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Code Issues Releases Activity

Merge branch 'next' into cp/extraGUIchanges

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/hitlv2/hitlv2optionspage.ui
	ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowseroptionspage.ui
This commit is contained in:
chris pember 2012-10-07 10:32:21 -07:00
commit ee031fe80d
197 changed files with 25335 additions and 1961 deletions
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5
HISTORY.txt
View File

@ -1,4 +1,9 @@
Short summary of changes. For a complete list see the git log.
2012-10-06
Receiver port can now be configured as PPM *and* PWM inputs.
Pin 1 is PPM, other pins are PWM inputs.
2012-07-27
Added the ability to load stylesheets from external file according to operating system:
macos.qss, linux.qss, windows.qss

28
flight/CopterControl/Makefile
View File

@ -38,9 +38,15 @@ OUTDIR := $(TOP)/build/$(TARGET)
DEBUG ?= NO
# Include objects that are just nice information to show
DIAGNOSTICS ?= NO
STACK_DIAGNOSTICS ?= NO
MIXERSTATUS_DIAGNOSTICS ?= NO
RATEDESIRED_DIAGNOSTICS ?= NO
I2C_WDG_STATS_DIAGNOSTICS ?= NO
DIAG_TASKS ?= NO
#Or just turn on all the above diagnostics. WARNING: This consumes massive amounts of memory.
ALL_DIGNOSTICS ?=NO
# Set to YES to build a FW version that will erase all flash memory
ERASE_FLASH ?= NO
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
@ -485,11 +491,25 @@ ifeq ($(DEBUG),YES)
CFLAGS += -DDEBUG
endif
ifeq ($(DIAGNOSTICS),YES)
CFLAGS += -DDIAGNOSTICS
#The following Makefile command, ifneq (, $(filter) $(A), $(B) $(C)) is equivalent
# to the pseudocode `if(A== B || A==C)`
ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
CFLAGS += -DSTACK_DIAGNOSTICS
endif
ifeq ($(DIAG_TASKS),YES)
ifneq (,$(filter YES,$(MIXERSTATUS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
endif
ifneq (,$(filter YES,$(RATEDESIRED_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
CFLAGS += -DRATEDESIRED_DIAGNOSTICS
endif
ifneq (,$(filter YES,$(I2C_WDG_STATS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
endif
ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS)))
CFLAGS += -DDIAG_TASKS
endif

28
flight/CopterControl/System/pios_board.c
View File

@ -662,6 +662,33 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_PPM */
break;
case HWSETTINGS_CC_RCVRPORT_PPMPWM:
/* This is a combination of PPM and PWM inputs */
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PPM */
#if defined(PIOS_INCLUDE_PWM)
{
uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PWM */
break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
@ -683,6 +710,7 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_RCVRPORT_DISABLED:
case HWSETTINGS_CC_RCVRPORT_PWM:
case HWSETTINGS_CC_RCVRPORT_PPM:
case HWSETTINGS_CC_RCVRPORT_PPMPWM:
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:

6
flight/Modules/Actuator/actuator.c
View File

@ -126,7 +126,7 @@ int32_t ActuatorInitialize()
// Primary output of this module
ActuatorCommandInitialize();
#if defined(DIAGNOSTICS)
#if defined(MIXERSTATUS_DIAGNOSTICS)
// UAVO only used for inspecting the internal status of the mixer during debug
MixerStatusInitialize();
#endif
@ -212,7 +212,7 @@ static void actuatorTask(void* parameters)
ActuatorDesiredGet(&desired);
ActuatorCommandGet(&command);
#if defined(DIAGNOSTICS)
#if defined(MIXERSTATUS_DIAGNOSTICS)
MixerStatusGet(&mixerStatus);
#endif
int nMixers = 0;
@ -362,7 +362,7 @@ static void actuatorTask(void* parameters)
// Update in case read only (eg. during servo configuration)
ActuatorCommandGet(&command);
#if defined(DIAGNOSTICS)
#if defined(MIXERSTATUS_DIAGNOSTICS)
MixerStatusSet(&mixerStatus);
#endif

7
flight/Modules/Stabilization/stabilization.c
View File

@ -119,7 +119,7 @@ int32_t StabilizationInitialize()
// Initialize variables
StabilizationSettingsInitialize();
ActuatorDesiredInitialize();
#if defined(DIAGNOSTICS)
#if defined(RATEDESIRED_DIAGNOSTICS)
RateDesiredInitialize();
#endif
@ -172,8 +172,7 @@ static void stabilizationTask(void* parameters)
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
GyrosGet(&gyrosData);
#if defined(DIAGNOSTICS)
#if defined(RATEDESIRED_DIAGNOSTICS)
RateDesiredGet(&rateDesired);
#endif
@ -350,7 +349,7 @@ static void stabilizationTask(void* parameters)
if (settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE)
stabilization_virtual_flybar_pirocomp(gyro_filtered[2], dT);
#if defined(DIAGNOSTICS)
#if defined(RATEDESIRED_DIAGNOSTICS)
RateDesiredSet(&rateDesired);
#endif

8
flight/Modules/System/systemmod.c
View File

@ -82,7 +82,7 @@ static void objectUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
#if defined(DIAGNOSTICS)
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
static void updateI2Cstats();
static void updateWDGstats();
#endif
@ -118,7 +118,7 @@ int32_t SystemModInitialize(void)
#if defined(DIAG_TASKS)
TaskInfoInitialize();
#endif
#if defined(DIAGNOSTICS)
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
@ -168,7 +168,7 @@ static void systemTask(void *parameters)
// Update the system alarms
updateSystemAlarms();
#if defined(DIAGNOSTICS)
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
updateI2Cstats();
updateWDGstats();
#endif
@ -301,7 +301,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
/**
* Called periodically to update the I2C statistics
*/
#if defined(DIAGNOSTICS)
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
static void updateI2Cstats()
{
#if defined(PIOS_INCLUDE_I2C)

5
flight/PiOS/Common/pios_bma180.c
View File

@ -434,7 +434,7 @@ int32_t PIOS_BMA180_Test()
* @brief IRQ Handler. Read data from the BMA180 FIFO and push onto a local fifo.
*/
int32_t bma180_irqs = 0;
void PIOS_BMA180_IRQHandler(void)
bool PIOS_BMA180_IRQHandler(void)
{
bma180_irqs++;
@ -470,7 +470,8 @@ void PIOS_BMA180_IRQHandler(void)
data.temperature = pios_bma180_dmabuf[7];
fifoBuf_putData(&dev->fifo, (uint8_t *) &data, sizeof(data));
return false;
}
#endif /* PIOS_INCLUDE_BMA180 */

6
flight/PiOS/Common/pios_hmc5883.c
View File

@ -391,9 +391,11 @@ int32_t PIOS_HMC5883_Test(void)
/**
* @brief IRQ Handler
*/
void PIOS_HMC5883_IRQHandler(void)
bool PIOS_HMC5883_IRQHandler(void)
{
pios_hmc5883_data_ready = true;
pios_hmc5883_data_ready = true
return false;
}
#endif /* PIOS_INCLUDE_HMC5883 */

7
flight/PiOS/Common/pios_l3gd20.c
View File

@ -353,7 +353,7 @@ uint8_t PIOS_L3GD20_Test(void)
/**
* @brief IRQ Handler. Read all the data from onboard buffer
*/
void PIOS_L3GD20_IRQHandler(void)
bool PIOS_L3GD20_IRQHandler(void)
{
l3gd20_irq++;
@ -375,7 +375,10 @@ void PIOS_L3GD20_IRQHandler(void)
memcpy((uint8_t *) &(data.gyro_x), &rec[1], 6);
data.temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);
xQueueSend(dev->queue, (void *) &data, 0);
portBASE_TYPE xHigherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
return xHigherPriorityTaskWoken == pdTRUE;
}
#endif /* L3GD20 */

21
flight/PiOS/Common/pios_mpu6000.c
View File

@ -400,21 +400,21 @@ uint32_t mpu6000_interval_us;
uint32_t mpu6000_time_us;
uint32_t mpu6000_transfer_size;
void PIOS_MPU6000_IRQHandler(void)
bool PIOS_MPU6000_IRQHandler(void)
{
static uint32_t timeval;
mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
if(!mpu6000_configured)
return;
return false;
mpu6000_count = PIOS_MPU6000_FifoDepth();
if(mpu6000_count < sizeof(struct pios_mpu6000_data))
return;
return false;
if(PIOS_MPU6000_ClaimBus() != 0)
return;
return false;
uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
@ -422,7 +422,7 @@ void PIOS_MPU6000_IRQHandler(void)
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
mpu6000_fails++;
return;
return false;
}
PIOS_MPU6000_ReleaseBus();
@ -433,12 +433,12 @@ void PIOS_MPU6000_IRQHandler(void)
if (mpu6000_count >= (sizeof(data) * 2)) {
mpu6000_fifo_backup++;
if(PIOS_MPU6000_ClaimBus() != 0)
return;
return false;
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
mpu6000_fails++;
return;
return false;
}
PIOS_MPU6000_ReleaseBus();
@ -458,12 +458,15 @@ void PIOS_MPU6000_IRQHandler(void)
data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
data.gyro_z = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
#endif
xQueueSend(dev->queue, (void *) &data, 0);
portBASE_TYPE xHigherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
mpu6000_irq++;
mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
return xHigherPriorityTaskWoken == pdTRUE;
}
#endif

5
flight/PiOS/Common/pios_rfm22b.c
View File

@ -172,7 +172,7 @@ uint32_t random32 = 0x459ab8d8;
/* Local function forwared declarations */
static void PIOS_RFM22B_Supervisor(uint32_t ppm_id);
static void rfm22_processInt(void);
static void PIOS_RFM22_EXT_Int(void);
static bool PIOS_RFM22_EXT_Int(void);
static void rfm22_setTxMode(uint8_t mode);
// SPI read/write functions
@ -751,12 +751,13 @@ uint8_t rfm22_read(uint8_t addr)
// external interrupt
static void PIOS_RFM22_EXT_Int(void)
static bool PIOS_RFM22_EXT_Int(void)
{
rfm22_setDebug("Ext Int");
if (!exec_using_spi)
rfm22_processInt();
rfm22_setDebug("Ext Done");
return false;
}
void rfm22_disableExtInt(void)

2
flight/PiOS/STM32F10x/pios_dsm.c
View File

@ -128,7 +128,7 @@ static void PIOS_DSM_Bind(struct pios_dsm_dev *dsm_dev, uint8_t bind)
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
/* on CC works up to 140ms, guess bind window is around 20-140ms after power up */
PIOS_DELAY_WaitmS(60);
PIOS_DELAY_WaitmS(20);
for (int i = 0; i < bind ; i++) {
/* RX line, drive low for 120us */

108
flight/PiOS/STM32F10x/pios_exti.c
View File

@ -149,7 +149,7 @@ out_fail:
return -1;
}
static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
{
uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
cfg_index == PIOS_EXTI_INVALID) {
/* Unconfigured interrupt just fired! */
return;
return false;
}
struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
cfg->vector();
return cfg->vector();
}
/* Bind Interrupt Handlers */
#define PIOS_EXTI_HANDLE_LINE(line) \
#ifdef PIOS_INCLUDE_FREERTOS
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
}
#else
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
PIOS_EXTI_generic_irq_handler(line); \
}
#endif
/* Bind Interrupt Handlers */
static void PIOS_EXTI_0_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(0);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
static void PIOS_EXTI_1_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(1);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
static void PIOS_EXTI_2_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(2);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
static void PIOS_EXTI_3_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(3);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
static void PIOS_EXTI_4_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(4);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
static void PIOS_EXTI_9_5_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(5);
PIOS_EXTI_HANDLE_LINE(6);
PIOS_EXTI_HANDLE_LINE(7);
PIOS_EXTI_HANDLE_LINE(8);
PIOS_EXTI_HANDLE_LINE(9);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
static void PIOS_EXTI_15_10_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(10);
PIOS_EXTI_HANDLE_LINE(11);
PIOS_EXTI_HANDLE_LINE(12);
PIOS_EXTI_HANDLE_LINE(13);
PIOS_EXTI_HANDLE_LINE(14);
PIOS_EXTI_HANDLE_LINE(15);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));

104
flight/PiOS/STM32F4xx/pios_exti.c
View File

@ -149,7 +149,7 @@ out_fail:
return -1;
}
static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
{
uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
cfg_index == PIOS_EXTI_INVALID) {
/* Unconfigured interrupt just fired! */
return;
return false;
}
struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
cfg->vector();
return cfg->vector();
}
/* Bind Interrupt Handlers */
#define PIOS_EXTI_HANDLE_LINE(line) \
#ifdef PIOS_INCLUDE_FREERTOS
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
}
#else
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
PIOS_EXTI_generic_irq_handler(line); \
}
#endif
static void PIOS_EXTI_0_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(0);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
static void PIOS_EXTI_1_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(1);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
static void PIOS_EXTI_2_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(2);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
static void PIOS_EXTI_3_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(3);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
static void PIOS_EXTI_4_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(4);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
static void PIOS_EXTI_9_5_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(5);
PIOS_EXTI_HANDLE_LINE(6);
PIOS_EXTI_HANDLE_LINE(7);
PIOS_EXTI_HANDLE_LINE(8);
PIOS_EXTI_HANDLE_LINE(9);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
static void PIOS_EXTI_15_10_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(10);
PIOS_EXTI_HANDLE_LINE(11);
PIOS_EXTI_HANDLE_LINE(12);
PIOS_EXTI_HANDLE_LINE(13);
PIOS_EXTI_HANDLE_LINE(14);
PIOS_EXTI_HANDLE_LINE(15);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));

2
flight/PiOS/inc/pios_bma180.h
View File

@ -103,7 +103,7 @@ extern float PIOS_BMA180_GetScale();
extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
extern int32_t PIOS_BMA180_Test();
extern void PIOS_BMA180_IRQHandler();
extern bool PIOS_BMA180_IRQHandler();
#endif /* PIOS_BMA180_H */

2
flight/PiOS/inc/pios_exti.h
View File

@ -36,7 +36,7 @@
#include <pios_stm32.h>
struct pios_exti_cfg {
void (* vector)(void);
bool (* vector)(void);
uint32_t line; /* use EXTI_LineN macros */
struct stm32_gpio pin;
struct stm32_irq irq;

2
flight/PiOS/inc/pios_hmc5883.h
View File

@ -107,7 +107,7 @@ extern bool PIOS_HMC5883_NewDataAvailable(void);
extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
extern int32_t PIOS_HMC5883_Test(void);
extern void PIOS_HMC5883_IRQHandler();
bool void PIOS_HMC5883_IRQHandler();
#endif /* PIOS_HMC5883_H */
/**

2
flight/PiOS/inc/pios_l3gd20.h
View File

@ -141,7 +141,7 @@ extern int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range);
extern float PIOS_L3GD20_GetScale();
extern int32_t PIOS_L3GD20_ReadID();
extern uint8_t PIOS_L3GD20_Test();
extern void PIOS_L3GD20_IRQHandler();
bool void PIOS_L3GD20_IRQHandler();
#endif /* PIOS_L3GD20_H */

2
flight/PiOS/inc/pios_mpu6000.h
View File

@ -156,7 +156,7 @@ extern int32_t PIOS_MPU6000_ReadID();
extern uint8_t PIOS_MPU6000_Test();
extern float PIOS_MPU6000_GetScale();
extern float PIOS_MPU6000_GetAccelScale();
extern void PIOS_MPU6000_IRQHandler(void);
extern bool PIOS_MPU6000_IRQHandler(void);
#endif /* PIOS_MPU6000_H */

29
flight/PipXtreme/Makefile
View File

@ -38,7 +38,14 @@ OUTDIR := $(TOP)/build/$(TARGET)
DEBUG ?= NO
# Include objects that are just nice information to show
DIAGNOSTICS ?= NO
STACK_DIAGNOSTICS ?= NO
MIXERSTATUS_DIAGNOSTICS ?= NO
RATEDESIRED_DIAGNOSTICS ?= NO
I2C_WDG_STATS_DIAGNOSTICS ?= NO
DIAG_TASKS ?= NO
#Or just turn on all the above diagnostics. WARNING: This consumes massive amounts of memory.
ALL_DIGNOSTICS ?=NO
# Set to YES to build a FW version that will erase all flash memory
ERASE_FLASH ?= NO
@ -378,8 +385,24 @@ ifeq ($(DEBUG),YES)
CFLAGS = -DDEBUG
endif
ifeq ($(DIAGNOSTICS),YES)
CFLAGS = -DDIAGNOSTICS
ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
CFLAGS += -DSTACK_DIAGNOSTICS
endif
ifneq (,$(filter YES,$(MIXERSTATUS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
endif
ifneq (,$(filter YES,$(RATEDESIRED_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
CFLAGS += -DRATEDESIRED_DIAGNOSTICS
endif
ifneq (,$(filter YES,$(I2C_WDG_STATS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
endif
ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS)))
CFLAGS += -DDIAG_TASKS
endif
CFLAGS += -g$(DEBUGF)

