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Code Issues Releases Activity

Merge remote-tracking branch 'origin/kfinisterre/FixedWingWizard' into thread/OP-1222_Fixed_Wing_Wizard_Support

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
	ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
This commit is contained in:
m_thread 2014-02-12 12:34:37 +01:00
commit f8e6e8c183
17 changed files with 6309 additions and 185 deletions
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8
ground/openpilotgcs/src/plugins/config/airframe_fixedwing.ui
View File

@ -37,6 +37,14 @@
<string>Airplane type:</string>
</property>
</widget>
<widget class="QGraphicsView" name="planeShape">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="fixedWingType"/>

373
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -36,10 +36,13 @@
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QComboBox>
#include <QBrush>
#include <math.h>
#include <QMessageBox>
const QString ConfigFixedWingWidget::CHANNELBOXNAME = QString("fixedWingChannelBox");
QStringList ConfigFixedWingWidget::getChannelDescriptions()
{
// init a channel_numelem list of channel desc defaults
@ -51,27 +54,28 @@ QStringList ConfigFixedWingWidget::getChannelDescriptions()
// get the gui config data
GUIConfigDataUnion configData = getConfigData();
fixedGUISettingsStruct fixed = configData.fixedwing;
if (configData.fixedwing.FixedWingPitch1 > 0) {
channelDesc[configData.fixedwing.FixedWingPitch1 - 1] = QString("FixedWingPitch1");
if (fixed.FixedWingThrottle > 0 && fixed.FixedWingThrottle <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
channelDesc[fixed.FixedWingThrottle - 1] = QString("WingThrottle");
}
if (configData.fixedwing.FixedWingPitch2 > 0) {
channelDesc[configData.fixedwing.FixedWingPitch2 - 1] = QString("FixedWingPitch2");
if (fixed.FixedWingPitch1 > 0 && fixed.FixedWingPitch1 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
channelDesc[fixed.FixedWingPitch1 - 1] = QString("FixedWingPitch1");
}
if (configData.fixedwing.FixedWingRoll1 > 0) {
channelDesc[configData.fixedwing.FixedWingRoll1 - 1] = QString("FixedWingRoll1");
if (fixed.FixedWingPitch2 > 0 && fixed.FixedWingPitch2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
channelDesc[fixed.FixedWingPitch2 - 1] = QString("FixedWingPitch2");
}
if (configData.fixedwing.FixedWingRoll2 > 0) {
channelDesc[configData.fixedwing.FixedWingRoll2 - 1] = QString("FixedWingRoll2");
if (fixed.FixedWingRoll1 > 0 && fixed.FixedWingRoll1 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
channelDesc[fixed.FixedWingRoll1 - 1] = QString("FixedWingRoll1");
}
if (configData.fixedwing.FixedWingYaw1 > 0) {
channelDesc[configData.fixedwing.FixedWingYaw1 - 1] = QString("FixedWingYaw1");
if (fixed.FixedWingRoll2 > 0 && fixed.FixedWingRoll2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
channelDesc[fixed.FixedWingRoll2 - 1] = QString("FixedWingRoll2");
}
if (configData.fixedwing.FixedWingYaw2 > 0) {
channelDesc[configData.fixedwing.FixedWingYaw2 - 1] = QString("FixedWingYaw2");
if (fixed.FixedWingYaw1 > 0 && fixed.FixedWingYaw1 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
channelDesc[fixed.FixedWingYaw1 - 1] = QString("FixedWingYaw1");
}
if (configData.fixedwing.FixedWingThrottle > 0) {
channelDesc[configData.fixedwing.FixedWingThrottle - 1] = QString("FixedWingThrottle");
if (fixed.FixedWingYaw2 > 0 && fixed.FixedWingYaw2 <= ConfigFixedWingWidget::CHANNEL_NUMELEM) {
channelDesc[fixed.FixedWingYaw2 - 1] = QString("FixedWingYaw2");
}
return channelDesc;
}
@ -84,13 +88,16 @@ ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
populateChannelComboBoxes();
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
fixedWingTypes << "Elevator aileron rudder" << "Vtail";
m_aircraft->fixedWingType->addItems(fixedWingTypes);
