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Code Issues Releases Activity

Replace with new version

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This commit is contained in:
Fredrik Larson 2014-08-27 08:43:28 +10:00
parent a215bca34c
commit dca5a92104
1 changed files with 221 additions and 267 deletions
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488
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
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@ -2,7 +2,7 @@
****************************************************************************** ******************************************************************************
* *
* @file configfixedwidget.cpp * @file configfixedwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup GCSPlugins GCS Plugins * @addtogroup GCSPlugins GCS Plugins
* @{ * @{
* @addtogroup ConfigPlugin Config Plugin * @addtogroup ConfigPlugin Config Plugin
@ -36,40 +36,10 @@
#include <QTextEdit> #include <QTextEdit>
#include <QVBoxLayout> #include <QVBoxLayout>
#include <QPushButton> #include <QPushButton>
#include <QComboBox>
#include <QBrush> #include <QBrush>
#include <math.h> #include <math.h>
#include <QMessageBox> #include <QMessageBox>
const QString ConfigFixedWingWidget::CHANNELBOXNAME = QString("fixedWingChannelBox");
ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_FixedWingConfigWidget()),
plane(NULL)
{
m_aircraft->setupUi(this);
plane = new QGraphicsSvgItem();
populateChannelComboBoxes();
QStringList fixedWingTypes;
fixedWingTypes << "Aileron" << "Elevon";
m_aircraft->fixedWingType->addItems(fixedWingTypes);
// Set default model to "Aileron"
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Aileron"));
setupUI(m_aircraft->fixedWingType->currentText());
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString)));
updateEnableControls();
}
ConfigFixedWingWidget::~ConfigFixedWingWidget()
{
delete m_aircraft;
}
QStringList ConfigFixedWingWidget::getChannelDescriptions() QStringList ConfigFixedWingWidget::getChannelDescriptions()
{ {
// init a channel_numelem list of channel desc defaults // init a channel_numelem list of channel desc defaults
@ -81,65 +51,72 @@ QStringList ConfigFixedWingWidget::getChannelDescriptions()
// get the gui config data // get the gui config data
GUIConfigDataUnion configData = getConfigData(); GUIConfigDataUnion configData = getConfigData();
fixedGUISettingsStruct fixed = configData.fixedwing;
if (fixed.FixedWingThrottle > 0 && fixed.FixedWingThrottle <= ConfigFixedWingWidget::CHANNEL_NUMELEM) { if (configData.fixedwing.FixedWingPitch1 > 0) {
channelDesc[fixed.FixedWingThrottle - 1] = QString("WingThrottle"); channelDesc[configData.fixedwing.FixedWingPitch1 - 1] = QString("FixedWingPitch1");
} }
if (fixed.FixedWingPitch1 > 0 && fixed.FixedWingPitch1 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) { if (configData.fixedwing.FixedWingPitch2 > 0) {
channelDesc[fixed.FixedWingPitch1 - 1] = QString("FixedWingPitch1"); channelDesc[configData.fixedwing.FixedWingPitch2 - 1] = QString("FixedWingPitch2");
} }
if (fixed.FixedWingPitch2 > 0 && fixed.FixedWingPitch2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) { if (configData.fixedwing.FixedWingRoll1 > 0) {
channelDesc[fixed.FixedWingPitch2 - 1] = QString("FixedWingPitch2"); channelDesc[configData.fixedwing.FixedWingRoll1 - 1] = QString("FixedWingRoll1");
} }
if (fixed.FixedWingRoll1 > 0 && fixed.FixedWingRoll1 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) { if (configData.fixedwing.FixedWingRoll2 > 0) {
channelDesc[fixed.FixedWingRoll1 - 1] = QString("FixedWingRoll1"); channelDesc[configData.fixedwing.FixedWingRoll2 - 1] = QString("FixedWingRoll2");
} }
if (fixed.FixedWingRoll2 > 0 && fixed.FixedWingRoll2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) { if (configData.fixedwing.FixedWingYaw1 > 0) {
channelDesc[fixed.FixedWingRoll2 - 1] = QString("FixedWingRoll2"); channelDesc[configData.fixedwing.FixedWingYaw1 - 1] = QString("FixedWingYaw1");
} }
if (fixed.FixedWingYaw1 > 0 && fixed.FixedWingYaw1 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) { if (configData.fixedwing.FixedWingYaw2 > 0) {
channelDesc[fixed.FixedWingYaw1 - 1] = QString("FixedWingYaw1"); channelDesc[configData.fixedwing.FixedWingYaw2 - 1] = QString("FixedWingYaw2");
} }
if (fixed.FixedWingYaw2 > 0 && fixed.FixedWingYaw2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) { if (configData.fixedwing.FixedWingThrottle > 0) {
channelDesc[fixed.FixedWingYaw2 - 1] = QString("FixedWingYaw2"); channelDesc[configData.fixedwing.FixedWingThrottle - 1] = QString("FixedWingThrottle");
