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Code Issues Releases Activity

add gui config data bit storage to fixedwing,multirotor,ground vehicles

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This commit is contained in:
Mike LaBranche 2012-05-14 10:05:40 -07:00
parent 5e07e742ef
commit ed54716436
10 changed files with 428 additions and 433 deletions
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54
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -25,7 +25,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "configccpmwidget.h" #include "configccpmwidget.h"
#include "mixersettings.h" //#include "mixersettings.h"
#include <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
@ -892,7 +892,7 @@ void ConfigccpmWidget::UpdateMixer()
} }
} }
if (GUIConfigData.heli.SwasplateType>0) if (GUIConfigData.heli.SwashplateType>0)
{//not advanced settings {//not advanced settings
//get the channel data from the ui //get the channel data from the ui
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
@ -999,7 +999,7 @@ void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
if (updatingFromHardware) return; if (updatingFromHardware) return;
//get the user options //get the user options
//swashplate config //swashplate config
GUIConfigData.heli.SwasplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; GUIConfigData.heli.SwashplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
//ccpm mixing options //ccpm mixing options
@ -1037,11 +1037,16 @@ void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex(); GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex();
GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex();
//throttle
GUIConfigData.heli.Throttle = m_ccpm->ccpmEngineChannel->currentIndex();
//tail
GUIConfigData.heli.Tail = m_ccpm->ccpmTailChannel->currentIndex();
} }
void ConfigccpmWidget::UpdateCCPMUIFromOptions() void ConfigccpmWidget::UpdateCCPMUIFromOptions()
{ {
//swashplate config //swashplate config
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1)); m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwashplateType +1));
m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex); m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex);
//ccpm mixing options //ccpm mixing options
@ -1070,6 +1075,10 @@ void ConfigccpmWidget::UpdateCCPMUIFromOptions()
m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY); m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY);
m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ); m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ);
//throttle
m_ccpm->ccpmEngineChannel->setCurrentIndex(GUIConfigData.heli.Throttle);
//tail
m_ccpm->ccpmTailChannel->setCurrentIndex((GUIConfigData.heli.Tail));
} }
@ -1117,15 +1126,17 @@ void ConfigccpmWidget::requestccpmUpdate()
unsigned int i,j; unsigned int i,j;
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager()); // SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings); // Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData(); // SystemSettings::DataFields systemSettingsData = systemSettings->getData();
Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM == // Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
(sizeof(GUIConfigData.UAVObject) / sizeof(GUIConfigData.UAVObject[0]))); // (sizeof(GUIConfigData.UAVObject) / sizeof(GUIConfigData.UAVObject[0])));
for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++) // for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++)
GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i]; // GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
GUIConfigData = GUIManager.GetConfigData();
UpdateCCPMUIFromOptions(); UpdateCCPMUIFromOptions();
@ -1178,7 +1189,7 @@ void ConfigccpmWidget::requestccpmUpdate()
(MixerDataFromHeli[i][4]==0))//Yaw (MixerDataFromHeli[i][4]==0))//Yaw
{ {
EngineChannel = i; EngineChannel = i;
m_ccpm->ccpmEngineChannel->setCurrentIndex(i); //m_ccpm->ccpmEngineChannel->setCurrentIndex(i);
} }
//check if this is the tail rotor... REVO and YAW //check if this is the tail rotor... REVO and YAW
@ -1190,7 +1201,7 @@ void ConfigccpmWidget::requestccpmUpdate()
(MixerDataFromHeli[i][4]!=0))//Yaw (MixerDataFromHeli[i][4]!=0))//Yaw
{ {
TailRotorChannel = i; TailRotorChannel = i;
m_ccpm->ccpmTailChannel->setCurrentIndex(i); //m_ccpm->ccpmTailChannel->setCurrentIndex(i);
m_ccpm->ccpmRevoSlider->setValue((MixerDataFromHeli[i][0]*100)/127); m_ccpm->ccpmRevoSlider->setValue((MixerDataFromHeli[i][0]*100)/127);
m_ccpm->ccpmREVOspinBox->setValue((MixerDataFromHeli[i][0]*100)/127); m_ccpm->ccpmREVOspinBox->setValue((MixerDataFromHeli[i][0]*100)/127);
} }
@ -1239,14 +1250,17 @@ void ConfigccpmWidget::sendccpmUpdate()
UpdateCCPMOptionsFromUI(); UpdateCCPMOptionsFromUI();
GUIManager.SetConfigData(GUIConfigData);
// Store the data required to reconstruct // Store the data required to reconstruct
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager()); // SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings); // Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData(); // SystemSettings::DataFields systemSettingsData = systemSettings->getData();
systemSettingsData.GUIConfigData[0] = GUIConfigData.UAVObject[0]; // for (i=0; i<SystemSettings::GUICONFIGDATA_NUMELEM; i++)
systemSettingsData.GUIConfigData[1] = GUIConfigData.UAVObject[1]; // systemSettingsData.GUIConfigData[i] = GUIConfigData.UAVObject[i];
systemSettings->setData(systemSettingsData);
systemSettings->updated(); // systemSettings->setData(systemSettingsData);
// systemSettings->updated();
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings); Q_ASSERT(mixerSettings);

