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Code Issues Releases Activity

OP-1422 Tricopter_mixers_settings Store mixing / sliders values on board - Wizard/Config tab. Tricopter Yaw mixing now applies to servo, 100% default.

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This commit is contained in:
Laurent Lalanne 2014-08-27 20:33:11 +02:00
parent 4099507bf6
commit f313bef2e5
3 changed files with 70 additions and 184 deletions
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197
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -168,7 +168,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
setYawMixLevel(50);
setYawMixLevel(100);
} else if (frameType == "QuadX" || frameType == "Quad X") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
@ -367,21 +367,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
} else if (frameType == "QuadX") {
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
@ -389,20 +374,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(qRound(value / 1.27));
}
} else if (frameType == "Hexa") {
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorN);
@ -412,26 +383,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5, multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6, multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
// get motor 1 value for Pitch
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
// get motor 2 value for Yaw and Roll
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(qRound(value / 1.27));
// change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
} else if (frameType == "HexaX") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNE);
@ -441,25 +392,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5, multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6, multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
// get motor 1 value for Pitch
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
// get motor 2 value for Yaw and Roll
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(qRound(value / 1.27));
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
} else if (frameType == "HexaH") {
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNE);
@ -469,25 +401,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5, multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6, multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
// get motor 1 value for Pitch
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
// get motor 2 value for Yaw and Roll
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(qRound(value / 1.27));
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
} else if (frameType == "HexaCoax") {
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
@ -497,21 +410,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5, multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6, multi.VTOLMotorSE);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(2 * value / 1.27));
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(qRound(value / 1.27));
}
} else if (frameType == "Octo" || frameType == "OctoV" || frameType == "OctoCoaxP") {
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorN);
@ -523,46 +421,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7, multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8, multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
if (frameType == "Octo") {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
// Get M3 Roll value
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
} else if (frameType == "OctoV") {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
// change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
} else if (frameType == "OctoCoaxP") {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
// change channels
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
}
} else if (frameType == "OctoX") {
// Motors 1 to 8 are NNE / ENE / ESE / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNNE);
@ -574,23 +432,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7, multi.VTOLMotorWNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8, multi.VTOLMotorNNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
// Get M2 Roll value
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
} else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
@ -602,36 +443,18 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7, multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8, multi.VTOLMotorW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(qRound(value / 1.27));
}
} else if (frameType == "Tri") {
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2, multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->triYawChannelBox, multi.TRIYaw);
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(2 * value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(qRound(value / 1.27));
}
}
// 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"));
m_aircraft->mrYawMixLevel->setValue(getMixerValue(mixer, "MixerValueYaw"));
updateAirframe(frameType);
}
@ -889,7 +712,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
int channel = m_aircraft->triYawChannelBox->currentIndex() - 1;
if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
// Tricopter : Yaw mix slider value applies to servo (was fixed)
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, getMixerValue(mixer, "MixerValueYaw") * 1.27);
}
m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
@ -1188,6 +1013,10 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
invertMotors = m_aircraft->MultirotorRevMixerCheckBox->isChecked();
double yFactor = (invertMotors ? -1.0 : 1.0) * (double)m_aircraft->mrYawMixLevel->value() / 100.0;
setMixerValue(mixer, "MixerValueRoll", m_aircraft->mrRollMixLevel->value());
setMixerValue(mixer, "MixerValuePitch", m_aircraft->mrPitchMixLevel->value());
setMixerValue(mixer, "MixerValueYaw", m_aircraft->mrYawMixLevel->value());
QList<QComboBox *> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2
<< m_aircraft->multiMotorChannelBox3 << m_aircraft->multiMotorChannelBox4

54
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -462,6 +462,60 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
}
}
MixerSettings *mixSettings = MixerSettings::GetInstance(m_uavoManager);
// Save mixer values for sliders
switch (m_configSource->getVehicleType()) {
case VehicleConfigurationSource::VEHICLE_MULTI:
{
switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X:
mixSettings->setMixerValueRoll(100);
mixSettings->setMixerValuePitch(100);
mixSettings->setMixerValueYaw(100);
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
mixSettings->setMixerValueRoll(50);
mixSettings->setMixerValuePitch(50);
mixSettings->setMixerValueYaw(50);
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
mixSettings->setMixerValueRoll(100);
mixSettings->setMixerValuePitch(100);
mixSettings->setMixerValueYaw(50);
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
mixSettings->setMixerValueRoll(100);
mixSettings->setMixerValuePitch(50);
mixSettings->setMixerValueYaw(66);
break;
case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_X:
mixSettings->setMixerValueRoll(100);
mixSettings->setMixerValuePitch(100);
mixSettings->setMixerValueYaw(100);
break;
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V:
break;
default:
break;
}
break;
}
case VehicleConfigurationSource::VEHICLE_FIXEDWING:
case VehicleConfigurationSource::VEHICLE_HELI:
case VehicleConfigurationSource::VEHICLE_SURFACE:
// TODO: Implement mixer / sliders settings for other vehicle types?
break;
default:
break;
}
// Apply updates
mSettings->setData(mSettings->getData());
addModifiedObject(mSettings, tr("Writing mixer settings"));

3
shared/uavobjectdefinition/mixersettings.xml
View File

@ -2,6 +2,9 @@
<object name="MixerSettings" singleinstance="true" settings="true" category="Control">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="MaxAccel" units="units/sec" type="float" elements="1" defaultvalue="1000"/>
<field name="MixerValueRoll" units="percent" type="int8" elements="1" defaultvalue="100"/>
<field name="MixerValuePitch" units="percent" type="int8" elements="1" defaultvalue="100"/>
<field name="MixerValueYaw" units="percent" type="int8" elements="1" defaultvalue="50"/>
<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>