airframesWidget">
<property name="currentIndex"> <property name="currentIndex">
<number>1</number> <number>3</number>
</property> </property>
<widget class="QWidget" name="fixedWing"> <widget class="QWidget" name="fixedWing">
<property name="enabled"> <property name="enabled">
@ -1280,7 +1280,10 @@ p, li { white-space: pre-wrap; }
<widget class="QWidget" name="custom"> <widget class="QWidget" name="custom">
<layout class="QVBoxLayout" name="verticalLayout_9"> <layout class="QVBoxLayout" name="verticalLayout_9">
<item> <item>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16" stretch="1,2">
<property name="spacing">
<number>2</number>
</property>
<item> <item>
<layout class="QHBoxLayout" name="horizontalLayout_14"> <layout class="QHBoxLayout" name="horizontalLayout_14">
<item> <item>
@ -1304,7 +1307,7 @@ p, li { white-space: pre-wrap; }
</layout> </layout>
</item> </item>
<item> <item>
<widget class="MixerCurveWidget" name="widget" native="true"> <widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding"> <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch> <horstretch>0</horstretch>
@ -1313,8 +1316,8 @@ p, li { white-space: pre-wrap; }
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>150</width> <width>100</width>
<height>150</height> <height>100</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
@ -1323,6 +1326,7 @@ p, li { white-space: pre-wrap; }
<height>200</height> <height>200</height>
</size> </size>
</property> </property>
<zorder></zorder>
</widget> </widget>
</item> </item>
<item> <item>
@ -1355,7 +1359,7 @@ p, li { white-space: pre-wrap; }
</layout> </layout>
</item> </item>
<item> <item>
<widget class="MixerCurveWidget" name="widget_2" native="true"> <widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding"> <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch> <horstretch>0</horstretch>
@ -1364,8 +1368,8 @@ p, li { white-space: pre-wrap; }
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>150</width> <width>100</width>
<height>150</height> <height>100</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
@ -1395,7 +1399,7 @@ p, li { white-space: pre-wrap; }
</widget> </widget>
</item> </item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QSlider" name="horizontalSlider"> <widget class="QSlider" name="customFFSlider">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
</property> </property>
@ -1409,7 +1413,7 @@ p, li { white-space: pre-wrap; }
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox"/> <widget class="QDoubleSpinBox" name="customFFaccel"/>
</item> </item>
<item row="2" column="0"> <item row="2" column="0">
<widget class="QLabel" name="label_36"> <widget class="QLabel" name="label_36">
@ -1419,7 +1423,7 @@ p, li { white-space: pre-wrap; }
</widget> </widget>
</item> </item>
<item row="2" column="1"> <item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_2"/> <widget class="QDoubleSpinBox" name="customFFdecel"/>
</item> </item>
<item row="3" column="0"> <item row="3" column="0">
<widget class="QLabel" name="label_38"> <widget class="QLabel" name="label_38">
@ -1429,7 +1433,7 @@ p, li { white-space: pre-wrap; }
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="3" column="1">
<widget class="QSlider" name="horizontalSlider_2"> <widget class="QSlider" name="customFFMaxAccel">
<property name="minimum"> <property name="minimum">
<number>500</number> <number>500</number>
</property> </property>
@ -1449,7 +1453,13 @@ p, li { white-space: pre-wrap; }
</layout> </layout>
</item> </item>
<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"> <property name="font">
<font> <font>
<pointsize>8</pointsize> <pointsize>8</pointsize>
@ -1461,6 +1471,11 @@ p, li { white-space: pre-wrap; }
<attribute name="horizontalHeaderDefaultSectionSize"> <attribute name="horizontalHeaderDefaultSectionSize">
<number>50</number> <number>50</number>
</attribute> </attribute>
<row>
<property name="text">
<string>Type</string>
</property>
</row>
<row> <row>
<property name="text"> <property name="text">
<string>Curve 1</string> <string>Curve 1</string>
@ -1488,50 +1503,50 @@ p, li { white-space: pre-wrap; }
</row> </row>
<column> <column>
<property name="text"> <property name="text">
<string>C0</string> <string>Ch 0</string>
</property> </property>
</column> </column>
<column> <column>
<property name="text"> <property name="text">
<string>C1</string> <string>Ch 1</string>
</property> </property>
</column> </column>
<column> <column>
<property name="text"> <property name="text">
<string>C2</string> <string>Ch 2</string>
</property> </property>
</column> </column>
<column> <column>
<property name="text"> <property name="text">
<string>C3</string> <string>Ch 3</string>
</property> </property>
</column> </column>
<column> <column>
<property name="text"> <property name="text">
<string>C4</string> <string>Ch 4</string>
</property> </property>
</column> </column>
<column> <column>
<property name="text"> <property name="text">
<string>C5</string> <string>Ch 5</string>
</property> </property>
</column> </column>
<column> <column>
<property name="text"> <property name="text">
<string>C6</string> <string>Ch 6</string>
</property> </property>
</column> </column>
<column> <column>
<property name="text"> <property name="text">
<string>C7</string> <string>Ch 7</string>
</property> </property>
</column> </column>
<item row="0" column="0"> <item row="1" column="0">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</item> </item>
<item row="1" column="0"> <item row="2" column="0">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>