} }
return channelDesc; return channelDesc;
} }
void ConfigFixedWingWidget::resetChannelboxesAndSliders() ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_FixedWingConfigWidget())
{ {
m_aircraft->fwRudder1ChannelBox->setEnabled(false); m_aircraft->setupUi(this);
m_aircraft->fwRudder2ChannelBox->setEnabled(false);
m_aircraft->fwElevator1ChannelBox->setEnabled(false); planeimg = new QGraphicsSvgItem();
m_aircraft->fwElevator2ChannelBox->setEnabled(false);
m_aircraft->fwAileron1ChannelBox->setEnabled(false); populateChannelComboBoxes();
m_aircraft->fwAileron2ChannelBox->setEnabled(false);
m_aircraft->elevonSlider1->setEnabled(false); QStringList fixedWingTypes;
m_aircraft->elevonSlider2->setEnabled(false); fixedWingTypes << "Aileron" << "Elevon" << "Vtail";
m_aircraft->fixedWingType->addItems(fixedWingTypes);
// Set default model to "Aileron"
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString)));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Aileron"));
setupUI(m_aircraft->fixedWingType->currentText());
} }
ConfigFixedWingWidget::~ConfigFixedWingWidget()
{
delete m_aircraft;
}
/**
Virtual function to setup the UI
*/
void ConfigFixedWingWidget::setupUI(QString frameType) void ConfigFixedWingWidget::setupUI(QString frameType)
{ {
Q_ASSERT(m_aircraft); Q_ASSERT(m_aircraft);
Q_ASSERT(plane);
// This had to be moved from ConfigFixedWingWidget() here since m_aircraft->fixedWingType->currentText()
// did not seem to work properly to choose alternate .svg files.
m_aircraft->planeShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); m_aircraft->planeShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
m_aircraft->planeShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); m_aircraft->planeShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer(); QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/fixedwing-shapes.svg")); renderer->load(QString(":/configgadget/images/fixedwing-shapes.svg"));
plane = new QGraphicsSvgItem(); planeimg = new QGraphicsSvgItem();
plane->setSharedRenderer(renderer); planeimg->setSharedRenderer(renderer);
qDebug() << "Current Aircraft type: \n" << m_aircraft->fixedWingType->currentText();
if (frameType == "FixedWing" || frameType == "Aileron") { if (frameType == "FixedWing" || frameType == "Aileron") {
plane->setElementId("aileron"); planeimg->setElementId("aileron");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Aileron")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Aileron"));
resetChannelboxesAndSliders();
m_aircraft->fwRudder1ChannelBox->setEnabled(true); m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true); m_aircraft->fwRudder2ChannelBox->setEnabled(true);
m_aircraft->fwElevator1ChannelBox->setEnabled(true); m_aircraft->fwElevator1ChannelBox->setEnabled(true);
@ -151,58 +128,54 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->fwAileron2Label->setText("Aileron 2"); m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->fwElevator1Label->setText("Elevator 1"); m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2"); m_aircraft->fwElevator2Label->setText("Elevator 2");
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
// do nothing for now m_aircraft->elevonSlider1->setEnabled(false);
m_aircraft->elevonSlider2->setEnabled(false);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") { } else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
plane->setElementId("elevon"); planeimg->setElementId("elevon");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon")); setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
resetChannelboxesAndSliders(); m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2");
m_aircraft->fwElevator1Label->setText("Elevon 1"); m_aircraft->fwElevator1ChannelBox->setEnabled(false);
m_aircraft->fwElevator1ChannelBox->setEnabled(true); m_aircraft->fwElevator1ChannelBox->setCurrentIndex(0);
m_aircraft->fwElevator2ChannelBox->setEnabled(false);
m_aircraft->fwElevator2Label->setText("Elevon 2"); m_aircraft->fwElevator2ChannelBox->setCurrentIndex(0);
m_aircraft->fwElevator2ChannelBox->setEnabled(true); m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true);
m_aircraft->fwAileron1Label->setText("Aileron 1");
m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonLabel1->setText("Roll"); m_aircraft->elevonLabel1->setText("Roll");
m_aircraft->elevonLabel2->setText("Pitch"); m_aircraft->elevonLabel2->setText("Pitch");
m_aircraft->elevonSlider1->setEnabled(true); m_aircraft->elevonSlider1->setEnabled(true);