2
flight/PipXtreme/System/inc/FreeRTOSConfig.h
View File

@ -76,7 +76,7 @@ NVIC value of 255. */
#endif
/* Enable run time stats collection */
#if defined(DIAGNOSTICS)
#if defined(STACK_DIAGNOSTICS)
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configGENERATE_RUN_TIME_STATS 1

5
flight/Revolution/Makefile
View File

@ -255,7 +255,10 @@ endif
# common architecture-specific flags from the device-specific library makefile
CFLAGS += $(ARCHFLAGS)
CFLAGS += -DDIAGNOSTICS
CFLAGS += -DSTACK_DIAGNOSTICS
CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
CFLAGS += -DRATEDESIRED_DIAGNOSTICS
CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
CFLAGS += -DDIAG_TASKS
# This is not the best place for these. Really should abstract out

6
flight/SimPosix/Makefile
View File

@ -256,7 +256,11 @@ endif
CFLAGS += $(ARCHFLAGS)
CFLAGS += $(UAVOBJDEFINE)
CFLAGS += -DDIAGNOSTICS
CFLAGS += -DSTACK_DIAGNOSTICS
CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
CFLAGS += -DRATEDESIRED_DIAGNOSTICS
CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
CFLAGS += -DDIAG_TASKS
# This is not the best place for these. Really should abstract out

13
flight/board_hw_defs/coptercontrol/board_hw_defs.c
View File

@ -1134,6 +1134,19 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
.channels = pios_tim_rcvrport_all_channels,
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
};
const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
/* Leave the first channel for PPM use and use the rest for PWM */
.channels = &pios_tim_rcvrport_all_channels[1],
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
};
#endif
#if defined(PIOS_INCLUDE_I2C)

30
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
View File

@ -8,6 +8,8 @@
<ExpertMode>false</ExpertMode>
<OverrideLanguage>en_AU</OverrideLanguage>
<SaveSettingsOnExit>true</SaveSettingsOnExit>
<SettingsWindowHeight>700</SettingsWindowHeight>
<SettingsWindowWidth>800</SettingsWindowWidth>
<StyleSheet>default</StyleSheet>
<UDPMirror>false</UDPMirror>
</General>
@ -1683,7 +1685,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
<useOpenGL>true</useOpenGL>
</data>
</Google__PCT__20Sat>
<Memory__PCT__20Only>
@ -1703,7 +1705,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>airplanepip.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
<useOpenGL>true</useOpenGL>
</data>
</Memory__PCT__20Only>
<default>
@ -1723,7 +1725,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
<useOpenGL>true</useOpenGL>
</data>
</default>
</OPMapGadget>
@ -2636,7 +2638,7 @@
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAClQAAAAIAAAB3)</splitterSizes>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABhAAAAAIAAAGE)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
@ -2669,8 +2671,20 @@
</side0>
<side1>
<side0>
<classId>EmptyGadget</classId>
<type>uavGadget</type>
<side0>
<classId>PfdQmlGadget</classId>
<gadget>
<activeConfiguration>NoTerrain</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>MagicWaypointGadget</classId>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAGU)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>GCSControlGadget</classId>
@ -2680,7 +2694,7 @@
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADhAAAAAIAAAIX)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
@ -2739,7 +2753,7 @@
</UAVGadgetManager>
<Workspace>
<AllowTabBarMovement>false</AllowTabBarMovement>
<Icon1>:\core\images\ah.png</Icon1>
<Icon1>:/core/images/ah.png</Icon1>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<Icon2>:/core/images/config.png</Icon2>
<Icon3>:/core/images/cog.png</Icon3>

30
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
View File

@ -6,7 +6,7 @@
<LastPreferenceCategory>Notify Plugin</LastPreferenceCategory>
<LastPreferencePage>settings</LastPreferencePage>
<SaveSettingsOnExit>true</SaveSettingsOnExit>
<SettingsWindowHeight>600</SettingsWindowHeight>
<SettingsWindowHeight>700</SettingsWindowHeight>
<SettingsWindowWidth>800</SettingsWindowWidth>
<UDPMirror>false</UDPMirror>
<Description>Wide configuration</Description>
@ -1679,7 +1679,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
<useOpenGL>true</useOpenGL>
</data>
</Google__PCT__20Sat>
<Memory__PCT__20Only>
@ -1698,7 +1698,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>airplanepip.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
<useOpenGL>true</useOpenGL>
</data>
</Memory__PCT__20Only>
<default>
@ -1717,7 +1717,7 @@
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
<useOpenGL>true</useOpenGL>
</data>
</default>
</OPMapGadget>
@ -2636,7 +2636,7 @@
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAClQAAAAIAAAB3)</splitterSizes>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABhAAAAAIAAAGE)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
@ -2669,8 +2669,20 @@
</side0>
<side1>
<side0>
<classId>EmptyGadget</classId>
<type>uavGadget</type>
<side0>
<classId>PfdQmlGadget</classId>
<gadget>
<activeConfiguration>NoTerrain</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>MagicWaypointGadget</classId>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAGU)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>GCSControlGadget</classId>
@ -2680,7 +2692,7 @@
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADhAAAAAIAAAIX)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
@ -2739,7 +2751,7 @@
</UAVGadgetManager>
<Workspace>
<AllowTabBarMovement>false</AllowTabBarMovement>
<Icon1>:\core\images\ah.png</Icon1>
<Icon1>:/core/images/ah.png</Icon1>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<Icon2>:/core/images/config.png</Icon2>
<Icon3>:/core/images/cog.png</Icon3>

15
ground/openpilotgcs/share/share.pro
View File

@ -6,13 +6,14 @@ SUBDIRS = openpilotgcs/translations
DATACOLLECTIONS = dials models pfd sounds diagrams mapicons stylesheets default_configurations
equals(copydata, 1) {
for(dir, DATACOLLECTIONS) {
exists($$GCS_SOURCE_TREE/share/openpilotgcs/$$dir) {
macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
!macx:data_copy.commands += $(MKDIR) $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
!macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
}
}
for(dir, DATACOLLECTIONS) {
exists($$GCS_SOURCE_TREE/share/openpilotgcs/$$dir) {
macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
win32:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
unix:data_copy.commands += $(MKDIR) $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
unix:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
}
}
data_copy.target = FORCE
QMAKE_EXTRA_TARGETS += data_copy

2
ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
View File

@ -43,8 +43,6 @@ namespace core {
LanguageStr=LanguageType().toShortString(Language);
Cache::Instance();
// OPMaps::MemoryCache();
}

28
ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h
View File

@ -3,25 +3,25 @@
*
* @file lks94projection.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup OPMapWidget
* @{
*
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef LKS94PROJECTION_H
@ -30,7 +30,7 @@
#include "cmath"
#include "../pureprojection.h"
namespace projections {
class LKS94Projection:public internals::PureProjection
{

14
ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.cpp
View File

@ -93,8 +93,18 @@ bool SDLGamepad::setGamepad(qint16 index)
{
buttons = SDL_JoystickNumButtons(gamepad);
axes = SDL_JoystickNumAxes(gamepad);
this->index = index;
return true;
if (axes >= 4) {
this->index = index;
return true;
}
else
{
buttons = -1;
axes = -1;
this->index = -1;
qCritical("Gamepad has less than 4 axes");
}
}
else
{

2
ground/openpilotgcs/src/libs/utils/mylistwidget.h
View File

@ -42,7 +42,7 @@ class QTCREATOR_UTILS_EXPORT MyListWidget : public QListWidget
{
Q_OBJECT
public:
MyListWidget(QWidget *parent) : QListWidget(parent), m_iconAbove(false) { }
MyListWidget(QWidget *parent) : QListWidget(parent), m_iconAbove(false) {}
void setIconAbove(bool iconAbove) { m_iconAbove = iconAbove; }
protected:
QStyleOptionViewItem viewOptions() const;

8
ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
View File

@ -48,20 +48,24 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool
toplevelLayout->addWidget(m_stackWidget);
m_listWidget->setFlow(QListView::TopToBottom);
m_listWidget->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
m_listWidget->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
} else {
toplevelLayout = new QVBoxLayout;
toplevelLayout->addWidget(m_stackWidget);
toplevelLayout->addWidget(m_listWidget);
m_listWidget->setFlow(QListView::LeftToRight);
m_listWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
m_listWidget->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
}
if (m_iconAbove && m_vertical)
if (m_iconAbove && m_vertical) {
m_listWidget->setFixedWidth(90); // this should be computed instead
}
toplevelLayout->setSpacing(0);
toplevelLayout->setContentsMargins(0, 0, 0, 0);
m_listWidget->setSpacing(0);
m_listWidget->setContentsMargins(0, 0, 0, 0);
m_listWidget->setSpacing(0);
m_stackWidget->setContentsMargins(0, 0, 0, 0);
setLayout(toplevelLayout);

1
ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h
View File

@ -52,6 +52,7 @@ public:
void insertCornerWidget(int index, QWidget *widget);
int cornerWidgetCount() { return m_cornerWidgetCount; }
QWidget * currentWidget(){return m_stackWidget->currentWidget();}
QWidget * getWidget(int index) {return m_stackWidget->widget(index);}
signals:
void currentAboutToShow(int index,bool * proceed);

2
ground/openpilotgcs/src/plugins/config/Config.pluginspec
View File

@ -1,4 +1,4 @@
<plugin name="Config" version="0.0.1" compatVersion="1.0.0">
<plugin name="Config" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2010 OpenPilot Project</copyright>
<license>GNU Public License (GPL) Version 3</license>

27
ground/openpilotgcs/src/plugins/config/configgadget.qrc
View File

@ -1,23 +1,32 @@
<RCC>
<qresource prefix="/configgadget">
<file>images/help2.png</file>
<file>images/Airframe.png</file>
<file>images/Servo.png</file>
<file>images/ahrs-calib.svg</file>
<file>images/AHRS-v1.3.png</file>
<file>images/paper-plane.svg</file>
<file>images/curve-bg.svg</file>
<file>images/multirotor-shapes.svg</file>
<file>images/ccpm_setup.svg</file>
<file>images/PipXtreme.png</file>
<file>images/Transmitter.png</file>
<file>images/help.png</file>
<file>images/coptercontrol.svg</file>
<file>images/hw_config.png</file>
<file>images/gyroscope.png</file>
<file>images/TX.svg</file>
<file>images/TX2.svg</file>
<file>images/camera.png</file>
<file>images/txpid.png</file>
<file>images/output_selected.png</file>
<file>images/output_normal.png</file>
<file>images/input_selected.png</file>
<file>images/input_normal.png</file>
<file>images/hardware_normal.png</file>
<file>images/hardware_selected.png</file>
<file>images/vehicle_normal.png</file>
<file>images/vehicle_selected.png</file>
<file>images/ins_selected.png</file>
<file>images/ins_normal.png</file>
<file>images/stabilization_selected.png</file>
<file>images/stabilization_normal.png</file>
<file>images/autotune_selected.png</file>
<file>images/autotune_normal.png</file>
<file>images/txpid_selected.png</file>
<file>images/txpid_normal.png</file>
<file>images/camstab_selected.png</file>
<file>images/camstab_normal.png</file>
</qresource>
</RCC>

38
ground/openpilotgcs/src/plugins/config/configgadgetfactory.cpp
View File

@ -25,14 +25,18 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configgadgetfactory.h"
#include "configgadgetwidget.h"
#include "configgadget.h"
#include "configgadgetconfiguration.h"
#include "configgadgetoptionspage.h"
#include <coreplugin/iuavgadget.h>
#include <coreplugin/coreconstants.h>
#include <coreplugin/actionmanager/actionmanager.h>
#include <coreplugin/icore.h>
#include <coreplugin/modemanager.h>
ConfigGadgetFactory::ConfigGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("ConfigGadget"), tr("Config Gadget"), parent)
IUAVGadgetFactory(QString("ConfigGadget"), tr("Config Gadget"), parent),
gadgetWidget(0)
{
}
@ -42,7 +46,26 @@ ConfigGadgetFactory::~ConfigGadgetFactory()
Core::IUAVGadget* ConfigGadgetFactory::createGadget(QWidget *parent)
{
ConfigGadgetWidget* gadgetWidget = new ConfigGadgetWidget(parent);
gadgetWidget = new ConfigGadgetWidget(parent);
// Add Menu entry
Core::ActionManager* am = Core::ICore::instance()->actionManager();
Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_TOOLS);
Core::Command* cmd = am->registerAction(new QAction(this),
"ConfigPlugin.ShowInputWizard",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->setDefaultKeySequence(QKeySequence("Ctrl+R"));
cmd->action()->setText(tr("Radio Setup Wizard"));
Core::ModeManager::instance()->addAction(cmd, 1);
ac->appendGroup("Wizard");
ac->addAction(cmd, "Wizard");
connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(startInputWizard()));
return new ConfigGadget(QString("ConfigGadget"), gadgetWidget, parent);
}
@ -55,3 +78,12 @@ IOptionsPage *ConfigGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *co
{
return new ConfigGadgetOptionsPage(qobject_cast<ConfigGadgetConfiguration*>(config));
}
void ConfigGadgetFactory::startInputWizard()
{
if(gadgetWidget)
{
Core::ModeManager::instance()->activateModeByWorkspaceName("Configuration");
gadgetWidget->startInputWizard();
}
}

11
ground/openpilotgcs/src/plugins/config/configgadgetfactory.h
View File

@ -28,6 +28,9 @@
#define CONFIGGADGETFACTORY_H
#include <coreplugin/iuavgadgetfactory.h>
#include "configgadgetwidget.h"
#include "config_global.h"
namespace Core {
class IUAVGadget;
@ -36,7 +39,7 @@ class IUAVGadgetFactory;
using namespace Core;
class ConfigGadgetFactory: public Core::IUAVGadgetFactory
class CONFIG_EXPORT ConfigGadgetFactory: public Core::IUAVGadgetFactory
{
Q_OBJECT
public:
@ -47,6 +50,12 @@ public:
IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(QSettings* qSettings);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
public slots:
void startInputWizard();
private:
ConfigGadgetWidget* gadgetWidget;
};
#endif // CONFIGGADGETFACTORY_H