48
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -29,6 +29,7 @@
#include "ui_ccpm.h" #include "ui_ccpm.h"
#include "../uavobjectwidgetutils/configtaskwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h"
#include "guiconfigdata.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
@ -49,29 +50,31 @@ typedef struct {
int Neutral[CCPM_MAX_SWASH_SERVOS]; int Neutral[CCPM_MAX_SWASH_SERVOS];
int Min[CCPM_MAX_SWASH_SERVOS]; int Min[CCPM_MAX_SWASH_SERVOS];
} SwashplateServoSettingsStruct; } SwashplateServoSettingsStruct;
//typedef struct {
// uint SwasplateType:3;
// uint FirstServoIndex:2;
// uint CorrectionAngle:9;
// uint ccpmCollectivePassthroughState:1;
// uint ccpmLinkCyclicState:1;
// uint ccpmLinkRollState:1;
// uint SliderValue0:7;
// uint SliderValue1:7;
// uint SliderValue2:7;//41bits
// uint ServoIndexW:4;
// uint ServoIndexX:4;
// uint ServoIndexY:4;
// uint ServoIndexZ:4;//57bits
// uint Throttle:4;
// uint Tail:4; //65bits
// quint32 padding1:31; //96bits
// quint32 padding2; //128bits
//} __attribute__((packed)) heliGUISettingsStruct;
typedef struct { //typedef union
uint SwasplateType:3; //{
uint FirstServoIndex:2; // uint UAVObject[4];//32bits * 4
uint CorrectionAngle:9; // heliGUISettingsStruct heli;//128bits
uint ccpmCollectivePassthroughState:1; //} GUIConfigDataUnion;
uint ccpmLinkCyclicState:1;
uint ccpmLinkRollState:1;
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 class ConfigccpmWidget: public ConfigTaskWidget
{ {
@ -109,6 +112,7 @@ private:
SwashplateServoSettingsStruct oldSwashLvlConfiguration; SwashplateServoSettingsStruct oldSwashLvlConfiguration;
SwashplateServoSettingsStruct newSwashLvlConfiguration; SwashplateServoSettingsStruct newSwashLvlConfiguration;
GUIConfigDataManager GUIManager;
GUIConfigDataUnion GUIConfigData; GUIConfigDataUnion GUIConfigData;
int MixerChannelData[6]; int MixerChannelData[6];

