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Code Issues Releases Activity

OP-138 Support for Tricopter with yaw channel in the config gadget. Please please double check the mixer before flying, this is untested!

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2018 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-10-27 21:54:42 +00:00 committed by edouard
parent aada18a0ea
commit e528cc306b
2 changed files with 33 additions and 3 deletions
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2
ground/src/plugins/config/airframe.ui
View File

@ -1017,7 +1017,7 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item>
<widget class="QComboBox" name="comboBox_9">
<widget class="QComboBox" name="triYawChannel">
<property name="enabled">
<bool>false</bool>
</property>

34
ground/src/plugins/config/configairframewidget.cpp
View File

@ -84,6 +84,7 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
m_aircraft->multiMotor6->addItems(channels);
m_aircraft->multiMotor7->addItems(channels);
m_aircraft->multiMotor8->addItems(channels);
m_aircraft->triYawChannel->addItems(channels);
// Setup the Multirotor picture in the Quad settings interface
m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@ -808,6 +809,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
@ -820,7 +822,8 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
} else if (frameType == "Hexa" || frameType == "Hexacopter") {
@ -832,6 +835,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(33);
@ -844,6 +848,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(33);
m_aircraft->mrYawMixLevel->setValue(25);
@ -856,6 +861,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(33);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(33);
@ -869,6 +875,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(25);
m_aircraft->mrPitchMixLevel->setValue(25);
m_aircraft->mrYawMixLevel->setValue(25);
@ -882,6 +889,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
@ -895,6 +903,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(true);
m_aircraft->multiMotor8->setEnabled(true);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
@ -908,6 +917,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(true);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(false);
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(66);
@ -921,6 +931,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
m_aircraft->multiMotor6->setEnabled(false);
m_aircraft->multiMotor7->setEnabled(false);
m_aircraft->multiMotor8->setEnabled(false);
m_aircraft->triYawChannel->setEnabled(true);
}
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
@ -1707,6 +1718,7 @@ void ConfigAirframeWidget::sendAircraftUpdate()
{ 1, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
airframeType = "HexaX";
@ -1741,6 +1753,7 @@ void ConfigAirframeWidget::sendAircraftUpdate()
{ 0.33, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
airframeType = "OctoCoaxP";
@ -1771,6 +1784,7 @@ void ConfigAirframeWidget::sendAircraftUpdate()
{ 0, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
airframeType = "OctoCoaxX";
@ -1801,6 +1815,7 @@ void ConfigAirframeWidget::sendAircraftUpdate()
{ -1, 1, 1}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
airframeType = "HexaCoax";
@ -1830,8 +1845,9 @@ void ConfigAirframeWidget::sendAircraftUpdate()
{ 0, 0, 0}
};
setupMixer(mixer);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter") {
} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
airframeType = "Tri";
if (m_aircraft->multiMotor1->currentText() == "None" ||
m_aircraft->multiMotor2->currentText() == "None" ||
@ -1839,6 +1855,10 @@ void ConfigAirframeWidget::sendAircraftUpdate()
m_aircraft->mrStatusLabel->setText("ERROR: Assign 3 motor channels");
return;
}
if (m_aircraft->triYawChannel->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("Error: Assign a Yaw channel");
return;
}
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
@ -1857,6 +1877,16 @@ void ConfigAirframeWidget::sendAircraftUpdate()
setupMixer(mixer);
// TODO: enable tricopter yaw channel!!
int eng = m_aircraft->triYawChannel->currentIndex()-1;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
int ti = field->getElementNames().indexOf("Yaw");
field->setValue(127,ti);
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
}
// Now reflect those settings in the "Custom" panel as well
updateCustomAirframeUI();