128
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -67,33 +67,61 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
// *********************
QWidget *qwd;
QIcon *icon = new QIcon();
icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new DefaultHwSettingsWidget(this);
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
icon = new QIcon();
icon->addFile(":/configgadget/images/vehicle_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/vehicle_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigVehicleTypeWidget(this);
ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, QIcon(":/configgadget/images/Airframe.png"), QString("Aircraft"));
ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, *icon, QString("Vehicle"));
icon = new QIcon();
icon->addFile(":/configgadget/images/input_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/input_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigInputWidget(this);
ftw->insertTab(ConfigGadgetWidget::input, qwd, QIcon(":/configgadget/images/Transmitter.png"), QString("Input"));
ftw->insertTab(ConfigGadgetWidget::input, qwd, *icon, QString("Input"));
icon = new QIcon();
icon->addFile(":/configgadget/images/output_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/output_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigOutputWidget(this);
ftw->insertTab(ConfigGadgetWidget::output, qwd, QIcon(":/configgadget/images/Servo.png"), QString("Output"));
ftw->insertTab(ConfigGadgetWidget::output, qwd, *icon, QString("Output"));
icon = new QIcon();
icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new DefaultAttitudeWidget(this);
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("INS"));
icon = new QIcon();
icon->addFile(":/configgadget/images/stabilization_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/stabilization_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigStabilizationWidget(this);
ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, QIcon(":/configgadget/images/gyroscope.png"), QString("Stabilization"));
ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
icon = new QIcon();
icon->addFile(":/configgadget/images/autotune_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/autotune_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigAutotuneWidget(this);
ftw->insertTab(ConfigGadgetWidget::autotune, qwd, QIcon(":/configgadget/images/gyroscope.png"), QString("Autotune"));
ftw->insertTab(ConfigGadgetWidget::autotune, qwd, *icon, QString("Autotune"));
icon = new QIcon();
icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigCameraStabilizationWidget(this);
ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, QIcon(":/configgadget/images/camera.png"), QString("Camera Stab"));
ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Camera Stab"));
icon = new QIcon();
icon->addFile(":/configgadget/images/txpid_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/txpid_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigTxPIDWidget(this);
ftw->insertTab(ConfigGadgetWidget::txpid, qwd, QIcon(":/configgadget/images/txpid.png"), QString("TxPID"));
ftw->insertTab(ConfigGadgetWidget::txpid, qwd, *icon, QString("TxPID"));
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
// *********************
// Listen to autopilot connection events
@ -103,8 +131,9 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
// And check whether by any chance we are not already connected
if (telMngr->isConnected())
if (telMngr->isConnected()) {
onAutopilotConnect();
}
help = 0;
connect(ftw,SIGNAL(currentAboutToShow(int,bool*)),this,SLOT(tabAboutToChange(int,bool*)));//,Qt::BlockingQueuedConnection);
@ -115,7 +144,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
if (pipxStatusObj != NULL ) {
connect(pipxStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updatePipXStatus(UAVObject*)));
} else {
qDebug() << "Error: Object is unknown (PipXStatus).";
qDebug() << "Error: Object is unknown (PipXStatus).";
}
// Create the timer that is used to timeout the connection to the PipX.
@ -126,25 +155,38 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
ConfigGadgetWidget::~ConfigGadgetWidget()
{
// Do nothing
// TODO: properly delete all the tabs in ftw before exiting
}
void ConfigGadgetWidget::startInputWizard()
{
ftw->setCurrentIndex(ConfigGadgetWidget::input);
ConfigInputWidget* inputWidget = dynamic_cast<ConfigInputWidget*>(ftw->getWidget(ConfigGadgetWidget::input));
Q_ASSERT(inputWidget);
inputWidget->startInputWizard();
}
void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
{
QWidget::resizeEvent(event);
}
void ConfigGadgetWidget::onAutopilotDisconnect() {
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
ftw->removeTab(ConfigGadgetWidget::sensors);
QIcon *icon = new QIcon();
icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
QWidget *qwd = new DefaultAttitudeWidget(this);
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("INS"));
ftw->removeTab(ConfigGadgetWidget::hardware);
icon = new QIcon();
icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new DefaultHwSettingsWidget(this);
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
emit autopilotDisconnected();
@ -164,56 +206,64 @@ void ConfigGadgetWidget::onAutopilotConnect() {
// Delete the INS panel, replace with CC Panel:
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
ftw->removeTab(ConfigGadgetWidget::sensors);
QIcon *icon = new QIcon();
icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
QWidget *qwd = new ConfigCCAttitudeWidget(this);
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("Attitude"));
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("INS"));
ftw->removeTab(ConfigGadgetWidget::hardware);
icon = new QIcon();
icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigCCHWWidget(this);
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
} else if ((board & 0xff00) == 256 ) {
// Mainboard family
Q_ASSERT(0);
/*
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
ftw->removeTab(ConfigGadgetWidget::sensors);
QWidget *qwd = new ConfigAHRSWidget(this);
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
ftw->removeTab(ConfigGadgetWidget::hardware);
qwd = new ConfigProHWWidget(this);
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
*/
} else if ((board & 0xff00) == 0x0900) {
// Revolution sensor calibration
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
ftw->removeTab(ConfigGadgetWidget::sensors);
QIcon *icon = new QIcon();
icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
QWidget *qwd = new ConfigRevoWidget(this);
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("Revo"));
ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Revo"));
ftw->removeTab(ConfigGadgetWidget::hardware);
icon = new QIcon();
icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Normal, QIcon::On);
qwd = new ConfigProHWWidget(this);
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
} else {
//Unknown board
Q_ASSERT(0);
}
}
emit autopilotConnected();
}
void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
void ConfigGadgetWidget::tabAboutToChange(int i, bool * proceed)
{
Q_UNUSED(i);
*proceed=true;
ConfigTaskWidget * wid=qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
if(!wid)
*proceed = true;
ConfigTaskWidget * wid = qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
if(!wid) {
return;
}
if(wid->isDirty())
{
int ans=QMessageBox::warning(this,tr("Unsaved changes"),tr("The tab you are leaving has unsaved changes,"
"if you proceed they will be lost."
"Do you still want to proceed?"),QMessageBox::Yes,QMessageBox::No);
if(ans==QMessageBox::No)
if(ans==QMessageBox::No) {
*proceed=false;
else
} else {
wid->setDirty(false);
}
}
}

1
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
View File

@ -49,6 +49,7 @@ public:
ConfigGadgetWidget(QWidget *parent = 0);
~ConfigGadgetWidget();
enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme, autotune};
void startInputWizard();
public slots:
void onAutopilotConnect();

2707
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp Executable file → Normal file
View File