147
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -157,41 +157,21 @@ QString ConfigVehicleTypeWidget::updateFixedWingObjectsFromWidgets()
*/ */
void ConfigVehicleTypeWidget::refreshFixedWingWidgetsValues(QString frameType) void ConfigVehicleTypeWidget::refreshFixedWingWidgetsValues(QString frameType)
{ {
GUIConfigData = GUIManager.GetConfigData();
fixedGUISettingsStruct fixed = GUIConfigData.fixed;
// Then retrieve how channels are setup
setComboCurrentIndex(m_aircraft->fwEngineChannelBox, fixed.FixedWingThrottle);
setComboCurrentIndex(m_aircraft->fwAileron1ChannelBox, fixed.FixedWingRoll1);
setComboCurrentIndex(m_aircraft->fwAileron2ChannelBox, fixed.FixedWingRoll2);
setComboCurrentIndex(m_aircraft->fwElevator1ChannelBox, fixed.FixedWingPitch1);
setComboCurrentIndex(m_aircraft->fwElevator2ChannelBox, fixed.FixedWingPitch2);
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
UAVDataObject* obj; UAVDataObject* obj;
UAVObjectField *field; UAVObjectField *field;
// Then retrieve how channels are setup
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
m_aircraft->fwEngineChannelBox->setCurrentIndex(m_aircraft->fwEngineChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll1"));
Q_ASSERT(field);
m_aircraft->fwAileron1ChannelBox->setCurrentIndex(m_aircraft->fwAileron1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll2"));
Q_ASSERT(field);
m_aircraft->fwAileron2ChannelBox->setCurrentIndex(m_aircraft->fwAileron2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch1"));
Q_ASSERT(field);
m_aircraft->fwElevator1ChannelBox->setCurrentIndex(m_aircraft->fwElevator1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingPitch2"));
Q_ASSERT(field);
m_aircraft->fwElevator2ChannelBox->setCurrentIndex(m_aircraft->fwElevator2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->fwRudder1ChannelBox->setCurrentIndex(m_aircraft->fwRudder1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw2"));
Q_ASSERT(field);
m_aircraft->fwRudder2ChannelBox->setCurrentIndex(m_aircraft->fwRudder2ChannelBox->findText(field->getValue().toString()));
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)
@ -245,39 +225,23 @@ bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment"); // m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false; return false;
} }
// Now setup the channels: // Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); GUIConfigData = GUIManager.GetConfigData();
Q_ASSERT(obj); GUIManager.ResetActuators(&GUIConfigData);
// Elevator GUIConfigData.fixed.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
UAVObjectField *field = obj->getField("FixedWingPitch1"); GUIConfigData.fixed.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
Q_ASSERT(field); GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
field->setValue(m_aircraft->fwElevator1ChannelBox->currentText()); GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
field = obj->getField("FixedWingPitch2"); GUIConfigData.fixed.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
Q_ASSERT(field); GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
field->setValue(m_aircraft->fwElevator2ChannelBox->currentText());
// Aileron GUIManager.SetConfigData(GUIConfigData);
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Rudder UAVDataObject* obj;
field = obj->getField("FixedWingYaw1"); UAVObjectField* field;
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
@ -382,31 +346,19 @@ bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
return false; return false;
} }
resetActuators(); GUIConfigData = GUIManager.GetConfigData();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); GUIManager.ResetActuators(&GUIConfigData);
Q_ASSERT(obj);
// Elevons GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
UAVObjectField *field = obj->getField("FixedWingRoll1"); GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
Q_ASSERT(field); GUIConfigData.fixed.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText()); GUIConfigData.fixed.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
field = obj->getField("FixedWingRoll2"); GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Rudder 1 (can be None)
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
// Rudder 2 (can be None)
field = obj->getField("FixedWingYaw2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder2ChannelBox->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
obj->updated(); GUIManager.SetConfigData(GUIConfigData);
UAVDataObject* obj;
UAVObjectField* field;
// Save the curve: // Save the curve:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
@ -506,30 +458,19 @@ bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType)
return false; return false;
} }
resetActuators(); GUIConfigData = GUIManager.GetConfigData();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); GUIManager.ResetActuators(&GUIConfigData);
Q_ASSERT(obj);
// Elevons GUIConfigData.fixed.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
UAVObjectField *field = obj->getField("FixedWingPitch1"); GUIConfigData.fixed.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
Q_ASSERT(field); GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
field->setValue(m_aircraft->fwElevator1ChannelBox->currentText()); GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
field = obj->getField("FixedWingPitch2"); GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2ChannelBox->currentText());
field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Throttle GUIManager.SetConfigData(GUIConfigData);
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
obj->updated(); UAVDataObject* obj;
UAVObjectField* field;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);

