mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Merge branch 'thread/OP-1590_PID_Bank_Management' into rel-14.10
This commit is contained in:
m_thread
commit
ebbbf0aabf
@ -52,14 +52,14 @@
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#include "qwt/src/qwt_scale_widget.h"
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ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent),
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boardModel(0), m_pidBankCount(0), m_currentPIDBank(0)
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boardModel(0), m_stabSettingsBankCount(0), m_currentStabSettingsBank(0)
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{
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ui = new Ui_StabilizationWidget();
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ui->setupUi(this);
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setupExpoPlot();
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setupPIDBanksGUI();
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setupStabBanksGUI();
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
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@ -141,68 +141,69 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
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updateEnableControls();
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}
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void ConfigStabilizationWidget::setupPIDBanksGUI()
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void ConfigStabilizationWidget::setupStabBanksGUI()
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{
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StabilizationSettings *stabSettings = qobject_cast<StabilizationSettings *>(getObject("StabilizationSettings"));
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Q_ASSERT(stabSettings);
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m_pidBankCount = stabSettings->getField("FlightModeMap")->getOptions().count();
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m_stabSettingsBankCount = stabSettings->getField("FlightModeMap")->getOptions().count();
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// Set up fake tab widget stuff for pid banks support
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m_pidTabBars.append(ui->basicPIDBankTabBar);
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m_pidTabBars.append(ui->advancedPIDBankTabBar);
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m_stabTabBars.append(ui->basicPIDBankTabBar);
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m_stabTabBars.append(ui->advancedPIDBankTabBar);
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m_defaultPIDMenuAction = new QAction(QIcon(":configgadget/images/gear.png"), QString(), this);
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QAction *restoreAllAction = new QAction(tr("Restore all to saved"), this);
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connect(restoreAllAction, SIGNAL(triggered()), this, SLOT(restoreAllPIDBanks()));
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QAction *resetAllAction = new QAction(tr("Reset all to default"), this);
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connect(resetAllAction, SIGNAL(triggered()), this, SLOT(resetAllPIDBanks()));
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QAction *restoreCurrentAction = new QAction(tr("Restore to saved"), this);
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QAction *defaultStabMenuAction = new QAction(QIcon(":configgadget/images/gear.png"), QString(), this);
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QAction *restoreAllAction = new QAction(tr("all to saved"), this);
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connect(restoreAllAction, SIGNAL(triggered()), this, SLOT(restoreAllStabBanks()));
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QAction *resetAllAction = new QAction(tr("all to default"), this);
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connect(resetAllAction, SIGNAL(triggered()), this, SLOT(resetAllStabBanks()));
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QAction *restoreCurrentAction = new QAction(tr("to saved"), this);
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connect(restoreCurrentAction, SIGNAL(triggered()), this, SLOT(restoreCurrentAction()));
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QAction *resetCurrentAction = new QAction(tr("Reset to default"), this);
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connect(resetCurrentAction, SIGNAL(triggered()), this, SLOT(resetCurrentPIDBank()));
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QAction *copyCurrentAction = new QAction(tr("Copy to others"), this);
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connect(copyCurrentAction, SIGNAL(triggered()), this, SLOT(copyCurrentPIDBank()));
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connect(&m_PIDCopyFromSignalMapper, SIGNAL(mapped(int)), this, SLOT(copyFromBankToCurrent(int)));
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connect(&m_PIDCopyToSignalMapper, SIGNAL(mapped(int)), this, SLOT(copyToBankFromCurrent(int)));
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connect(&m_PIDSwapSignalMapper, SIGNAL(mapped(int)), this, SLOT(swapBankAndCurrent(int)));
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QAction *resetCurrentAction = new QAction(tr("to default"), this);
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connect(resetCurrentAction, SIGNAL(triggered()), this, SLOT(resetCurrentStabBank()));
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QAction *copyCurrentAction = new QAction(tr("to others"), this);
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connect(copyCurrentAction, SIGNAL(triggered()), this, SLOT(copyCurrentStabBank()));
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connect(&m_stabSettingsCopyFromSignalMapper, SIGNAL(mapped(int)), this, SLOT(copyFromBankToCurrent(int)));
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connect(&m_stabSettingsCopyToSignalMapper, SIGNAL(mapped(int)), this, SLOT(copyToBankFromCurrent(int)));
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connect(&m_stabSettingsSwapSignalMapper, SIGNAL(mapped(int)), this, SLOT(swapBankAndCurrent(int)));
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foreach(QTabBar * tabBar, m_pidTabBars) {
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for (int i = 0; i < m_pidBankCount; i++) {
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foreach(QTabBar * tabBar, m_stabTabBars) {
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for (int i = 0; i < m_stabSettingsBankCount; i++) {