@ -1,1349 +1,1358 @@
/**
******************************************************************************
*
* @file configinputwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configinputwidget.h"
#include "uavtalk/telemetrymanager.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QDesktopServices>
#include <QUrl>
#include <QMessageBox>
#include <utils/stylehelper.h>
#include <QMessageBox>
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#define ACCESS_MIN_MOVE -3
#define ACCESS_MAX_MOVE 3
#define STICK_MIN_MOVE -8
#define STICK_MAX_MOVE 8
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
flightStatusObj = FlightStatus::GetInstance(getObjectManager());
receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
m_config = new Ui_InputWidget();
m_config->setupUi(this);
addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode())
m_config->saveRCInputToRAM->setVisible(false);
addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
//Generate the rows of buttons in the input channel form GUI
unsigned int index=0;
foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
{
Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
inputChannelForm * inpForm=new inputChannelForm(this,index==0);
m_config->channelSettings->layout()->addWidget(inpForm); //Add the row to the UI
inpForm->setName(name);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inpForm->ui->channelGroup,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inpForm->ui->channelNumber,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
++index;
}
addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
connect(m_config->stackedWidget,SIGNAL(currentChanged(int)),this,SLOT(disableWizardButton(int)));
connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
m_config->stackedWidget->setCurrentIndex(0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
enableControls(false);
populateWidgets();
refreshWidgetsValues();
// Connect the help button
connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
m_config->graphicsView->setScene(new QGraphicsScene(this));
m_config->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
m_renderer = new QSvgRenderer();
QGraphicsScene *l_scene = m_config->graphicsView->scene();
m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
if (QFile::exists(":/configgadget/images/TX2.svg") && m_renderer->load(QString(":/configgadget/images/TX2.svg")) && m_renderer->isValid())
{
l_scene->clear(); // Deletes all items contained in the scene as well.
m_txBackground = new QGraphicsSvgItem();
// All other items will be clipped to the shape of the background
m_txBackground->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
QGraphicsItem::ItemClipsToShape);
m_txBackground->setSharedRenderer(m_renderer);
m_txBackground->setElementId("background");
l_scene->addItem(m_txBackground);
m_txMainBody = new QGraphicsSvgItem();
m_txMainBody->setParentItem(m_txBackground);
m_txMainBody->setSharedRenderer(m_renderer);
m_txMainBody->setElementId("body");
l_scene->addItem(m_txMainBody);
m_txLeftStick = new QGraphicsSvgItem();
m_txLeftStick->setParentItem(m_txBackground);
m_txLeftStick->setSharedRenderer(m_renderer);
m_txLeftStick->setElementId("ljoy");
m_txRightStick = new QGraphicsSvgItem();
m_txRightStick->setParentItem(m_txBackground);
m_txRightStick->setSharedRenderer(m_renderer);
m_txRightStick->setElementId("rjoy");
m_txAccess0 = new QGraphicsSvgItem();
m_txAccess0->setParentItem(m_txBackground);
m_txAccess0->setSharedRenderer(m_renderer);
m_txAccess0->setElementId("access0");
m_txAccess1 = new QGraphicsSvgItem();
m_txAccess1->setParentItem(m_txBackground);
m_txAccess1->setSharedRenderer(m_renderer);
m_txAccess1->setElementId("access1");
m_txAccess2 = new QGraphicsSvgItem();
m_txAccess2->setParentItem(m_txBackground);
m_txAccess2->setSharedRenderer(m_renderer);
m_txAccess2->setElementId("access2");
m_txFlightMode = new QGraphicsSvgItem();
m_txFlightMode->setParentItem(m_txBackground);
m_txFlightMode->setSharedRenderer(m_renderer);
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setZValue(-10);
m_txArrows = new QGraphicsSvgItem();
m_txArrows->setParentItem(m_txBackground);
m_txArrows->setSharedRenderer(m_renderer);
m_txArrows->setElementId("arrows");
m_txArrows->setVisible(false);
QRectF orig=m_renderer->boundsOnElement("ljoy");
QMatrix Matrix = m_renderer->matrixForElement("ljoy");
orig=Matrix.mapRect(orig);
m_txLeftStickOrig.translate(orig.x(),orig.y());
m_txLeftStick->setTransform(m_txLeftStickOrig,false);
orig=m_renderer->boundsOnElement("arrows");
Matrix = m_renderer->matrixForElement("arrows");
orig=Matrix.mapRect(orig);
m_txArrowsOrig.translate(orig.x(),orig.y());
m_txArrows->setTransform(m_txArrowsOrig,false);
orig=m_renderer->boundsOnElement("body");
Matrix = m_renderer->matrixForElement("body");
orig=Matrix.mapRect(orig);
m_txMainBodyOrig.translate(orig.x(),orig.y());
m_txMainBody->setTransform(m_txMainBodyOrig,false);
orig=m_renderer->boundsOnElement("flightModeCenter");
Matrix = m_renderer->matrixForElement("flightModeCenter");
orig=Matrix.mapRect(orig);
m_txFlightModeCOrig.translate(orig.x(),orig.y());
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
orig=m_renderer->boundsOnElement("flightModeLeft");
Matrix = m_renderer->matrixForElement("flightModeLeft");
orig=Matrix.mapRect(orig);
m_txFlightModeLOrig.translate(orig.x(),orig.y());
orig=m_renderer->boundsOnElement("flightModeRight");
Matrix = m_renderer->matrixForElement("flightModeRight");
orig=Matrix.mapRect(orig);
m_txFlightModeROrig.translate(orig.x(),orig.y());
orig=m_renderer->boundsOnElement("rjoy");
Matrix = m_renderer->matrixForElement("rjoy");
orig=Matrix.mapRect(orig);
m_txRightStickOrig.translate(orig.x(),orig.y());
m_txRightStick->setTransform(m_txRightStickOrig,false);
orig=m_renderer->boundsOnElement("access0");
Matrix = m_renderer->matrixForElement("access0");
orig=Matrix.mapRect(orig);
m_txAccess0Orig.translate(orig.x(),orig.y());
m_txAccess0->setTransform(m_txAccess0Orig,false);
orig=m_renderer->boundsOnElement("access1");
Matrix = m_renderer->matrixForElement("access1");
orig=Matrix.mapRect(orig);
m_txAccess1Orig.translate(orig.x(),orig.y());
m_txAccess1->setTransform(m_txAccess1Orig,false);
orig=m_renderer->boundsOnElement("access2");
Matrix = m_renderer->matrixForElement("access2");
orig=Matrix.mapRect(orig);
m_txAccess2Orig.translate(orig.x(),orig.y());
m_txAccess2->setTransform(m_txAccess2Orig,true);
}
m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
animate=new QTimer(this);
connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
}
void ConfigInputWidget::resetTxControls()
{
m_txLeftStick->setTransform(m_txLeftStickOrig,false);
m_txRightStick->setTransform(m_txRightStickOrig,false);
m_txAccess0->setTransform(m_txAccess0Orig,false);
m_txAccess1->setTransform(m_txAccess1Orig,false);
m_txAccess2->setTransform(m_txAccess2Orig,false);
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
m_txArrows->setVisible(false);
}
ConfigInputWidget::~ConfigInputWidget()
{
}
void ConfigInputWidget::resizeEvent(QResizeEvent *event)
{
QWidget::resizeEvent(event);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
}
void ConfigInputWidget::openHelp()
{
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/04Cf", QUrl::StrictMode) );
}
void ConfigInputWidget::goToWizard()
{
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
wizardSetUpStep(wizardWelcome);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
}
void ConfigInputWidget::disableWizardButton(int value)
{
if(value!=0)
m_config->configurationWizard->setVisible(false);
else
m_config->configurationWizard->setVisible(true);
}
void ConfigInputWidget::wzCancel()
{
dimOtherControls(false);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
m_config->stackedWidget->setCurrentIndex(0);
if(wizardStep != wizardNone)
wizardTearDownStep(wizardStep);
wizardStep=wizardNone;
m_config->stackedWidget->setCurrentIndex(0);
// Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData);
}
void ConfigInputWidget::wzNext()
{
// In identify sticks mode the next button can indicate
// channel advance
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
// State transitions for next button
switch(wizardStep) {
case wizardWelcome:
wizardSetUpStep(wizardChooseMode);
break;
case wizardChooseMode:
wizardSetUpStep(wizardChooseType);
break;
case wizardChooseType:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifySticks:
nextChannel();
if(currentChannelNum==-1) { // Gone through all channels
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardIdentifyCenter);
}
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyInverted);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardFinish);
break;
case wizardFinish:
wizardStep=wizardNone;
m_config->stackedWidget->setCurrentIndex(0);
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wzBack()
{
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
// State transitions for next button
switch(wizardStep) {
case wizardChooseMode:
wizardSetUpStep(wizardWelcome);
break;
case wizardChooseType:
wizardSetUpStep(wizardChooseMode);
break;
case wizardIdentifySticks:
prevChannel();
if(currentChannelNum == -1) {
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardChooseType);
}
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyCenter);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardFinish:
wizardSetUpStep(wizardIdentifyInverted);
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
{
switch(step) {
case wizardWelcome:
foreach(QPointer<QWidget> wd,extraWidgets)
{
if(!wd.isNull())
delete wd;
}
extraWidgets.clear();
m_config->graphicsView->setVisible(false);
setTxMovement(nothing);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
previousManualSettingsData = manualSettingsData;
manualSettingsObj->setData(manualSettingsData);
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
"Please follow the instructions on the screen and only move your controls when asked to.\n"
"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
"You can press 'back' at any time to return to the previous screeen or press 'Cancel' to quit the wizard.\n"));
m_config->stackedWidget->setCurrentIndex(1);
m_config->wzBack->setEnabled(false);
break;
case wizardChooseMode:
{
m_config->graphicsView->setVisible(true);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
setTxMovement(nothing);
m_config->wzText->setText(tr("Please choose your transmitter type.\n"
"Mode 1 means your throttle stick is on the right.\n"
"Mode 2 means your throttle stick is on the left.\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
mode2->setChecked(true);
extraWidgets.clear();
extraWidgets.append(mode1);
extraWidgets.append(mode2);
m_config->checkBoxesLayout->layout()->addWidget(mode1);
m_config->checkBoxesLayout->layout()->addWidget(mode2);
}
break;
case wizardChooseType:
{
m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
"Acro means normal transmitter.\n"
"Heli means there is a collective pitch and throttle input.\n"
"If you are using a heli transmitter please engage throttle hold now.\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
typeAcro->setChecked(true);
typeHeli->setChecked(false);
extraWidgets.clear();
extraWidgets.append(typeAcro);
extraWidgets.append(typeHeli);
m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
wizardStep=wizardChooseType;
}
break;
case wizardIdentifySticks:
usedChannels.clear();
currentChannelNum=-1;
nextChannel();
manualSettingsData=manualSettingsObj->getData();
connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(false);
break;
case wizardIdentifyCenter:
setTxMovement(centerAll);
m_config->wzText->setText(QString(tr("Please center all controls and press next when ready (if your FlightMode switch has only two positions, leave it in either position).")));
break;
case wizardIdentifyLimits:
{
accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(),0);
accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
setTxMovement(nothing);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready.")));
fastMdata();
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
// Preserve the inverted status
if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
} else {
// Make this detect as still inverted
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
}
break;
case wizardIdentifyInverted:
dimOtherControls(true);
setTxMovement(nothing);
extraWidgets.clear();
for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
{
QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
if(!name.contains("Access") && !name.contains("Flight"))
{
QCheckBox * cb=new QCheckBox(name,this);
// Make sure checked status matches current one
cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement, press next when ready.")));
fastMdata();
break;
case wizardFinish:
dimOtherControls(false);
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n"
"These new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can save the configuration.")));
fastMdata();
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
{
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
}
manualSettingsObj->setData(manualSettingsData);
break;
default:
Q_ASSERT(0);
}
wizardStep = step;
}
void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
{
QRadioButton * mode, * type;
Q_ASSERT(step == wizardStep);
switch(step) {
case wizardWelcome:
break;
case wizardChooseMode:
mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardChooseType:
type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(type->isChecked())
transmitterType=acro;
else
transmitterType=heli;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
setTxMovement(nothing);
break;
case wizardIdentifyCenter:
manualCommandData=manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
{
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
setTxMovement(nothing);
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
manualSettingsObj->setData(manualSettingsData);
restoreMdata();
setTxMovement(nothing);
break;
case wizardIdentifyInverted:
dimOtherControls(false);
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
case wizardFinish:
dimOtherControls(false);
setTxMovement(nothing);
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
default:
Q_ASSERT(0);
}
}
/**
* Set manual control command to fast updates
*/
void ConfigInputWidget::fastMdata()
{
manualControlMdata = manualCommandObj->getMetadata();
UAVObject::Metadata mdata = manualControlMdata;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
}
/**
* Restore previous update settings for manual control data
*/
void ConfigInputWidget::restoreMdata()
{
manualCommandObj->setMetadata(manualControlMdata);
}
/**
* Set the display to indicate which channel the person should move
*/
void ConfigInputWidget::setChannel(int newChan)
{
if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
m_config->wzText->setText(QString(tr("Please enable the throttle hold mode and move the collective pitch stick.")));
else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
m_config->wzText->setText(QString(tr("Please toggle the flight mode switch. For switches you may have to repeat this rapidly.")));
else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick.")));
else
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
m_config->wzNext->setEnabled(true);
m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
} else
m_config->wzNext->setEnabled(false);
setMoveFromCommand(newChan);
currentChannelNum = newChan;
channelDetected = false;
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* next channel based on heli or acro mode
*/
void ConfigInputWidget::nextChannel()
{
QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
if(currentChannelNum == -1) {
setChannel(order[0]);
return;
}
for (int i = 0; i < order.length() - 1; i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i+1]);
return;
}
}
currentChannelNum = -1; // hit end of list
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* previous channel based on heli or acro mode
*/
void ConfigInputWidget::prevChannel()
{
QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
// No previous from unset channel or next state
if(currentChannelNum == -1)
return;
for (int i = 1; i < order.length(); i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i-1]);
usedChannels.removeLast();
return;
}
}
currentChannelNum = -1; // hit end of list
}
void ConfigInputWidget::identifyControls()
{
static int debounce=0;
receiverActivityData=receiverActivityObj->getData();
if(receiverActivityData.ActiveChannel==255)
return;
if(channelDetected)
return;
else
{
receiverActivityData=receiverActivityObj->getData();
currentChannel.group=receiverActivityData.ActiveGroup;
currentChannel.number=receiverActivityData.ActiveChannel;
if(currentChannel==lastChannel)
++debounce;
lastChannel.group= currentChannel.group;
lastChannel.number=currentChannel.number;
if(!usedChannels.contains(lastChannel) && debounce>1)
{
channelDetected = true;
debounce=0;
usedChannels.append(lastChannel);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
manualSettingsObj->setData(manualSettingsData);
}
else
return;
}
m_config->wzText->clear();
setTxMovement(nothing);
QTimer::singleShot(2500, this, SLOT(wzNext()));
}
void ConfigInputWidget::identifyLimits()
{
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
// Non inverted channel
if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
} else {
// Inverted channel
if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
}
}
manualSettingsObj->setData(manualSettingsData);
}
void ConfigInputWidget::setMoveFromCommand(int command)
{
//CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem;
if(command==ManualControlSettings::CHANNELNUMBER_ROLL)
{
setTxMovement(moveRightHorizontalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
{
if(transmitterMode==mode2)
setTxMovement(moveRightVerticalStick);
else
setTxMovement(moveLeftVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
{
setTxMovement(moveLeftHorizontalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
{
if(transmitterMode==mode2)
setTxMovement(moveLeftVerticalStick);
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
{
if(transmitterMode==mode2)
setTxMovement(moveLeftVerticalStick);
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
{
setTxMovement(moveFlightMode);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0)
{
setTxMovement(moveAccess0);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1)
{
setTxMovement(moveAccess1);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2)
{
setTxMovement(moveAccess2);
}
}
void ConfigInputWidget::setTxMovement(txMovements movement)
{
resetTxControls();
switch(movement)
{
case moveLeftVerticalStick:
movePos=0;
growing=true;
currentMovement=moveLeftVerticalStick;
animate->start(100);
break;
case moveRightVerticalStick:
movePos=0;
growing=true;
currentMovement=moveRightVerticalStick;
animate->start(100);
break;
case moveLeftHorizontalStick:
movePos=0;
growing=true;
currentMovement=moveLeftHorizontalStick;
animate->start(100);
break;
case moveRightHorizontalStick:
movePos=0;
growing=true;
currentMovement=moveRightHorizontalStick;
animate->start(100);
break;
case moveAccess0:
movePos=0;
growing=true;
currentMovement=moveAccess0;
animate->start(100);
break;
case moveAccess1:
movePos=0;
growing=true;
currentMovement=moveAccess1;
animate->start(100);
break;
case moveAccess2:
movePos=0;
growing=true;
currentMovement=moveAccess2;
animate->start(100);
break;
case moveFlightMode:
movePos=0;
growing=true;
currentMovement=moveFlightMode;
animate->start(1000);
break;
case centerAll:
movePos=0;
currentMovement=centerAll;
animate->start(1000);
break;
case moveAll:
movePos=0;
growing=true;
currentMovement=moveAll;
animate->start(50);
break;
case nothing:
movePos=0;
animate->stop();
break;
default:
break;
}
}
void ConfigInputWidget::moveTxControls()
{
QTransform trans;
QGraphicsItem * item;
txMovementType move;
int limitMax;
int limitMin;
static bool auxFlag=false;
switch(currentMovement)
{
case moveLeftVerticalStick:
item=m_txLeftStick;
trans=m_txLeftStickOrig;
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=vertical;
break;
case moveRightVerticalStick:
item=m_txRightStick;
trans=m_txRightStickOrig;
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=vertical;
break;
case moveLeftHorizontalStick:
item=m_txLeftStick;
trans=m_txLeftStickOrig;
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=horizontal;
break;
case moveRightHorizontalStick:
item=m_txRightStick;
trans=m_txRightStickOrig;
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=horizontal;
break;
case moveAccess0:
item=m_txAccess0;
trans=m_txAccess0Orig;
limitMax=ACCESS_MAX_MOVE;
limitMin=ACCESS_MIN_MOVE;
move=horizontal;
break;
case moveAccess1:
item=m_txAccess1;
trans=m_txAccess1Orig;
limitMax=ACCESS_MAX_MOVE;
limitMin=ACCESS_MIN_MOVE;
move=horizontal;
break;
case moveAccess2:
item=m_txAccess2;
trans=m_txAccess2Orig;
limitMax=ACCESS_MAX_MOVE;
limitMin=ACCESS_MIN_MOVE;
move=horizontal;
break;
case moveFlightMode:
item=m_txFlightMode;
move=jump;
break;
case centerAll:
item=m_txArrows;
move=jump;
break;
case moveAll:
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=mix;
break;
default:
break;
}
if(move==vertical)
item->setTransform(trans.translate(0,movePos*10),false);
else if(move==horizontal)
item->setTransform(trans.translate(movePos*10,0),false);
else if(move==jump)
{
if(item==m_txArrows)
{
m_txArrows->setVisible(!m_txArrows->isVisible());
}
else if(item==m_txFlightMode)
{
QGraphicsSvgItem * svg;
svg=(QGraphicsSvgItem *)item;
if (svg)
{
if(svg->elementId()=="flightModeCenter")
{
if(growing)
{
svg->setElementId("flightModeRight");
m_txFlightMode->setTransform(m_txFlightModeROrig,false);
}
else
{
svg->setElementId("flightModeLeft");
m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
}
}
else if(svg->elementId()=="flightModeRight")
{
growing=false;
svg->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
else if(svg->elementId()=="flightModeLeft")
{
growing=true;
svg->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
}
}
}
else if(move==mix)
{
trans=m_txAccess0Orig;
m_txAccess0->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
trans=m_txAccess1Orig;
m_txAccess1->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
trans=m_txAccess2Orig;
m_txAccess2->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
if(auxFlag)
{
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(0,movePos*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(0,movePos*10),false);
}
else
{
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(movePos*10,0),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(movePos*10,0),false);
}
if(movePos==0)
{
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
else if(movePos==ACCESS_MAX_MOVE/2)
{
m_txFlightMode->setElementId("flightModeRight");
m_txFlightMode->setTransform(m_txFlightModeROrig,false);
}
else if(movePos==ACCESS_MIN_MOVE/2)
{
m_txFlightMode->setElementId("flightModeLeft");
m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
}
}
if(move==horizontal || move==vertical ||move==mix)
{
if(movePos==0 && growing)
auxFlag=!auxFlag;
if(growing)
++movePos;
else
--movePos;
if(movePos>limitMax)
{
movePos=movePos-2;
growing=false;
}
if(movePos<limitMin)
{
movePos=movePos+2;
growing=true;
}
}
}
void ConfigInputWidget::moveSticks()
{
QTransform trans;
manualCommandData=manualCommandObj->getData();
flightStatusData=flightStatusObj->getData();
accessoryDesiredData0=accessoryDesiredObj0->getData();
accessoryDesiredData1=accessoryDesiredObj1->getData();
accessoryDesiredData2=accessoryDesiredObj2->getData();
if(transmitterMode==mode2)
{
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
}
else
{
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
}
if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
{
m_txFlightMode->setElementId("flightModeLeft");
m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
}
else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[1])
{
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[2])
{
m_txFlightMode->setElementId("flightModeRight");
m_txFlightMode->setTransform(m_txFlightModeROrig,false);
}
m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(accessoryDesiredData0.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(accessoryDesiredData1.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(accessoryDesiredData2.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
}
void ConfigInputWidget::dimOtherControls(bool value)
{
qreal opac;
if(value)
opac=0.1;
else
opac=1;
m_txAccess0->setOpacity(opac);
m_txAccess1->setOpacity(opac);
m_txAccess2->setOpacity(opac);
m_txFlightMode->setOpacity(opac);
}
void ConfigInputWidget::enableControls(bool enable)
{
m_config->configurationWizard->setEnabled(enable);
m_config->runCalibration->setEnabled(enable);
ConfigTaskWidget::enableControls(enable);
}
void ConfigInputWidget::invertControls()
{
manualSettingsData=manualSettingsObj->getData();
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
int index = manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
(!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
{
qint16 aux;
aux=manualSettingsData.ChannelMax[index];
manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
manualSettingsData.ChannelMin[index]=aux;
}
}
}
manualSettingsObj->setData(manualSettingsData);
}
void ConfigInputWidget::moveFMSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
ManualControlCommand::DataFields manualCommandDataPriv = manualCommandObj->getData();
float valueScaled;
int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE];
int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE];
int value = manualCommandDataPriv.Channel[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
{
if (chMax != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
else
valueScaled = 0;
}
else
{
if (chMin != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
else
valueScaled = 0;
}
// Bound and scale FlightMode from [-1..+1] to [0..1] range
if (valueScaled < -1.0)
valueScaled = -1.0;
else
if (valueScaled > 1.0)
valueScaled = 1.0;
// Convert flightMode value into the switch position in the range [0..N-1]
// This uses the same optimized computation as flight code to be consistent
uint8_t pos = ((int16_t)(valueScaled * 256) + 256) * manualSettingsDataPriv.FlightModeNumber >> 9;
if (pos >= manualSettingsDataPriv.FlightModeNumber)
pos = manualSettingsDataPriv.FlightModeNumber - 1;
m_config->fmsSlider->setValue(pos);
}
void ConfigInputWidget::updatePositionSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
switch(manualSettingsDataPriv.FlightModeNumber) {
default:
case 6:
m_config->fmsModePos6->setEnabled(true);
// pass through
case 5:
m_config->fmsModePos5->setEnabled(true);
// pass through
case 4:
m_config->fmsModePos4->setEnabled(true);
// pass through
case 3:
m_config->fmsModePos3->setEnabled(true);
// pass through
case 2:
m_config->fmsModePos2->setEnabled(true);
// pass through
case 1:
m_config->fmsModePos1->setEnabled(true);
// pass through
case 0:
break;
}
switch(manualSettingsDataPriv.FlightModeNumber) {
case 0:
m_config->fmsModePos1->setEnabled(false);
// pass through
case 1:
m_config->fmsModePos2->setEnabled(false);
// pass through
case 2:
m_config->fmsModePos3->setEnabled(false);
// pass through
case 3:
m_config->fmsModePos4->setEnabled(false);
// pass through
case 4:
m_config->fmsModePos5->setEnabled(false);
// pass through
case 5:
m_config->fmsModePos6->setEnabled(false);
// pass through
case 6:
default:
break;
}
}
void ConfigInputWidget::updateCalibration()
{
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if((!reverse[i] && manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i]) ||
(reverse[i] && manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i]))
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if((!reverse[i] && manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i]) ||
(reverse[i] && manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i]))
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
manualSettingsObj->updated();
}
void ConfigInputWidget::simpleCalibration(bool enable)
{
if (enable) {
m_config->configurationWizard->setEnabled(false);
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
manualCommandData = manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
manualSettingsObj->setData(manualSettingsData);
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
fastMdata();
connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
} else {
m_config->configurationWizard->setEnabled(true);
manualCommandData = manualCommandObj->getData();
manualSettingsData = manualSettingsObj->getData();
restoreMdata();
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
// Force flight mode neutral to middle
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
// Force throttle to be near min
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
manualSettingsObj->setData(manualSettingsData);
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
}
}
/**
******************************************************************************
*
* @file configinputwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configinputwidget.h"
#include "uavtalk/telemetrymanager.h"