116
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -194,37 +194,14 @@ void ConfigVehicleTypeWidget::refreshGroundVehicleWidgetsValues(QString frameTyp
UAVDataObject* obj; UAVDataObject* obj;
UAVObjectField *field; UAVObjectField *field;
GUIConfigData = GUIManager.GetConfigData();
//THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE //THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE
// Retrieve channel setup values // Retrieve channel setup values
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, GUIConfigData.ground.GroundVehicleThrottle1);
Q_ASSERT(obj); setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, GUIConfigData.ground.GroundVehicleThrottle2);
field = obj->getField(QString("FixedWingThrottle")); setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, GUIConfigData.ground.GroundVehicleSteering1);
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, GUIConfigData.ground.GroundVehicleSteering2);
m_aircraft->gvEngineChannelBox->setCurrentIndex(m_aircraft->gvEngineChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll1"));
Q_ASSERT(field);
m_aircraft->gvAileron1ChannelBox->setCurrentIndex(m_aircraft->gvAileron1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingRoll2"));
Q_ASSERT(field);
m_aircraft->gvAileron2ChannelBox->setCurrentIndex(m_aircraft->gvAileron2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleThrottle1"));
Q_ASSERT(field);
m_aircraft->gvMotor1ChannelBox->setCurrentIndex(m_aircraft->gvMotor1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleThrottle2"));
Q_ASSERT(field);
m_aircraft->gvMotor2ChannelBox->setCurrentIndex(m_aircraft->gvMotor2ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleSteering1"));
Q_ASSERT(field);
m_aircraft->gvSteering1ChannelBox->setCurrentIndex(m_aircraft->gvSteering1ChannelBox->findText(field->getValue().toString()));
field = obj->getField(QString("GroundVehicleSteering2"));
Q_ASSERT(field);
m_aircraft->gvSteering2ChannelBox->setCurrentIndex(m_aircraft->gvSteering2ChannelBox->findText(field->getValue().toString()));
if (frameType == "GroundVehicleDifferential") { if (frameType == "GroundVehicleDifferential") {
//CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE //CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE
@ -282,22 +259,16 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType)
// Now setup the channels: // Now setup the channels:
resetActuators(); GUIConfigData = GUIManager.GetConfigData();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); GUIManager.ResetActuators(&GUIConfigData);
Q_ASSERT(obj); GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
// Left motor GUIManager.SetConfigData(GUIConfigData);
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Right motor UAVObject* obj;
field = obj->getField("GroundVehicleThrottle2"); UAVObjectField* field;
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
@ -399,22 +370,16 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeTyp
// Now setup the channels: // Now setup the channels:
resetActuators(); GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
Q_ASSERT(obj); GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
// Left motor GUIManager.SetConfigData((GUIConfigData));
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Right motor UAVObject* obj;
field = obj->getField("GroundVehicleThrottle2"); UAVObjectField* field;
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);
@ -525,41 +490,18 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType)
// } // }
// Now setup the channels: // Now setup the channels:
resetActuators(); GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
Q_ASSERT(obj); GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
// Front motor GUIManager.SetConfigData(GUIConfigData);
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Rear motor UAVDataObject* obj;
field = obj->getField("GroundVehicleThrottle2"); UAVObjectField* field;
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
// // Aileron
// field = obj->getField("FixedWingRoll1");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron1ChannelBox->currentText());
//
// field = obj->getField("FixedWingRoll2");
// Q_ASSERT(field);
// field->setValue(m_aircraft->fwAileron2ChannelBox->currentText());
// Front steering
field = obj->getField("GroundVehicleSteering1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvSteering1ChannelBox->currentText());
// Rear steering
field = obj->getField("GroundVehicleSteering2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvSteering2ChannelBox->currentText());
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj); Q_ASSERT(obj);

