OP-1698 Add curve choice for all accessory outputs

ground/openpilotgcs/src/plugins/config/airframe_multirotor.ui

@@ -525,28 +525,38 @@ Typical value is 50% for + or X configuration on quads.</string>
        <number>9</number>
       </property>
       <item row="0" column="6" rowspan="5">
-       <layout class="QFormLayout" name="formLayout">
+       <layout class="QGridLayout" name="gridLayout_3">
         <property name="sizeConstraint">
          <enum>QLayout::SetMaximumSize</enum>
         </property>
-        <property name="fieldGrowthPolicy">
-         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-        </property>
         <property name="leftMargin">
-         <number>10</number>
+         <number>0</number>
         </property>
-        <item row="0" column="0">
-         <widget class="QLabel" name="label_2">
+        <item row="1" column="1">
+         <widget class="QComboBox" name="rcOutputChannelBox1">
           <property name="sizePolicy">
-           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
+          <property name="minimumSize">
+           <size>
+            <width>80</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Select output channel for Accessory0 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_8">
           <property name="minimumSize">
            <size>
             <width>90</width>
-            <height>16</height>
+            <height>0</height>
            </size>
           </property>
           <property name="styleSheet">
@@ -557,7 +567,7 @@ font: bold 12px;
 margin:1px;</string>
           </property>
           <property name="text">
-           <string>RC Input</string>
+           <string>Accessory1</string>
           </property>
           <property name="alignment">
            <set>Qt::AlignCenter</set>
@@ -625,8 +635,37 @@ margin:1px;</string>
           </property>
          </widget>
         </item>
-        <item row="1" column="1">
-         <widget class="QComboBox" name="rcOutputChannelBox1">
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_2">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>90</width>
+            <height>16</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>RC Input</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="1">
+         <widget class="QComboBox" name="rcOutputChannelBox3">
           <property name="sizePolicy">
            <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
             <horstretch>0</horstretch>
@@ -640,30 +679,7 @@ margin:1px;</string>
            </size>
           </property>
           <property name="toolTip">
-           <string>Select output channel for Accessory0 RcInput</string>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="0">
-         <widget class="QLabel" name="label_8">
-          <property name="minimumSize">
-           <size>
-            <width>90</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="styleSheet">
-           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-          </property>
-          <property name="text">
-           <string>Accessory1</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
+           <string>Select output channel for Accessory2 RcInput</string>
           </property>
          </widget>
         </item>
@@ -709,22 +725,44 @@ margin:1px;</string>
           </property>
          </widget>
         </item>
-        <item row="3" column="1">
-         <widget class="QComboBox" name="rcOutputChannelBox3">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="minimumSize">
-           <size>
-            <width>80</width>
-            <height>0</height>
-           </size>
-          </property>
+        <item row="0" column="2">
+         <widget class="QLabel" name="label_10">
           <property name="toolTip">
-           <string>Select output channel for Accessory2 RcInput</string>
+           <string>RcOutput curve</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>Curve</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="2">
+         <widget class="QComboBox" name="rcOutputCurveBox1">
+          <property name="toolTip">
+           <string>Select output curve for Accessory0 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="2">
+         <widget class="QComboBox" name="rcOutputCurveBox2">
+          <property name="toolTip">
+           <string>Select output curve for Accessory1 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="2">
+         <widget class="QComboBox" name="rcOutputCurveBox3">
+          <property name="toolTip">
+           <string>Select output curve for Accessory2 RcInput</string>
           </property>
          </widget>
         </item>

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp

@@ -131,6 +131,13 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
 
     populateChannelComboBoxes();
 
+    QStringList mixerCurveList;
+    mixerCurveList << "Curve1" << "Curve2";
+    m_aircraft->rcOutputCurveBox1->addItems(mixerCurveList);
+    m_aircraft->rcOutputCurveBox2->addItems(mixerCurveList);
+    m_aircraft->rcOutputCurveBox3->addItems(mixerCurveList);
+
+
     // Setup the Multirotor picture in the Quad settings interface
     m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@@ -162,6 +169,7 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
 
     m_aircraft->multiThrottleCurve->setXAxisLabel(tr("Input"));
     m_aircraft->multiThrottleCurve->setYAxisLabel(tr("Output"));
+
     updateEnableControls();
 }
 
@@ -333,6 +341,9 @@ void ConfigMultiRotorWidget::registerWidgets(ConfigTaskWidget &parent)
     parent.addWidget(m_aircraft->rcOutputChannelBox1);
     parent.addWidget(m_aircraft->rcOutputChannelBox2);
     parent.addWidget(m_aircraft->rcOutputChannelBox3);
+    parent.addWidget(m_aircraft->rcOutputCurveBox1);
+    parent.addWidget(m_aircraft->rcOutputCurveBox2);
+    parent.addWidget(m_aircraft->rcOutputCurveBox3);
 }
 
 void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
@@ -366,16 +377,31 @@ void ConfigMultiRotorWidget::resetRcOutputs(GUIConfigDataUnion *configData)
 void ConfigMultiRotorWidget::resetMixers()
 {
     UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
-
     Q_ASSERT(mixer);
 
     for (int channel = 0; channel < (int)ConfigMultiRotorWidget::CHANNEL_NUMELEM; channel++) {
-        setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 0);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 0);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 0);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 0);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 0);
+        resetMixerVector(mixer, channel);
+    }
+}
+
+void ConfigMultiRotorWidget::updateRcCurvesUsed()
+{
+    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
+
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBox1, VehicleConfig::MIXER_THROTTLECURVE1);
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBox2, VehicleConfig::MIXER_THROTTLECURVE1);
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBox3, VehicleConfig::MIXER_THROTTLECURVE1);
+
+    for (int channel = 0; channel < (int)ConfigMultiRotorWidget::CHANNEL_NUMELEM; channel++) {
+        QString mixerType = getMixerType(mixer, channel);
+        if (mixerType == "Accessory0" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBox1, VehicleConfig::MIXER_THROTTLECURVE2);
+        } else if (mixerType == "Accessory1" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBox2, VehicleConfig::MIXER_THROTTLECURVE2);
+        } else if (mixerType == "Accessory2" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBox3, VehicleConfig::MIXER_THROTTLECURVE2); 
+        }
     }
 }
 
@@ -498,6 +524,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
     setComboCurrentIndex(m_aircraft->rcOutputChannelBox2, multi.Accessory1);
     setComboCurrentIndex(m_aircraft->rcOutputChannelBox3, multi.Accessory2);
 
+    updateRcCurvesUsed();
+
     // Now, read mixing values stored on board and applies values on sliders.
     m_aircraft->mrPitchMixLevel->setValue(getMixerValue(mixer, "MixerValuePitch"));
     m_aircraft->mrRollMixLevel->setValue(getMixerValue(mixer, "MixerValueRoll"));
@@ -877,26 +905,41 @@ void ConfigMultiRotorWidget::setupRcOutputs(QList<QString> rcOutputList)
     UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
 
+    int curveAccessory0 = m_aircraft->rcOutputCurveBox1->currentIndex();
+    int curveAccessory1 = m_aircraft->rcOutputCurveBox2->currentIndex();
+    int curveAccessory2 = m_aircraft->rcOutputCurveBox3->currentIndex();
+    
     foreach(QString rc_output, rcOutputList) {
         int index = rcList.takeFirst()->currentIndex();
-
         if (rc_output == QString("Accessory0")) {
             configData.multi.Accessory0 = index;
             if (index) {
                 setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY0);
-                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                if (curveAccessory0) {
+                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2 , 127);
+                } else {
+                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1 , 127);
+                }
             }
         } else if (rc_output == QString("Accessory1")) {
             configData.multi.Accessory1 = index;
             if (index) {
                 setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY1);
-                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                if (curveAccessory1) {
+                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2 , 127);
+                } else {
+                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1 , 127);
+                }
             }
         } else if (rc_output == QString("Accessory2")) {
             configData.multi.Accessory2 = index;
             if (index) {
                 setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY2);
-                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                if (curveAccessory2) {
+                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2 , 127);
+                } else {
+                setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1 , 127);
+                }
             }
         }
     }

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h

@@ -77,7 +77,7 @@ private:
     void setupQuadMotor(int channel, double roll, double pitch, double yaw);
 
     void setYawMixLevel(int);
-
+    void updateRcCurvesUsed();
     void updateAirframe(QString multiRotorType);
     void setupEnabledControls(QString multiRotorType);