#include <QDebug>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QDesktopServices>
#include <QUrl>
#include <QMessageBox>
#include <utils/stylehelper.h>
#include <QMessageBox>
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#define ACCESS_MIN_MOVE -3
#define ACCESS_MAX_MOVE 3
#define STICK_MIN_MOVE -8
#define STICK_MAX_MOVE 8
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
flightStatusObj = FlightStatus::GetInstance(getObjectManager());
receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
m_config = new Ui_InputWidget();
m_config->setupUi(this);
addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode())
m_config->saveRCInputToRAM->setVisible(false);
addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
//Generate the rows of buttons in the input channel form GUI
unsigned int index=0;
foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
{
Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
inputChannelForm * inpForm=new inputChannelForm(this,index==0);
m_config->channelSettings->layout()->addWidget(inpForm); //Add the row to the UI
inpForm->setName(name);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inpForm->ui->channelGroup,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inpForm->ui->channelNumber,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
++index;
}
addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
connect(m_config->stackedWidget,SIGNAL(currentChanged(int)),this,SLOT(disableWizardButton(int)));
connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
m_config->stackedWidget->setCurrentIndex(0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
enableControls(false);
populateWidgets();
refreshWidgetsValues();
// Connect the help button
connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
m_config->graphicsView->setScene(new QGraphicsScene(this));
m_config->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
m_renderer = new QSvgRenderer();
QGraphicsScene *l_scene = m_config->graphicsView->scene();
m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
if (QFile::exists(":/configgadget/images/TX2.svg") && m_renderer->load(QString(":/configgadget/images/TX2.svg")) && m_renderer->isValid())
{
l_scene->clear(); // Deletes all items contained in the scene as well.
m_txBackground = new QGraphicsSvgItem();
// All other items will be clipped to the shape of the background
m_txBackground->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
QGraphicsItem::ItemClipsToShape);
m_txBackground->setSharedRenderer(m_renderer);
m_txBackground->setElementId("background");
l_scene->addItem(m_txBackground);
m_txMainBody = new QGraphicsSvgItem();
m_txMainBody->setParentItem(m_txBackground);
m_txMainBody->setSharedRenderer(m_renderer);
m_txMainBody->setElementId("body");
l_scene->addItem(m_txMainBody);
m_txLeftStick = new QGraphicsSvgItem();
m_txLeftStick->setParentItem(m_txBackground);
m_txLeftStick->setSharedRenderer(m_renderer);
m_txLeftStick->setElementId("ljoy");
m_txRightStick = new QGraphicsSvgItem();
m_txRightStick->setParentItem(m_txBackground);
m_txRightStick->setSharedRenderer(m_renderer);
m_txRightStick->setElementId("rjoy");
m_txAccess0 = new QGraphicsSvgItem();
m_txAccess0->setParentItem(m_txBackground);
m_txAccess0->setSharedRenderer(m_renderer);
m_txAccess0->setElementId("access0");
m_txAccess1 = new QGraphicsSvgItem();
m_txAccess1->setParentItem(m_txBackground);
m_txAccess1->setSharedRenderer(m_renderer);
m_txAccess1->setElementId("access1");
m_txAccess2 = new QGraphicsSvgItem();
m_txAccess2->setParentItem(m_txBackground);
m_txAccess2->setSharedRenderer(m_renderer);
m_txAccess2->setElementId("access2");
m_txFlightMode = new QGraphicsSvgItem();
m_txFlightMode->setParentItem(m_txBackground);
m_txFlightMode->setSharedRenderer(m_renderer);
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setZValue(-10);
m_txArrows = new QGraphicsSvgItem();
m_txArrows->setParentItem(m_txBackground);
m_txArrows->setSharedRenderer(m_renderer);
m_txArrows->setElementId("arrows");
m_txArrows->setVisible(false);
QRectF orig=m_renderer->boundsOnElement("ljoy");
QMatrix Matrix = m_renderer->matrixForElement("ljoy");
orig=Matrix.mapRect(orig);
m_txLeftStickOrig.translate(orig.x(),orig.y());
m_txLeftStick->setTransform(m_txLeftStickOrig,false);
orig=m_renderer->boundsOnElement("arrows");
Matrix = m_renderer->matrixForElement("arrows");
orig=Matrix.mapRect(orig);
m_txArrowsOrig.translate(orig.x(),orig.y());
m_txArrows->setTransform(m_txArrowsOrig,false);
orig=m_renderer->boundsOnElement("body");
Matrix = m_renderer->matrixForElement("body");
orig=Matrix.mapRect(orig);
m_txMainBodyOrig.translate(orig.x(),orig.y());
m_txMainBody->setTransform(m_txMainBodyOrig,false);
orig=m_renderer->boundsOnElement("flightModeCenter");
Matrix = m_renderer->matrixForElement("flightModeCenter");
orig=Matrix.mapRect(orig);
m_txFlightModeCOrig.translate(orig.x(),orig.y());
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
orig=m_renderer->boundsOnElement("flightModeLeft");
Matrix = m_renderer->matrixForElement("flightModeLeft");
orig=Matrix.mapRect(orig);
m_txFlightModeLOrig.translate(orig.x(),orig.y());
orig=m_renderer->boundsOnElement("flightModeRight");
Matrix = m_renderer->matrixForElement("flightModeRight");
orig=Matrix.mapRect(orig);
m_txFlightModeROrig.translate(orig.x(),orig.y());
orig=m_renderer->boundsOnElement("rjoy");
Matrix = m_renderer->matrixForElement("rjoy");
orig=Matrix.mapRect(orig);
m_txRightStickOrig.translate(orig.x(),orig.y());
m_txRightStick->setTransform(m_txRightStickOrig,false);
orig=m_renderer->boundsOnElement("access0");
Matrix = m_renderer->matrixForElement("access0");
orig=Matrix.mapRect(orig);
m_txAccess0Orig.translate(orig.x(),orig.y());
m_txAccess0->setTransform(m_txAccess0Orig,false);
orig=m_renderer->boundsOnElement("access1");
Matrix = m_renderer->matrixForElement("access1");
orig=Matrix.mapRect(orig);
m_txAccess1Orig.translate(orig.x(),orig.y());
m_txAccess1->setTransform(m_txAccess1Orig,false);
orig=m_renderer->boundsOnElement("access2");
Matrix = m_renderer->matrixForElement("access2");
orig=Matrix.mapRect(orig);
m_txAccess2Orig.translate(orig.x(),orig.y());
m_txAccess2->setTransform(m_txAccess2Orig,true);
}
m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
animate=new QTimer(this);
connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
}
void ConfigInputWidget::resetTxControls()
{
m_txLeftStick->setTransform(m_txLeftStickOrig,false);
m_txRightStick->setTransform(m_txRightStickOrig,false);
m_txAccess0->setTransform(m_txAccess0Orig,false);
m_txAccess1->setTransform(m_txAccess1Orig,false);
m_txAccess2->setTransform(m_txAccess2Orig,false);
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
m_txArrows->setVisible(false);
}
ConfigInputWidget::~ConfigInputWidget()
{
}
void ConfigInputWidget::resizeEvent(QResizeEvent *event)
{
QWidget::resizeEvent(event);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
}
void ConfigInputWidget::openHelp()
{
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/04Cf", QUrl::StrictMode) );
}
void ConfigInputWidget::goToWizard()
{
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually "
"when the wizard is finished. After the last step of the "
"wizard you will be taken to the Arming Settings screen."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
// Set correct tab visible before starting wizard.
if(m_config->tabWidget->currentIndex() != 0) {
m_config->tabWidget->setCurrentIndex(0);
}
wizardSetUpStep(wizardWelcome);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
}
void ConfigInputWidget::disableWizardButton(int value)
{
if(value!=0)
m_config->configurationWizard->setVisible(false);
else
m_config->configurationWizard->setVisible(true);
}
void ConfigInputWidget::wzCancel()
{
dimOtherControls(false);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
m_config->stackedWidget->setCurrentIndex(0);
if(wizardStep != wizardNone)
wizardTearDownStep(wizardStep);
wizardStep=wizardNone;
m_config->stackedWidget->setCurrentIndex(0);
// Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData);
}
void ConfigInputWidget::wzNext()
{
// In identify sticks mode the next button can indicate
// channel advance
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
// State transitions for next button
switch(wizardStep) {
case wizardWelcome:
wizardSetUpStep(wizardChooseMode);
break;
case wizardChooseMode:
wizardSetUpStep(wizardChooseType);
break;
case wizardChooseType:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifySticks:
nextChannel();
if(currentChannelNum==-1) { // Gone through all channels
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardIdentifyCenter);
}
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyInverted);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardFinish);
break;
case wizardFinish:
wizardStep=wizardNone;
m_config->stackedWidget->setCurrentIndex(0);
m_config->tabWidget->setCurrentIndex(2);
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wzBack()
{
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
// State transitions for next button
switch(wizardStep) {
case wizardChooseMode:
wizardSetUpStep(wizardWelcome);
break;
case wizardChooseType:
wizardSetUpStep(wizardChooseMode);
break;
case wizardIdentifySticks:
prevChannel();
if(currentChannelNum == -1) {
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardChooseType);
}
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyCenter);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardFinish:
wizardSetUpStep(wizardIdentifyInverted);
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
{
switch(step) {
case wizardWelcome:
foreach(QPointer<QWidget> wd,extraWidgets)
{
if(!wd.isNull())
delete wd;
}
extraWidgets.clear();
m_config->graphicsView->setVisible(false);
setTxMovement(nothing);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
previousManualSettingsData = manualSettingsData;
manualSettingsObj->setData(manualSettingsData);
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
"Please follow the instructions on the screen and only move your controls when asked to.\n"
"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
"You can press 'back' at any time to return to the previous screeen or press 'Cancel' to quit the wizard.\n"));
m_config->stackedWidget->setCurrentIndex(1);
m_config->wzBack->setEnabled(false);
break;
case wizardChooseMode:
{
m_config->graphicsView->setVisible(true);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
setTxMovement(nothing);
m_config->wzText->setText(tr("Please choose your transmitter type.\n"
"Mode 1 means your throttle stick is on the right.\n"
"Mode 2 means your throttle stick is on the left.\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
mode2->setChecked(true);
extraWidgets.clear();
extraWidgets.append(mode1);
extraWidgets.append(mode2);
m_config->checkBoxesLayout->layout()->addWidget(mode1);
m_config->checkBoxesLayout->layout()->addWidget(mode2);
}
break;
case wizardChooseType:
{
m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
"Acro means normal transmitter.\n"
"Heli means there is a collective pitch and throttle input.\n"
"If you are using a heli transmitter please engage throttle hold now.\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
typeAcro->setChecked(true);
typeHeli->setChecked(false);
extraWidgets.clear();
extraWidgets.append(typeAcro);
extraWidgets.append(typeHeli);
m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
wizardStep=wizardChooseType;
}
break;
case wizardIdentifySticks:
usedChannels.clear();
currentChannelNum=-1;
nextChannel();
manualSettingsData=manualSettingsObj->getData();
connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(false);
break;
case wizardIdentifyCenter:
setTxMovement(centerAll);
m_config->wzText->setText(QString(tr("Please center all controls and press next when ready (if your FlightMode switch has only two positions, leave it in either position).")));
break;
case wizardIdentifyLimits:
{
accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(),0);
accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
setTxMovement(nothing);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready.")));
fastMdata();
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
// Preserve the inverted status
if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
} else {
// Make this detect as still inverted
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
}
break;
case wizardIdentifyInverted:
dimOtherControls(true);
setTxMovement(nothing);
extraWidgets.clear();
for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
{
QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
if(!name.contains("Access") && !name.contains("Flight"))
{
QCheckBox * cb=new QCheckBox(name,this);
// Make sure checked status matches current one
cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement, press next when ready.")));
fastMdata();
break;
case wizardFinish:
dimOtherControls(false);
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n"
"These new settings aren't saved to the board yet, after pressing next you will go to the Arming Settings "
"screen where you can set your desired arming sequence and save the configuration.")));
fastMdata();
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
{
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
}
manualSettingsObj->setData(manualSettingsData);
break;
default:
Q_ASSERT(0);
}
wizardStep = step;
}
void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
{
QRadioButton * mode, * type;
Q_ASSERT(step == wizardStep);
switch(step) {
case wizardWelcome:
break;
case wizardChooseMode:
mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardChooseType:
type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(type->isChecked())
transmitterType=acro;
else
transmitterType=heli;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
setTxMovement(nothing);
break;
case wizardIdentifyCenter:
manualCommandData=manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
{
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
setTxMovement(nothing);
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
manualSettingsObj->setData(manualSettingsData);
restoreMdata();
setTxMovement(nothing);
break;
case wizardIdentifyInverted:
dimOtherControls(false);
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
case wizardFinish:
dimOtherControls(false);
setTxMovement(nothing);
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
default:
Q_ASSERT(0);
}
}
/**
* Set manual control command to fast updates
*/
void ConfigInputWidget::fastMdata()
{
manualControlMdata = manualCommandObj->getMetadata();
UAVObject::Metadata mdata = manualControlMdata;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
}
/**
* Restore previous update settings for manual control data
*/
void ConfigInputWidget::restoreMdata()
{
manualCommandObj->setMetadata(manualControlMdata);
}
/**
* Set the display to indicate which channel the person should move
*/
void ConfigInputWidget::setChannel(int newChan)
{
if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
m_config->wzText->setText(QString(tr("Please enable the throttle hold mode and move the collective pitch stick.")));
else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
m_config->wzText->setText(QString(tr("Please toggle the flight mode switch. For switches you may have to repeat this rapidly.")));
else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick.")));
else
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
m_config->wzNext->setEnabled(true);
m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
} else
m_config->wzNext->setEnabled(false);
setMoveFromCommand(newChan);
currentChannelNum = newChan;
channelDetected = false;
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* next channel based on heli or acro mode
*/
void ConfigInputWidget::nextChannel()
{
QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
if(currentChannelNum == -1) {
setChannel(order[0]);
return;
}
for (int i = 0; i < order.length() - 1; i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i+1]);
return;
}
}
currentChannelNum = -1; // hit end of list
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* previous channel based on heli or acro mode
*/
void ConfigInputWidget::prevChannel()
{
QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
// No previous from unset channel or next state
if(currentChannelNum == -1)
return;
for (int i = 1; i < order.length(); i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i-1]);
usedChannels.removeLast();
return;
}
}
currentChannelNum = -1; // hit end of list
}
void ConfigInputWidget::identifyControls()
{
static int debounce=0;
receiverActivityData=receiverActivityObj->getData();
if(receiverActivityData.ActiveChannel==255)
return;
if(channelDetected)
return;
else
{
receiverActivityData=receiverActivityObj->getData();
currentChannel.group=receiverActivityData.ActiveGroup;
currentChannel.number=receiverActivityData.ActiveChannel;
if(currentChannel==lastChannel)
++debounce;
lastChannel.group= currentChannel.group;
lastChannel.number=currentChannel.number;
if(!usedChannels.contains(lastChannel) && debounce>1)
{
channelDetected = true;
debounce=0;
usedChannels.append(lastChannel);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
manualSettingsObj->setData(manualSettingsData);
}
else
return;
}
m_config->wzText->clear();
setTxMovement(nothing);
QTimer::singleShot(2500, this, SLOT(wzNext()));
}
void ConfigInputWidget::identifyLimits()
{
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
// Non inverted channel
if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
} else {
// Inverted channel
if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
}
}
manualSettingsObj->setData(manualSettingsData);
}
void ConfigInputWidget::setMoveFromCommand(int command)
{
//CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem;
if(command==ManualControlSettings::CHANNELNUMBER_ROLL)
{
setTxMovement(moveRightHorizontalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
{
if(transmitterMode==mode2)
setTxMovement(moveRightVerticalStick);
else
setTxMovement(moveLeftVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
{
setTxMovement(moveLeftHorizontalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
{
if(transmitterMode==mode2)
setTxMovement(moveLeftVerticalStick);
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
{
if(transmitterMode==mode2)
setTxMovement(moveLeftVerticalStick);
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
{
setTxMovement(moveFlightMode);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0)
{
setTxMovement(moveAccess0);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1)
{
setTxMovement(moveAccess1);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2)
{
setTxMovement(moveAccess2);
}
}
void ConfigInputWidget::setTxMovement(txMovements movement)
{
resetTxControls();
switch(movement)
{
case moveLeftVerticalStick:
movePos=0;
growing=true;
currentMovement=moveLeftVerticalStick;
animate->start(100);
break;
case moveRightVerticalStick:
movePos=0;
growing=true;
currentMovement=moveRightVerticalStick;
animate->start(100);
break;
case moveLeftHorizontalStick:
movePos=0;
growing=true;
currentMovement=moveLeftHorizontalStick;
animate->start(100);
break;
case moveRightHorizontalStick:
movePos=0;
growing=true;
currentMovement=moveRightHorizontalStick;
animate->start(100);
break;
case moveAccess0:
movePos=0;
growing=true;
currentMovement=moveAccess0;
animate->start(100);
break;
case moveAccess1:
movePos=0;
growing=true;
currentMovement=moveAccess1;
animate->start(100);
break;
case moveAccess2:
movePos=0;
growing=true;
currentMovement=moveAccess2;
animate->start(100);
break;
case moveFlightMode:
movePos=0;
growing=true;
currentMovement=moveFlightMode;
animate->start(1000);
break;
case centerAll:
movePos=0;
currentMovement=centerAll;
animate->start(1000);
break;
case moveAll:
movePos=0;
growing=true;
currentMovement=moveAll;
animate->start(50);
break;
case nothing:
movePos=0;
animate->stop();
break;
default:
break;
}
}
void ConfigInputWidget::moveTxControls()
{
QTransform trans;
QGraphicsItem * item;
txMovementType move;
int limitMax;
int limitMin;
static bool auxFlag=false;
switch(currentMovement)
{
case moveLeftVerticalStick:
item=m_txLeftStick;
trans=m_txLeftStickOrig;
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=vertical;
break;
case moveRightVerticalStick:
item=m_txRightStick;
trans=m_txRightStickOrig;
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=vertical;
break;
case moveLeftHorizontalStick:
item=m_txLeftStick;
trans=m_txLeftStickOrig;
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=horizontal;
break;
case moveRightHorizontalStick:
item=m_txRightStick;
trans=m_txRightStickOrig;
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=horizontal;
break;
case moveAccess0:
item=m_txAccess0;
trans=m_txAccess0Orig;
limitMax=ACCESS_MAX_MOVE;
limitMin=ACCESS_MIN_MOVE;
move=horizontal;
break;
case moveAccess1:
item=m_txAccess1;
trans=m_txAccess1Orig;
limitMax=ACCESS_MAX_MOVE;
limitMin=ACCESS_MIN_MOVE;
move=horizontal;
break;
case moveAccess2:
item=m_txAccess2;
trans=m_txAccess2Orig;
limitMax=ACCESS_MAX_MOVE;
limitMin=ACCESS_MIN_MOVE;
move=horizontal;
break;
case moveFlightMode:
item=m_txFlightMode;
move=jump;
break;
case centerAll:
item=m_txArrows;
move=jump;
break;
case moveAll:
limitMax=STICK_MAX_MOVE;
limitMin=STICK_MIN_MOVE;
move=mix;
break;
default:
break;
}
if(move==vertical)
item->setTransform(trans.translate(0,movePos*10),false);
else if(move==horizontal)
item->setTransform(trans.translate(movePos*10,0),false);
else if(move==jump)
{
if(item==m_txArrows)
{
m_txArrows->setVisible(!m_txArrows->isVisible());
}
else if(item==m_txFlightMode)
{
QGraphicsSvgItem * svg;
svg=(QGraphicsSvgItem *)item;
if (svg)
{
if(svg->elementId()=="flightModeCenter")
{
if(growing)
{
svg->setElementId("flightModeRight");
m_txFlightMode->setTransform(m_txFlightModeROrig,false);
}
else
{
svg->setElementId("flightModeLeft");
m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
}
}
else if(svg->elementId()=="flightModeRight")
{
growing=false;
svg->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
else if(svg->elementId()=="flightModeLeft")
{
growing=true;
svg->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
}
}
}
else if(move==mix)
{
trans=m_txAccess0Orig;
m_txAccess0->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
trans=m_txAccess1Orig;
m_txAccess1->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
trans=m_txAccess2Orig;
m_txAccess2->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
if(auxFlag)
{
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(0,movePos*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(0,movePos*10),false);
}
else
{
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(movePos*10,0),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(movePos*10,0),false);
}
if(movePos==0)
{
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
else if(movePos==ACCESS_MAX_MOVE/2)
{
m_txFlightMode->setElementId("flightModeRight");
m_txFlightMode->setTransform(m_txFlightModeROrig,false);
}
else if(movePos==ACCESS_MIN_MOVE/2)
{
m_txFlightMode->setElementId("flightModeLeft");
m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
}
}
if(move==horizontal || move==vertical ||move==mix)
{
if(movePos==0 && growing)
auxFlag=!auxFlag;
if(growing)
++movePos;
else
--movePos;
if(movePos>limitMax)
{
movePos=movePos-2;
growing=false;
}
if(movePos<limitMin)
{
movePos=movePos+2;
growing=true;
}
}
}
void ConfigInputWidget::moveSticks()
{
QTransform trans;
manualCommandData=manualCommandObj->getData();
flightStatusData=flightStatusObj->getData();
accessoryDesiredData0=accessoryDesiredObj0->getData();
accessoryDesiredData1=accessoryDesiredObj1->getData();
accessoryDesiredData2=accessoryDesiredObj2->getData();
if(transmitterMode==mode2)
{
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
}
else
{
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
}
if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
{
m_txFlightMode->setElementId("flightModeLeft");
m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
}
else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[1])
{
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
}
else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[2])
{
m_txFlightMode->setElementId("flightModeRight");
m_txFlightMode->setTransform(m_txFlightModeROrig,false);
}
m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(accessoryDesiredData0.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(accessoryDesiredData1.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(accessoryDesiredData2.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
}
void ConfigInputWidget::dimOtherControls(bool value)
{
qreal opac;
if(value)
opac=0.1;
else
opac=1;
m_txAccess0->setOpacity(opac);
m_txAccess1->setOpacity(opac);
m_txAccess2->setOpacity(opac);
m_txFlightMode->setOpacity(opac);
}
void ConfigInputWidget::enableControls(bool enable)
{
m_config->configurationWizard->setEnabled(enable);
m_config->runCalibration->setEnabled(enable);
ConfigTaskWidget::enableControls(enable);
}
void ConfigInputWidget::invertControls()
{
manualSettingsData=manualSettingsObj->getData();
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
int index = manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
(!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
{
qint16 aux;
aux=manualSettingsData.ChannelMax[index];
manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
manualSettingsData.ChannelMin[index]=aux;
}
}
}
manualSettingsObj->setData(manualSettingsData);
}
void ConfigInputWidget::moveFMSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
ManualControlCommand::DataFields manualCommandDataPriv = manualCommandObj->getData();
float valueScaled;
int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE];
int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE];
int value = manualCommandDataPriv.Channel[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
{
if (chMax != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
else
valueScaled = 0;
}
else
{
if (chMin != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
else
valueScaled = 0;
}
// Bound and scale FlightMode from [-1..+1] to [0..1] range
if (valueScaled < -1.0)
valueScaled = -1.0;
else
if (valueScaled > 1.0)
valueScaled = 1.0;
// Convert flightMode value into the switch position in the range [0..N-1]
// This uses the same optimized computation as flight code to be consistent
uint8_t pos = ((int16_t)(valueScaled * 256) + 256) * manualSettingsDataPriv.FlightModeNumber >> 9;
if (pos >= manualSettingsDataPriv.FlightModeNumber)
pos = manualSettingsDataPriv.FlightModeNumber - 1;
m_config->fmsSlider->setValue(pos);
}
void ConfigInputWidget::updatePositionSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
switch(manualSettingsDataPriv.FlightModeNumber) {
default:
case 6:
m_config->fmsModePos6->setEnabled(true);
// pass through
case 5:
m_config->fmsModePos5->setEnabled(true);
// pass through
case 4:
m_config->fmsModePos4->setEnabled(true);
// pass through
case 3:
m_config->fmsModePos3->setEnabled(true);
// pass through
case 2:
m_config->fmsModePos2->setEnabled(true);
// pass through
case 1:
m_config->fmsModePos1->setEnabled(true);
// pass through
case 0:
break;
}
switch(manualSettingsDataPriv.FlightModeNumber) {
case 0:
m_config->fmsModePos1->setEnabled(false);
// pass through
case 1:
m_config->fmsModePos2->setEnabled(false);
// pass through
case 2:
m_config->fmsModePos3->setEnabled(false);
// pass through
case 3:
m_config->fmsModePos4->setEnabled(false);
// pass through
case 4:
m_config->fmsModePos5->setEnabled(false);
// pass through
case 5:
m_config->fmsModePos6->setEnabled(false);
// pass through
case 6:
default:
break;
}
}
void ConfigInputWidget::updateCalibration()
{
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if((!reverse[i] && manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i]) ||
(reverse[i] && manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i]))
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if((!reverse[i] && manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i]) ||
(reverse[i] && manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i]))
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
manualSettingsObj->updated();
}
void ConfigInputWidget::simpleCalibration(bool enable)
{
if (enable) {
m_config->configurationWizard->setEnabled(false);
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
manualCommandData = manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
manualSettingsObj->setData(manualSettingsData);
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
fastMdata();
connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
} else {
m_config->configurationWizard->setEnabled(true);
manualCommandData = manualCommandObj->getData();
manualSettingsData = manualSettingsObj->getData();
restoreMdata();
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
// Force flight mode neutral to middle
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
// Force throttle to be near min
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
manualSettingsObj->setData(manualSettingsData);
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
}
}