228
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -41,6 +41,7 @@
#include "mixersettings.h" #include "mixersettings.h"
#include "systemsettings.h" #include "systemsettings.h"
#include "actuatorcommand.h" #include "actuatorcommand.h"
#include "guiconfigdata.h"
//#define Pi 3.14159265358979323846 //#define Pi 3.14159265358979323846
@ -467,10 +468,11 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
} }
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS"; motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList); setupMotors(motorList);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj); GUIConfigData = GUIManager.GetConfigData();
field = obj->getField("FixedWingYaw1"); GUIConfigData.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
field->setValue(m_aircraft->triYawChannelBox->currentText()); GUIManager.SetConfigData(GUIConfigData);
// Motor 1 to 6, Y6 Layout: // Motor 1 to 6, Y6 Layout:
// pitch roll yaw // pitch roll yaw
@ -515,24 +517,18 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
// Retrieve settings // Retrieve settings
////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings"))); GUIConfigData = GUIManager.GetConfigData();
Q_ASSERT(obj); multiGUISettingsStruct multi = GUIConfigData.multi;
UAVDataObject* obj;
UAVObjectField *field; UAVObjectField *field;
if (frameType == "QuadP") { if (frameType == "QuadP") {
// Motors 1/2/3/4 are: N / E / S / W // Motors 1/2/3/4 are: N / E / S / W
field = obj->getField(QString("VTOLMotorN")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
field = obj->getField(QString("VTOLMotorE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorW);
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders. // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the // This assumes that all vectors are identical - if not, the user should use the
@ -557,18 +553,10 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
} }
} else if (frameType == "QuadX") { } else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW // Motors 1/2/3/4 are: NW / NE / SE / SW
field = obj->getField(QString("VTOLMotorNW")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
field = obj->getField(QString("VTOLMotorNE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders. // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the // This assumes that all vectors are identical - if not, the user should use the
@ -591,18 +579,13 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
} }
} else if (frameType == "Hexa") { } else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW // Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
field = obj->getField(QString("VTOLMotorN"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
field = obj->getField(QString("VTOLMotorNE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
field = obj->getField(QString("VTOLMotorSE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSW);
field = obj->getField(QString("VTOLMotorS")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders. // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the // This assumes that all vectors are identical - if not, the user should use the
@ -629,18 +612,14 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
} }
} else if (frameType == "HexaX") { } else if (frameType == "HexaX") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW // Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
field = obj->getField(QString("VTOLMotorE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
field = obj->getField(QString("VTOLMotorSE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorW);
field = obj->getField(QString("VTOLMotorSW")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders. // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the // This assumes that all vectors are identical - if not, the user should use the
@ -664,18 +643,14 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
} }
} else if (frameType == "HexaCoax") { } else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE // Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
field = obj->getField(QString("VTOLMotorNW"));
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
field = obj->getField(QString("VTOLMotorW")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorW);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
field = obj->getField(QString("VTOLMotorNE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
field = obj->getField(QString("VTOLMotorE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSE);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders. // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the // This assumes that all vectors are identical - if not, the user should use the
@ -698,30 +673,16 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
} else if (frameType == "Octo" || frameType == "OctoV" || } else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") { frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc // Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
field = obj->getField(QString("VTOLMotorNE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorE);
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSE);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
field = obj->getField(QString("VTOLMotorE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSW);
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorW);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorNW);
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox7->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox8->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders. // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the // This assumes that all vectors are identical - if not, the user should use the
@ -775,30 +736,16 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
} }
} else if (frameType == "OctoCoaxX") { } else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc // Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorN);
field = obj->getField(QString("VTOLMotorN")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSE);
field = obj->getField(QString("VTOLMotorNE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorS);
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorSW);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorW);
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox4->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox5->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox6->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox7->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox8->setCurrentIndex(m_aircraft->multiMotorChannelBox4->findText(field->getValue().toString()));
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders. // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the // This assumes that all vectors are identical - if not, the user should use the
@ -820,18 +767,12 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
} }
} else if (frameType == "Tri") { } else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc // Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
field = obj->getField(QString("VTOLMotorNE")); setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
Q_ASSERT(field); setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString())); setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
field = obj->getField(QString("VTOLMotorS"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->triYawChannelBox->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings"))); obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1; int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
@ -883,19 +824,40 @@ void ConfigVehicleTypeWidget::setupQuadMotor(int channel, double pitch, double r
*/ */
void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList) void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList)
{ {
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
QList<QComboBox*> mmList; QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3 mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6 << m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8; << m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
int index;
foreach (QString motor, motorList) { foreach (QString motor, motorList) {
field = obj->getField(motor);
field->setValue(mmList.takeFirst()->currentText()); index = mmList.takeFirst()->currentIndex();
//qDebug()<<QString("Setup motor: %0 = %1").arg(motor).arg(index);
if (motor == QString("VTOLMotorN"))
GUIConfigData.multi.VTOLMotorN = index;
else if (motor == QString("VTOLMotorNE"))
GUIConfigData.multi.VTOLMotorNE = index;
else if (motor == QString("VTOLMotorE"))
GUIConfigData.multi.VTOLMotorE = index;
else if (motor == QString("VTOLMotorSE"))
GUIConfigData.multi.VTOLMotorSE = index;
else if (motor == QString( "VTOLMotorS"))
GUIConfigData.multi.VTOLMotorS = index;
else if (motor == QString( "VTOLMotorSW"))
GUIConfigData.multi.VTOLMotorSW = index;
else if (motor == QString( "VTOLMotorW"))
GUIConfigData.multi.VTOLMotorW = index;
else if (motor == QString( "VTOLMotorNW"))
GUIConfigData.multi.VTOLMotorNW = index;
} }
//obj->updated(); // Save... GUIManager.SetConfigData(GUIConfigData);
} }

131
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/guiconfigdata.cpp
View File