m_aircraft->elevonSlider2->setEnabled(true); m_aircraft->elevonSlider2->setEnabled(true);
} } else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
planeimg->setElementId("vtail");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
m_aircraft->fwRudder1ChannelBox->setEnabled(false);
m_aircraft->fwRudder1ChannelBox->setCurrentIndex(0);
m_aircraft->fwRudder2ChannelBox->setEnabled(false);
m_aircraft->fwRudder2ChannelBox->setCurrentIndex(0);
m_aircraft->fwElevator1Label->setText("Vtail 1");
m_aircraft->fwElevator1ChannelBox->setEnabled(true);
m_aircraft->fwElevator2Label->setText("Vtail 2");
m_aircraft->fwElevator2ChannelBox->setEnabled(true);
m_aircraft->fwAileron1Label->setText("Aileron 1");
m_aircraft->fwAileron2Label->setText("Aileron 2");
m_aircraft->elevonLabel1->setText("Rudder");
m_aircraft->elevonLabel2->setText("Pitch");
m_aircraft->elevonSlider1->setEnabled(true);
m_aircraft->elevonSlider2->setEnabled(true);
}
QGraphicsScene *scene = new QGraphicsScene(); QGraphicsScene *scene = new QGraphicsScene();
scene->addItem(plane); scene->addItem(planeimg);
scene->setSceneRect(plane->boundingRect()); scene->setSceneRect(planeimg->boundingRect());
m_aircraft->planeShape->setScene(scene); m_aircraft->planeShape->setScene(scene);
setupEnabledControls(frameType);
// Draw the appropriate airframe
updateAirframe(frameType);
}
void ConfigFixedWingWidget::setupEnabledControls(QString frameType)
{
// disable all motor channel boxes
for (int i = 1; i <= 8; i++) {
// do it manually so we can turn off any error decorations
QComboBox *combobox = this->findChild<QComboBox *>("fixedWingChannelBox" + QString::number(i));
if (combobox) {
combobox->setEnabled(false);
combobox->setItemData(0, 0, Qt::DecorationRole);
}
}
if (frameType == "Vtail" || frameType == "vtail") {
// enableComboBoxes(this, CHANNELBOXNAME, 3, true);
} else if (frameType == "Elevon" || frameType == "Elevon") {
enableComboBoxes(this, CHANNELBOXNAME, 3, true);
} else if (frameType == "aileron" || frameType == "Aileron") {
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
}
} }
void ConfigFixedWingWidget::registerWidgets(ConfigTaskWidget &parent) void ConfigFixedWingWidget::registerWidgets(ConfigTaskWidget &parent)
@ -266,11 +239,13 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->fwAileron2ChannelBox, fixed.FixedWingRoll2); setComboCurrentIndex(m_aircraft->fwAileron2ChannelBox, fixed.FixedWingRoll2);
setComboCurrentIndex(m_aircraft->fwElevator1ChannelBox, fixed.FixedWingPitch1); setComboCurrentIndex(m_aircraft->fwElevator1ChannelBox, fixed.FixedWingPitch1);
setComboCurrentIndex(m_aircraft->fwElevator2ChannelBox, fixed.FixedWingPitch2); setComboCurrentIndex(m_aircraft->fwElevator2ChannelBox, fixed.FixedWingPitch2);
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
if (frameType == "FixedWingElevon") { if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting // If the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1) // Find the channel number for Elevon1 (FixedWingRoll1)
int channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1; int channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) { if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check. // If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider1->setValue( m_aircraft->elevonSlider1->setValue(
@ -278,111 +253,49 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
m_aircraft->elevonSlider2->setValue( m_aircraft->elevonSlider2->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100); getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
} }
} else if (frameType == "FixedWingVtail") {
int channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider1->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW) * 100);
m_aircraft->elevonSlider2->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
}
} }
updateAirframe(frameType);
} }
/** /**
Helper function to update the UI widget objects Virtual function to update the UI widget objects
*/ */
QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets() QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
{ {
QString airframeType = "FixedWing";
// Save the curve (common to all Fixed wing frames)
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings"))); UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer); Q_ASSERT(mixer);
// Curve is also common to all quads:
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
QString airframeType;
QList<QString> motor_servo_List;
if (m_aircraft->fixedWingType->currentText() == "Aileron") {
airframeType = "FixedWing";
