mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
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:
parent
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commit
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@ -69,7 +69,7 @@
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<item>
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<item>
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<widget class="QStackedWidget" name="airframesWidget">
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<widget class="QStackedWidget" name="airframesWidget">
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<property name="currentIndex">
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<property name="currentIndex">
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<number>1</number>
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<number>3</number>
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</property>
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</property>
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<widget class="QWidget" name="fixedWing">
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<widget class="QWidget" name="fixedWing">
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<property name="enabled">
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<property name="enabled">
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@ -1280,7 +1280,10 @@ p, li { white-space: pre-wrap; }
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<widget class="QWidget" name="custom">
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<widget class="QWidget" name="custom">
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<layout class="QVBoxLayout" name="verticalLayout_9">
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<layout class="QVBoxLayout" name="verticalLayout_9">
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<item>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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<layout class="QVBoxLayout" name="verticalLayout_16" stretch="1,2">
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<property name="spacing">
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<number>2</number>
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</property>
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<item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_14">
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<layout class="QHBoxLayout" name="horizontalLayout_14">
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<item>
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<item>
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@ -1304,7 +1307,7 @@ p, li { white-space: pre-wrap; }
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</layout>
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</layout>
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</item>
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</item>
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<item>
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<item>
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<widget class="MixerCurveWidget" name="widget" native="true">
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<widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
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<property name="sizePolicy">
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
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<horstretch>0</horstretch>
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<horstretch>0</horstretch>
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@ -1313,8 +1316,8 @@ p, li { white-space: pre-wrap; }
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</property>
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</property>
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<property name="minimumSize">
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<property name="minimumSize">
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<size>
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<size>
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<width>150</width>
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<width>100</width>
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<height>150</height>
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<height>100</height>
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</size>
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</size>
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</property>
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</property>
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<property name="maximumSize">
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<property name="maximumSize">
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@ -1323,6 +1326,7 @@ p, li { white-space: pre-wrap; }
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<height>200</height>
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<height>200</height>
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</size>
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</size>
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</property>
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</property>
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<zorder></zorder>
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</widget>
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</widget>
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</item>
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</item>
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<item>
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<item>
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@ -1355,7 +1359,7 @@ p, li { white-space: pre-wrap; }
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</layout>
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</layout>
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</item>
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</item>
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<item>
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<item>
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<widget class="MixerCurveWidget" name="widget_2" native="true">
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<widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
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<property name="sizePolicy">
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
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<horstretch>0</horstretch>
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<horstretch>0</horstretch>
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@ -1364,8 +1368,8 @@ p, li { white-space: pre-wrap; }
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</property>
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</property>
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<property name="minimumSize">
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<property name="minimumSize">
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<size>
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<size>
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<width>150</width>
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<width>100</width>
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<height>150</height>
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<height>100</height>
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</size>
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</size>
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</property>
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</property>
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<property name="maximumSize">
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<property name="maximumSize">
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@ -1395,7 +1399,7 @@ p, li { white-space: pre-wrap; }
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</widget>
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</widget>
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</item>
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</item>
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<item row="0" column="1">
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<item row="0" column="1">
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<widget class="QSlider" name="horizontalSlider">
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<widget class="QSlider" name="customFFSlider">
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<property name="orientation">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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<enum>Qt::Horizontal</enum>
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</property>
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</property>
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@ -1409,7 +1413,7 @@ p, li { white-space: pre-wrap; }
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</widget>
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</widget>
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</item>
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</item>
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<item row="1" column="1">
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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox"/>
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<widget class="QDoubleSpinBox" name="customFFaccel"/>
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</item>
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</item>
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<item row="2" column="0">
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<item row="2" column="0">
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<widget class="QLabel" name="label_36">
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<widget class="QLabel" name="label_36">
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@ -1419,7 +1423,7 @@ p, li { white-space: pre-wrap; }
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</widget>
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</widget>
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</item>
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</item>
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<item row="2" column="1">
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<item row="2" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_2"/>
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<widget class="QDoubleSpinBox" name="customFFdecel"/>
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</item>
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</item>
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<item row="3" column="0">
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<item row="3" column="0">
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<widget class="QLabel" name="label_38">
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<widget class="QLabel" name="label_38">
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@ -1429,7 +1433,7 @@ p, li { white-space: pre-wrap; }
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</widget>
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</widget>
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</item>
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</item>
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<item row="3" column="1">
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<item row="3" column="1">
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<widget class="QSlider" name="horizontalSlider_2">