// Set default model to "Elevator aileron rudder"
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString)));
m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
setupUI(m_aircraft->fixedWingType->currentText());
// setupUI(m_aircraft->fixedWingType->currentText());
connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString)));
updateEnableControls();
}
ConfigFixedWingWidget::~ConfigFixedWingWidget()
@ -98,14 +105,24 @@ ConfigFixedWingWidget::~ConfigFixedWingWidget()
delete m_aircraft;
}
/**
Virtual function to setup the UI
*/
void ConfigFixedWingWidget::setupUI(QString frameType)
{
Q_ASSERT(m_aircraft);
Q_ASSERT(plane);
// This had to be moved from ConfigFixedWingWidget() here since m_aircraft->fixedWingType->currentText()
// did not seem to work properly to choose alternate .svg files.
m_aircraft->planeShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
m_aircraft->planeShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/fixedwing-shapes.svg"));
plane = new QGraphicsSvgItem();
plane->setSharedRenderer(renderer);
qDebug() << "Current Aircraft type: \n" << m_aircraft->fixedWingType->currentText();
if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
plane->setElementId("aileron");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true);
@ -121,23 +138,8 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->elevonSlider1->setEnabled(false);
m_aircraft->elevonSlider2->setEnabled(false);
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
m_aircraft->fwAileron1Label->setText("Elevon 1");
m_aircraft->fwAileron2Label->setText("Elevon 2");
m_aircraft->fwElevator1ChannelBox->setEnabled(false);
m_aircraft->fwElevator2ChannelBox->setEnabled(false);
m_aircraft->fwRudder1ChannelBox->setEnabled(true);
m_aircraft->fwRudder2ChannelBox->setEnabled(true);
m_aircraft->fwElevator1Label->setText("Elevator 1");
m_aircraft->fwElevator2Label->setText("Elevator 2");
m_aircraft->elevonLabel1->setText("Roll");
m_aircraft->elevonLabel2->setText("Pitch");
m_aircraft->elevonSlider1->setEnabled(true);
m_aircraft->elevonSlider2->setEnabled(true);
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
plane->setElementId("vtail");
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
m_aircraft->fwRudder1ChannelBox->setEnabled(false);
m_aircraft->fwRudder2ChannelBox->setEnabled(false);
@ -156,6 +158,35 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
m_aircraft->elevonSlider1->setEnabled(true);
m_aircraft->elevonSlider2->setEnabled(true);
}
QGraphicsScene *scene = new QGraphicsScene();
scene->addItem(plane);
scene->setSceneRect(plane->boundingRect());
m_aircraft->planeShape->setScene(scene);
setupEnabledControls(frameType);
// Draw the appropriate airframe
updateAirframe(frameType);
}
void ConfigFixedWingWidget::setupEnabledControls(QString frameType)
{
// disable all motor channel boxes
for (int i = 1; i <= 8; i++) {
// do it manually so we can turn off any error decorations
QComboBox *combobox = this->findChild<QComboBox *>("fixedWingChannelBox" + QString::number(i));
if (combobox) {
combobox->setEnabled(false);
combobox->setItemData(0, 0, Qt::DecorationRole);
}
}
if (frameType == "Vtail" || frameType == "vtail") {
enableComboBoxes(this, CHANNELBOXNAME, 3, true);
} else if (frameType == "aileron" || frameType == "Elevator aileron rudder") {
enableComboBoxes(this, CHANNELBOXNAME, 4, true);
}
}
void ConfigFixedWingWidget::registerWidgets(ConfigTaskWidget &parent)
@ -222,18 +253,9 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
if (frameType == "FixedWingElevon") {
// If the airframe is elevon, restore the slider setting
if (frameType == "FixedWingVtail") {
// If the airframe is vtail, restore the slider setting
// Find the channel number for Elevon1 (FixedWingRoll1)
int channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->elevonSlider1->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL) * 100);
m_aircraft->elevonSlider2->setValue(
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
}
} else if (frameType == "FixedWingVtail") {
int channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// If for some reason the actuators were incoherent, we might fail here, hence the check.
@ -243,41 +265,115 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
}
}
updateAirframe(frameType);
}
/**
Virtual function to update the UI widget objects
Helper function to update the UI widget objects
*/
QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
{
QString airframeType = "FixedWing";
// Save the curve (common to all Fixed wing frames)
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Remove Feed Forward, it is pointless on a plane:
setMixerValue(mixer, "FeedForward", 0.0);
// Set the throttle curve
// Curve is also common to all quads:
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
// All airframe types must start with "FixedWing"
QString airframeType;
QList<QString> motor_servo_List;
if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder") {
airframeType = "FixedWing";
setupFrameFixedWing(airframeType);
} else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon(airframeType);
} else { // "Vtail"
motor_servo_List << "FixedWingThrottle" << "FixedWingPitch1" << "FixedWingPitch2" << "FixedWingRoll1" << "FixedWingRoll2" << "FixedWingYaw1" << "FixedWingYaw2";
setupMotors(motor_servo_List);
GUIConfigDataUnion config = getConfigData();
setConfigData(config);
m_aircraft->fwStatusLabel->setText(tr("Configuration OK"));
}
else if (m_aircraft->fixedWingType->currentText() == "vtail") {
airframeType = "FixedWingVtail";
setupFrameVtail(airframeType);
motor_servo_List << "FixedWingThrottle" << "FixedWingRoll1" << "FixedWingRoll2";
setupMotors(motor_servo_List);
GUIConfigDataUnion config = getConfigData();
setConfigData(config);
// Vtail Layout:
// pitch roll yaw
double mixerMatrix[8][3] = {
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 },
{ 0, 0, 0 }
};
setupFixedWingMixer(mixerMatrix);
m_aircraft->fwStatusLabel->setText(tr("Configuration OK"));
}
// Remove Feed Forward, it is pointless on a plane:
setMixerValue(mixer, "FeedForward", 0.0);
return airframeType;
}
void ConfigFixedWingWidget::setupMotors(QList<QString> motorList)
{
QList<QComboBox *> mmList;
mmList << m_aircraft->fwEngineChannelBox << m_aircraft->fwAileron1ChannelBox
<< m_aircraft->fwAileron2ChannelBox << m_aircraft->fwElevator1ChannelBox
<< m_aircraft->fwElevator2ChannelBox << m_aircraft->fwRudder1ChannelBox
<< m_aircraft->fwRudder2ChannelBox;
GUIConfigDataUnion configData = getConfigData();
resetActuators(&configData);
foreach(QString motor, motorList) {
int index = mmList.takeFirst()->currentIndex();
if (motor == QString("FixedWingThrottle")) {
configData.fixedwing.FixedWingThrottle = index;
} else if (motor == QString("FixedWingPitch1")) {
configData.fixedwing.FixedWingPitch1 = index;
} else if (motor == QString("FixedWingPitch2")) {
configData.fixedwing.FixedWingPitch2 = index;
} else if (motor == QString("FixedWingRoll1")) {
configData.fixedwing.FixedWingRoll1 = index;
} else if (motor == QString("FixedWingRoll2")) {
configData.fixedwing.FixedWingRoll2 = index;
} else if (motor == QString("FixedWingYaw1")) {
configData.fixedwing.FixedWingYaw1 = index;
} else if (motor == QString("FixedWingYaw2")) {
configData.fixedwing.FixedWingYaw1 = index;
}
}
setConfigData(configData);
}
void ConfigFixedWingWidget::updateAirframe(QString frameType)
{
qDebug() << "ConfigFixedWingWidget::updateAirframe - frame type" << frameType;
// this is not doing anything right now
m_aircraft->planeShape->setSceneRect(plane->boundingRect());
m_aircraft->planeShape->fitInView(plane, Qt::KeepAspectRatio);