@ -85,6 +85,95 @@ void GUIConfigDataManager::SetConfigData(GUIConfigDataUnion configData) {
systemSettings->updated(); systemSettings->updated();
} }
void GUIConfigDataManager::ResetActuators()
{
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
// reset the actuators by airframe type
ResetActuators(&configData);
// set the gui config data
SetConfigData(configData);
}
void GUIConfigDataManager::ResetActuators(GUIConfigDataUnion* configData)
{
// get systemsettings for airframe type
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
switch (systemSettingsData.AirframeType)
{
// fixed wing
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
{
configData->fixed.FixedWingPitch1 = 0;
configData->fixed.FixedWingPitch2 = 0;
configData->fixed.FixedWingRoll1 = 0;
configData->fixed.FixedWingRoll2 = 0;
configData->fixed.FixedWingYaw1 = 0;
configData->fixed.FixedWingYaw2 = 0;
configData->fixed.FixedWingThrottle = 0;
}
break;
// helicp
case SystemSettings::AIRFRAMETYPE_HELICP:
{
configData->heli.Throttle = 0;
configData->heli.Tail = 0;
configData->heli.ServoIndexW = 0;
configData->heli.ServoIndexX = 0;
configData->heli.ServoIndexY = 0;
configData->heli.ServoIndexZ = 0;
}
break;
//multirotor
case SystemSettings::AIRFRAMETYPE_VTOL:
case SystemSettings::AIRFRAMETYPE_TRI:
case SystemSettings::AIRFRAMETYPE_QUADX:
case SystemSettings::AIRFRAMETYPE_QUADP:
case SystemSettings::AIRFRAMETYPE_OCTOV:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
case SystemSettings::AIRFRAMETYPE_OCTO:
case SystemSettings::AIRFRAMETYPE_HEXAX:
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
{
configData->multi.VTOLMotorN = 0;
configData->multi.VTOLMotorNE = 0;
configData->multi.VTOLMotorE = 0;
configData->multi.VTOLMotorSE = 0;
configData->multi.VTOLMotorS = 0;
configData->multi.VTOLMotorSW = 0;
configData->multi.VTOLMotorW = 0;
configData->multi.VTOLMotorNW = 0;
configData->multi.TRIYaw = 0;
}
break;
// ground
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
configData->ground.GroundVehicleSteering1 = 0;
configData->ground.GroundVehicleSteering2 = 0;
configData->ground.GroundVehicleThrottle1 = 0;
configData->ground.GroundVehicleThrottle2 = 0;
}
break;
}
}
QStringList GUIConfigDataManager::getChannelDescriptions() QStringList GUIConfigDataManager::getChannelDescriptions()
{ {
int i; int i;
@ -183,20 +272,46 @@ QStringList GUIConfigDataManager::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_HEXACOAX: case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA: case SystemSettings::AIRFRAMETYPE_HEXA:
{ {
channelDesc[configData.multi.VTOLMotorN] = QString("VTOLMotorN"); multiGUISettingsStruct multi = configData.multi;
channelDesc[configData.multi.VTOLMotorNE] = QString("VTOLMotorNE");
channelDesc[configData.multi.VTOLMotorNW] = QString("VTOLMotorNW"); if (multi.VTOLMotorN > 0 && multi.VTOLMotorN < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[configData.multi.VTOLMotorS] = QString("VTOLMotorS"); channelDesc[multi.VTOLMotorN-1] = QString("VTOLMotorN");
channelDesc[configData.multi.VTOLMotorSE] = QString("VTOLMotorSE"); if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[configData.multi.VTOLMotorSW] = QString("VTOLMotorSW"); channelDesc[multi.VTOLMotorNE-1] = QString("VTOLMotorNE");
channelDesc[configData.multi.VTOLMotorW] = QString("VTOLMotorW"); if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[configData.multi.VTOLMotorE] = QString("VTOLMotorE"); channelDesc[multi.VTOLMotorNW-1] = QString("VTOLMotorNW");
if (multi.VTOLMotorS > 0 && multi.VTOLMotorS < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorS-1] = QString("VTOLMotorS");
if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSE-1] = QString("VTOLMotorSE");
if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSW-1] = QString("VTOLMotorSW");
if (multi.VTOLMotorW > 0 && multi.VTOLMotorW < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorW-1] = QString("VTOLMotorW");
if (multi.VTOLMotorE > 0 && multi.VTOLMotorE < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorE-1] = QString("VTOLMotorE");
return channelDesc; return channelDesc;
} }
break; break;
// ground // ground
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
if (configData.ground.GroundVehicleSteering1 > 0)
channelDesc[configData.ground.GroundVehicleSteering1-1] = QString("GroundSteering1");
if (configData.ground.GroundVehicleSteering2 > 0)
channelDesc[configData.ground.GroundVehicleSteering2-1] = QString("GroundSteering2");
if (configData.ground.GroundVehicleThrottle1 > 0)
channelDesc[configData.ground.GroundVehicleThrottle1-1] = QString("GroundThrottle1");
if (configData.ground.GroundVehicleThrottle2 > 0)
channelDesc[configData.ground.GroundVehicleThrottle2-1] = QString("GroundThrottle2");
return channelDesc;
}
break;
} }
return channelDesc; return channelDesc;