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<widget class="QSlider" name="customFFMaxAccel">
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<property name="minimum">
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<property name="minimum">
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<number>500</number>
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<number>500</number>
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</property>
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</property>
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@ -1449,7 +1453,13 @@ p, li { white-space: pre-wrap; }
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</layout>
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</layout>
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</item>
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</item>
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<item>
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<item>
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<widget class="QTableWidget" name="tableWidget">
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<widget class="QTableWidget" name="customMixerTable">
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="font">
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<property name="font">
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<font>
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<font>
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<pointsize>8</pointsize>
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<pointsize>8</pointsize>
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@ -1461,6 +1471,11 @@ p, li { white-space: pre-wrap; }
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<attribute name="horizontalHeaderDefaultSectionSize">
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<attribute name="horizontalHeaderDefaultSectionSize">
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<number>50</number>
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<number>50</number>
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</attribute>
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</attribute>
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<row>
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<property name="text">
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<string>Type</string>
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</property>
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</row>
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<row>
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<row>
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<property name="text">
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<property name="text">
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<string>Curve 1</string>
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<string>Curve 1</string>
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@ -1488,50 +1503,50 @@ p, li { white-space: pre-wrap; }
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</row>
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</row>
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<column>
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<column>
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<property name="text">
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<property name="text">
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<string>C0</string>
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<string>Ch 0</string>
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</property>
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</property>
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</column>
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</column>
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<column>
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<column>
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<property name="text">
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<property name="text">
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<string>C1</string>
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<string>Ch 1</string>
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</property>
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</property>
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</column>
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</column>
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<column>
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<column>
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<property name="text">
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<property name="text">
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<string>C2</string>
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<string>Ch 2</string>
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</property>
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</property>
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</column>
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</column>
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<column>
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<column>
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<property name="text">
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<property name="text">
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<string>C3</string>
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<string>Ch 3</string>
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</property>
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</property>
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</column>
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</column>
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<column>
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<column>
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<property name="text">
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<property name="text">
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<string>C4</string>
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<string>Ch 4</string>
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</property>
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</property>
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</column>
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</column>
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<column>
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<column>
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<property name="text">
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<property name="text">
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<string>C5</string>
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<string>Ch 5</string>
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</property>
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</property>
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</column>
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</column>
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<column>
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<column>
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<property name="text">
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<property name="text">
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<string>C6</string>
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<string>Ch 6</string>
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</property>
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</property>
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</column>
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</column>
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<column>
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<column>
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<property name="text">
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<property name="text">
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<string>C7</string>
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<string>Ch 7</string>
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</property>
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</property>
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</column>
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</column>
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<item row="0" column="0">
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<item row="1" column="0">
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<property name="text">
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<property name="text">
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<string/>
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<string/>
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</property>
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</property>
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</item>
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</item>
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<item row="1" column="0">
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<item row="2" column="0">
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<property name="text">
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<property name="text">
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<string/>
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<string/>
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</property>
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</property>
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@ -188,7 +188,7 @@ void ConfigAirframeWidget::enableFFTest()
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{
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{
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// Role:
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// Role:
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// - Check if all three checkboxes are checked
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// - Check if all three checkboxes are checked
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// - Every other timer event: toggle engine from 1/3 to 2/3
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// - Every other timer event: toggle engine from 45% to 55%
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// - Every other time event: send FF settings to flight FW
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// - Every other time event: send FF settings to flight FW
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if (m_aircraft->ffTestBox1->isChecked() &&
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if (m_aircraft->ffTestBox1->isChecked() &&
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m_aircraft->ffTestBox2->isChecked() &&
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m_aircraft->ffTestBox2->isChecked() &&
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@ -196,26 +196,15 @@ void ConfigAirframeWidget::enableFFTest()
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if (!ffTuningInProgress)
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if (!ffTuningInProgress)
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{
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{
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// Initiate tuning:
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// Initiate tuning:
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// Setup a special mixer with all channels disabled but one
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// and no RPY dependency.