View File

@ -188,7 +188,7 @@ void ConfigAirframeWidget::enableFFTest()
{ {
// Role: // Role:
// - Check if all three checkboxes are checked // - 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 // - Every other time event: send FF settings to flight FW
if (m_aircraft->ffTestBox1->isChecked() && if (m_aircraft->ffTestBox1->isChecked() &&
m_aircraft->ffTestBox2->isChecked() && m_aircraft->ffTestBox2->isChecked() &&
@ -196,26 +196,15 @@ void ConfigAirframeWidget::enableFFTest()
if (!ffTuningInProgress) if (!ffTuningInProgress)
{ {
// Initiate tuning: // 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"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata(); UAVObject::Metadata mdata = obj->getMetadata();
accInitialData = mdata; accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY; 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); obj->setMetadata(mdata);
} }
// Depending on phase, either move actuator or send FF settings: // Depending on phase, either move actuator or send FF settings:
if (ffTuningPhase) { if (ffTuningPhase) {
// Send FF settings to the board // 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"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward")); UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100); field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
@ -342,6 +331,7 @@ void ConfigAirframeWidget::requestAircraftUpdate()
// Setup all Throttle1 curves for all types of airframes // Setup all Throttle1 curves for all types of airframes
m_aircraft->fixedWingThrottle->initCurve(curveValues); m_aircraft->fixedWingThrottle->initCurve(curveValues);
m_aircraft->multiThrottleCurve->initCurve(curveValues); m_aircraft->multiThrottleCurve->initCurve(curveValues);
m_aircraft->customThrottle1Curve->initCurve(curveValues);
// Load the Settings for fixed wing frames: // Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) { if (frameType.startsWith("FixedWing")) {
@ -1240,22 +1230,79 @@ bool ConfigAirframeWidget::setupHexa()
return true; 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) 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 we call additional methods for specific frames, so that we do not have a code
that is too heavy. that is too heavy.
*/ */
void ConfigAirframeWidget::sendAircraftUpdate() void ConfigAirframeWidget::sendAircraftUpdate()
{ {
QString airframeType; QString airframeType;
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") { if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
// Save the curve (common to all Fixed wing frames) // Save the curve (common to all Fixed wing frames)
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); // Remove Feed Forward, it is pointless on a plane:
UAVObjectField* field = obj->getField("ThrottleCurve1"); UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble(0);
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->fixedWingThrottle->getCurve(); QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
for (int i=0;i<curve.length();i++) { for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i); field->setValue(curve.at(i),i);
@ -1274,18 +1321,13 @@ void ConfigAirframeWidget::sendAircraftUpdate()
} else if (m_aircraft->aircraftType->currentText() == "Multirotor") { } else if (m_aircraft->aircraftType->currentText() == "Multirotor") {
// We can already setup the feedforward here, as it is common to all platforms // We can already setup the feedforward here, as it is common to all platforms
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
UAVObjectField* field = obj->getField(QString("FeedForward")); UAVObjectField* field = obj->getField(QString("FeedForward"));
Q_ASSERT(field);
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100); field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime")); field = obj->getField(QString("AccelTime"));
Q_ASSERT(field);
field->setDouble(m_aircraft->accelTime->value()); field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime")); field = obj->getField(QString("DecelTime"));
Q_ASSERT(field);
field->setDouble(m_aircraft->decelTime->value()); field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel")); field = obj->getField(QString("MaxAccel"));
Q_ASSERT(field);
field->setDouble(m_aircraft->maxAccelSlider->value()); field->setDouble(m_aircraft->maxAccelSlider->value());
// Curve is also common to all quads: // Curve is also common to all quads:
@ -1308,8 +1350,10 @@ void ConfigAirframeWidget::sendAircraftUpdate()
airframeType = "Octo"; airframeType = "Octo";
} }
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();
} else { } else {
airframeType = "FixedWing"; airframeType = "Custom";
} }
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings"))); UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));

View File

@ -53,6 +53,7 @@ private:
bool setupQuad(bool pLayout); bool setupQuad(bool pLayout);
bool setupHexa(); bool setupHexa();
bool setupOcto(); bool setupOcto();
void updateCustomAirframeUI();
void resetField(UAVObjectField * field); void resetField(UAVObjectField * field);
void resetMixer (MixerCurveWidget *mixer, int numElements); void resetMixer (MixerCurveWidget *mixer, int numElements);

View File

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