OP-867 Added output rate settings for revolution.

ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp

@@ -244,13 +244,12 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
     Q_ASSERT(actuatorSettings);
     ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 
-    // get channel descriptions
+    // Get channel descriptions
     QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
 
     // Initialize output forms
     QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
-    foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
+    foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
-    {
         outputChannelForm->setAssignment(ChannelDesc[outputChannelForm->index()]);
 
         // init min,max,neutral
@@ -265,25 +264,57 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
     // Get the SpinWhileArmed setting
     m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
 
-    // Get Output rates for both banks
+    // Setup output rates for all banks
-    if(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]))==-1)
+    if(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])) == -1) {
-    {
         m_config->cb_outputRate1->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]));
     }
-    if(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]))==-1)
+    if(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])) == -1) {
-    {
         m_config->cb_outputRate2->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]));
     }
+    if(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]) )== -1) {
+        m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
+    }
+    if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])) == -1) {
+        m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
+    }
+    if(m_config->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])) == -1) {
+        m_config->cb_outputRate5->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[4]));
+    }
+    if(m_config->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])) == -1) {
+        m_config->cb_outputRate6->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[5]));
+    }
     m_config->cb_outputRate1->setCurrentIndex(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])));
     m_config->cb_outputRate2->setCurrentIndex(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])));
+    m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
+    m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
+    m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])));
+    m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])));
 
+    // Reset to all disabled
+    m_config->chBank1->setText("-");
+    m_config->chBank2->setText("-");
+    m_config->chBank3->setText("-");
+    m_config->chBank4->setText("-");
+    m_config->chBank5->setText("-");
+    m_config->chBank6->setText("-");
+    m_config->cb_outputRate1->setEnabled(false);
+    m_config->cb_outputRate2->setEnabled(false);
+    m_config->cb_outputRate3->setEnabled(false);
+    m_config->cb_outputRate4->setEnabled(false);
+    m_config->cb_outputRate5->setEnabled(false);
+    m_config->cb_outputRate6->setEnabled(false);
+
+    // Get connected board model
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     Q_ASSERT(pm);
-    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
+    UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
-    if (utilMngr) {
+    Q_ASSERT(utilMngr);
+
+    if(utilMngr) {
         int board = utilMngr->getBoardModel();
-        if ((board & 0xff00) == 1024) {
+        // Setup labels and combos for banks according to board type
-            // CopterControl family
+        if ((board & 0xff00) == 0x0400) {
+            // Coptercontrol family of boards 4 timer banks
             m_config->chBank1->setText("1-3");
             m_config->chBank2->setText("4");
             m_config->chBank3->setText("5,7-8");
@@ -292,37 +323,27 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
             m_config->cb_outputRate2->setEnabled(true);
             m_config->cb_outputRate3->setEnabled(true);
             m_config->cb_outputRate4->setEnabled(true);
-            if(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]))==-1)
+        }
-            {
+        else if((board & 0xff00) == 0x0900) {
-                m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
+            // Revolution family of boards 6 timer banks
-            }
+            m_config->chBank1->setText("1-2");
-            if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]))==-1)
+            m_config->chBank2->setText("3");
-            {
+            m_config->chBank3->setText("4");
-                m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
+            m_config->chBank4->setText("5-6");
-            }
+            m_config->chBank5->setText("7-8");
-            m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
+            m_config->chBank6->setText("9-10");
-            m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
-        } else if ((board & 0xff00) == 256 ) {
-            // Mainboard family
             m_config->cb_outputRate1->setEnabled(true);
             m_config->cb_outputRate2->setEnabled(true);
-            m_config->cb_outputRate3->setEnabled(false);
+            m_config->cb_outputRate3->setEnabled(true);
-            m_config->cb_outputRate4->setEnabled(false);
+            m_config->cb_outputRate4->setEnabled(true);
-            m_config->chBank1->setText("1-4");
+            m_config->cb_outputRate5->setEnabled(true);
-            m_config->chBank2->setText("5-8");
+            m_config->cb_outputRate6->setEnabled(true);
-            m_config->chBank3->setText("-");
-            m_config->chBank4->setText("-");
-            m_config->cb_outputRate3->addItem("0");
-            m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText("0"));
-            m_config->cb_outputRate4->addItem("0");
-            m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText("0"));
         }
     }
 
     // Get Channel ranges:
-    foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
+    foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
-    {
+        int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];        
-        int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
         outputChannelForm->minmax(minValue, maxValue);
 
@@ -345,8 +366,7 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
 
         // Set channel ranges
         QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
-        foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
+        foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
-        {
             actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
             actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
             actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
@@ -357,11 +377,12 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
         actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
         actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
         actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
+        actuatorSettingsData.ChannelUpdateFreq[4] = m_config->cb_outputRate5->currentText().toUInt();
+        actuatorSettingsData.ChannelUpdateFreq[5] = m_config->cb_outputRate6->currentText().toUInt();
 
