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GCS vehicle config: do not reset existing camera/accessory mixers [OP-691]
Still no fix for helicopter config (some code refactoring is desired).
This commit is contained in:
Oleg Semyonov
parent
245e1e36cb
commit
db63f73859
@ -1,5 +1,9 @@
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Short summary of changes. For a complete list see the git log.
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2012-11-11
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[OP-691] Camera/accessory mixers won't be reset when a vehicle configuration changed.
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Still no fix for helicopter configuration changes, though (some code refactoring is desired).
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2012-10-06
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Receiver port can now be configured as PPM *and* PWM inputs.
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Pin 1 is PPM, other pins are PWM inputs.
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@ -8,3 +8,4 @@
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+ XAircraft ESCs uses non-standard PPM range which may cause issues with Vehicle Wizard.
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+ Spectrum Satellite Receivers setup in Radio Wizard may have wrong protocol set.
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+ Old Intel 965 have an OpenGL bug that turns the QML PFD black and while.
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+ [OP-691] Helicopter configuration change still resets camera/accessory mixers (some code refactoring is desired).
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@ -281,6 +281,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
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UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(mixer);
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resetMixers(mixer);
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// ... and compute the matrix:
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// In order to make code a bit nicer, we assume:
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@ -288,16 +289,8 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
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// 1. Assign the servo/motor/none for each channel
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int channel;
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//disable all
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for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
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{
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
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resetMixerVector(mixer, channel);
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}
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//motor
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channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
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int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
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setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
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@ -359,6 +352,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
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UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(mixer);
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resetMixers(mixer);
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// Save the curve:
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// ... and compute the matrix:
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@ -367,17 +361,10 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
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// 1. Assign the servo/motor/none for each channel
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int channel;
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double value;
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//disable all
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for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
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{
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
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resetMixerVector(mixer, channel);
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}
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//motor
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channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
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int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
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setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
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@ -437,6 +424,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
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UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(mixer);
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resetMixers(mixer);
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// Save the curve:
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// ... and compute the matrix:
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@ -445,17 +433,10 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
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// 1. Assign the servo/motor/none for each channel
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int channel;
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double value;
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//disable all
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for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
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{
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
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resetMixerVector(mixer, channel);
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}
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//motor
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channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
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int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
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setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
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@ -295,16 +295,10 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
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UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(mixer);
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int channel;
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//disable all
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for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
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resetMixerVector(mixer, channel);
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}
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resetMixers(mixer);
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//motor
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channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
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int channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
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setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
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setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
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setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
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@ -352,16 +346,10 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
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UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(mixer);
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int channel;
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//disable all
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for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
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resetMixerVector(mixer, channel);
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}
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resetMixers(mixer);
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//left motor
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channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
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int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
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setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
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setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
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setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
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@ -407,15 +395,9 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
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UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(mixer);
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resetMixers(mixer);
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int channel;
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//disable all
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for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
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resetMixerVector(mixer, channel);
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}
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channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
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int channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
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setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
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setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
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@ -1032,13 +1032,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
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UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
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Q_ASSERT(mixer);
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//disable all
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for (int channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
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{
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setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
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resetMixerVector(mixer, channel);
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}
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resetMixers(mixer);
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// and enable only the relevant channels:
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double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
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@ -181,6 +181,18 @@ void VehicleConfig::resetMixerVector(UAVDataObject* mixer, int channel)
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}
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}
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// Disable all servo/motor mixers (but keep camera and accessory ones)
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void VehicleConfig::resetMixers(UAVDataObject *mixer)
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{
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for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
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QString type = getMixerType(mixer, channel);
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if ((type == "Disabled") || (type == "Motor") || (type == "Servo")) {
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setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
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resetMixerVector(mixer, channel);
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}
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}
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}
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double VehicleConfig::getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName)
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{
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Q_ASSERT(mixer);
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@ -127,6 +127,7 @@ class VehicleConfig: public ConfigTaskWidget
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double getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName);
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void setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value);
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void resetMixerVector(UAVDataObject* mixer, int channel);
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void resetMixers(UAVDataObject* mixer);
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QString getMixerType(UAVDataObject* mixer, int channel);
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void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
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double getMixerValue(UAVDataObject* mixer, QString elementName);
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