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Code Issues Releases Activity

GCS-Yaw mixing level reverse button

Browse Source 
Changed the slider values from -100/+100 to 0/100 and wrote the code for
the invert checkbox.
NOT TESTED
This commit is contained in:
PT_Dreamer 2012-09-23 22:50:05 +01:00
parent 4e1081179b
commit dc10917f70
4 changed files with 55 additions and 40 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -1092,7 +1092,7 @@ margin:1px;</string>
Typical value is 50% for + or X configuration on quads.</string>
</property>
<property name="minimum">
<number>-100</number>
<number>0</number>
</property>
<property name="maximum">
<number>100</number>

35
ground/openpilotgcs/src/plugins/config/autotune.ui
View File

@ -21,12 +21,12 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>-1</number>
<number>6</number>
</property>
<item>
<widget class="QTabWidget" name="Autotune_tabs">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="Preautotune_tab">
<attribute name="title">
@ -80,17 +80,18 @@
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:20pt; font-weight:600; color:#ff0000;&quot;&gt;WARNING:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is an experimental plugin for the GCS that is going to make your aircraft shake etc so test with lots of space and be &lt;span style=&quot; font-weight:600;&quot;&gt;very very wary&lt;/span&gt; for it creating bad tuning values.  Basically there is no reason to think this will work at all.&lt;br /&gt;&lt;br /&gt;To use autotuning, here are the steps:&lt;/p&gt;
&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Go to the UAVOBrowser and under HwSettings.OptionalModules enable Autotune.  Click send then save.  Power cycle your board (disconnect battery AND usb).&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;In Input configuration set one of your flight modes to &amp;quot;Autotune&amp;quot;&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Take off, flip to autotune, keep it in the air while it's shaking&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Land and disarm.  (note - you &lt;span style=&quot; font-weight:600;&quot;&gt;MUST&lt;/span&gt; stay in autotune mode through this point, leaving autotune before disarming aborts the process)&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;We'd recommend checking your stabilization settings before trying them out. &lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Test fly then new settings&lt;/li&gt;
&lt;li style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you're ready to proceed, click the &amp;quot;Enable Autotune Module&amp;quot; checkbox below this text, and go to the next tab.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;&quot;&gt;WARNING:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;This is an experimental plugin for the GCS that is going to make your aircraft shake etc so test with lots of space and be &lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:600;&quot;&gt;very very wary&lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt; for it creating bad tuning values.  Basically there is no reason to think this will work at all.&lt;br /&gt;&lt;br /&gt;To use autotuning, here are the steps:&lt;/span&gt;&lt;/p&gt;
&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Go to the UAVOBrowser and under HwSettings.OptionalModules enable Autotune.  Click send then save.  Power cycle your board (disconnect battery AND usb).&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;In Input configuration set one of your flight modes to &amp;quot;Autotune&amp;quot;&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Take off, flip to autotune, keep it in the air while it's shaking&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Land and disarm.  (note - you &lt;span style=&quot; font-weight:600;&quot;&gt;MUST&lt;/span&gt; stay in autotune mode through this point, leaving autotune before disarming aborts the process)&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;We'd recommend checking your stabilization settings before trying them out. &lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Test fly then new settings&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you're ready to proceed, click the &amp;quot;Enable Autotune Module&amp;quot; checkbox below this text, and go to the next tab.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
@ -194,8 +195,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>709</width>
<height>588</height>
<width>717</width>
<height>602</height>
</rect>
</property>
<property name="sizePolicy">
@ -690,8 +691,6 @@ Useful if you have accidentally changed some settings.</string>
</item>
</layout>
</widget>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<resources/>
<connections/>
</ui>

56
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -94,7 +94,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
setYawMixLevel(50);
m_aircraft->triYawChannelBox->setEnabled(true);
}
@ -108,7 +108,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
// init mixer levels
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
setYawMixLevel(50);
}
else if (frameType == "QuadP" || frameType == "Quad +") {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
@ -119,7 +119,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
setYawMixLevel(50);
}
else if (frameType == "Hexa" || frameType == "Hexacopter")
{
@ -131,7 +131,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(33);
setYawMixLevel(33);
}
else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
@ -142,7 +142,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(33);
setYawMixLevel(33);
}
else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
@ -155,7 +155,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(66);
setYawMixLevel(66);
}
else if (frameType == "Octo" || frameType == "Octocopter")
@ -168,7 +168,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(25);
setYawMixLevel(25);
}
else if (frameType == "OctoV" || frameType == "Octocopter V")
{
@ -180,7 +180,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
m_aircraft->mrYawMixLevel->setValue(25);
setYawMixLevel(25);
}
else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
@ -193,7 +193,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
setYawMixLevel(50);
}
else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
@ -205,7 +205,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
setYawMixLevel(50);
}
}
@ -259,6 +259,21 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
return channelDesc;
}
void ConfigMultiRotorWidget::setYawMixLevel(int value)
{
if(value<0)
{
m_aircraft->mrYawMixLevel->setValue((-1)*value);
m_aircraft->TricopterRevMixercheckBox->setChecked(true);
}
else
{
m_aircraft->mrYawMixLevel->setValue(value);
m_aircraft->TricopterRevMixercheckBox->setChecked(false);
}
}
@ -500,7 +515,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
setYawMixLevel( 1-value/1.27 );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@ -526,7 +541,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
setYawMixLevel( 1-value/1.27 );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( value/1.27);
@ -556,7 +571,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
setYawMixLevel( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@ -589,7 +604,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
setYawMixLevel( floor(-value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@ -617,7 +632,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( value/1.27 );
setYawMixLevel( value/1.27 );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@ -648,7 +663,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
setYawMixLevel( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@ -660,7 +675,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
setYawMixLevel( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@ -672,7 +687,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
setYawMixLevel( floor(-value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
@ -705,7 +720,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
setYawMixLevel( floor(-value/1.27) );
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
@ -959,7 +974,8 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
double invert=m_aircraft->TricopterRevMixercheckBox->isChecked() ? -1:1;
double yFactor =invert * (double)m_aircraft->mrYawMixLevel->value()/100;
for (int i=0 ; i<8; i++) {
if(mmList.at(i)->isEnabled())
{

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -67,7 +67,7 @@ private:
virtual void ResetActuators(GUIConfigDataUnion* configData);
static QStringList getChannelDescriptions();
static const QString CHANNELBOXNAME;
void setYawMixLevel(int);
private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);