setupFrameFixedWing(airframeType);
motor_servo_List << "FixedWingThrottle" << "FixedWingPitch1" << "FixedWingPitch2" << "FixedWingRoll1" << "FixedWingRoll2" << "FixedWingYaw1" << "FixedWingYaw2";
setupMotors(motor_servo_List);
GUIConfigDataUnion config = getConfigData();
setConfigData(config);
m_aircraft->fwStatusLabel->setText(tr("Configuration OK"));
} else if (m_aircraft->fixedWingType->currentText() == "elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon(airframeType);
motor_servo_List << "FixedWingThrottle" << "FixedWingRoll1" << "FixedWingRoll2";
setupMotors(motor_servo_List);
GUIConfigDataUnion config = getConfigData();
setConfigData(config);
// Elevon Layout:
// pitch roll yaw
double mixerMatrix[8][3] = {
{ 0, 0, 0 },
{ 1, -1, 0 },
{ -1, 1, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 }
};
setupFixedWingElevonMixer(mixerMatrix);
m_aircraft->fwStatusLabel->setText(tr("Configuration OK"));
}
// Remove Feed Forward, it is pointless on a plane: // Remove Feed Forward, it is pointless on a plane:
setMixerValue(mixer, "FeedForward", 0.0); setMixerValue(mixer, "FeedForward", 0.0);
return airframeType; // Set the throttle curve
} setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
void ConfigFixedWingWidget::setupMotors(QList<QString> motorList) // All airframe types must start with "FixedWing"
{ if (m_aircraft->fixedWingType->currentText() == "Aileron") {
QList<QComboBox *> mmList; airframeType = "FixedWing";
mmList << m_aircraft->fwEngineChannelBox << m_aircraft->fwAileron1ChannelBox setupFrameFixedWing(airframeType);
<< m_aircraft->fwAileron2ChannelBox << m_aircraft->fwElevator1ChannelBox } else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
<< m_aircraft->fwElevator2ChannelBox << m_aircraft->fwRudder1ChannelBox airframeType = "FixedWingElevon";
<< m_aircraft->fwRudder2ChannelBox; setupFrameElevon(airframeType);
} else { // "Vtail"
GUIConfigDataUnion configData = getConfigData(); airframeType = "FixedWingVtail";
resetActuators(&configData); setupFrameVtail(airframeType);
foreach(QString motor, motorList) {
int index = mmList.takeFirst()->currentIndex();
if (motor == QString("FixedWingThrottle")) {
configData.fixedwing.FixedWingThrottle = index;
} else if (motor == QString("FixedWingPitch1")) {
configData.fixedwing.FixedWingPitch1 = index;
} else if (motor == QString("FixedWingPitch2")) {
configData.fixedwing.FixedWingPitch2 = index;
} else if (motor == QString("FixedWingRoll1")) {
configData.fixedwing.FixedWingRoll1 = index;
} else if (motor == QString("FixedWingRoll2")) {
configData.fixedwing.FixedWingRoll2 = index;
} else if (motor == QString("FixedWingYaw1")) {
configData.fixedwing.FixedWingYaw1 = index;
} else if (motor == QString("FixedWingYaw2")) {
configData.fixedwing.FixedWingYaw1 = index;
}
} }
setConfigData(configData);
}
void ConfigFixedWingWidget::updateAirframe(QString frameType) return airframeType;
{
qDebug() << "ConfigFixedWingWidget::updateAirframe - frame type" << frameType;
// this is not doing anything right now
m_aircraft->planeShape->setSceneRect(plane->boundingRect());
m_aircraft->planeShape->fitInView(plane, Qt::KeepAspectRatio);
} }
/** /**
@ -409,7 +322,6 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex(); config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex(); config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config); setConfigData(config);
@ -475,6 +387,76 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
GUIConfigDataUnion config = getConfigData(); GUIConfigDataUnion config = getConfigData();
resetActuators(&config); resetActuators(&config);
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
double value;
// motor
int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// rudders
channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->fwRudder2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// ailerons
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, value);
channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -value);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup VTail
*/
bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex(); config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex(); config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex(); config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
@ -499,6 +481,15 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR); setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127); setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// rudders
channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->fwRudder2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// ailerons // ailerons
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1; channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) { if (channel > -1) {
@ -510,64 +501,34 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -127); setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -127);
} }
// elevon // vtail
channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1; channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) { if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO); setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 127); double value = (double)(m_aircraft->elevonSlider2->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, value);
channel = m_aircraft->fwElevator2ChannelBox->currentIndex() - 1; channel = m_aircraft->fwElevator2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO); setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, -127); value = (double)(m_aircraft->elevonSlider2->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -value);
} }
m_aircraft->fwStatusLabel->setText("Mixer generated"); m_aircraft->fwStatusLabel->setText("Mixer generated");
return true; return true;
} }
/** void ConfigFixedWingWidget::enableControls(bool enable)
Helper function: setupElevonServo
*/
void ConfigFixedWingWidget::setupElevonServo(int channel, double pitch, double roll)
{ {
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings"))); ConfigTaskWidget::enableControls(enable);
Q_ASSERT(mixer); if (enable) {
setupUI(m_aircraft->fixedWingType->currentText());
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll * 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch * 127);
}
/**
This function sets up the elevon fixed wing mixer values.
*/
bool ConfigFixedWingWidget::setupFixedWingElevonMixer(double mixerFactors[8][3])
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->elevonSlider1->value() / 100.0;
double rFactor = (double)m_aircraft->elevonSlider2->value() / 100.0;
QList<QComboBox *> mmList;
mmList << m_aircraft->fwEngineChannelBox << m_aircraft->fwAileron1ChannelBox
<< m_aircraft->fwAileron2ChannelBox << m_aircraft->fwElevator1ChannelBox
<< m_aircraft->fwElevator2ChannelBox;
for (int i = 0; i < 8; i++) {
if (mmList.at(i)->isEnabled()) {
int channel = mmList.at(i)->currentIndex() - 1;
if (channel > -1) {
setupElevonServo(channel, mixerFactors[i][0] * pFactor, rFactor * mixerFactors[i][1]);
}
}
} }
return true;
} }
/** /**
@ -610,7 +571,27 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
m_aircraft->fwRudder1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes m_aircraft->fwRudder1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
} }
} else if (airframeType == "FixedWingElevon") { } else if (airframeType == "FixedWingElevon") {
/* if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
if (m_aircraft->fwAileron1ChannelBox->currentText() == "None") {
m_aircraft->fwAileron1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
if (m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
m_aircraft->fwAileron2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwAileron2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
} else if (airframeType == "FixedWingVtail") {
if (m_aircraft->fwEngineChannelBox->currentText() == "None") { if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true; error = true;
@ -629,9 +610,8 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
m_aircraft->fwElevator2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes m_aircraft->fwElevator2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true; error = true;
} else { } else {
m_aircraft->fwElevator2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes m_aircraft->fwElevator2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
} }
*/
} }
if (error) { if (error) {
@ -640,29 +620,3 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
return error; return error;
} }
void ConfigFixedWingWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
Q_ASSERT(plane);
m_aircraft->planeShape->fitInView(plane, Qt::KeepAspectRatio);
}
/**
Resize the GUI contents when the user changes the window size
*/
void ConfigFixedWingWidget::resizeEvent(QResizeEvent *event)
{
Q_UNUSED(event);
Q_ASSERT(plane);
m_aircraft->planeShape->fitInView(plane, Qt::KeepAspectRatio);
}
void ConfigFixedWingWidget::enableControls(bool enable)
{
ConfigTaskWidget::enableControls(enable);
if (enable) {
setupEnabledControls(m_aircraft->fixedWingType->currentText());
}
}