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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
*/
#include "configccpmwidget.h"
#include "mixersettings.h"
//#include "mixersettings.h"
#include <QDebug>
#include <QStringList>
@ -892,7 +892,7 @@ void ConfigccpmWidget::UpdateMixer()
}
}
if (GUIConfigData.heli.SwasplateType>0)
if (GUIConfigData.heli.SwashplateType>0)
{//not advanced settings
//get the channel data from the ui
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
@ -999,7 +999,7 @@ void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
if (updatingFromHardware) return;
//get the user options
//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();
//ccpm mixing options
@ -1036,12 +1036,17 @@ void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
GUIConfigData.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex();
GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->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()
{
//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);
//ccpm mixing options
@ -1070,6 +1075,10 @@ void ConfigccpmWidget::UpdateCCPMUIFromOptions()
m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY);
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;
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
// SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
// Q_ASSERT(systemSettings);
// SystemSettings::DataFields systemSettingsData = systemSettings->getData();
Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
(sizeof(GUIConfigData.UAVObject) / sizeof(GUIConfigData.UAVObject[0])));
// Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
// (sizeof(GUIConfigData.UAVObject) / sizeof(GUIConfigData.UAVObject[0])));
for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++)
GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
// for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++)
// GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
GUIConfigData = GUIManager.GetConfigData();
UpdateCCPMUIFromOptions();
@ -1178,7 +1189,7 @@ void ConfigccpmWidget::requestccpmUpdate()
(MixerDataFromHeli[i][4]==0))//Yaw
{
EngineChannel = i;
m_ccpm->ccpmEngineChannel->setCurrentIndex(i);
//m_ccpm->ccpmEngineChannel->setCurrentIndex(i);
}
//check if this is the tail rotor... REVO and YAW
@ -1190,7 +1201,7 @@ void ConfigccpmWidget::requestccpmUpdate()
(MixerDataFromHeli[i][4]!=0))//Yaw
{
TailRotorChannel = i;
m_ccpm->ccpmTailChannel->setCurrentIndex(i);
//m_ccpm->ccpmTailChannel->setCurrentIndex(i);
m_ccpm->ccpmRevoSlider->setValue((MixerDataFromHeli[i][0]*100)/127);
m_ccpm->ccpmREVOspinBox->setValue((MixerDataFromHeli[i][0]*100)/127);
}
@ -1239,14 +1250,17 @@ void ConfigccpmWidget::sendccpmUpdate()
UpdateCCPMOptionsFromUI();
GUIManager.SetConfigData(GUIConfigData);
// Store the data required to reconstruct
SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
Q_ASSERT(systemSettings);
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
systemSettingsData.GUIConfigData[0] = GUIConfigData.UAVObject[0];
systemSettingsData.GUIConfigData[1] = GUIConfigData.UAVObject[1];
systemSettings->setData(systemSettingsData);
systemSettings->updated();
// SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
// Q_ASSERT(systemSettings);
// SystemSettings::DataFields systemSettingsData = systemSettings->getData();
// for (i=0; i<SystemSettings::GUICONFIGDATA_NUMELEM; i++)
// systemSettingsData.GUIConfigData[i] = GUIConfigData.UAVObject[i];
// systemSettings->setData(systemSettingsData);
// systemSettings->updated();
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);

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

@ -29,6 +29,7 @@
#include "ui_ccpm.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "guiconfigdata.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
@ -49,29 +50,31 @@ typedef struct {
int Neutral[CCPM_MAX_SWASH_SERVOS];
int Min[CCPM_MAX_SWASH_SERVOS];
} SwashplateServoSettingsStruct;
//typedef struct {
// uint SwasplateType:3;
// uint FirstServoIndex:2;
// uint CorrectionAngle:9;
// uint ccpmCollectivePassthroughState:1;
// uint ccpmLinkCyclicState:1;
// uint ccpmLinkRollState:1;
// uint 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 {
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 padding:7;
} __attribute__((packed)) heliGUISettingsStruct;
typedef union
{
uint UAVObject[2];//32bits * 2
heliGUISettingsStruct heli;//64bits
} GUIConfigDataUnion;
//typedef union
//{
// uint UAVObject[4];//32bits * 4
// heliGUISettingsStruct heli;//128bits
//} GUIConfigDataUnion;
class ConfigccpmWidget: public ConfigTaskWidget
{
@ -109,6 +112,7 @@ private:
SwashplateServoSettingsStruct oldSwashLvlConfiguration;
SwashplateServoSettingsStruct newSwashLvlConfiguration;
GUIConfigDataManager GUIManager;
GUIConfigDataUnion GUIConfigData;
int MixerChannelData[6];