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tabBar->addTab(tr("Settings Bank %1").arg(i + 1));
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tabBar->setTabData(i, QString("StabilizationSettingsBank%1").arg(i + 1));
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QToolButton *tabButton = new QToolButton();
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connect(this, SIGNAL(enableControlsChanged(bool)), tabButton, SLOT(setEnabled(bool)));
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tabButton->setDefaultAction(m_defaultPIDMenuAction);
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tabButton->setDefaultAction(defaultStabMenuAction);
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tabButton->setAutoRaise(true);
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tabButton->setPopupMode(QToolButton::InstantPopup);
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tabButton->setToolTip(tr("The actions in this menu acts on all fields in the settings banks,\n"
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"not only the ones visible on this tab or in this GUI."));
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QMenu *tabMenu = new QMenu();
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tabButton->setToolTip(tr("The functions in this menu effect all fields in the settings banks,\n"
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"not only the ones visible on screen."));
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QMenu *tabMenu = new QMenu();
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QMenu *restoreMenu = new QMenu(tr("Restore"));
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QMenu *resetMenu = new QMenu(tr("Reset"));
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QMenu *copyMenu = new QMenu(tr("Copy"));
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QMenu *swapMenu = new QMenu(tr("Swap"));
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QMenu *resetMenu = new QMenu(tr("Reset"));
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QMenu *copyMenu = new QMenu(tr("Copy"));
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QMenu *swapMenu = new QMenu(tr("Swap"));
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QAction *menuAction;
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for (int j = 0; j < m_pidBankCount; j++) {
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for (int j = 0; j < m_stabSettingsBankCount; j++) {
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if (j == i) {
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restoreMenu->addAction(restoreCurrentAction);
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resetMenu->addAction(resetCurrentAction);
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copyMenu->addAction(copyCurrentAction);
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} else {
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menuAction = new QAction(tr("Copy from %1").arg(j + 1), this);
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connect(menuAction, SIGNAL(triggered()), &m_PIDCopyFromSignalMapper, SLOT(map()));
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m_PIDCopyFromSignalMapper.setMapping(menuAction, j);
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menuAction = new QAction(tr("from %1").arg(j + 1), this);
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connect(menuAction, SIGNAL(triggered()), &m_stabSettingsCopyFromSignalMapper, SLOT(map()));
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m_stabSettingsCopyFromSignalMapper.setMapping(menuAction, j);
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copyMenu->addAction(menuAction);
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menuAction = new QAction(tr("Copy to %1").arg(j + 1), this);
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connect(menuAction, SIGNAL(triggered()), &m_PIDCopyToSignalMapper, SLOT(map()));
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m_PIDCopyToSignalMapper.setMapping(menuAction, j);
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menuAction = new QAction(tr("to %1").arg(j + 1), this);
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connect(menuAction, SIGNAL(triggered()), &m_stabSettingsCopyToSignalMapper, SLOT(map()));
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m_stabSettingsCopyToSignalMapper.setMapping(menuAction, j);
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copyMenu->addAction(menuAction);
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menuAction = new QAction(tr("Swap with %1").arg(j + 1), this);
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connect(menuAction, SIGNAL(triggered()), &m_PIDSwapSignalMapper, SLOT(map()));
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m_PIDSwapSignalMapper.setMapping(menuAction, j);
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menuAction = new QAction(tr("with %1").arg(j + 1), this);
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connect(menuAction, SIGNAL(triggered()), &m_stabSettingsSwapSignalMapper, SLOT(map()));
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m_stabSettingsSwapSignalMapper.setMapping(menuAction, j);
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swapMenu->addAction(menuAction);
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}
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}
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@ -216,14 +217,14 @@ void ConfigStabilizationWidget::setupPIDBanksGUI()
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tabBar->setTabButton(i, QTabBar::RightSide, tabButton);
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}
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tabBar->setExpanding(false);
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connect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(pidBankChanged(int)));
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connect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(stabBankChanged(int)));
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}
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for (int i = 0; i < m_pidBankCount; i++) {
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for (int i = 0; i < m_stabSettingsBankCount; i++) {
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if (i > 0) {
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m_stabilizationObjectsString.append(",");
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}
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m_stabilizationObjectsString.append(m_pidTabBars.at(0)->tabData(i).toString());