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
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UAVObject::Metadata mdata = obj->getMetadata();
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UAVObject::Metadata mdata = obj->getMetadata();
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accInitialData = mdata;
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accInitialData = mdata;
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mdata.flightAccess = UAVObject::ACCESS_READONLY;
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mdata.flightAccess = UAVObject::ACCESS_READONLY;
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/*
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mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
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mdata.gcsTelemetryAcked = false;
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mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
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// NOTE: if actuators not updated at least every 100ms, then the
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// flight sw goes into failsafe, hence this very low update period:
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mdata.gcsTelemetryUpdatePeriod = 25;
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*/
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obj->setMetadata(mdata);
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obj->setMetadata(mdata);
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}
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}
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// Depending on phase, either move actuator or send FF settings:
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// Depending on phase, either move actuator or send FF settings:
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if (ffTuningPhase) {
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if (ffTuningPhase) {
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// Send FF settings to the board
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// Send FF settings to the board
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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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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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UAVObjectField* field = obj->getField(QString("FeedForward"));
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UAVObjectField* field = obj->getField(QString("FeedForward"));
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field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
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field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
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@ -342,6 +331,7 @@ void ConfigAirframeWidget::requestAircraftUpdate()
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// Setup all Throttle1 curves for all types of airframes
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// Setup all Throttle1 curves for all types of airframes
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m_aircraft->fixedWingThrottle->initCurve(curveValues);
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m_aircraft->fixedWingThrottle->initCurve(curveValues);
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m_aircraft->multiThrottleCurve->initCurve(curveValues);
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m_aircraft->multiThrottleCurve->initCurve(curveValues);
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m_aircraft->customThrottle1Curve->initCurve(curveValues);
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// Load the Settings for fixed wing frames:
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// Load the Settings for fixed wing frames:
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if (frameType.startsWith("FixedWing")) {
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if (frameType.startsWith("FixedWing")) {
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@ -1240,22 +1230,79 @@ bool ConfigAirframeWidget::setupHexa()
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return true;
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return true;
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}
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}
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/**
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Updates the custom airframe settings based on the current airframe
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*/
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void ConfigAirframeWidget::updateCustomAirframeUI()
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{
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
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QList<double> curveValues;
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// If the 1st element of the curve is <= -10, then the curve
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// is a straight line (that's how the mixer works on the mainboard):
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if (field->getValue(0).toInt() <= -10) {
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for (double i=0; i<field->getNumElements(); i++) {
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curveValues.append(i/(field->getNumElements()-1));
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}
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} else {
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for (unsigned int i=0; i < field->getNumElements(); i++) {
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curveValues.append(field->getValue(i).toDouble());
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}
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}
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m_aircraft->customThrottle1Curve->initCurve(curveValues);
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field = obj->getField(QString("ThrottleCurve2"));
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curveValues.clear();;
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// If the 1st element of the curve is <= -10, then the curve
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// is a straight line (that's how the mixer works on the mainboard):
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if (field->getValue(0).toInt() <= -10) {
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for (double i=0; i<field->getNumElements(); i++) {
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curveValues.append(i/(field->getNumElements()-1));
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}
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} else {
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for (unsigned int i=0; i < field->getNumElements(); i++) {
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curveValues.append(field->getValue(i).toDouble());
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}
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}
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m_aircraft->customThrottle2Curve->initCurve(curveValues);
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// Retrieve Feed Forward:
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field = obj->getField(QString("FeedForward"));
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m_aircraft->customFFSlider->setValue(field->getDouble()*100);
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field = obj->getField(QString("AccelTime"));
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m_aircraft->customFFaccel->setValue(field->getDouble());
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field = obj->getField(QString("DecelTime"));
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m_aircraft->customFFdecel->setValue(field->getDouble());
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field = obj->getField(QString("MaxAccel"));
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m_aircraft->customFFMaxAccel->setValue(field->getDouble());
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// Update the table:
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for (int i=0; i<8; i++) {
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}
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}
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/**
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/**
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Sends the config to the board (airframe type)
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Sends the config to the board (airframe type)
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We do all the tasks commong to all airframes, or family of airframes, and
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We do all the tasks common to all airframes, or family of airframes, and
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we call additional methods for specific frames, so that we do not have a code
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we call additional methods for specific frames, so that we do not have a code
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that is too heavy.