177
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -136,7 +136,7 @@ QString ConfigVehicleTypeWidget::updateFixedWingObjectsFromWidgets()
//All airframe types must start with "FixedWing"
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
airframeType = "FixedWing";
setupFrameFixedWing( airframeType );
setupFrameFixedWing( airframeType );
} else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon( airframeType );
@ -156,42 +156,22 @@ QString ConfigVehicleTypeWidget::updateFixedWingObjectsFromWidgets()
Helper function to refresh the UI widget values
*/
void ConfigVehicleTypeWidget::refreshFixedWingWidgetsValues(QString frameType)
{
UAVDataObject* obj;
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()));
{
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;
UAVObjectField *field;
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 the airframe is elevon, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
@ -245,40 +225,24 @@ bool ConfigVehicleTypeWidget::setupFrameFixedWing(QString airframeType)
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevator
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1ChannelBox->currentText());
field = obj->getField("FixedWingPitch2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator2ChannelBox->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());
// Rudder
field = obj->getField("FixedWingYaw1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudder1ChannelBox->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
// Now setup the channels:
obj->updated();
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigData.fixed.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
UAVDataObject* obj;
UAVObjectField* field;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
@ -382,32 +346,20 @@ bool ConfigVehicleTypeWidget::setupFrameElevon(QString airframeType)
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *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 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();
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
UAVDataObject* obj;
UAVObjectField* field;
// Save the curve:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
@ -506,31 +458,20 @@ bool ConfigVehicleTypeWidget::setupFrameVtail(QString airframeType)
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwElevator1ChannelBox->currentText());
field = obj->getField("FixedWingPitch2");
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
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannelBox->currentText());
obj->updated();
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigData.fixed.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
GUIConfigData.fixed.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
UAVDataObject* obj;
UAVObjectField* field;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:

138
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -194,38 +194,15 @@ void ConfigVehicleTypeWidget::refreshGroundVehicleWidgetsValues(QString frameTyp
UAVDataObject* obj;
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
// Retrieve channel setup values
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("FixedWingThrottle"));
Q_ASSERT(field);
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()));
setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, GUIConfigData.ground.GroundVehicleThrottle1);
setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, GUIConfigData.ground.GroundVehicleThrottle2);
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, GUIConfigData.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, GUIConfigData.ground.GroundVehicleSteering2);
if (frameType == "GroundVehicleDifferential") {
//CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE
// If the vehicle type is "differential", restore the slider setting
@ -280,25 +257,19 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleMotorcycle(QString airframeType)
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Left motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Right motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
obj->updated();
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
UAVObject* obj;
UAVObjectField* field;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
@ -397,25 +368,19 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleDifferential(QString airframeTyp
return false;
}
// Now setup the channels:
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Left motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Right motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
obj->updated();
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIManager.SetConfigData((GUIConfigData));
UAVObject* obj;
UAVObjectField* field;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:
@ -524,43 +489,20 @@ bool ConfigVehicleTypeWidget::setupGroundVehicleCar(QString airframeType)
// m_aircraft->gvMotor2Label->setText(htmlText->toPlainText());
// }
// Now setup the channels:
resetActuators();
// Now setup the channels:
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Front motor
UAVObjectField *field = obj->getField("GroundVehicleThrottle1");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor1ChannelBox->currentText());
// Rear motor
field = obj->getField("GroundVehicleThrottle2");
Q_ASSERT(field);
field->setValue(m_aircraft->gvMotor2ChannelBox->currentText());
GUIConfigData.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
GUIConfigData.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
// // 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();
GUIManager.SetConfigData(GUIConfigData);
UAVDataObject* obj;
UAVObjectField* field;
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
// ... and compute the matrix:

