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Code Issues Releases Activity

OP-138 Mixer interface: implemented Elevon fixed wing. Not flown either.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1739 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-09-24 22:16:20 +00:00 committed by edouard
parent 918770f4a2
commit ef222a8739
2 changed files with 146 additions and 27 deletions
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168
ground/src/plugins/config/configairframewidget.cpp
View File

@ -50,6 +50,14 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
UAVObjectField *field = obj->getField(fieldName);
m_aircraft->aircraftType->addItems(field->getOptions());
*/
mixerTypes << "Mixer0Type" << "Mixer1Type" << "Mixer2Type" << "Mixer3Type"
<< "Mixer4Type" << "Mixer5Type" << "Mixer6Type" << "Mixer7Type";
mixerVectors << "Mixer0Vector" << "Mixer1Vector" << "Mixer2Vector" << "Mixer3Vector"
<< "Mixer4Vector" << "Mixer5Vector" << "Mixer6Vector" << "Mixer7Vector";
QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
@ -236,24 +244,10 @@ void ConfigAirframeWidget::resetField(UAVObjectField * field)
}
/**
Setup Elevator/Aileron/Rudder airframe.
If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
Returns False if impossible to create the mixer.
Reset actuator values
*/
bool ConfigAirframeWidget::setupFrameFixedWing()
void ConfigAirframeWidget::resetActuators()
{
// Check coherence:
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwElevator1Channel->currentText() == "None" ||
((m_aircraft->fwAileron1Channel->currentText() == "None") &&
(m_aircraft->fwRudderChannel->currentText() == "None"))) {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
return false;
}
// Now setup the channels:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
QList<UAVObjectField*> fieldList = obj->getFields();
@ -265,6 +259,33 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
field->setValue(field->getOptions().last());
}
}
}
/**
Setup Elevator/Aileron/Rudder airframe.
If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
Returns False if impossible to create the mixer.
*/
bool ConfigAirframeWidget::setupFrameFixedWing()
{
// Check coherence:
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannel->currentText() == "None" ||
m_aircraft->fwElevator1Channel->currentText() == "None" ||
((m_aircraft->fwAileron1Channel->currentText() == "None") &&
(m_aircraft->fwRudderChannel->currentText() == "None"))) {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
return false;
}
// Now setup the channels:
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevator
UAVObjectField *field = obj->getField("FixedWingPitch1");
Q_ASSERT(field);
@ -304,12 +325,6 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
QStringList mixerTypes;
mixerTypes << "Mixer0Type" << "Mixer1Type" << "Mixer2Type" << "Mixer3Type"
<< "Mixer4Type" << "Mixer5Type" << "Mixer6Type" << "Mixer7Type";
QStringList mixerVectors;
mixerVectors << "Mixer0Vector" << "Mixer1Vector" << "Mixer2Vector" << "Mixer3Vector"
<< "Mixer4Vector" << "Mixer5Vector" << "Mixer6Vector" << "Mixer7Vector";
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
@ -391,14 +406,112 @@ bool ConfigAirframeWidget::setupFrameFixedWing()
/**
Setup Elevon
*/
/*
void ConfigAirframeWidget::setupFrameElevon()
bool ConfigAirframeWidget::setupFrameElevon()
{
// Check coherence:
// - At least Aileron1 and Aileron 2
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannel->currentText() == "None" ||
m_aircraft->fwAileron1Channel->currentText() == "None" ||
m_aircraft->fwAileron2Channel->currentText() == "None") {
// TODO: explain the problem in the UI
m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
return false;
}
resetActuators();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Elevons
UAVObjectField *field = obj->getField("FixedWingRoll1");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron1Channel->currentText());
field = obj->getField("FixedWingRoll2");
Q_ASSERT(field);
field->setValue(m_aircraft->fwAileron2Channel->currentText());
// Rudder (can be None)
field = obj->getField("FixedWingYaw");
Q_ASSERT(field);
field->setValue(m_aircraft->fwRudderChannel->currentText());
// Throttle
field = obj->getField("FixedWingThrottle");
Q_ASSERT(field);
field->setValue(m_aircraft->fwEngineChannel->currentText());
obj->updated();
// Save the curve:
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
field = obj->getField("ThrottleCurve1");
QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
for (int i=0;i<curve.length();i++) {
field->setValue(curve.at(i),i);
}
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// Disable all
foreach(QString mixer, mixerTypes) {
field = obj->getField(mixer);
Q_ASSERT(field);
field->setValue("Disabled");
}
// and set only the relevant channels:
// Engine
int eng = m_aircraft->fwEngineChannel->currentIndex()-1;
field = obj->getField(mixerTypes.at(eng));
field->setValue("Motor");
field = obj->getField(mixerVectors.at(eng));
// First of all reset the vector
resetField(field);
int ti = field->getElementNames().indexOf("ThrottleCurve1");
field->setValue(1, ti);
// Rudder
eng = m_aircraft->fwRudderChannel->currentIndex()-1;
// eng will be -1 if rudder is set to "None"
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Yaw");
field->setValue(1, ti);
} // Else: we have no rudder, only elevons, we're fine with it.
eng = m_aircraft->fwAileron1Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(1, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(1,ti);
}
eng = m_aircraft->fwAileron2Channel->currentIndex()-1;
if (eng > -1) {
field = obj->getField(mixerTypes.at(eng));
field->setValue("Servo");
field = obj->getField(mixerVectors.at(eng));
resetField(field);
ti = field->getElementNames().indexOf("Pitch");
field->setValue(1, ti);
ti = field->getElementNames().indexOf("Roll");
field->setValue(-1,ti);
}
obj->updated();
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
*/
/**
Sends the config to the board (airframe type)
@ -412,11 +525,12 @@ void ConfigAirframeWidget::sendAircraftUpdate()
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
airframeType = "FixedWing";
setupFrameFixedWing();
} else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon();
} else { // Vtail
airframeType = "FixedWingVtail";
m_aircraft->fwStatusLabel->setText("Mixed Not Implemented");
}
} else {
airframeType = "FixedWing";

5
ground/src/plugins/config/configairframewidget.h
View File

@ -48,7 +48,12 @@ public:
private:
Ui_AircraftWidget *m_aircraft;
bool setupFrameFixedWing();
bool setupFrameElevon();
void resetField(UAVObjectField * field);
void resetActuators();
QStringList mixerTypes;
QStringList mixerVectors;
private slots: