diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 2522ab540..51a0e09f5 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -1,3140 +1,3960 @@ - - - ccpmWidget - - - - 0 - 0 - 660 - 572 - - - - - 0 - 0 - - - - - 300 - 300 - - - - Form - - - false - - - - - - - - QFormLayout::AllNonFixedFieldsGrow - - - 0 - - - - - Swashplate config: - - - - - - - - 10 - - - - Select aircraft type here - - - - - - - - - - 0 - 0 - - - - - 400 - 300 - - - - 0 - - - - Basic settings - - - - 3 - - - 3 - - - - - - - - 0 - 0 - - - - Outputs - - - - 3 - - - 2 - - - 3 - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - - - - - - 0 - 0 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Tail Rotor - - - - - - - - 0 - 0 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Engine - - - - - - - - - - - 0 - 0 - - - - Swashplate Outputs - - - - 3 - - - 2 - - - 3 - - - - - true - - - - 1 - 1 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Servo W - - - - - - - true - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - - - - - true - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - - - - - - 1 - 1 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Servo X - - - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - - Front - - - - - Right - - - - - Rear - - - - - Left - - - - - - - - - 1 - 1 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Single Servo - - - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - - - - - - 1 - 1 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Servo Z - - - - - - - true - - - - 1 - 1 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Servo Y - - - - - - - - - - - 0 - 0 - - - - - 70 - 0 - - - - Swashplate Servo Angles - - - - 3 - - - 2 - - - 3 - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - 0 - - - 360.000000000000000 - - - 15.000000000000000 - - - - - - - true - - - - 0 - 0 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Angle W - - - - - - - - 0 - 0 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Angle X - - - - - - - true - - - - 0 - 0 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Angle Y - - - - - - - - 0 - 0 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - Angle Z - - - - - - - true - - - - 0 - 0 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - CorrectionAngle - - - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - 0 - - - 360.000000000000000 - - - 15.000000000000000 - - - - - - - true - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - 0 - - - 360.000000000000000 - - - 15.000000000000000 - - - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - 0 - - - 360.000000000000000 - - - 15.000000000000000 - - - - - - - - 0 - 0 - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - 0 - - - 360.000000000000000 - - - 15.000000000000000 - - - - - - - - - - Qt::Vertical - - - QSizePolicy::MinimumExpanding - - - - 20 - 0 - - - - - - - - - - false - - - - 0 - 0 - - - - - 50 - 100 - - - - - 50 - 600 - - - - REVO - - - - 0 - - - 3 - - - - - false - - - - 7 - - - - 100% - - - Qt::AlignCenter - - - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - false - - - - 0 - 0 - - - - - 0 - 100 - - - - 100 - - - 5 - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - - - false - - - - 7 - - - - 0% - - - Qt::AlignCenter - - - - - - - - - - - - - true - - - - 0 - 0 - - - - - 50 - 100 - - - - - 50 - 600 - - - - - 8 - - - - CCPM - - - Qt::AlignCenter - - - - 0 - - - 3 - - - - - true - - - - 7 - - - - Collective - - - true - - - Qt::AlignCenter - - - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - true - - - - 0 - 0 - - - - - 0 - 100 - - - - 100 - - - 5 - - - 50 - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - - - true - - - - 7 - - - - Cyclic - - - Qt::AlignCenter - - - - - - - 100 - - - 5 - - - 50 - - - - - - - - - - - - - 1 - 1 - - - - - 200 - 200 - - - - - 600 - 600 - - - - - 10 - 10 - - - - - 200 - 200 - - - - Swashplate Layout - - - Qt::AlignHCenter|Qt::AlignTop - - - false - - - false - - - - 3 - - - 3 - - - - - Qt::Vertical - - - - - 1 - 1 - - - - - 200 - 200 - - - - - 500 - 500 - - - - - 10 - 10 - - - - - 200 - 200 - - - - QFrame::Box - - - QFrame::Plain - - - 1 - - - Qt::ScrollBarAlwaysOff - - - Qt::ScrollBarAlwaysOff - - - - - 112 - 184 - 138 - - - - - - - 127 - 127 - 127 - - - - - - 0.000000000000000 - 0.000000000000000 - 400.000000000000000 - 400.000000000000000 - - - - Qt::AlignCenter - - - QGraphicsView::AnchorViewCenter - - - - - - - - - - - - - - Swashplate Levelling - - - - 3 - - - 3 - - - - - 3 - - - - - - 0 - 0 - - - - - 228 - 0 - - - - Commands - - - - 3 - - - - - 0 - - - - - - 85 - 0 - - - - - 85 - 16777215 - - - - Start - - - - - - - false - - - - 85 - 0 - - - - - 85 - 16777215 - - - - Next - - - - - - - - - - 0 - 150 - - - - - 220 - 450 - - - - Qt::ScrollBarAlwaysOff - - - true - - - - - - - - - false - - - - 170 - 0 - - - - - 170 - 16777215 - - - - Cancel - - - - - - - false - - - - 170 - 0 - - - - - 170 - 16777215 - - - - Finish - - - - - - - - - - - - - 0 - 0 - - - - - 200 - 0 - - - - Status - - - - 3 - - - 2 - - - 3 - - - - - - 220 - 0 - - - - - 190 - 125 - - - - QAbstractItemView::NoEditTriggers - - - true - - - QAbstractItemView::NoSelection - - - QAbstractItemView::SelectRows - - - - Neutral - - - - :/configgadget/images/none.png - :/configgadget/images/ok.png:/configgadget/images/none.png - - - - - Max - - - - :/configgadget/images/none.png - :/configgadget/images/ok.png:/configgadget/images/none.png - - - - - Min - - - - :/configgadget/images/none.png - :/configgadget/images/ok.png:/configgadget/images/none.png - - - ItemIsSelectable|ItemIsEnabled - - - - - Verify - - - - :/configgadget/images/none.png - :/configgadget/images/ok.png:/configgadget/images/none.png - - - ItemIsEnabled - - - - - - - - - - - Qt::Vertical - - - QSizePolicy::MinimumExpanding - - - - 20 - 0 - - - - - - - - - - true - - - - 0 - 0 - - - - - 50 - 100 - - - - - 50 - 600 - - - - - 8 - - - - Position - - - Qt::AlignCenter - - - - 0 - - - 3 - - - - - true - - - - 7 - - - - Max - - - true - - - Qt::AlignCenter - - - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - true - - - - 0 - 0 - - - - - 0 - 100 - - - - 100 - - - 5 - - - 50 - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - - - true - - - - 7 - - - - Min - - - Qt::AlignCenter - - - - - - - 100 - - - 5 - - - 50 - - - - - - - - - - - 1 - 1 - - - - - 200 - 200 - - - - - 600 - 600 - - - - - 10 - 10 - - - - - 200 - 200 - - - - Swashplate Adjustment - - - Qt::AlignHCenter|Qt::AlignTop - - - false - - - false - - - - 3 - - - 3 - - - - - Qt::Vertical - - - - - 1 - 1 - - - - - 200 - 200 - - - - - 500 - 500 - - - - - 10 - 10 - - - - - 200 - 200 - - - - QFrame::Box - - - QFrame::Plain - - - 1 - - - 0 - - - Qt::ScrollBarAlwaysOff - - - Qt::ScrollBarAlwaysOff - - - - - 126 - 176 - 220 - - - - - - - 0 - 0 - 0 - - - - - - 0.000000000000000 - 0.000000000000000 - 400.000000000000000 - 400.000000000000000 - - - - Qt::AlignCenter - - - QGraphicsView::AnchorViewCenter - - - - - - - - - - - - Curve settings - - - - 3 - - - 3 - - - - - - - - 150 - 0 - - - - - 10 - - - - Select aircraft type here - - - - Linear - - - - - Flat - - - - - Step - - - - - Exp - - - - - Log - - - - - Custom - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 0 - 0 - - - - Number of points - - - - - - - - 0 - 0 - - - - 2 - - - 10 - - - 5 - - - - - - - - - - - Min - - - - - - - Max - - - - - - - Step point - - - - - - - 1 - - - 10.000000000000000 - - - - - - - 1 - - - 10.000000000000000 - - - 1.000000000000000 - - - - - - - 1 - - - 100.000000000000000 - - - 50.000000000000000 - - - - - - - - - - - - 0 - 0 - - - - - 150 - 0 - - - - - 10 - - - - Select aircraft type here - - - - Throttle - - - - - Pitch - - - - - - - - - 0 - 0 - - - - - 150 - 0 - - - - Generate curves based on settings - - - <-- Generate Curve - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - 3 - - - - - - 0 - 0 - - - - - 250 - 200 - - - - - 250 - 273 - - - - - 8 - - - - Qt::ScrollBarAsNeeded - - - Qt::ScrollBarAsNeeded - - - true - - - true - - - true - - - true - - - true - - - 25 - - - 25 - - - - 0% - - - - - 25% - - - - - 50% - - - - - 75% - - - - - 100% - - - - - none - - - - - none - - - - - none - - - - - none - - - - - none - - - - - Throttle Curve - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - Blade Pitch Curve - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0.000 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0.000 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0.250 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0.250 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0.500 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0.500 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0.750 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 0.750 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 1.000 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - 1.000 - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - 1 - 1 - - - - - 100 - 100 - - - - - 10 - 10 - - - - - 100 - 100 - - - - Qt::LeftToRight - - - Throttle Curve - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - false - - - - 0 - - - 0 - - - - - - 1 - 1 - - - - - 50 - 50 - - - - - 1000 - 1000 - - - - - 10 - 10 - - - - - 200 - 200 - - - - - - - - - - - - 1 - 1 - - - - - 100 - 100 - - - - - 10 - 10 - - - - - 100 - 100 - - - - Pitch Curve - - - - 0 - - - 0 - - - - - - 1 - 1 - - - - - 50 - 50 - - - - - 1000 - 1000 - - - - - 10 - 10 - - - - - 200 - 200 - - - - - - - - - - - - - Qt::Vertical - - - QSizePolicy::Preferred - - - - 20 - 0 - - - - - - - - - Advanced settings - - - - 3 - - - 3 - - - - - - 0 - 0 - - - - - 0 - 200 - - - - - 1000 - 300 - - - - Qt::ScrollBarAlwaysOff - - - Qt::ScrollBarAlwaysOff - - - true - - - true - - - QAbstractItemView::NoSelection - - - false - - - true - - - 75 - - - 20 - - - - Engine - - - - - Tail Rotor - - - - - Servo W - - - - - Servo X - - - - - Servo Y - - - - - Servo Z - - - - - Channel - - - - - Curve 1 - - - - - Curve 2 - - - - - Roll - - - - - Pitch - - - - - Yaw - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - - AlignHCenter|AlignVCenter|AlignCenter - - - - - - - - Qt::Vertical - - - QSizePolicy::MinimumExpanding - - - - 20 - 40 - - - - - - - - - - - - - - - MixerCurveWidget - QWidget -
mixercurvewidget.h
- 1 - - - - ccpmType - TabObject - ccpmEngineChannel - ccpmTailChannel - ccpmServoWChannel - ccpmServoXChannel - ccpmServoYChannel - ccpmServoZChannel - ccpmSingleServo - ccpmAngleW - ccpmAngleX - ccpmAngleY - ccpmAngleZ - ccpmCorrectionAngle - ccpmRevoSlider - ccpmREVOspinBox - ccpmCollectiveSlider - ccpmCollectivespinBox - SwashplateImage - SwashLvlStartButton - SwashLvlNextButton - SwashLvlStepInstruction - SwashLvlCancelButton - SwashLvlFinishButton - SwashLvlStepList - SwashLvlPositionSlider - SwashLvlPositionSpinBox - SwashLvlSwashplateImage - CurveType - NumCurvePoints - CurveValue1 - CurveValue2 - CurveValue3 - CurveToGenerate - ccpmGenerateCurve - CurveSettings - ccpmAdvancedSettingsTable - - - - - ccpmCollectiveSlider - sliderMoved(int) - ccpmCollectivespinBox - setValue(int) - - - 283 - 400 - - - 294 - 550 - - - - - ccpmCollectivespinBox - valueChanged(int) - ccpmCollectiveSlider - setValue(int) - - - 294 - 550 - - - 283 - 482 - - - - - ccpmREVOspinBox - valueChanged(int) - ccpmRevoSlider - setValue(int) - - - 241 - 550 - - - 230 - 484 - - - - - ccpmRevoSlider - sliderMoved(int) - ccpmREVOspinBox - setValue(int) - - - 230 - 313 - - - 241 - 550 - - - - - SwashLvlPositionSlider - sliderMoved(int) - SwashLvlPositionSpinBox - setValue(int) - - - 276 - 486 - - - 270 - 537 - - - - - SwashLvlPositionSpinBox - valueChanged(int) - SwashLvlPositionSlider - setValue(int) - - - 257 - 535 - - - 277 - 401 - - - - - + + + ccpmWidget + + + + 0 + 0 + 660 + 572 + + + + + 0 + 0 + + + + + 300 + 300 + + + + Form + + + false + + + + + + + + QFormLayout::AllNonFixedFieldsGrow + + + 0 + + + + + Swashplate config: + + + + + + + + 10 + + + + Select aircraft type here + + + + + + + + + + 0 + 0 + + + + + 300 + 300 + + + + 0 + + + + Basic settings + + + + 3 + + + 0 + + + 3 + + + 3 + + + 3 + + + + + + + + 0 + 0 + + + + + 190 + 16777215 + + + + + 11 + + + + Outputs + + + + 3 + + + 2 + + + 3 + + + + + + 0 + 0 + + + + + 85 + 0 + + + + + 100 + 16777215 + + + + + 11 + + + + + + + + + 0 + 0 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mixercurvewidget.h
+ 1 + + + + ccpmType + TabObject + ccpmEngineChannel + ccpmTailChannel + ccpmServoWChannel + ccpmServoXChannel + ccpmServoYChannel + ccpmServoZChannel + ccpmSingleServo + ccpmAngleW + ccpmAngleX + ccpmAngleY + ccpmAngleZ + ccpmCorrectionAngle + ccpmRevoSlider + ccpmREVOspinBox + ccpmCollectiveSlider + ccpmCollectivespinBox + SwashplateImage + SwashLvlStartButton + SwashLvlNextButton + SwashLvlStepInstruction + SwashLvlCancelButton + SwashLvlFinishButton + SwashLvlStepList + SwashLvlPositionSlider + SwashLvlPositionSpinBox + SwashLvlSwashplateImage + CurveType + NumCurvePoints + CurveValue1 + CurveValue2 + CurveValue3 + CurveToGenerate + ccpmGenerateCurve + CurveSettings + ccpmAdvancedSettingsTable + + + + + ccpmCollectiveSlider + sliderMoved(int) + ccpmCollectivespinBox + setValue(int) + + + 261 + 496 + + + 269 + 546 + + + + + ccpmCollectivespinBox + valueChanged(int) + ccpmCollectiveSlider + setValue(int) + + + 269 + 546 + + + 261 + 511 + + + + + ccpmREVOspinBox + valueChanged(int) + ccpmRevoSlider + setValue(int) + + + 216 + 546 + + + 208 + 511 + + + + + ccpmRevoSlider + sliderMoved(int) + ccpmREVOspinBox + setValue(int) + + + 208 + 412 + + + 216 + 546 + + + + + SwashLvlPositionSlider + sliderMoved(int) + SwashLvlPositionSpinBox + setValue(int) + + + 276 + 486 + + + 270 + 537 + + + + + SwashLvlPositionSpinBox + valueChanged(int) + SwashLvlPositionSlider + setValue(int) + + + 301 + 546 + + + 277 + 401 + + + + + ccpmCollectiveScaleBox + valueChanged(int) + ccpmCollectiveScale + setValue(int) + + + 296 + 534 + + + 306 + 480 + + + + + ccpmCollectiveScale + sliderMoved(int) + ccpmCollectiveScaleBox + setValue(int) + + + 308 + 328 + + + 292 + 534 + + + + + ccpmCyclicScale + sliderMoved(int) + ccpmCyclicScaleBox + setValue(int) + + + 358 + 306 + + + 355 + 538 + + + + + ccpmCyclicScaleBox + valueChanged(int) + ccpmCyclicScale + setValue(int) + + + 341 + 538 + + + 351 + 376 + + + + + ccpmPitchScale + sliderMoved(int) + ccpmPitchScaleBox + setValue(int) + + + 417 + 306 + + + 406 + 531 + + + + + ccpmPitchScaleBox + valueChanged(int) + ccpmPitchScale + setValue(int) + + + 394 + 531 + + + 408 + 302 + + + + + ccpmRollScaleBox + valueChanged(int) + ccpmRollScale + setValue(int) + + + 455 + 529 + + + 458 + 466 + + + + + ccpmRollScale + sliderMoved(int) + ccpmRollScaleBox + setValue(int) + + + 461 + 388 + + + 474 + 533 + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 5aeec0e03..4e9e2810a 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -25,6 +25,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "configccpmwidget.h" +#include "mixersettings.h" #include #include @@ -32,6 +33,7 @@ #include #include #include +#include #include #include @@ -41,11 +43,14 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) { int i; + m_ccpm = new Ui_ccpmWidget(); m_ccpm->setupUi(this); SwashLvlConfigurationInProgress=0; SwashLvlState=0; SwashLvlServoInterlock=0; + updatingFromHardware=FALSE; + updatingToHardware=FALSE; // Now connect the widget to the ManualControlCommand / Channel UAVObject //ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); @@ -55,12 +60,12 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this)); m_ccpm->SwashLvlSwashplateImage->setScene(m_ccpm->SwashplateImage->scene()); - m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-30,500,500); - m_ccpm->SwashLvlSwashplateImage->scale(.85,.85); + m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500); + //m_ccpm->SwashLvlSwashplateImage->scale(.85,.85); //m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect()); m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500); - m_ccpm->SwashplateImage->scale(.85,.85); + //m_ccpm->SwashplateImage->scale(.85,.85); @@ -72,9 +77,10 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) SwashplateImg->setSharedRenderer(renderer); SwashplateImg->setElementId("Swashplate"); SwashplateImg->setObjectName("Swashplate"); + //SwashplateImg->setScale(0.75); m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg); - QFont serifFont("Times", 16, QFont::Bold); + QFont serifFont("Times", 24, QFont::Bold); QPen pen; // creates a default pen pen.setStyle(Qt::DotLine); @@ -83,6 +89,19 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) pen.setCapStyle(Qt::RoundCap); pen.setJoinStyle(Qt::RoundJoin); + + QBrush brush(Qt::darkBlue); + QPen pen2; // creates a default pen + + //pen2.setStyle(Qt::DotLine); + pen2.setWidth(1); + pen2.setBrush(Qt::blue); + //pen2.setCapStyle(Qt::RoundCap); + //pen2.setJoinStyle(Qt::RoundJoin); + + + //brush.setStyle(Qt::RadialGradientPattern); + QList ServoNames; ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ; @@ -96,10 +115,16 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->SwashplateImage->scene()->addItem(Servos[i]); ServosText[i] = new QGraphicsTextItem(); - ServosText[i]->setDefaultTextColor(Qt::red); + ServosText[i]->setDefaultTextColor(Qt::yellow); ServosText[i]->setPlainText(QString("-")); ServosText[i]->setFont(serifFont); + + ServosTextCircles[i] = new QGraphicsEllipseItem(1,1,30,30); + ServosTextCircles[i]->setBrush(brush); + ServosTextCircles[i]->setPen(pen2); + m_ccpm->SwashplateImage->scene()->addItem(ServosTextCircles[i]); m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]); + SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView @@ -172,7 +197,10 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) QStringList channels; channels << "Channel1" << "Channel2" << - "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None" ; + "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" ; + m_ccpm->ccpmCollectiveChannel->addItems(channels); + m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8); + channels << "None" ; m_ccpm->ccpmEngineChannel->addItems(channels); m_ccpm->ccpmEngineChannel->setCurrentIndex(8); m_ccpm->ccpmTailChannel->addItems(channels); @@ -187,7 +215,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->ccpmServoZChannel->setCurrentIndex(8); QStringList Types; - Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; + Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 90º" << "CCPM 4 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; m_ccpm->ccpmType->addItems(Types); m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); requestccpmUpdate(); @@ -196,6 +224,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) //disable changing number of points in curves until UAVObjects have more than 5 m_ccpm->NumCurvePoints->setEnabled(0); + + UpdateType(); @@ -237,7 +267,13 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); + connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); + connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); + connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); + + + ccpmSwashplateRedraw(); // connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate())); } @@ -249,11 +285,13 @@ ConfigccpmWidget::~ConfigccpmWidget() void ConfigccpmWidget::UpdateType() { - int TypeInt,SingleServoIndex; + int TypeInt,SingleServoIndex,NumServosDefined; QString TypeText; double AdjustmentAngle=0; - + UpdatCCPMOptionsFromUI(); + SetUIComponentVisibilities(); + TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; TypeText = m_ccpm->ccpmType->currentText(); SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); @@ -266,7 +304,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAngleX->setEnabled(TypeInt==1); m_ccpm->ccpmAngleY->setEnabled(TypeInt==1); m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1); - m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1); + m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt!=0); m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0); m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0); @@ -289,6 +327,7 @@ void ConfigccpmWidget::UpdateType() //m_ccpm->customThrottleCurve2Value->setVisible(1); //m_ccpm->label_41->setVisible(1); + NumServosDefined=4; //set values for pre defined heli types if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) { @@ -302,8 +341,34 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); + NumServosDefined=2; + } + if (TypeText.compare(QString("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) + { + m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); + m_ccpm->ccpmAngleZ->setValue(0); + m_ccpm->ccpmAngleZ->setEnabled(0); + m_ccpm->ccpmServoZChannel->setCurrentIndex(8); + m_ccpm->ccpmServoZChannel->setEnabled(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); + NumServosDefined=3; + + } + if (TypeText.compare(QString("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) + { + m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); + m_ccpm->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360)); + //m_ccpm->ccpmCorrectionAngle->setValue(0); + m_ccpm->ccpmSingleServo->setEnabled(0); + m_ccpm->ccpmSingleServo->setCurrentIndex(0); + NumServosDefined=4; + } if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) { @@ -314,8 +379,9 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); - + //m_ccpm->ccpmCorrectionAngle->setValue(0); + NumServosDefined=3; + } if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) { @@ -326,7 +392,8 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); + NumServosDefined=3; } if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) @@ -341,7 +408,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); m_ccpm->ccpmCollectivespinBox->setEnabled(0); m_ccpm->ccpmCollectiveSlider->setEnabled(0); @@ -353,8 +420,29 @@ void ConfigccpmWidget::UpdateType() m_ccpm->PitchCurve->setVisible(0); //m_ccpm->customThrottleCurve2Value->setVisible(0); //m_ccpm->label_41->setVisible(0); + NumServosDefined=2; } + //set the visibility of the swashplate servo selection boxes + m_ccpm->ccpmServoWLabel->setVisible(NumServosDefined>=1); + m_ccpm->ccpmServoXLabel->setVisible(NumServosDefined>=2); + m_ccpm->ccpmServoYLabel->setVisible(NumServosDefined>=3); + m_ccpm->ccpmServoZLabel->setVisible(NumServosDefined>=4); + m_ccpm->ccpmServoWChannel->setVisible(NumServosDefined>=1); + m_ccpm->ccpmServoXChannel->setVisible(NumServosDefined>=2); + m_ccpm->ccpmServoYChannel->setVisible(NumServosDefined>=3); + m_ccpm->ccpmServoZChannel->setVisible(NumServosDefined>=4); + + //set the visibility of the swashplate angle selection boxes + m_ccpm->ccpmServoWLabel_2->setVisible(NumServosDefined>=1); + m_ccpm->ccpmServoXLabel_2->setVisible(NumServosDefined>=2); + m_ccpm->ccpmServoYLabel_2->setVisible(NumServosDefined>=3); + m_ccpm->ccpmServoZLabel_2->setVisible(NumServosDefined>=4); + m_ccpm->ccpmAngleW->setVisible(NumServosDefined>=1); + m_ccpm->ccpmAngleX->setVisible(NumServosDefined>=2); + m_ccpm->ccpmAngleY->setVisible(NumServosDefined>=3); + m_ccpm->ccpmAngleZ->setVisible(NumServosDefined>=4); + m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); for (int i=0;i<6;i++) { @@ -362,9 +450,12 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); } + + + //update UI ccpmSwashplateUpdate(); - + } /** @@ -655,17 +746,43 @@ void ConfigccpmWidget::GenerateCurve() void ConfigccpmWidget::ccpmSwashplateRedraw() { double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY; - int used[CCPM_MAX_SWASH_SERVOS],i; + int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i; + QRectF bounds; + QRect size; + double scale,xscale,yscale; + + size = m_ccpm->SwashplateImage->rect(); + xscale=size.width(); + yscale=size.height(); + scale=xscale; + if (yscaleSwashplateImage->resetTransform (); + m_ccpm->SwashplateImage->scale(scale,scale); + + size = m_ccpm->SwashLvlSwashplateImage->rect(); + xscale=size.width(); + yscale=size.height(); + scale=xscale; + if (yscaleSwashLvlSwashplateImage->resetTransform (); + m_ccpm->SwashLvlSwashplateImage->scale(scale,scale); + CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); - //CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x(); - // CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y(); CenterX=200; - CenterY=220; + CenterY=200; - SwashplateImg->setPos(CenterX-200,CenterY-200); + bounds=SwashplateImg->boundingRect(); + + SwashplateImg->setPos(CenterX-bounds.width()/2,CenterY-bounds.height()/2); + defined[0]=(m_ccpm->ccpmServoWChannel->isEnabled()); + defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled()); + defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled()); + defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled()); used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled())); used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled())); used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled())); @@ -684,11 +801,28 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() Servos[i]->setPos(x, y); Servos[i]->setVisible(used[i]!=0); - radius=170; - x=CenterX-(radius*sin(angle[i]))-10.00; - y=CenterY+(radius*cos(angle[i]))-10.00; + radius=150; + bounds=ServosText[i]->boundingRect(); + x=CenterX-(radius*sin(angle[i]))-bounds.width()/2; + y=CenterY+(radius*cos(angle[i]))-bounds.height()/2; + ServosText[i]->setPos(x, y); ServosText[i]->setVisible(used[i]!=0); + + if (bounds.width()>bounds.height()) + { + bounds.setHeight(bounds.width()); + } + else + { + bounds.setWidth(bounds.height()); + } + x=CenterX-(radius*sin(angle[i]))-bounds.width()/2; + y=CenterY+(radius*cos(angle[i]))-bounds.height()/2; + + ServosTextCircles[i]->setRect(bounds); + ServosTextCircles[i]->setPos(x, y); + ServosTextCircles[i]->setVisible(used[i]!=0); w=SwashLvlSpinBoxes[i]->width()/2; h=SwashLvlSpinBoxes[i]->height()/2; @@ -702,7 +836,7 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() x=CenterX-(radius*sin(angle[i])); y=CenterY+(radius*cos(angle[i])); ServoLines[i]->setLine(CenterX,CenterY,x,y); - ServoLines[i]->setVisible(used[i]!=0); + ServoLines[i]->setVisible(defined[i]!=0); } //m_ccpm->SwashplateImage->centerOn (CenterX, CenterY); @@ -713,22 +847,104 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() void ConfigccpmWidget::ccpmSwashplateUpdate() { ccpmSwashplateRedraw(); + SetUIComponentVisibilities(); UpdateMixer(); } +void ConfigccpmWidget::ccpmChannelCheck() +{ + if((m_ccpm->ccpmServoWChannel->currentIndex()==8)&&(m_ccpm->ccpmServoWChannel->isEnabled())) + { + m_ccpm->ccpmServoWLabel->setText("Servo W"); + } + else + { + m_ccpm->ccpmServoWLabel->setText("Servo W"); + } + if((m_ccpm->ccpmServoXChannel->currentIndex()==8)&&(m_ccpm->ccpmServoXChannel->isEnabled())) + { + m_ccpm->ccpmServoXLabel->setText("Servo X"); + } + else + { + m_ccpm->ccpmServoXLabel->setText("Servo X"); + } + if((m_ccpm->ccpmServoYChannel->currentIndex()==8)&&(m_ccpm->ccpmServoYChannel->isEnabled())) + { + m_ccpm->ccpmServoYLabel->setText("Servo Y"); + } + else + { + m_ccpm->ccpmServoYLabel->setText("Servo Y"); + } + if((m_ccpm->ccpmServoZChannel->currentIndex()==8)&&(m_ccpm->ccpmServoZChannel->isEnabled())) + { + m_ccpm->ccpmServoZLabel->setText("Servo Z"); + } + else + { + m_ccpm->ccpmServoZLabel->setText("Servo Z"); + } + + if((m_ccpm->ccpmEngineChannel->currentIndex()==8)&&(m_ccpm->ccpmEngineChannel->isEnabled())) + { + m_ccpm->ccpmEngineLabel->setText("Engine"); + } + else + { + m_ccpm->ccpmEngineLabel->setText("Engine"); + } + + if((m_ccpm->ccpmTailChannel->currentIndex()==8)&&(m_ccpm->ccpmTailChannel->isEnabled())) + { + m_ccpm->ccpmTailLabel->setText("Tail Rotor"); + } + else + { + m_ccpm->ccpmTailLabel->setText("Tail Rotor"); + } + +} + void ConfigccpmWidget::UpdateMixer() { - int i,j,Type,ThisEnable[6]; - float CollectiveConstant,CorrectionAngle,ThisAngle[6]; + bool useCCPM; + bool useCyclic; + int i,j,ThisEnable[6]; + float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6]; //QTableWidgetItem *newItem;// = new QTableWidgetItem(); QString Channel; - Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; - CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); + ccpmChannelCheck(); + //Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; + //CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; + //CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); + UpdatCCPMOptionsFromUI(); + + useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); + useCyclic = GUIConfigData.heli.ccpmLinkRollState; + CollectiveConstant = (float)GUIConfigData.heli.SliderValue0 / 100.00; - if (Type>0) + if (useCCPM) + {//cyclic = 1 - collective + PitchConstant = 1-CollectiveConstant; + RollConstant = PitchConstant; + } + else + { + PitchConstant = (float)GUIConfigData.heli.SliderValue1 / 100.00;; + if (useCyclic) + { + RollConstant = PitchConstant; + } + else + { + RollConstant = (float)GUIConfigData.heli.SliderValue2 / 100.00;; + } + } + + if (GUIConfigData.heli.SwasplateType>0) {//not advanced settings //get the channel data from the ui MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); @@ -792,8 +1008,8 @@ void ConfigccpmWidget::UpdateMixer() {//Swashplate m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2 - m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin((180+CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll - m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch + m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll + m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw } @@ -822,6 +1038,140 @@ void ConfigccpmWidget::UpdateMixer() /************************** * ccpm settings **************************/ +/* + Get the state of the UI check boxes and change the visibility of sliders + typedef struct { + uint SwasplateType:3; + uint FirstServoIndex:2; + uint CorrectionAngle:9; + uint ccpmCollectivePassthroughState:1; + uint ccpmLinkCyclicState:1; + uint ccpmLinkRollState:1; + uint CollectiveChannel:3; + uint padding:12; + } __attribute__((packed)) heliGUISettingsStruct; + + */ +void ConfigccpmWidget::UpdatCCPMOptionsFromUI() +{ + bool useCCPM; + bool useCyclic; + + if (updatingFromHardware) return; + //get the user options + //swashplate config + GUIConfigData.heli.SwasplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; + GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); + + //ccpm mixing options + GUIConfigData.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); + GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); + GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); + useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); + useCyclic = GUIConfigData.heli.ccpmLinkRollState; + + //correction angle + GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value(); + + //CollectiveChannel + GUIConfigData.heli.CollectiveChannel = m_ccpm->ccpmCollectiveChannel->currentIndex(); + + //update sliders + if (useCCPM) + { + GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value(); + } + else + { + GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value(); + } + if (useCyclic) + { + GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value(); + } + else + { + GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value(); + } + GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); + //GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value(); + + //servo assignments + GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); + GUIConfigData.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex(); + GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex(); + GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); + +} +void ConfigccpmWidget::UpdatCCPMUIFromOptions() +{ + //swashplate config + m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1)); + m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex); + + //ccpm mixing options + m_ccpm->ccpmCollectivePassthrough->setChecked(GUIConfigData.heli.ccpmCollectivePassthroughState); + m_ccpm->ccpmLinkCyclic->setChecked(GUIConfigData.heli.ccpmLinkCyclicState); + m_ccpm->ccpmLinkRoll->setChecked(GUIConfigData.heli.ccpmLinkRollState); + + //correction angle + m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle); + + //CollectiveChannel + m_ccpm->ccpmCollectiveChannel->setCurrentIndex(GUIConfigData.heli.CollectiveChannel); + + //update sliders + m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0); + m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0); + m_ccpm->ccpmCyclicScale->setValue(GUIConfigData.heli.SliderValue1); + m_ccpm->ccpmCyclicScaleBox->setValue(GUIConfigData.heli.SliderValue1); + m_ccpm->ccpmPitchScale->setValue(GUIConfigData.heli.SliderValue1); + m_ccpm->ccpmPitchScaleBox->setValue(GUIConfigData.heli.SliderValue1); + m_ccpm->ccpmRollScale->setValue(GUIConfigData.heli.SliderValue2); + m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2); + m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0); + m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0); + //m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider); + + //servo assignments + m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW); + m_ccpm->ccpmServoXChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexX); + m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY); + m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ); + +} + + +void ConfigccpmWidget::SetUIComponentVisibilities() +{ + UpdatCCPMOptionsFromUI(); + //set which sliders are user... + m_ccpm->ccpmRevoMixingBox->setVisible(0); + + m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState); + m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); + + m_ccpm->ccpmCollectiveChLabel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState); + m_ccpm->ccpmCollectiveChannel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState); + + m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState); + + m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState); + if (!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState) + { + m_ccpm->ccpmPitchScalingBox->setVisible(0); + m_ccpm->ccpmRollScalingBox->setVisible(0); + m_ccpm->ccpmLinkRoll->setVisible(0); + + } + else + { + m_ccpm->ccpmPitchScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState); + m_ccpm->ccpmRollScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState); + m_ccpm->ccpmLinkRoll->setVisible(1); + } + +} /** Request the current value of the SystemSettings which holds the ccpm type */ @@ -838,12 +1188,22 @@ void ConfigccpmWidget::requestccpmUpdate() int isCCPM=0; if (SwashLvlConfigurationInProgress)return; - + if (updatingToHardware)return; + updatingFromHardware=TRUE; + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); int i,j; UAVObjectField *field; UAVDataObject* obj; + + obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); + field = obj->getField(QString("GUIConfigData")); + GUIConfigData.UAVObject[0]=field->getValue(0).toUInt(); + GUIConfigData.UAVObject[1]=field->getValue(1).toUInt(); + UpdatCCPMUIFromOptions(); + + obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); Q_ASSERT(obj); @@ -928,6 +1288,7 @@ void ConfigccpmWidget::requestccpmUpdate() //just call it user angles for now.... + /* m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles")); if (NumServos>1) @@ -958,9 +1319,11 @@ void ConfigccpmWidget::requestccpmUpdate() {//must be a custom config... "Custom - Advanced Settings" m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - Advanced Settings")); } - + HeadRotation=0; - //calculate the angles + + HeadRotation=m_ccpm->ccpmSingleServo->currentIndex(); + //calculate the angles for(j=0;jccpmSingleServo->setCurrentIndex(HeadRotation); + //m_ccpm->ccpmSingleServo->setCurrentIndex(HeadRotation); //calculate the un rotated angles for(j=0;jccpmAngleW->setValue(ServoAngles[SortAngles[0]]); - m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]); - m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]); - m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]); + //m_ccpm->ccpmAngleW->setValue(ServoAngles[SortAngles[0]]); + //m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]); + //m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]); + //m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]); - m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]); - m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]); - m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]); - m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]); + //m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]); + //m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]); + //m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]); + //m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]); + m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[0]); + m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[1]); + m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[2]); + m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[3]); //Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; @@ -1070,7 +1437,7 @@ void ConfigccpmWidget::requestccpmUpdate() { } - +*/ @@ -1091,7 +1458,8 @@ void ConfigccpmWidget::requestccpmUpdate() - + updatingFromHardware=FALSE; + UpdatCCPMUIFromOptions(); ccpmSwashplateUpdate(); } @@ -1107,10 +1475,22 @@ void ConfigccpmWidget::sendccpmUpdate() UAVDataObject* obj; if (SwashLvlConfigurationInProgress)return; - ShowDisclaimer(1); + updatingToHardware=TRUE; + //ShowDisclaimer(1); + + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); + UpdatCCPMOptionsFromUI(); + obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); + field = obj->getField(QString("GUIConfigData")); + field->setValue(GUIConfigData.UAVObject[0],0); + field->setValue(GUIConfigData.UAVObject[1],1); + obj->updated(); + + + obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); Q_ASSERT(obj); @@ -1176,8 +1556,32 @@ void ConfigccpmWidget::sendccpmUpdate() field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i); } + obj->updated(); + + field = obj->getField(QString("Curve2Source")); + + //mapping of collective input to curve 2... + //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5 + //check if we are using throttle or directly from a channel... + if (GUIConfigData.heli.ccpmCollectivePassthroughState) + {// input channel + field->setValue("Accessory0"); obj->updated(); - + + obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); + Q_ASSERT(obj); + field = obj->getField(QString("Accessory0")); + field->setValue(tr( "Channel%1" ).arg(GUIConfigData.heli.CollectiveChannel+1)); + + } + else + {// throttle + + field->setValue("Throttle"); + } + + obj->updated(); + updatingToHardware=FALSE; } @@ -1215,6 +1619,7 @@ void ConfigccpmWidget::showEvent(QShowEvent *event) m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); } + ccpmSwashplateRedraw(); } diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index c55a5b521..d07da53c8 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -34,6 +34,7 @@ #include "uavobject.h" #include #include +#include #include #include @@ -49,6 +50,30 @@ typedef struct { int Min[CCPM_MAX_SWASH_SERVOS]; } SwashplateServoSettingsStruct; +typedef struct { + uint SwasplateType:3; + uint FirstServoIndex:2; + uint CorrectionAngle:9; + uint ccpmCollectivePassthroughState:1; + uint ccpmLinkCyclicState:1; + uint ccpmLinkRollState:1; + uint CollectiveChannel:3;//20bits + uint SliderValue0:7; + uint SliderValue1:7; + uint SliderValue2:7;//41bits + uint ServoIndexW:4; + uint ServoIndexX:4; + uint ServoIndexY:4; + uint ServoIndexZ:4;//57bits + uint padding:7; +} __attribute__((packed)) heliGUISettingsStruct; + +typedef union +{ + uint UAVObject[2];//32bits * 2 + heliGUISettingsStruct heli;//64bits +} GUIConfigDataUnion; + class ConfigccpmWidget: public ConfigTaskWidget { Q_OBJECT @@ -72,6 +97,7 @@ private: QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS]; QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS]; QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS]; + QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS]; QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS]; bool SwashLvlConfigurationInProgress; @@ -82,11 +108,15 @@ private: SwashplateServoSettingsStruct oldSwashLvlConfiguration; SwashplateServoSettingsStruct newSwashLvlConfiguration; + GUIConfigDataUnion GUIConfigData; int MixerChannelData[6]; int ShowDisclaimer(int messageID); virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget + bool updatingFromHardware; + bool updatingToHardware; + private slots: void ccpmSwashplateUpdate(); void ccpmSwashplateRedraw(); @@ -104,6 +134,12 @@ private: void SwashLvlCancelButtonPressed(); void SwashLvlFinishButtonPressed(); + void UpdatCCPMOptionsFromUI(); + void UpdatCCPMUIFromOptions(); + + void SetUIComponentVisibilities(); + void ccpmChannelCheck(); + void enableSwashplateLevellingControl(bool state); void setSwashplateLevel(int percent); void SwashLvlSpinBoxChanged(int value); diff --git a/shared/uavobjectdefinition/systemsettings.xml b/shared/uavobjectdefinition/systemsettings.xml index c8342a753..22c0e8fd4 100644 --- a/shared/uavobjectdefinition/systemsettings.xml +++ b/shared/uavobjectdefinition/systemsettings.xml @@ -1,10 +1,11 @@ - - - Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand - - - - - - - + + + Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand + + + + + + + +