From f1f8e285e9184e77e9ec9cddb9231456d0e5b59f Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sat, 14 Feb 2015 19:52:47 +0100 Subject: [PATCH] OP-1723 Ground config tab : Allow reverse/brake in RcCar --- .../configgroundvehiclewidget.cpp | 44 +++++++++++++------ 1 file changed, 31 insertions(+), 13 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp index 87dc480f6..338dcc874 100644 --- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp @@ -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);