-        if(m_config->spinningArmed->isChecked() == true)
+        actuatorSettingsData.MotorsSpinWhileArmed = m_config->spinningArmed->isChecked() ?
-            actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
+                                                         ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
-        else
+                                                         ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
-            actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
 
         // Apply settings
         actuatorSettings->setData(actuatorSettingsData);
@@ -370,7 +391,6 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
 
 void ConfigOutputWidget::openHelp()
 {
-
     QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/WIGf", QUrl::StrictMode) );
 }
 
@@ -381,11 +401,12 @@ void ConfigOutputWidget::stopTests()
 
 void ConfigOutputWidget::disableIfNotMe(UAVObject* obj)
 {
-    if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
+    if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
-    {
+        if(!wasItMe) {
-        if(!wasItMe)
             this->setEnabled(false);
+        }
     }
-    else
+    else {
         this->setEnabled(true);
+    }
 }

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

@@ -117,12 +117,12 @@
             <x>0</x>
             <y>0</y>
             <width>668</width>
-            <height>654</height>
+            <height>671</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
            <property name="spacing">
-            <number>-1</number>
+            <number>6</number>
            </property>
            <property name="margin">
             <number>12</number>
@@ -145,27 +145,31 @@
               <string>Output Update Speed</string>
              </property>
              <layout class="QGridLayout" name="gridLayout">
-              <property name="horizontalSpacing">
-               <number>6</number>
-              </property>
               <property name="margin">
                <number>12</number>
               </property>
-              <item row="0" column="0">
+              <property name="horizontalSpacing">
-               <spacer name="horizontalSpacer_3">
+               <number>6</number>
-                <property name="orientation">
+              </property>
-                 <enum>Qt::Horizontal</enum>
+              <item row="0" column="6">
+               <widget class="QLabel" name="chBank5">
+                <property name="text">
+                 <string>-</string>
                 </property>
-                <property name="sizeType">
+                <property name="alignment">
-                 <enum>QSizePolicy::Minimum</enum>
+                 <set>Qt::AlignCenter</set>
                 </property>
-                <property name="sizeHint" stdset="0">
+               </widget>
-                 <size>
+              </item>
-                  <width>5</width>
+              <item row="0" column="2">
-                  <height>20</height>
+               <widget class="QLabel" name="chBank1">
-                 </size>
+                <property name="text">
+                 <string>-</string>
                 </property>
-               </spacer>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
               </item>
               <item row="0" column="1">
                <widget class="QLabel" name="label_9">
@@ -183,45 +187,21 @@
                 </property>
                </widget>
               </item>
-              <item row="0" column="2">
+              <item row="0" column="0">
-               <widget class="QLabel" name="chBank1">
+               <spacer name="horizontalSpacer_3">
-                <property name="text">
+                <property name="orientation">
-                 <string>-</string>
+                 <enum>Qt::Horizontal</enum>
                 </property>
-                <property name="alignment">
+                <property name="sizeType">
-                 <set>Qt::AlignCenter</set>
+                 <enum>QSizePolicy::Minimum</enum>
                 </property>
-               </widget>
+                <property name="sizeHint" stdset="0">
-              </item>
+                 <size>
-              <item row="0" column="3">
+                  <width>5</width>
-               <widget class="QLabel" name="chBank2">
+                  <height>20</height>
-                <property name="text">
+                 </size>
-                 <string>-</string>
                 </property>
-                <property name="alignment">
+               </spacer>
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="4">
-               <widget class="QLabel" name="chBank3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="5">
-               <widget class="QLabel" name="chBank4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
               </item>
               <item row="1" column="0">
                <spacer name="horizontalSpacer_4">
@@ -251,31 +231,33 @@
                 </property>
                </spacer>
               </item>
-              <item row="1" column="1">
+              <item row="0" column="3">
-               <widget class="QLabel" name="label_3">
+               <widget class="QLabel" name="chBank2">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
                 <property name="text">
-                 <string>Update rate:</string>
+                 <string>-</string>
                 </property>
                 <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="4">
+               <widget class="QLabel" name="chBank3">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="5">
+               <widget class="QLabel" name="chBank4">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
                 </property>
                </widget>
               </item>
@@ -395,6 +377,34 @@ Leave at 50Hz for fixed wing.</string>
                 </item>
                </widget>
               </item>
+              <item row="1" column="1">
+               <widget class="QLabel" name="label_3">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Update rate:</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
               <item row="1" column="4">
                <widget class="QComboBox" name="cb_outputRate3">
                 <property name="enabled">
@@ -472,6 +482,132 @@ Leave at 50Hz for fixed wing.</string>
                 </property>
                 <property name="toolTip">
                  <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>50</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>60</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>125</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>165</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>270</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>330</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>400</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="0" column="7">
+               <widget class="QLabel" name="chBank6">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="6">
+               <widget class="QComboBox" name="cb_outputRate5">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>50</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>60</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>125</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>165</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>270</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>330</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>400</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="7">
+               <widget class="QComboBox" name="cb_outputRate6">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
 Leave at 50Hz for fixed wing.</string>
                 </property>
                 <item>