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that is too heavy.
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*/
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*/
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void ConfigAirframeWidget::sendAircraftUpdate()
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void ConfigAirframeWidget::sendAircraftUpdate()
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{
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{
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QString airframeType;
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QString airframeType;
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if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
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if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
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// Save the curve (common to all Fixed wing frames)
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// Save the curve (common to all Fixed wing frames)
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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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")));
|
||||||
|
@ -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);
|
||||||
|
@ -9,8 +9,8 @@
|
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xmlns="http://www.w3.org/2000/svg"
|
xmlns="http://www.w3.org/2000/svg"
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xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
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xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
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xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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width="649.92664"
|
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height="1052.3622047"
|
height="953.03302"
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id="svg2917"
|
id="svg2917"
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version="1.1"
|
version="1.1"
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inkscape:version="0.47 r22583"
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inkscape:version="0.47 r22583"
|
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@ -31,6 +31,13 @@
|
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inkscape:vp_y="0 : 1000 : 0"
|
inkscape:vp_y="0 : 1000 : 0"
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inkscape:vp_x="0 : 0.5 : 1"
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inkscape:vp_x="0 : 0.5 : 1"
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sodipodi:type="inkscape:persp3d" />
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sodipodi:type="inkscape:persp3d" />
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|
<inkscape:perspective
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|
id="perspective3205"
|
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|
inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
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|
inkscape:vp_z="1 : 0.5 : 1"
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|
inkscape:vp_y="0 : 1000 : 0"
|
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inkscape:vp_x="0 : 0.5 : 1"
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sodipodi:type="inkscape:persp3d" />
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</defs>
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<sodipodi:namedview
|
<sodipodi:namedview
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id="base"
|
id="base"
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@ -39,16 +46,16 @@
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borderopacity="1.0"
|
borderopacity="1.0"
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inkscape:pageopacity="0.0"
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inkscape:pageopacity="0.0"
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inkscape:pageshadow="2"
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inkscape:pageshadow="2"
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inkscape:document-units="px"
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inkscape:document-units="px"
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inkscape:current-layer="layer1"
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inkscape:current-layer="layer1"
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showguides="true"
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showguides="true"
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inkscape:guide-bbox="true"
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inkscape:guide-bbox="true"
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inkscape:snap-to-guides="false"
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inkscape:snap-to-guides="false"
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inkscape:snap-grids="false"
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inkscape:snap-grids="true"
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inkscape:window-width="1366"
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inkscape:window-width="1366"
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inkscape:window-height="693"
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inkscape:window-height="693"
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inkscape:window-x="0"
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inkscape:window-x="0"
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@ -56,44 +63,48 @@
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inkscape:window-maximized="1">
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<sodipodi:guide
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<sodipodi:guide
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<sodipodi:guide
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<sodipodi:guide
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<sodipodi:guide
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<metadata
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@ -110,7 +121,8 @@
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inkscape:label="Layer 1"
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inkscape:groupmode="layer"
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inkscape:groupmode="layer"
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@ -120,14 +132,14 @@
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transform="translate(-0.50000024,0.50000029)"
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sodipodi:rx="23.738585"
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sodipodi:cy="75.039597"
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sodipodi:cy="75.039597"
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@ -136,7 +148,7 @@
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sodipodi:type="arc" />
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sodipodi:type="arc"
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sodipodi:rx="23.738585"
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@ -179,12 +191,12 @@
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Before Width: | Height: | Size: 87 KiB After Width: | Height: | Size: 147 KiB |
Loading…
Reference in New Issue
Block a user