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

@ -60,7 +60,7 @@ public:
enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
enum txMovementType{vertical,horizontal,jump,mix};
enum txType {acro, heli};
public slots:
void startInputWizard() { goToWizard(); }
private:
bool growing;
@ -144,6 +144,7 @@ private:
void wizardSetUpStep(enum wizardSteps);
void wizardTearDownStep(enum wizardSteps);
private slots:
void wzNext();
void wzBack();
@ -161,11 +162,10 @@ private slots:
void invertControls();
void simpleCalibration(bool state);
void updateCalibration();
protected:
void resizeEvent(QResizeEvent *event);
virtual void enableControls(bool enable);
};
#endif

2
ground/openpilotgcs/src/plugins/config/configplugin.cpp
View File

@ -99,7 +99,7 @@ void ConfigPlugin::extensionsInitialized()
void ConfigPlugin::shutdown()
{
// Do nothing
// Do nothing
}
/**

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20
ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
View File

@ -101,7 +101,7 @@ void ConnectionManager::init()
/**
* Method called when the user clicks the "Connect" button
*/
bool ConnectionManager::connectDevice()
bool ConnectionManager::connectDevice(DevListItem device)
{
DevListItem connection_device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(),Qt::ToolTipRole).toString());
if (!connection_device.connection)
@ -126,7 +126,7 @@ bool ConnectionManager::connectDevice()
connect(m_connectionDevice.connection, SIGNAL(destroyed(QObject *)), this, SLOT(onConnectionDestroyed(QObject *)), Qt::QueuedConnection);
// signal interested plugins that we connected to the device
emit deviceConnected(m_ioDev);
emit deviceConnected(io_dev);
m_connectBtn->setText("Disconnect");
m_availableDevList->setEnabled(false);
@ -174,6 +174,7 @@ bool ConnectionManager::disconnectDevice()
m_connectionDevice.connection = NULL;
m_ioDev = NULL;
emit deviceDisconnected();
m_connectBtn->setText("Connect");
m_availableDevList->setEnabled(true);
@ -230,8 +231,11 @@ void ConnectionManager::onConnectClicked()
{
// Check if we have a ioDev already created:
if (!m_ioDev)
{ // connecting
connectDevice();
{
// connecting to currently selected device
DevListItem device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(), Qt::ToolTipRole).toString());
if (device.connection)
connectDevice(device);
}
else
{ // disconnecting
@ -427,6 +431,9 @@ void ConnectionManager::devChanged(IConnection *connection)
updateConnectionDropdown();
qDebug() << "# devices " << m_devList.count();
emit availableDevicesChanged(m_devList);
//disable connection button if the liNameif (m_availableDevList->count() > 0)
if (m_availableDevList->count() > 0)
@ -445,11 +452,12 @@ void ConnectionManager::updateConnectionDropdown()
if(!m_ioDev && d.getConName().startsWith("USB"))
{
if(m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect())
m_availableDevList->setCurrentIndex(m_availableDevList->count()-1);
m_availableDevList->setCurrentIndex(m_availableDevList->count() - 1);
if(m_mainWindow->generalSettings()->autoConnect() && polling)
{
qDebug() << "Automatically opening device";
connectDevice();
connectDevice(d);
qDebug()<<"ConnectionManager::devChanged autoconnected USB device";
}
}

14
ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
View File

@ -92,7 +92,14 @@ public:
void init();
QIODevice* getCurrentConnection() { return m_ioDev; }
DevListItem getCurrentDevice() { return m_connectionDevice;}
DevListItem getCurrentDevice() { return m_connectionDevice; }
DevListItem findDevice(const QString &devName);
QLinkedList<DevListItem> getAvailableDevices() { return m_devList; }
bool isConnected() { return m_ioDev != 0; }
bool connectDevice(DevListItem device);
bool disconnectDevice();
void suspendPolling();
void resumePolling();
@ -101,11 +108,12 @@ protected:
void updateConnectionList(IConnection *connection);
void registerDevice(IConnection *conn, IConnection::device device);
void updateConnectionDropdown();
DevListItem findDevice(const QString &devName);
signals:
void deviceConnected(QIODevice *dev);
void deviceConnected(QIODevice *device);
void deviceAboutToDisconnect();
void deviceDisconnected();
void availableDevicesChanged(const QLinkedList<Core::DevListItem> devices);
public slots:
void telemetryConnected();

27
ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
View File

@ -39,7 +39,6 @@
#include <QtCore/QSettings>
#include "ui_generalsettings.h"
#include <QKeyEvent>
using namespace Utils;
using namespace Core::Internal;
@ -113,14 +112,8 @@ void GeneralSettings::fillLanguageBox() const
QWidget *GeneralSettings::createPage(QWidget *parent)
{
m_page = new Ui::GeneralSettings();
globalSettingsWidget *w = new globalSettingsWidget(parent);
connect(w,SIGNAL(showHidden()),this,SLOT(showHidden()));
QWidget *w = new QWidget(parent);
m_page->setupUi(w);
m_page->labelUDP->setVisible(false);
m_page->cbUseUDPMirror->setVisible(false);
m_page->labelExpert->setVisible(false);
m_page->cbExpertMode->setVisible(false);
fillLanguageBox();
connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
m_page->checkBoxSaveOnExit->setChecked(m_saveSettingsOnExit);
@ -263,21 +256,3 @@ void GeneralSettings::slotAutoConnect(int value)
else
m_page->checkAutoSelect->setEnabled(true);
}
void GeneralSettings::showHidden()
{
m_page->labelUDP->setVisible(true);
m_page->cbUseUDPMirror->setVisible(true);
m_page->labelExpert->setVisible(true);
m_page->cbExpertMode->setVisible(true);
}
globalSettingsWidget::globalSettingsWidget(QWidget *parent):QWidget(parent){}
void globalSettingsWidget::keyPressEvent(QKeyEvent *event)
{
if(event->key()==Qt::Key_F7)
{
emit showHidden();
}
}

12
ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
View File

@ -69,7 +69,6 @@ private slots:
void resetLanguage();
void showHelpForExternalEditor();
void slotAutoConnect(int);
void showHidden();
private:
void fillLanguageBox() const;
@ -86,17 +85,6 @@ private:
QList<QTextCodec *> m_codecs;
};
class globalSettingsWidget:public QWidget
{
Q_OBJECT
public:
globalSettingsWidget(QWidget * parent);
protected:
void keyPressEvent(QKeyEvent *);
signals:
void showHidden();
};
} // namespace Internal
} // namespace Core

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10
ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
View File

@ -326,3 +326,13 @@ void ModeManager::setFocusToCurrentMode()
widget->setFocus();
}
}
void ModeManager::triggerAction(const QString &actionId)
{
foreach(Command * command, m_actions.keys()){
if(command->action()->objectName() == actionId) {
command->action()->trigger();
break;
}
}
}

1
ground/openpilotgcs/src/plugins/coreplugin/modemanager.h
View File

@ -82,6 +82,7 @@ public slots:
void activateMode(const QString &id);
void activateModeByWorkspaceName(const QString &id);
void setFocusToCurrentMode();
void triggerAction(const QString &actionId);
private slots:
void objectAdded(QObject *obj);

1
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
View File

@ -293,7 +293,6 @@ double GCSControlGadget::constrain(double value)
void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
{
// int state;
if ((buttonSettings[number].ActionID>0)&&(buttonSettings[number].FunctionID>0)&&(pressed))
{//this button is configured
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();

1
ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp
View File

@ -301,7 +301,6 @@ void NMEAParser::nmeaProcessGPGSV(char *packet)
const int sentence_total = tokenslist.at(1).toInt(); // Number of sentences for full data
const int sentence_index = tokenslist.at(2).toInt(); // sentence x of y
// const int sat_count = tokenslist.at(3).toInt(); // Number of satellites in view
int sats = (tokenslist.size() - 4) /4;
for(int sat = 0; sat < sats; sat++) {

301
ground/openpilotgcs/src/plugins/hitlv2/hitlv2optionspage.ui
View File

@ -6,161 +6,158 @@
<rect>
<x>0</x>
<y>0</y>
<width>575</width>
<height>551</height>
<width>615</width>
<height>577</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
<property name="margin">
<number>0</number>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>560</width>
<height>552</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="margin">
<number>0</number>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Choose flight simulator:</string>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Choose flight simulator:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="chooseFlightSimulator"/>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Local interface (IP):</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="hostAddress">
<property name="toolTip">
<string>For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Remote interface (IP):</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="remoteAddress">
<property name="toolTip">
<string>Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Input Port:</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLineEdit" name="inputPort">
<property name="toolTip">
<string>For receiving data from sim</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Output Port:</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="outputPort">
<property name="toolTip">
<string>For sending data to sim</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Path executable:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="Utils::PathChooser" name="executablePath" native="true"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Data directory:</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="Utils::PathChooser" name="dataPath" native="true"/>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="topMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</widget>
</item>
<item>
<widget class="QComboBox" name="chooseFlightSimulator"/>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Local interface (IP):</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="hostAddress">
<property name="toolTip">
<string>For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Remote interface (IP):</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="remoteAddress">
<property name="toolTip">
<string>Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Input Port:</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLineEdit" name="inputPort">
<property name="toolTip">
<string>For receiving data from sim</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Output Port:</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="outputPort">
<property name="toolTip">
<string>For sending data to sim</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Path executable:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="Utils::PathChooser" name="executablePath" native="true"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Data directory:</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="Utils::PathChooser" name="dataPath" native="true"/>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="topMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>574</width>
<height>391</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox">
@ -694,10 +691,10 @@
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
</widget>
</widget>
</item>
</layout>
</item>
</layout>
</widget>

12
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -866,8 +866,10 @@ void OPMapGadgetWidget::onTelemetryConnect()
setHome(internals::PointLatLng(LLA[0], LLA[1]),LLA[2]);
if (m_map)
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
{
if(m_map->UAV->GetMapFollowType()!=UAVMapFollowType::None)
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
}
// ***********************
}
@ -2167,6 +2169,7 @@ void OPMapGadgetWidget::on_tbFind_clicked()
{
pal.setColor( m_widget->leFind->backgroundRole(), Qt::green);
m_widget->leFind->setPalette(pal);
m_map->SetZoom(12);
}
else
{
@ -2188,3 +2191,8 @@ void OPMapGadgetWidget::onOverlayOpacityActGroup_triggered(QAction *action)
m_map->setOverlayOpacity(action->data().toReal()/100);
emit overlayOpacityChanged(action->data().toReal()/100);
}
void OPMapGadgetWidget::on_leFind_returnPressed()
{
on_tbFind_clicked();
}

2
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -212,6 +212,8 @@ private slots:
void on_tbFind_clicked();
void onHomeDoubleClick(HomeItem*);
void onOverlayOpacityActGroup_triggered(QAction *action);
void on_leFind_returnPressed();
private:
int m_min_zoom;
int m_max_zoom;

90
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.h
View File

@ -1,45 +1,45 @@
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PFDQMLGADGET_H_
#define PFDQMLQMLGADGET_H_
#include <coreplugin/iuavgadget.h>
#include "pfdqmlgadgetwidget.h"
class IUAVGadget;
class QWidget;
class QString;
class PfdQmlGadgetWidget;
using namespace Core;
class PfdQmlGadget : public Core::IUAVGadget
{
Q_OBJECT
public:
PfdQmlGadget(QString classId, PfdQmlGadgetWidget *widget, QWidget *parent = 0);
~PfdQmlGadget();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
private:
PfdQmlGadgetWidget *m_widget;
};
#endif // PFDQMLQMLGADGET_H_
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PFDQMLGADGET_H_
#define PFDQMLQMLGADGET_H_
#include <coreplugin/iuavgadget.h>
#include "pfdqmlgadgetwidget.h"
class IUAVGadget;
class QWidget;
class QString;
class PfdQmlGadgetWidget;
using namespace Core;
class PfdQmlGadget : public Core::IUAVGadget
{
Q_OBJECT
public:
PfdQmlGadget(QString classId, PfdQmlGadgetWidget *widget, QWidget *parent = 0);
~PfdQmlGadget();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
private:
PfdQmlGadgetWidget *m_widget;
};
#endif // PFDQMLQMLGADGET_H_

7
ground/openpilotgcs/src/plugins/plugins.pro
View File

@ -223,6 +223,13 @@ plugin_uavobjectwidgetutils.depends += plugin_uavobjectutil
plugin_uavobjectwidgetutils.depends += plugin_uavsettingsimportexport
SUBDIRS += plugin_uavobjectwidgetutils
# Setup Wizard plugin
plugin_setupwizard.subdir = setupwizard
plugin_setupwizard.depends = plugin_coreplugin
plugin_setupwizard.depends += plugin_uavobjects
plugin_setupwizard.depends += plugin_config
SUBDIRS += plugin_setupwizard
# Junsi Powerlog plugin
#plugin_powerlog.subdir = powerlog
#plugin_powerlog.depends = plugin_coreplugin

2
ground/openpilotgcs/src/plugins/scope/plotdata.cpp
View File

@ -165,7 +165,7 @@ bool ChronoPlotData::append(UAVObject* obj)
//Perform scope math, if necessary
if (mathFunction == "Boxcar average" || mathFunction == "Standard deviation"){
//Put the new value at the front
//Put the new value at the back
yDataHistory->append( currentValue );
// calculate average value

4
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
View File

@ -677,13 +677,13 @@ int ScopeGadgetWidget::csvLoggingAddData()
}
else
{
ss << QString().sprintf("%3.6g",plotData2->yData->last());
ss << QString().sprintf("%3.10g",plotData2->yData->last());
m_csvLoggingDataValid=1;
}
}
else
{
ss << QString().sprintf("%3.6g",plotData2->yDataHistory->last());
ss << QString().sprintf("%3.10g",plotData2->yData->last());
m_csvLoggingDataValid=1;
}
}

12
ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec Normal file
View File

@ -0,0 +1,12 @@
<plugin name="SetupWizard" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2012 OpenPilot Project</copyright>
<license>The GNU Public License (GPL) Version 3</license>
<description>A plugin that provides a setup wizard for easy initial setup of airframes.</description>
<url>http://www.openpilot.org</url>
<dependencyList>
<dependency name="Core" version="1.0.0"/>
<dependency name="Config" version="1.0.0"/>
<dependency name="UAVObjects" version="1.0.0"/>
</dependencyList>
</plugin>

193
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp Normal file
View File

@ -0,0 +1,193 @@
/**
******************************************************************************
*
* @file connectiondiagram.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup ConnectionDiagram
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <QDebug>
#include <QFile>
#include <QFileDialog>
#include "connectiondiagram.h"
#include "ui_connectiondiagram.h"
ConnectionDiagram::ConnectionDiagram(QWidget *parent, VehicleConfigurationSource* configSource) :
QDialog(parent), ui(new Ui::ConnectionDiagram), m_configSource(configSource), m_background(0)
{
ui->setupUi(this);
setWindowTitle(tr("Connection Diagram"));
setupGraphicsScene();
}
ConnectionDiagram::~ConnectionDiagram()
{
delete ui;
}
void ConnectionDiagram::resizeEvent(QResizeEvent *event)
{
QWidget::resizeEvent(event);
ui->connectionDiagram->fitInView(m_background, Qt::KeepAspectRatio);
}
void ConnectionDiagram::showEvent(QShowEvent * event)
{
QWidget::showEvent(event);
ui->connectionDiagram->fitInView(m_background, Qt::KeepAspectRatio);
}
void ConnectionDiagram::setupGraphicsScene()
{
m_renderer = new QSvgRenderer();
if (QFile::exists(QString(":/setupwizard/resources/connection-diagrams.svg")) &&
m_renderer->load(QString(":/setupwizard/resources/connection-diagrams.svg")) &&
m_renderer->isValid())
{
m_scene = new QGraphicsScene(this);
ui->connectionDiagram->setScene(m_scene);
//ui->connectionDiagram->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
m_background = new QGraphicsSvgItem();
m_background->setSharedRenderer(m_renderer);
m_background->setElementId("background");
m_background->setOpacity(0);
//m_background->setFlags(QGraphicsItem::ItemClipsToShape);
m_background->setZValue(-1);
m_scene->addItem(m_background);
QList<QString> elementsToShow;
switch(m_configSource->getControllerType())
{
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
case VehicleConfigurationSource::CONTROLLER_REVO:
case VehicleConfigurationSource::CONTROLLER_PIPX:
default:
elementsToShow << "controller";
break;
}
switch (m_configSource->getVehicleType())
{
case VehicleConfigurationSource::VEHICLE_MULTI:
switch (m_configSource->getVehicleSubType())
{
case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
elementsToShow << "tri";
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
elementsToShow << "quad-x";
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
elementsToShow << "quad-p";
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
elementsToShow << "hexa";
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
elementsToShow << "hexa-y";
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
elementsToShow << "hexa-h";
break;
default:
break;
}
break;
case VehicleConfigurationSource::VEHICLE_FIXEDWING:
case VehicleConfigurationSource::VEHICLE_HELI:
case VehicleConfigurationSource::VEHICLE_SURFACE:
default:
break;
}
switch (m_configSource->getInputType())
{
case VehicleConfigurationSource::INPUT_PWM:
elementsToShow << "pwm" ;
break;
case VehicleConfigurationSource::INPUT_PPM:
elementsToShow << "ppm";
break;
case VehicleConfigurationSource::INPUT_SBUS:
elementsToShow << "sbus";
break;
case VehicleConfigurationSource::INPUT_DSMX10:
case VehicleConfigurationSource::INPUT_DSMX11:
case VehicleConfigurationSource::INPUT_DSM2:
elementsToShow << "satellite";
break;
default:
break;
}
setupGraphicsSceneItems(elementsToShow);
ui->connectionDiagram->setSceneRect(m_background->boundingRect());
ui->connectionDiagram->fitInView(m_background, Qt::KeepAspectRatio);
qDebug() << "Scene complete";
}
}
void ConnectionDiagram::setupGraphicsSceneItems(QList<QString> elementsToShow)
{
qreal z = 0;
QRectF backgBounds = m_renderer->boundsOnElement("background");
foreach(QString elementId, elementsToShow) {
if(m_renderer->elementExists(elementId)) {
QGraphicsSvgItem* element = new QGraphicsSvgItem();
element->setSharedRenderer(m_renderer);
element->setElementId(elementId);
element->setZValue(z++);
element->setOpacity(1.0);
QMatrix matrix = m_renderer->matrixForElement(elementId);
QRectF orig = matrix.mapRect(m_renderer->boundsOnElement(elementId));
element->setPos(orig.x(),orig.y());
//QRectF orig = m_renderer->boundsOnElement(elementId);
//element->setPos(orig.x() - backgBounds.x(), orig.y() - backgBounds.y());
m_scene->addItem(element);
qDebug() << "Adding " << elementId << " to scene at " << element->pos();
}
else {
qDebug() << "Element with id: " << elementId << " not found.";
}
}
}
void ConnectionDiagram::on_saveButton_clicked()
{
QImage image(2200, 1100, QImage::Format_ARGB32);
image.fill(0);
QPainter painter(&image);
m_scene->render(&painter);
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "", tr("Images (*.png *.xpm *.jpg)"));
if(!fileName.isEmpty()) {
image.save(fileName);
}
}

70
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.h Normal file
View File

@ -0,0 +1,70 @@
/**
******************************************************************************
*
* @file connectiondiagram.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup ConnectionDiagram
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CONNECTIONDIAGRAM_H
#define CONNECTIONDIAGRAM_H
#include <QDialog>
#include <QHash>
#include <QSvgRenderer>
#include <QGraphicsSvgItem>
#include "vehicleconfigurationsource.h"
namespace Ui {
class ConnectionDiagram;
}
class ConnectionDiagram : public QDialog
{
Q_OBJECT
public:
explicit ConnectionDiagram(QWidget *parent, VehicleConfigurationSource *configSource);
~ConnectionDiagram();
private:
Ui::ConnectionDiagram *ui;
VehicleConfigurationSource *m_configSource;
QSvgRenderer *m_renderer;
QGraphicsSvgItem* m_background;
QGraphicsScene *m_scene;
void setupGraphicsScene();
void setupGraphicsSceneItems(QList<QString> elementsToShow);
protected:
void resizeEvent(QResizeEvent *event);
void showEvent(QShowEvent *event);
private slots:
void on_saveButton_clicked();
};
#endif // CONNECTIONDIAGRAM_H

112
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.ui Normal file
View File

@ -0,0 +1,112 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ConnectionDiagram</class>
<widget class="QDialog" name="ConnectionDiagram">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>440</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<property name="sizeGripEnabled">
<bool>true</bool>
</property>
<property name="modal">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QGraphicsView" name="connectionDiagram">
<property name="frameShape">
<enum>QFrame::WinPanel</enum>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="saveButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="closeButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Close</string>
</property>
<property name="default">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections>
<connection>
<sender>closeButton</sender>
<signal>clicked()</signal>
<receiver>ConnectionDiagram</receiver>
<slot>close()</slot>
<hints>
<hint type="sourcelabel">
<x>752</x>
<y>418</y>
</hint>
<hint type="destinationlabel">
<x>399</x>
<y>219</y>
</hint>
</hints>
</connection>
</connections>
</ui>

217
ground/openpilotgcs/src/plugins/setupwizard/levellingutil.cpp Normal file
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/**
******************************************************************************
*
* @file levellingutil.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup LevellingUtil
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "levellingutil.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "attitudesettings.h"
#include "accels.h"
#include "gyros.h"
LevellingUtil::LevellingUtil(long measurementCount, long measurementRate) : QObject(),
m_isMeasuring(false), m_accelMeasurementCount(measurementCount), m_gyroMeasurementCount(measurementCount),
m_accelMeasurementRate(measurementRate), m_gyroMeasurementRate(measurementRate)
{
}
LevellingUtil::LevellingUtil(long accelMeasurementCount, long accelMeasurementRate,
long gyroMeasurementCount, long gyroMeasurementRate) : QObject(),
m_isMeasuring(false), m_accelMeasurementCount(accelMeasurementCount), m_gyroMeasurementCount(gyroMeasurementCount),
m_accelMeasurementRate(accelMeasurementRate), m_gyroMeasurementRate(gyroMeasurementRate)
{
}
void LevellingUtil::start()
{
if(!m_isMeasuring) {
startMeasurement();
// Set up timeout timer
connect(&m_timeoutTimer, SIGNAL(timeout()), this, SLOT(timeout()));
//Set timeout to max time of measurement + 10 secs
m_timeoutTimer.start(std::max(m_accelMeasurementCount * m_accelMeasurementRate, m_gyroMeasurementCount * m_gyroMeasurementRate) + 10000);
}
}
void LevellingUtil::abort()
{
if(m_isMeasuring) {
stopMeasurement();
}
}
void LevellingUtil::gyroMeasurementsUpdated(UAVObject *obj)
{
QMutexLocker locker(&m_measurementMutex);
if(m_receivedGyroUpdates < m_gyroMeasurementCount) {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
Gyros * gyros = Gyros::GetInstance(uavObjectManager);
Gyros::DataFields gyrosData = gyros->getData();
m_gyroX += gyrosData.x;
m_gyroY += gyrosData.y;
m_gyroZ += gyrosData.z;
m_receivedGyroUpdates++;
emit progress(m_receivedGyroUpdates + m_receivedAccelUpdates, m_gyroMeasurementCount + m_accelMeasurementCount);
}
else if (m_receivedAccelUpdates >= m_accelMeasurementCount &&
m_receivedGyroUpdates >= m_gyroMeasurementCount && m_isMeasuring) {
stopMeasurement();
emit done(calculateLevellingData());
}
}
void LevellingUtil::accelMeasurementsUpdated(UAVObject *obj)
{
QMutexLocker locker(&m_measurementMutex);
if(m_receivedAccelUpdates < m_accelMeasurementCount) {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
Accels * accels = Accels::GetInstance(uavObjectManager);
Accels::DataFields accelsData = accels->getData();
m_accelerometerX += accelsData.x;
m_accelerometerY += accelsData.y;
m_accelerometerZ += accelsData.z;
m_receivedAccelUpdates++;
emit progress(m_receivedGyroUpdates + m_receivedAccelUpdates, m_gyroMeasurementCount + m_accelMeasurementCount);
}
else if (m_receivedAccelUpdates >= m_accelMeasurementCount &&
m_receivedGyroUpdates >= m_gyroMeasurementCount && m_isMeasuring) {
stopMeasurement();
emit done(calculateLevellingData());
}
}
void LevellingUtil::timeout()
{
QMutexLocker locker(&m_measurementMutex);
stopMeasurement();
emit timeout(tr("Calibration timed out before receiving required updates."));
}
void LevellingUtil::startMeasurement()
{
QMutexLocker locker(&m_measurementMutex);
m_isMeasuring = true;
// Reset variables
m_receivedAccelUpdates = 0;
m_accelerometerX = 0;
m_accelerometerY = 0;
m_accelerometerZ = 0;
m_receivedGyroUpdates = 0;
m_gyroX = 0;
m_gyroY = 0;
m_gyroZ = 0;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
// Disable gyro bias correction to see raw data
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavObjectManager)->getData();
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
// Set up to receive updates for accels
UAVDataObject *uavObject = Accels::GetInstance(uavObjectManager);
connect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(accelMeasurementsUpdated(UAVObject*)));
// Set update period for accels
m_previousAccelMetaData = uavObject->getMetadata();
UAVObject::Metadata newMetaData = m_previousAccelMetaData;
UAVObject::SetFlightTelemetryUpdateMode(newMetaData, UAVObject::UPDATEMODE_PERIODIC);
newMetaData.flightTelemetryUpdatePeriod = m_accelMeasurementRate;
uavObject->setMetadata(newMetaData);
// Set up to receive updates from gyros
uavObject = Gyros::GetInstance(uavObjectManager);
connect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(gyroMeasurementsUpdated(UAVObject*)));
// Set update period for gyros
m_previousGyroMetaData = uavObject->getMetadata();
newMetaData = m_previousGyroMetaData;
UAVObject::SetFlightTelemetryUpdateMode(newMetaData, UAVObject::UPDATEMODE_PERIODIC);
newMetaData.flightTelemetryUpdatePeriod = m_gyroMeasurementRate;
uavObject->setMetadata(newMetaData);
}
void LevellingUtil::stopMeasurement()
{
m_isMeasuring = false;
//Stop timeout timer
m_timeoutTimer.stop();
disconnect(&m_timeoutTimer, SIGNAL(timeout()), this, SLOT(timeout()));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
// Stop listening for updates from accels
UAVDataObject *uavObject = Accels::GetInstance(uavObjectManager);
disconnect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(accelMeasurementsUpdated(UAVObject*)));
uavObject->setMetadata(m_previousAccelMetaData);
// Stop listening for updates from gyros
uavObject = Gyros::GetInstance(uavObjectManager);
disconnect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(gyroMeasurementsUpdated(UAVObject*)));
uavObject->setMetadata(m_previousGyroMetaData);
// Enable gyro bias correction again
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavObjectManager)->getData();
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
}
accelGyroBias LevellingUtil::calculateLevellingData()
{
accelGyroBias bias;
bias.m_accelerometerXBias = m_accelerometerX / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
bias.m_accelerometerYBias = m_accelerometerY / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
bias.m_accelerometerZBias = (m_accelerometerZ / (double)m_receivedAccelUpdates + G) / ACCELERATION_SCALE;
bias.m_gyroXBias = m_gyroX / (double)m_receivedGyroUpdates * 100.0;
bias.m_gyroYBias = m_gyroY / (double)m_receivedGyroUpdates * 100.0;
bias.m_gyroZBias = m_gyroZ / (double)m_receivedGyroUpdates * 100.0;
return bias;
}

92
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/**
******************************************************************************
*
* @file levellingutil.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup LevellingUtil
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef LEVELLINGUTIL_H
#define LEVELLINGUTIL_H
#include <QObject>
#include <QTimer>
#include <QMutex>
#include "uavobject.h"
#include "vehicleconfigurationsource.h"
class LevellingUtil : public QObject
{
Q_OBJECT
public:
explicit LevellingUtil(long measurementCount, long measurementRate);
explicit LevellingUtil(long accelMeasurementCount, long accelMeasurementRate,
long gyroMeasurementCount, long gyroMeasurementRate);
signals:
void progress(long current, long total);
void done(accelGyroBias measuredBias);
void timeout(QString message);
public slots:
void start();
void abort();
private slots:
void gyroMeasurementsUpdated(UAVObject * obj);
void accelMeasurementsUpdated(UAVObject * obj);
void timeout();
private:
static const float G = 9.81f;
static const float ACCELERATION_SCALE = 0.004f * 9.81f;
QMutex m_measurementMutex;
QTimer m_timeoutTimer;
bool m_isMeasuring;
long m_receivedAccelUpdates;
long m_receivedGyroUpdates;
long m_accelMeasurementCount;
long m_gyroMeasurementCount;
long m_accelMeasurementRate;
long m_gyroMeasurementRate;
UAVObject::Metadata m_previousGyroMetaData;
UAVObject::Metadata m_previousAccelMetaData;
double m_accelerometerX;
double m_accelerometerY;
double m_accelerometerZ;
double m_gyroX;
double m_gyroY;
double m_gyroZ;
void stop();
void startMeasurement();
void stopMeasurement();
accelGyroBias calculateLevellingData();
};
#endif // LEVELLINGUTIL_H