276
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -41,6 +41,7 @@
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
#include "guiconfigdata.h"
//#define Pi 3.14159265358979323846
@ -63,7 +64,7 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
//and grey out all unused motor channel boxes
for (int i=4; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(true);
@ -80,7 +81,7 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
//and grey out all unused motor channel boxes
for (int i=5; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
@ -100,7 +101,7 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
//and grey out all unused motor channel boxes
for (int i=5; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
@ -120,7 +121,7 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
@ -140,7 +141,7 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
@ -161,7 +162,7 @@ void ConfigVehicleTypeWidget::setupMultiRotorUI(QString frameType)
//and grey out all unused motor channel boxes
for (int i=7; i <=8; i++) {
QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i));
combobox->setEnabled(false);
combobox->setEnabled(false);
}
m_aircraft->triYawChannelBox->setEnabled(false);
@ -467,10 +468,11 @@ QString ConfigVehicleTypeWidget::updateMultiRotorObjectsFromWidgets()
}
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
field = obj->getField("FixedWingYaw1");
field->setValue(m_aircraft->triYawChannelBox->currentText());
GUIConfigData = GUIManager.GetConfigData();
GUIConfigData.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
GUIManager.SetConfigData(GUIConfigData);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
@ -514,26 +516,20 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
//////////////////////////////////////////////////////////////////
// Retrieve settings
//////////////////////////////////////////////////////////////////
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
GUIConfigData = GUIManager.GetConfigData();
multiGUISettingsStruct multi = GUIConfigData.multi;
UAVDataObject* obj;
UAVObjectField *field;
if (frameType == "QuadP") {
// Motors 1/2/3/4 are: N / E / S / W
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
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()));
// Motors 1/2/3/4 are: N / E / S / W
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorW);
// 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
// "custom" setting.
@ -556,20 +552,12 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
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()));
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
// 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
// "custom" setting.
@ -591,23 +579,18 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
}
} else if (frameType == "Hexa") {
// 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()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorS"));
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()));
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// 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
// "custom" setting.
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
if (tmpVal > -1) {
@ -628,19 +611,15 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
}
}
} else if (frameType == "HexaX") {
// 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()));
field = obj->getField(QString("VTOLMotorE"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorSW"));
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()));
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// 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
@ -663,20 +642,16 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "HexaCoax") {
// 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()));
field = obj->getField(QString("VTOLMotorW"));
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
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()));
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSE);
// 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
// "custom" setting.
@ -697,32 +672,18 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
}
} else if (frameType == "Octo" || frameType == "OctoV" ||
frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
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()));
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorNW);
// 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
// "custom" setting.
@ -774,32 +735,18 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
}
}
} else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorN"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox2->setCurrentIndex(m_aircraft->multiMotorChannelBox2->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox3->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
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()));
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorW);
// 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
// "custom" setting.
@ -819,20 +766,14 @@ void ConfigVehicleTypeWidget::refreshMultiRotorWidgetsValues(QString frameType)
m_aircraft->mrRollMixLevel->setValue(val);
}
} else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
field = obj->getField(QString("VTOLMotorNW"));
Q_ASSERT(field);
m_aircraft->multiMotorChannelBox1->setCurrentIndex(m_aircraft->multiMotorChannelBox1->findText(field->getValue().toString()));
field = obj->getField(QString("VTOLMotorNE"));
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("FixedWingYaw1"));
Q_ASSERT(field);
m_aircraft->triYawChannelBox->setCurrentIndex(m_aircraft->multiMotorChannelBox3->findText(field->getValue().toString()));
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
int tmpVal= m_aircraft->multiMotorChannelBox1->currentIndex()-1;
// tmpVal will be -1 if value is set to "None"
@ -883,19 +824,40 @@ void ConfigVehicleTypeWidget::setupQuadMotor(int channel, double pitch, double r
*/
void ConfigVehicleTypeWidget::setupMotors(QList<QString> motorList)
{
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
UAVObjectField *field;
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
GUIConfigData = GUIManager.GetConfigData();
GUIManager.ResetActuators(&GUIConfigData);
int index;
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);
}
@ -1143,4 +1105,4 @@ void ConfigVehicleTypeWidget::throwMultiRotorChannelConfigError(int numMotors)
if (error){
m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
}
}
}

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

@ -85,6 +85,95 @@ void GUIConfigDataManager::SetConfigData(GUIConfigDataUnion configData) {
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()
{
int i;
@ -183,20 +272,46 @@ QStringList GUIConfigDataManager::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
{
channelDesc[configData.multi.VTOLMotorN] = QString("VTOLMotorN");
channelDesc[configData.multi.VTOLMotorNE] = QString("VTOLMotorNE");
channelDesc[configData.multi.VTOLMotorNW] = QString("VTOLMotorNW");
channelDesc[configData.multi.VTOLMotorS] = QString("VTOLMotorS");
channelDesc[configData.multi.VTOLMotorSE] = QString("VTOLMotorSE");
channelDesc[configData.multi.VTOLMotorSW] = QString("VTOLMotorSW");
channelDesc[configData.multi.VTOLMotorW] = QString("VTOLMotorW");
channelDesc[configData.multi.VTOLMotorE] = QString("VTOLMotorE");
multiGUISettingsStruct multi = configData.multi;
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorN-1] = QString("VTOLMotorN");
if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE < GUIConfigDataManager::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNE-1] = QString("VTOLMotorNE");
if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW < GUIConfigDataManager::CHANNEL_NUMELEM)
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;
}
break;
// 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;

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

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

12
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -250,7 +250,7 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
rather than a signal in the UI, because we want to force a fitInView of the quad shapes.
This is because this method (fitinview) only works when the widget is shown.
*/
void ConfigVehicleTypeWidget::switchAirframeType(int index){
void ConfigVehicleTypeWidget::switchAirframeType(int index){
m_aircraft->airframesWidget->setCurrentIndex(index);
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
@ -844,6 +844,16 @@ void ConfigVehicleTypeWidget::openHelp()
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???

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

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

2
shared/uavobjectdefinition/systemsettings.xml
View File

@ -2,7 +2,7 @@
<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>
<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"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>