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Code Issues Releases Activity

OP-1723 Ground config tab : Allow reverse/brake in RcCar

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This commit is contained in:
Laurent Lalanne 2015-02-14 19:52:47 +01:00
parent b0a0582e85
commit f1f8e285e9
1 changed files with 31 additions and 13 deletions
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44
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
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@ -60,10 +60,10 @@ QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
channelDesc[configData.ground.GroundVehicleSteering2 - 1] = QString("GroundSteering2");
}
if (configData.ground.GroundVehicleThrottle1 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundThrottle1");
channelDesc[configData.ground.GroundVehicleThrottle1 - 1] = QString("GroundMotor1");
}
if (configData.ground.GroundVehicleThrottle2 > 0) {
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundThrottle2");
channelDesc[configData.ground.GroundVehicleThrottle2 - 1] = QString("GroundMotor2");
}
return channelDesc;
}
@ -116,6 +116,13 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
// Default Curve2 range -1 -> +1, allow forward/reverse (Car and Tank)
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
initMixerCurves(frameType);
if (frameType == "GroundVehicleDifferential" || frameType == "Differential (tank)") {
// Tank
m_vehicleImg->setElementId("tank");
@ -159,9 +166,9 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
// Motorcycle
m_vehicleImg->setElementId("motorbike");
setComboCurrentIndex(m_aircraft->groundVehicleType, m_aircraft->groundVehicleType->findText("Motorcycle"));
m_aircraft->gvMotor1ChannelBox->setEnabled(false);
m_aircraft->gvMotor2ChannelBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->gvMotor1ChannelBox->setEnabled(true);
m_aircraft->gvMotor2ChannelBox->setEnabled(false);
m_aircraft->gvMotor2Label->setText("Rear motor");
@ -171,7 +178,11 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Balancing");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
// Curve1 for Motorcyle
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Rear throttle curve");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve2GroupBox->setTitle("");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(false);
// Curve range 0 -> +1 (no reverse)
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
@ -201,19 +212,24 @@ void ConfigGroundVehicleWidget::setupUI(QString frameType)
m_aircraft->gvSteering1Label->setText("Front steering");
m_aircraft->gvSteering2Label->setText("Rear steering");
m_aircraft->gvThrottleCurve1GroupBox->setTitle("Front throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Rear throttle curve");
// Curve2 for Car
m_aircraft->gvThrottleCurve2GroupBox->setTitle("Throttle curve");
m_aircraft->gvThrottleCurve2GroupBox->setEnabled(true);
m_aircraft->gvThrottleCurve1GroupBox->setTitle("");
m_aircraft->gvThrottleCurve1GroupBox->setEnabled(false);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
m_aircraft->groundVehicleThrottle2->setMixerType(MixerCurve::MIXERCURVE_PITCH);
m_aircraft->groundVehicleThrottle1->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
initMixerCurves(frameType);
// If new setup, set curves values
if (frameTypeSaved->getValue().toString() != "GroundVehicleCar") {
// Curve range 0 -> +1 (no reverse)
m_aircraft->groundVehicleThrottle1->initLinearCurve(5, 1.0);
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0);
// Set curve2 range from -0.926 to 1 (forward / reverse)
// Take in account 4% offset in Throttle input after calibration
// 0.5 / 0.54 = 0.926
m_aircraft->groundVehicleThrottle2->initLinearCurve(5, 1.0, -0.926);
}
}
@ -321,6 +337,8 @@ void ConfigGroundVehicleWidget::initMixerCurves(QString frameType)
// no, init a straight curve
if (frameType == "GroundVehicleDifferential") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 0.8, -0.8);
} else if (frameType == "GroundVehicleCar") {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0, -1.0);
} else {
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
@ -388,7 +406,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
// motor
int channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@ -495,7 +513,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);