}
/**
Setup Elevator/Aileron/Rudder airframe.
@ -302,6 +398,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config);
@ -353,76 +450,6 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
return true;
}
/**
Setup Elevon
*/
bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
double value;
// motor
int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// rudders
channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->fwRudder2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// ailerons
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, value);
channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
value = (double)(m_aircraft->elevonSlider2->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
value = (double)(m_aircraft->elevonSlider1->value() * 1.27);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -value);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup VTail
*/
@ -502,13 +529,39 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
return true;
}
void ConfigFixedWingWidget::enableControls(bool enable)
/**
This function sets up the vtail fixed wing mixer values.
*/
bool ConfigFixedWingWidget::setupFixedWingMixer(double mixerFactors[8][3])
{
ConfigTaskWidget::enableControls(enable);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
if (enable) {
setupUI(m_aircraft->fixedWingType->currentText());
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// and enable only the relevant channels:
// double pFactor = (double)m_aircraft->fwPitchMixLevel->value() / 100.0;
// double rFactor = (double)m_aircraft->fwRollMixLevel->value() / 100.0;
//invertMotors = m_aircraft->MultirotorRevMixerCheckBox->isChecked();
// double yFactor = (double)m_aircraft->fwYawMixLevel->value() / 100.0;
QList<QComboBox *> mmList;
mmList << m_aircraft->fwEngineChannelBox << m_aircraft->fwAileron1ChannelBox
<< m_aircraft->fwAileron2ChannelBox << m_aircraft->fwElevator1ChannelBox
<< m_aircraft->fwElevator2ChannelBox << m_aircraft->fwRudder1ChannelBox
<< m_aircraft->fwRudder2ChannelBox;
for (int i = 0; i < 8; i++) {
if (mmList.at(i)->isEnabled()) {
int channel = mmList.at(i)->currentIndex() - 1;
if (channel > -1) {
qDebug() << "code needs to be written here!";
// setupQuadMotor(channel, mixerFactors[i][0] * pFactor, rFactor * mixerFactors[i][1],
// yFactor * mixerFactors[i][2]);
}
}
}
return true;
}
/**
@ -550,27 +603,6 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
m_aircraft->fwRudder1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
} else if (airframeType == "FixedWingElevon") {
if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
if (m_aircraft->fwAileron1ChannelBox->currentText() == "None") {
m_aircraft->fwAileron1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
if (m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
m_aircraft->fwAileron2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
error = true;
} else {
m_aircraft->fwAileron2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
}
} else if (airframeType == "FixedWingVtail") {
if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
@ -600,3 +632,34 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
return error;
}
/**
WHAT DOES THIS DO???
*/
void ConfigFixedWingWidget::showEvent(QShowEvent *event)
{
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
m_aircraft->planeShape->fitInView(plane, Qt::KeepAspectRatio);
}
/**
Resize the GUI contents when the user changes the window size
*/
void ConfigFixedWingWidget::resizeEvent(QResizeEvent *event)
{
Q_UNUSED(event);
m_aircraft->planeShape->fitInView(plane, Qt::KeepAspectRatio);
}
void ConfigFixedWingWidget::enableControls(bool enable)
{
ConfigTaskWidget::enableControls(enable);
if (enable) {
setupEnabledControls(m_aircraft->fixedWingType->currentText());
}
}