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m_stabilizationObjectsString.append(m_stabTabBars.at(0)->tabData(i).toString());
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}
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}
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@ -235,6 +236,7 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget()
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void ConfigStabilizationWidget::refreshWidgetsValues(UAVObject *o)
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{
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ConfigTaskWidget::refreshWidgetsValues(o);
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updateThrottleCurveFromObject();
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ui->basicResponsivenessCheckBox->setChecked(ui->rateRollKp_3->value() == ui->ratePitchKp_4->value() &&
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@ -250,7 +252,7 @@ void ConfigStabilizationWidget::updateObjectsFromWidgets()
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void ConfigStabilizationWidget::updateThrottleCurveFromObject()
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{
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bool dirty = isDirty();
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UAVObject *stabBank = getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
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UAVObject *stabBank = getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));
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Q_ASSERT(stabBank);
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@ -275,7 +277,7 @@ void ConfigStabilizationWidget::updateThrottleCurveFromObject()
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void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
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{
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UAVObject *stabBank = getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
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UAVObject *stabBank = getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));
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Q_ASSERT(stabBank);
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@ -345,7 +347,7 @@ void ConfigStabilizationWidget::setupExpoPlot()
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void ConfigStabilizationWidget::resetThrottleCurveToDefault()
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{
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UAVDataObject *defaultStabBank = (UAVDataObject *)getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
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UAVDataObject *defaultStabBank = (UAVDataObject *)getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));
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Q_ASSERT(defaultStabBank);
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defaultStabBank = defaultStabBank->dirtyClone();
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@ -406,44 +408,47 @@ void ConfigStabilizationWidget::replotExpoYaw(int value)
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replotExpo(value, m_expoPlotCurveYaw);
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}
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void ConfigStabilizationWidget::restoreAllPIDBanks()
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void ConfigStabilizationWidget::restoreAllStabBanks()
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{
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qDebug() << "restoreAllPIDBanks";
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for (int i = 0; i < m_pidBankCount; i++) {
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for (int i = 0; i < m_stabSettingsBankCount; i++) {
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restoreStabBank(i);
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}
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}
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void ConfigStabilizationWidget::resetAllPIDBanks()
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void ConfigStabilizationWidget::resetAllStabBanks()
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{
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qDebug() << "resetAllPIDBanks";
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for (int i = 0; i < m_pidBankCount; i++) {
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for (int i = 0; i < m_stabSettingsBankCount; i++) {
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resetStabBank(i);
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}
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}
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void ConfigStabilizationWidget::restoreCurrentAction()
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{
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qDebug() << "restoreCurrentAction";
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restoreStabBank(m_currentPIDBank);
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restoreStabBank(m_currentStabSettingsBank);
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}
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UAVObject *ConfigStabilizationWidget::getStabBankObject(int bank)
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{
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return getObject(QString("StabilizationSettingsBank%1").arg(bank + 1));
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}
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void ConfigStabilizationWidget::resetStabBank(int bank)
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{
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UAVDataObject *stabBankObject =
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dynamic_cast<UAVDataObject *>(getObject(QString("StabilizationSettingsBank%1").arg(bank + 1)));
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dynamic_cast<UAVDataObject *>(getStabBankObject(bank));
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if (stabBankObject) {
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UAVDataObject * defaultStabBankObject = stabBankObject->dirtyClone();
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UAVDataObject *defaultStabBankObject = stabBankObject->dirtyClone();
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quint8 data[stabBankObject->getNumBytes()];
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defaultStabBankObject->pack(data);
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stabBankObject->unpack(data);