17
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/guiconfigdata.h
View File

@ -48,7 +48,7 @@ typedef struct {
} __attribute__((packed)) multiGUISettingsStruct; } __attribute__((packed)) multiGUISettingsStruct;
typedef struct { typedef struct {
uint SwasplateType:3; uint SwashplateType:3;
uint FirstServoIndex:2; uint FirstServoIndex:2;
uint CorrectionAngle:9; uint CorrectionAngle:9;
uint ccpmCollectivePassthroughState:1; uint ccpmCollectivePassthroughState:1;
@ -109,20 +109,23 @@ class GUIConfigDataManager: public QObject
GUIConfigDataManager(); GUIConfigDataManager();
~GUIConfigDataManager(); ~GUIConfigDataManager();
GUIConfigDataUnion GetConfigData();
void SetConfigData(GUIConfigDataUnion configData);
QStringList getChannelDescriptions();
void ResetActuators();
void ResetActuators(GUIConfigDataUnion* configData);
static const quint32 CHANNEL_NUMELEM = 10; static const quint32 CHANNEL_NUMELEM = 10;
friend class ConfigTaskWidget; friend class ConfigTaskWidget;
private: private:
private slots:
UAVObjectManager* getObjectManager(); UAVObjectManager* getObjectManager();
private slots:
public slots: public slots:
GUIConfigDataUnion GetConfigData();
void SetConfigData(GUIConfigDataUnion configData);
QStringList getChannelDescriptions();
protected: protected:

10
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -844,6 +844,16 @@ void ConfigVehicleTypeWidget::openHelp()
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) ); QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) );
} }
/**
Helper function:
Sets the current index on supplied combobox to index
if it is within bounds 0 <= index < combobox.count()
*/
void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
{
if (index >= 0 && index < box->count())
box->setCurrentIndex(index);
}
/** /**
WHAT DOES THIS DO??? WHAT DOES THIS DO???

6
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
View File

@ -33,6 +33,7 @@
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include "uavtalk/telemetrymanager.h" #include "uavtalk/telemetrymanager.h"
#include "cfg_vehicletypes/guiconfigdata.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QList> #include <QList>
#include <QItemDelegate> #include <QItemDelegate>
@ -67,7 +68,7 @@ private:
void resetActuators(); void resetActuators();
//void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector); //void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
void setupQuadMotor(int channel, double roll, double pitch, double yaw); void setupQuadMotor(int channel, double roll, double pitch, double yaw);
void setComboCurrentIndex(QComboBox* box, int index);
QStringList mixerTypes; QStringList mixerTypes;
QStringList mixerVectors; QStringList mixerVectors;
QGraphicsSvgItem *quad; QGraphicsSvgItem *quad;
@ -75,6 +76,9 @@ private:
bool ffTuningPhase; bool ffTuningPhase;
UAVObject::Metadata accInitialData; UAVObject::Metadata accInitialData;
GUIConfigDataManager GUIManager;
GUIConfigDataUnion GUIConfigData;
private slots: private slots:
virtual void refreshWidgetsValues(); virtual void refreshWidgetsValues();
void refreshFixedWingWidgetsValues(QString frameType); void refreshFixedWingWidgetsValues(QString frameType);

2
shared/uavobjectdefinition/systemsettings.xml
View File

@ -2,7 +2,7 @@
<object name="SystemSettings" singleinstance="true" settings="true"> <object name="SystemSettings" singleinstance="true" settings="true">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description> <description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="FixedWing"/> <field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="FixedWing"/>
<field name="GUIConfigData" units="bits" type="uint32" elements="2" defaultvalue="0"/> <field name="GUIConfigData" units="bits" type="uint32" elements="4" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>