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/**
******************************************************************************
*
* @file outputcalibrationutil.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup OutputCalibrationUtil
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "outputcalibrationutil.h"
#include "actuatorcommand.h"
#include "extensionsystem/pluginmanager.h"
#include "vehicleconfigurationhelper.h"
#include "manualcontrolsettings.h"
OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
QObject(parent), m_outputChannel(-1), m_safeValue(1000)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
m_uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(m_uavObjectManager);
}
OutputCalibrationUtil::~OutputCalibrationUtil()
{
stopChannelOutput();
}
void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
{
if(m_outputChannel < 0 && channel >= 0 && channel < ActuatorCommand::CHANNEL_NUMELEM)
{
//Start output...
m_outputChannel = channel;
m_safeValue = safeValue;
qDebug() << "Starting output for channel " << m_outputChannel << "...";
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
UAVObject::Metadata metaData = actuatorCommand->getMetadata();
m_savedActuatorCommandMetadata = metaData;
//Store current data for later restore
m_savedActuatorCommandData = actuatorCommand->getData();
//Enable actuator control from GCS...
//Store current metadata for later restore
UAVObject::SetFlightAccess(metaData, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(metaData, false);
UAVObject::SetGcsTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
metaData.gcsTelemetryUpdatePeriod = 100;
//Apply changes
actuatorCommand->setMetadata(metaData);
actuatorCommand->updated();
qDebug() << "Output for channel " << m_outputChannel << " started.";
}
}
void OutputCalibrationUtil::stopChannelOutput()
{
if(m_outputChannel >= 0)
{
qDebug() << "Stopping output for channel " << m_outputChannel << "...";
//Stop output...
setChannelOutputValue(m_safeValue);
qDebug() << "Settings output for channel " << m_outputChannel << " to " << m_safeValue;
// Restore metadata to what it was before
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
//actuatorCommand->setData(m_savedActuatorCommandData);
actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
actuatorCommand->updated();
qDebug() << "Output for channel " << m_outputChannel << " stopped.";
m_outputChannel = -1;
}
}
void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
{
if(m_outputChannel >= 0)
{
//Set output value
qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
Q_ASSERT(actuatorCommand);
ActuatorCommand::DataFields data = actuatorCommand->getData();
data.Channel[m_outputChannel] = value;
actuatorCommand->setData(data);
}
}

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/**
******************************************************************************
*
* @file outputcalibrationutil.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup OutputCalibrationUtil
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OUTPUTCALIBRATIONUTIL_H
#define OUTPUTCALIBRATIONUTIL_H
#include <QObject>
#include <QList>
#include "uavobject.h"
#include "uavobjectmanager.h"
#include "vehicleconfigurationsource.h"
#include "actuatorcommand.h"
class OutputCalibrationUtil : public QObject
{
Q_OBJECT
public:
explicit OutputCalibrationUtil(QObject *parent = 0);
~OutputCalibrationUtil();
signals:
public slots:
void startChannelOutput(quint16 channel, quint16 safeValue);
void stopChannelOutput();
void setChannelOutputValue(quint16 value);
private:
qint16 m_outputChannel;
quint16 m_safeValue;
UAVObject::Metadata m_savedActuatorCommandMetadata;
ActuatorCommand::DataFields m_savedActuatorCommandData;
UAVObjectManager *m_uavObjectManager;
};
#endif // OUTPUTCALIBRATIONUTIL_H

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ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp Normal file
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/**
******************************************************************************
*
* @file abstractwizardpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup AbstractWizardPage
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "abstractwizardpage.h"
AbstractWizardPage::AbstractWizardPage(SetupWizard* wizard, QWidget *parent) :
QWizardPage(parent)
{
m_wizard = wizard;
setFixedSize(600, 400);
}

48
ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h Normal file
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/**
******************************************************************************
*
* @file abstractwizardpage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup AbstractWizardPage
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ABSTRACTWIZARDPAGE_H
#define ABSTRACTWIZARDPAGE_H
#include <QWizardPage>
#include "setupwizard.h"
class AbstractWizardPage : public QWizardPage
{
Q_OBJECT
protected:
explicit AbstractWizardPage(SetupWizard *wizard, QWidget *parent = 0);
private:
SetupWizard *m_wizard;
public:
SetupWizard* getWizard() { return m_wizard; }
};
#endif // ABSTRACTWIZARDPAGE_H

212
ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp Normal file
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/**
******************************************************************************
*
* @file controllerpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup ControllerPage
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "controllerpage.h"
#include "ui_controllerpage.h"
#include "setupwizard.h"
#include <extensionsystem/pluginmanager.h>
#include <uavobjectutil/uavobjectutilmanager.h>
ControllerPage::ControllerPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::ControllerPage)
{
ui->setupUi(this);
m_connectionManager = getWizard()->getConnectionManager();
Q_ASSERT(m_connectionManager);
connect(m_connectionManager, SIGNAL(availableDevicesChanged(QLinkedList<Core::DevListItem>)), this, SLOT(devicesChanged(QLinkedList<Core::DevListItem>)));
ExtensionSystem::PluginManager *pluginManager = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pluginManager);
m_telemtryManager = pluginManager->getObject<TelemetryManager>();
Q_ASSERT(m_telemtryManager);
connect(m_telemtryManager, SIGNAL(connected()), this, SLOT(connectionStatusChanged()));
connect(m_telemtryManager, SIGNAL(disconnected()), this, SLOT(connectionStatusChanged()));
connect(ui->connectButton, SIGNAL(clicked()), this, SLOT(connectDisconnect()));
setupBoardTypes();
setupDeviceList();
}
ControllerPage::~ControllerPage()
{
delete ui;
}
void ControllerPage::initializePage()
{
if(anyControllerConnected()) {
SetupWizard::CONTROLLER_TYPE type = getControllerType();
setControllerType(type);
}
else {
setControllerType(SetupWizard::CONTROLLER_UNKNOWN);
}
emit completeChanged();
}
bool ControllerPage::isComplete() const
{
return m_telemtryManager->isConnected() && ui->boardTypeCombo->currentIndex() > 0 &&
m_connectionManager->getCurrentDevice().getConName().startsWith("USB:", Qt::CaseInsensitive);
}
bool ControllerPage::validatePage()
{
getWizard()->setControllerType((SetupWizard::CONTROLLER_TYPE)ui->boardTypeCombo->itemData(ui->boardTypeCombo->currentIndex()).toInt());
return true;
}
bool ControllerPage::anyControllerConnected()
{
return m_telemtryManager->isConnected();
}
SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
switch (id) {
case 0x0301:
return SetupWizard::CONTROLLER_PIPX;
case 0x0401:
return SetupWizard::CONTROLLER_CC;
case 0x0402:
return SetupWizard::CONTROLLER_CC3D;
case 0x0901:
return SetupWizard::CONTROLLER_REVO;
default:
return SetupWizard::CONTROLLER_UNKNOWN;
}
}
void ControllerPage::setupDeviceList()
{
devicesChanged(m_connectionManager->getAvailableDevices());
connectionStatusChanged();
}
void ControllerPage::setupBoardTypes()
{
QVariant v(0);
ui->boardTypeCombo->addItem(tr("<Unknown>"), SetupWizard::CONTROLLER_UNKNOWN);
ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl"), SetupWizard::CONTROLLER_CC);
ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl 3D"), SetupWizard::CONTROLLER_CC3D);
ui->boardTypeCombo->addItem(tr("OpenPilot Revolution"), SetupWizard::CONTROLLER_REVO);
//ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
ui->boardTypeCombo->addItem(tr("OpenPilot PipX Radio Modem"), SetupWizard::CONTROLLER_PIPX);
//ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
}
void ControllerPage::setControllerType(SetupWizard::CONTROLLER_TYPE type)
{
for(int i = 0; i < ui->boardTypeCombo->count(); ++i) {
if(ui->boardTypeCombo->itemData(i) == type) {
ui->boardTypeCombo->setCurrentIndex(i);
break;
}
}
}
void ControllerPage::devicesChanged(QLinkedList<Core::DevListItem> devices)
{
// Get the selected item before the update if any
QString currSelectedDeviceName = ui->deviceCombo->currentIndex() != -1 ?
ui->deviceCombo->itemData(ui->deviceCombo->currentIndex(), Qt::ToolTipRole).toString() : "";
// Clear the box
ui->deviceCombo->clear();
int indexOfSelectedItem = -1;
int i = 0;
// Loop and fill the combo with items from connectionmanager
foreach (Core::DevListItem deviceItem, devices)
{
ui->deviceCombo->addItem(deviceItem.getConName());
QString deviceName = (const QString)deviceItem.getConName();
ui->deviceCombo->setItemData(ui->deviceCombo->count() - 1, deviceName, Qt::ToolTipRole);
if(!deviceName.startsWith("USB:", Qt::CaseInsensitive)) {
ui->deviceCombo->setItemData(ui->deviceCombo->count() - 1, QVariant(0), Qt::UserRole - 1);
}
if(currSelectedDeviceName != "" && currSelectedDeviceName == deviceName) {
indexOfSelectedItem = i;
}
i++;
}
// Re select the item that was selected before if any
if(indexOfSelectedItem != -1) {
ui->deviceCombo->setCurrentIndex(indexOfSelectedItem);
}
//connectionStatusChanged();
}
void ControllerPage::connectionStatusChanged()
{
if(m_connectionManager->isConnected()) {
ui->deviceCombo->setEnabled(false);
ui->connectButton->setText(tr("Disconnect"));
ui->boardTypeCombo->setEnabled(false);
QString connectedDeviceName = m_connectionManager->getCurrentDevice().getConName();
for(int i = 0; i < ui->deviceCombo->count(); ++i) {
if(connectedDeviceName == ui->deviceCombo->itemData(i, Qt::ToolTipRole).toString()) {
ui->deviceCombo->setCurrentIndex(i);
break;
}
}
SetupWizard::CONTROLLER_TYPE type = getControllerType();
setControllerType(type);
qDebug() << "Connection status changed: Connected, controller type: " << getControllerType();
}
else {
ui->deviceCombo->setEnabled(true);
ui->connectButton->setText(tr("Connect"));
ui->boardTypeCombo->setEnabled(false);
ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
setControllerType(SetupWizard::CONTROLLER_UNKNOWN);
qDebug() << "Connection status changed: Disconnected";
}
emit completeChanged();
}
void ControllerPage::connectDisconnect()
{
if(m_connectionManager->isConnected()) {
m_connectionManager->disconnectDevice();
}
else {
m_connectionManager->connectDevice(m_connectionManager->findDevice(ui->deviceCombo->itemData(ui->deviceCombo->currentIndex(), Qt::ToolTipRole).toString()));
}
emit completeChanged();
}

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/**
******************************************************************************
*
* @file controllerpage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup ControllerPage
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CONTROLLERPAGE_H
#define CONTROLLERPAGE_H
#include <coreplugin/icore.h>
#include <coreplugin/connectionmanager.h>
#include "setupwizard.h"
#include "uavtalk/telemetrymanager.h"
#include "abstractwizardpage.h"
namespace Ui {
class ControllerPage;
}
class ControllerPage : public AbstractWizardPage
{
Q_OBJECT
public:
explicit ControllerPage(SetupWizard *wizard, QWidget *parent = 0);
~ControllerPage();
void initializePage();
bool isComplete() const;
bool validatePage();
private:
Ui::ControllerPage *ui;
bool anyControllerConnected();
SetupWizard::CONTROLLER_TYPE getControllerType();
void setupDeviceList();
void setupBoardTypes();
void setControllerType(SetupWizard::CONTROLLER_TYPE type);
Core::ConnectionManager *m_connectionManager;
TelemetryManager *m_telemtryManager;
private slots:
void devicesChanged(QLinkedList<Core::DevListItem> devices);
void connectionStatusChanged();
void connectDisconnect();
};
#endif // CONTROLLERPAGE_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ControllerPage</class>
<widget class="QWizardPage" name="ControllerPage">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>600</width>
<height>400</height>
</rect>
</property>
<property name="windowTitle">
<string>WizardPage</string>
</property>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>20</x>
<y>20</y>
<width>550</width>
<height>261</height>
</rect>
</property>
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot board identification&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To continue, the wizard needs to determine the configuration required for the type of OpenPilot controller you have. When connected, the wizard will attempt to automatically detect the type of board.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;If the board is already connected and successfully detected, the board type will already be displayed. You can &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;Disconnect&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt; and select another device if you need to detect another board.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;If your board is not connected, please connect the board to a USB port on your computer and select the device from the list below. Then press &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;Connect&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
<widget class="QPushButton" name="connectButton">
<property name="geometry">
<rect>
<x>460</x>
<y>350</y>
<width>100</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>Connect</string>
</property>
</widget>
<widget class="QLabel" name="label_3">
<property name="geometry">
<rect>
<x>40</x>
<y>350</y>
<width>125</width>
<height>16</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Detected board type:</string>
</property>
</widget>
<widget class="QComboBox" name="boardTypeCombo">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>170</x>
<y>350</y>
<width>279</width>
<height>22</height>
</rect>
</property>
</widget>
<widget class="QComboBox" name="deviceCombo">
<property name="geometry">
<rect>
<x>170</x>
<y>310</y>
<width>279</width>
<height>22</height>
</rect>
</property>
</widget>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>40</x>
<y>310</y>
<width>121</width>
<height>16</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Connection device:</string>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>

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/**
******************************************************************************
*
* @file endpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup Setup Wizard Plugin
* @{
* @brief A Wizard to make the initial setup easy for everyone.
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "endpage.h"
#include "ui_endpage.h"
#include <coreplugin/modemanager.h>
#include <extensionsystem/pluginmanager.h>
#include <configgadgetfactory.h>
#include <QMessageBox>
EndPage::EndPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::EndPage)
{
ui->setupUi(this);
setFinalPage(true);
connect(ui->inputWizardButton, SIGNAL(clicked()), this, SLOT(openInputWizard()));
}
EndPage::~EndPage()
{
delete ui;
}
void EndPage::openInputWizard()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
ConfigGadgetFactory* configGadgetFactory = pm->getObject<ConfigGadgetFactory>();
if(configGadgetFactory) {
//Core::ModeManager::instance()->activateModeByWorkspaceName("Configuration");
getWizard()->close();
configGadgetFactory->startInputWizard();
}
else {
QMessageBox msgBox;
msgBox.setText(tr("Unable to open Input Wizard since the Config Plugin is not\nloaded in the current workspace."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
}
}

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/**
******************************************************************************
*
* @file endpage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ENDPAGE_H
#define ENDPAGE_H
#include "abstractwizardpage.h"
namespace Ui {
class EndPage;
}
class EndPage : public AbstractWizardPage
{
Q_OBJECT
public:
explicit EndPage(SetupWizard *wizard, QWidget *parent = 0);
~EndPage();
private slots:
void openInputWizard();
private:
Ui::EndPage *ui;
};
#endif // ENDPAGE_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>EndPage</class>
<widget class="QWizardPage" name="EndPage">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>600</width>
<height>400</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>600</width>
<height>400</height>
</size>
</property>
<property name="windowTitle">
<string>WizardPage</string>
</property>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>20</x>
<y>20</y>
<width>550</width>
<height>251</height>
</rect>
</property>
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;Congratulations!&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;Setup wizard is completed.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;This part of the setup procedure is now complete and you are one step away from completing the setup of your OpenPilot controller.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To complete the setup please click the Radio Setup Wizard button below to close this wizard and go directly to the Radio Setup Wizard.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
<widget class="QToolButton" name="inputWizardButton">
<property name="geometry">
<rect>
<x>200</x>
<y>270</y>
<width>200</width>
<height>100</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true">QToolButton { border: none }</string>
</property>
<property name="text">
<string>Go to Input Wizard...</string>
</property>
<property name="icon">
<iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-txwizard-off.png</normaloff>
<normalon>:/setupwizard/resources/bttn-txwizard-on.png</normalon>
<activeoff>:/setupwizard/resources/bttn-txwizard-off.png</activeoff>
<activeon>:/setupwizard/resources/bttn-txwizard-off.png</activeon>:/setupwizard/resources/bttn-txwizard-off.png</iconset>
</property>
<property name="iconSize">
<size>
<width>200</width>
<height>100</height>
</size>
</property>
<property name="autoRaise">
<bool>true</bool>
</property>
</widget>
</widget>
<resources>
<include location="../wizardResources.qrc"/>
</resources>
<connections/>
</ui>

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/**
******************************************************************************
*
* @file fixedwingpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup FixedWingPage
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "fixedwingpage.h"
#include "ui_fixedwingpage.h"
FixedWingPage::FixedWingPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::FixedWingPage)
{
ui->setupUi(this);
setFinalPage(true);
}
FixedWingPage::~FixedWingPage()
{
delete ui;
}

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/**
******************************************************************************
*
* @file fixedwingpage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup FixedWingPage
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef FIXEDWINGPAGE_H
#define FIXEDWINGPAGE_H
#include "abstractwizardpage.h"
namespace Ui {
class FixedWingPage;
}
class FixedWingPage : public AbstractWizardPage
{
Q_OBJECT
public:
explicit FixedWingPage(SetupWizard *wizard, QWidget *parent = 0);
~FixedWingPage();
private:
Ui::FixedWingPage *ui;
};
#endif // FIXEDWINGPAGE_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>FixedWingPage</class>
<widget class="QWizardPage" name="FixedWingPage">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>600</width>
<height>400</height>
</rect>
</property>
<property name="windowTitle">
<string>WizardPage</string>
</property>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>50</x>
<y>160</y>
<width>500</width>
<height>41</height>
</rect>
</property>
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;The Fixed Wing section of the OpenPilot Setup Wizard is not yet implemented&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignHCenter|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>

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/**
******************************************************************************
*
* @file helipage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup HeliPage
* @{
* @brief
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "helipage.h"
#include "ui_helipage.h"
HeliPage::HeliPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::HeliPage)
{
ui->setupUi(this);
setFinalPage(true);
}
HeliPage::~HeliPage()
{
delete ui;
}

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