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}
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}
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}
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void ConfigStabilizationWidget::restoreStabBank(int bank)
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{
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UAVObject *stabBankObject =
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getObject(QString("StabilizationSettingsBank%1").arg(bank + 1));
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UAVObject *stabBankObject = getStabBankObject(bank);
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if (stabBankObject) {
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ObjectPersistence *objectPersistenceObject = ObjectPersistence::GetInstance(getObjectManager());
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QTimer updateTimer(this);
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@ -467,24 +472,21 @@ void ConfigStabilizationWidget::restoreStabBank(int bank)
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}
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}
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void ConfigStabilizationWidget::resetCurrentPIDBank()
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void ConfigStabilizationWidget::resetCurrentStabBank()
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{
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qDebug() << "resetCurrentPIDBank";
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resetStabBank(m_currentPIDBank);
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resetStabBank(m_currentStabSettingsBank);
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}
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void ConfigStabilizationWidget::copyCurrentPIDBank()
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void ConfigStabilizationWidget::copyCurrentStabBank()
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{
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qDebug() << "copyCurrentPIDBank";
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UAVObject *fromStabBankObject =
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getObject(QString("StabilizationSettingsBank%1").arg(m_currentPIDBank + 1));
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UAVObject *fromStabBankObject = getStabBankObject(m_currentStabSettingsBank);
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if (fromStabBankObject) {
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quint8 fromStabBankObjectData[fromStabBankObject->getNumBytes()];
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fromStabBankObject->pack(fromStabBankObjectData);
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for (int i = 0; i < m_pidBankCount; i++) {
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if (i != m_currentPIDBank) {
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UAVObject *toStabBankObject =
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getObject(QString("StabilizationSettingsBank%1").arg(i + 1));
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for (int i = 0; i < m_stabSettingsBankCount; i++) {
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if (i != m_currentStabSettingsBank) {
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UAVObject *toStabBankObject = getStabBankObject(i);
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if (toStabBankObject) {
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toStabBankObject->unpack(fromStabBankObjectData);
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}
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@ -493,13 +495,11 @@ void ConfigStabilizationWidget::copyCurrentPIDBank()
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}
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}
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void ConfigStabilizationWidget::copyFromBankToCurrent(int bank)
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void ConfigStabilizationWidget::copyFromBankToBank(int fromBank, int toBank)
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{
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qDebug() << "copyFromBankToCurrent" << bank;
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UAVObject *fromStabBankObject =
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getObject(QString("StabilizationSettingsBank%1").arg(bank + 1));
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UAVObject *toStabBankObject =
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getObject(QString("StabilizationSettingsBank%1").arg(m_currentPIDBank + 1));
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UAVObject *fromStabBankObject = getStabBankObject(fromBank);
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UAVObject *toStabBankObject = getStabBankObject(toBank);
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if (fromStabBankObject && toStabBankObject) {
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quint8 data[fromStabBankObject->getNumBytes()];
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fromStabBankObject->pack(data);
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@ -507,27 +507,21 @@ void ConfigStabilizationWidget::copyFromBankToCurrent(int bank)
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}
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}
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void ConfigStabilizationWidget::copyFromBankToCurrent(int bank)
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{
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copyFromBankToBank(bank, m_currentStabSettingsBank);
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}
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void ConfigStabilizationWidget::copyToBankFromCurrent(int bank)
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{
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qDebug() << "copyToBankFromCurrent" << bank;
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UAVObject *fromStabBankObject =
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getObject(QString("StabilizationSettingsBank%1").arg(m_currentPIDBank + 1));
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UAVObject *toStabBankObject =
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getObject(QString("StabilizationSettingsBank%1").arg(bank + 1));
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if (fromStabBankObject && toStabBankObject) {
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quint8 data[fromStabBankObject->getNumBytes()];
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fromStabBankObject->pack(data);
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toStabBankObject->unpack(data);
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}
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copyFromBankToBank(m_currentStabSettingsBank, bank);
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}
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void ConfigStabilizationWidget::swapBankAndCurrent(int bank)
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{
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qDebug() << "swapBankAndCurrent" << bank;
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UAVObject *fromStabBankObject =
|
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getObject(QString("StabilizationSettingsBank%1").arg(m_currentPIDBank + 1));
|
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UAVObject *toStabBankObject =
|
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getObject(QString("StabilizationSettingsBank%1").arg(bank + 1));
|
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UAVObject *fromStabBankObject = getStabBankObject(m_currentStabSettingsBank);
|
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UAVObject *toStabBankObject = getStabBankObject(bank);
|
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|
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if (fromStabBankObject && toStabBankObject) {
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quint8 fromStabBankObjectData[fromStabBankObject->getNumBytes()];
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quint8 toStabBankObjectData[toStabBankObject->getNumBytes()];
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@ -627,24 +621,24 @@ void ConfigStabilizationWidget::onBoardConnected()
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ui->AltitudeHold->setEnabled((boardModel & 0xff00) == 0x0900);
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}
|
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|
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void ConfigStabilizationWidget::pidBankChanged(int index)
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void ConfigStabilizationWidget::stabBankChanged(int index)
|
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{
|
||||
bool dirty = isDirty();
|
||||
|
||||
updateObjectFromThrottleCurve();
|
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foreach(QTabBar * tabBar, m_pidTabBars) {
|
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disconnect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(pidBankChanged(int)));
|
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foreach(QTabBar * tabBar, m_stabTabBars) {
|
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disconnect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(stabBankChanged(int)));
|
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tabBar->setCurrentIndex(index);
|
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connect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(pidBankChanged(int)));
|
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connect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(stabBankChanged(int)));
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||||
}
|
||||
|
||||
for (int i = 0; i < m_pidTabBars.at(0)->count(); i++) {
|
||||
setWidgetBindingObjectEnabled(m_pidTabBars.at(0)->tabData(i).toString(), false);
|
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for (int i = 0; i < m_stabTabBars.at(0)->count(); i++) {
|
||||
setWidgetBindingObjectEnabled(m_stabTabBars.at(0)->tabData(i).toString(), false);
|
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}
|
||||
|
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setWidgetBindingObjectEnabled(m_pidTabBars.at(0)->tabData(index).toString(), true);
|
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setWidgetBindingObjectEnabled(m_stabTabBars.at(0)->tabData(index).toString(), true);
|
||||
|
||||
m_currentPIDBank = index;
|
||||
m_currentStabSettingsBank = index;
|
||||
updateThrottleCurveFromObject();
|
||||
setDirty(dirty);
|
||||
}
|
||||
|
||||
@ -50,9 +50,8 @@ public:
|
||||
private:
|
||||
Ui_StabilizationWidget *ui;
|
||||
QTimer *realtimeUpdates;
|
||||
QList<QTabBar *> m_pidTabBars;
|
||||
QList<QTabBar *> m_stabTabBars;
|
||||
QString m_stabilizationObjectsString;
|
||||
QAction *m_defaultPIDMenuAction;
|
||||
|
||||
// Milliseconds between automatic 'Instant Updates'
|
||||
static const int AUTOMATIC_UPDATE_RATE = 500;
|
||||
@ -61,21 +60,23 @@ private:
|
||||
static const double EXPO_CURVE_CONSTANT = 1.00695;
|
||||
|
||||
int boardModel;
|
||||
int m_pidBankCount;
|
||||
int m_currentPIDBank;
|
||||
int m_stabSettingsBankCount;
|
||||
int m_currentStabSettingsBank;
|
||||
|
||||
QwtPlotCurve m_expoPlotCurveRoll;
|
||||
QwtPlotCurve m_expoPlotCurvePitch;
|
||||
QwtPlotCurve m_expoPlotCurveYaw;
|
||||
QwtPlotGrid m_plotGrid;
|
||||
QSignalMapper m_PIDCopyFromSignalMapper;
|
||||
QSignalMapper m_PIDCopyToSignalMapper;
|
||||
QSignalMapper m_PIDSwapSignalMapper;
|
||||
QSignalMapper m_stabSettingsCopyFromSignalMapper;
|
||||
QSignalMapper m_stabSettingsCopyToSignalMapper;
|
||||
QSignalMapper m_stabSettingsSwapSignalMapper;
|
||||
|
||||
UAVObject *getStabBankObject(int bank);
|
||||
|
||||
void updateThrottleCurveFromObject();
|
||||
void updateObjectFromThrottleCurve();
|
||||
void setupExpoPlot();
|
||||
void setupPIDBanksGUI();
|
||||
void setupStabBanksGUI();
|
||||
void resetStabBank(int bank);
|
||||
void restoreStabBank(int bank);
|
||||
|
||||
@ -91,7 +92,7 @@ private slots:
|
||||
void linkCheckBoxes(bool value);
|
||||
void processLinkedWidgets(QWidget *);
|
||||
void onBoardConnected();
|
||||
void pidBankChanged(int index);
|
||||
void stabBankChanged(int index);
|
||||
void resetThrottleCurveToDefault();
|
||||
void throttleCurveUpdated();
|
||||
void replotExpo(int value, QwtPlotCurve &curve);
|
||||
@ -99,12 +100,13 @@ private slots:
|
||||
void replotExpoPitch(int value);
|
||||
void replotExpoYaw(int value);
|
||||
|
||||
void restoreAllPIDBanks();
|
||||
void resetAllPIDBanks();
|
||||
void restoreAllStabBanks();
|
||||
void resetAllStabBanks();
|
||||
void restoreCurrentAction();
|
||||
void resetCurrentPIDBank();
|
||||
void copyCurrentPIDBank();
|
||||
void resetCurrentStabBank();
|
||||
void copyCurrentStabBank();
|
||||
|
||||
void copyFromBankToBank(int fromBank, int toBank);
|
||||
void copyFromBankToCurrent(int bank);
|
||||
void copyToBankFromCurrent(int bank);
|
||||
void swapBankAndCurrent(int bank);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user