15
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -44,6 +44,7 @@ class ConfigFixedWingWidget : public VehicleConfig {
Q_OBJECT
public:
static const QString CHANNELBOXNAME;
static QStringList getChannelDescriptions();
ConfigFixedWingWidget(QWidget *parent = 0);
@ -52,19 +53,25 @@ public:
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
protected:
void showEvent(QShowEvent *event);
void resizeEvent(QResizeEvent *event);
void enableControls(bool enable);
private:
Ui_FixedWingConfigWidget *m_aircraft;
QGraphicsSvgItem *plane;
virtual void registerWidgets(ConfigTaskWidget &parent);
virtual void resetActuators(GUIConfigDataUnion *configData);
bool setupFrameFixedWing(QString airframeType);
bool setupFrameElevon(QString airframeType);
bool setupFrameVtail(QString airframeType);
bool setupFixedWingMixer(double mixerFactors[8][3]);
void setupMotors(QList<QString> motorList);
protected:
void enableControls(bool enable);
void updateAirframe(QString multiRotorType);
void setupEnabledControls(QString airframeType);
private slots:
virtual void setupUI(QString airframeType);
virtual bool throwConfigError(QString airframeType);

2
ground/openpilotgcs/src/plugins/config/configgadget.qrc
View File

@ -4,6 +4,8 @@
<file>images/ahrs-calib.svg</file>
<file>images/paper-plane.svg</file>
<file>images/multirotor-shapes.svg</file>
<!-- these are different from the files in /setupwiz/resources -->
<file>images/fixedwing-shapes.svg</file>
<file>images/ccpm_setup.svg</file>
<file>images/PipXtreme.png</file>
<file>images/help.png</file>

4
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -68,9 +68,11 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
QStringList channelDesc;
switch (systemSettingsData.AirframeType) {
case SystemSettings::AIRFRAMETYPE_FIXEDWING:
channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
// do nothing for elevon support for the time being.
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
// fixed wing
channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
break;
case SystemSettings::AIRFRAMETYPE_HELICP:

2789
ground/openpilotgcs/src/plugins/config/images/fixedwing-shapes.svg Normal file
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10
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
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@ -118,6 +118,16 @@ void ConnectionDiagram::setupGraphicsScene()
}
break;
case VehicleConfigurationSource::VEHICLE_FIXEDWING:
switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::FIXED_WING_AILERON:
elementsToShow << "aileron";
break;
case VehicleConfigurationSource::FIXED_WING_VTAIL:
elementsToShow << "vtail";
break;
default:
break;
}
case VehicleConfigurationSource::VEHICLE_HELI:
case VehicleConfigurationSource::VEHICLE_SURFACE:
default:

82
ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
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@ -27,16 +27,96 @@
#include "fixedwingpage.h"
#include "ui_fixedwingpage.h"
#include "setupwizard.h"
FixedWingPage::FixedWingPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::FixedWingPage)
{
ui->setupUi(this);
setFinalPage(true);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/fixedwing-shapes.svg"));
m_fixedwingPic = new QGraphicsSvgItem();
m_fixedwingPic->setSharedRenderer(renderer);
QGraphicsScene *scene = new QGraphicsScene(this);
scene->addItem(m_fixedwingPic);
ui->typeGraphicsView->setScene(scene);
setupFixedWingTypesCombo();
// Default to Aileron setup
ui->typeCombo->setCurrentIndex(0);
connect(ui->typeCombo, SIGNAL(currentIndexChanged(int)), this, SLOT(updateImageAndDescription()));
ui->typeGraphicsView->setSceneRect(m_fixedwingPic->boundingRect());
ui->typeGraphicsView->fitInView(m_fixedwingPic, Qt::KeepAspectRatio);
}
FixedWingPage::~FixedWingPage()
{
delete ui;
}
void FixedWingPage::initializePage()
{
updateAvailableTypes();
updateImageAndDescription();
}
bool FixedWingPage::validatePage()
{
SetupWizard::VEHICLE_SUB_TYPE type = (SetupWizard::VEHICLE_SUB_TYPE)ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
getWizard()->setVehicleSubType(type);
return true;
}
void FixedWingPage::resizeEvent(QResizeEvent *event)
{
Q_UNUSED(event);
if (m_fixedwingPic) {
ui->typeGraphicsView->setSceneRect(m_fixedwingPic->boundingRect());
ui->typeGraphicsView->fitInView(m_fixedwingPic, Qt::KeepAspectRatio);
}
}
void FixedWingPage::setupFixedWingTypesCombo()
{
ui->typeCombo->addItem(tr("Aileron, Elevator, Rudder"), SetupWizard::FIXED_WING_AILERON);
m_descriptions << tr("This setup currently expects a traditional 4 channel setup including two ailerons (not connected by Y adapter), an elevator and a rudder. ");
ui->typeCombo->addItem(tr("V-Tail"), SetupWizard::FIXED_WING_VTAIL);
m_descriptions << tr("This setup currently expects a flying-wing setup, an elevon plus rudder setup is not yet supported. Setup should include only two elevons, and should explicitly not include a rudder.");
}
void FixedWingPage::updateAvailableTypes()
{
}
void FixedWingPage::updateImageAndDescription()
{
SetupWizard::VEHICLE_SUB_TYPE type = (SetupWizard::VEHICLE_SUB_TYPE)ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
QString elementId = "";
QString description = m_descriptions.at(ui->typeCombo->currentIndex());
switch (type) {
case SetupWizard::FIXED_WING_AILERON:
elementId = "aileron";
break;
case SetupWizard::FIXED_WING_VTAIL:
elementId = "vtail";
break;
default:
elementId = "";
break;
}
m_fixedwingPic->setElementId(elementId);
ui->typeGraphicsView->setSceneRect(m_fixedwingPic->boundingRect());
ui->typeGraphicsView->fitInView(m_fixedwingPic, Qt::KeepAspectRatio);
ui->typeDescription->setText(description);
}

17
ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h
View File

@ -28,6 +28,10 @@
#ifndef FIXEDWINGPAGE_H
#define FIXEDWINGPAGE_H
#include <QtSvg/QGraphicsSvgItem>
#include <QtSvg/QSvgRenderer>
#include <QList>
#include "abstractwizardpage.h"
namespace Ui {
@ -41,8 +45,21 @@ public:
explicit FixedWingPage(SetupWizard *wizard, QWidget *parent = 0);
~FixedWingPage();
void initializePage();
bool validatePage();
protected:
void resizeEvent(QResizeEvent *event);
private:
Ui::FixedWingPage *ui;
void setupFixedWingTypesCombo();
QGraphicsSvgItem *m_fixedwingPic;
void updateAvailableTypes();
QList<QString> m_descriptions;
private slots:
void updateImageAndDescription();
};
#endif // FIXEDWINGPAGE_H

139
ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
View File

@ -15,23 +15,148 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label_2">
<widget class="QLabel" name="label">
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;The Fixed Wing section of the OpenPilot Setup Wizard is not yet implemented&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot fixedwing configuration&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;This part of the wizard will set up the OpenPilot controller for use with a flying platform utilizing multiple rotors. The wizard supports the most common types of fixedwings. Other variants of fixedwings can be configured by using custom configuration options in the Configuration plugin in the GCS.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Please select the type of fixedwing you want to create a configuration for below:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="topMargin">
<number>4</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="rightMargin">
<number>4</number>
</property>
<item>
<widget class="QLabel" name="label_2">
<property name="minimumSize">
<size>
<width>125</width>
<height>36</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>FixedWing type:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="typeCombo">
<property name="minimumSize">
<size>
<width>125</width>
<height>20</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QTextEdit" name="typeDescription">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOn</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="textInteractionFlags">
<set>Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGraphicsView" name="typeGraphicsView">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="autoFillBackground">
<bool>true</bool>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="lineWidth">
<number>0</number>
</property>
<property name="midLineWidth">
<number>0</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="NoBrush">
<color alpha="0">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="NoBrush">
<color alpha="0">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="interactive">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>

101
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -36,13 +36,13 @@ OutputCalibrationPage::OutputCalibrationPage(SetupWizard *wizard, QWidget *paren
{
ui->setupUi(this);
qDebug() << "calling output calibration page";
m_vehicleRenderer = new QSvgRenderer();
if (QFile::exists(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
// move the code that was here to setupVehicle() so we can determine which image to use.
m_vehicleScene = new QGraphicsScene(this);
ui->vehicleView->setScene(m_vehicleScene);
}
}
OutputCalibrationPage::~OutputCalibrationPage()
@ -63,8 +63,18 @@ void OutputCalibrationPage::setupVehicle()
m_channelIndex.clear();
m_currentWizardIndex = 0;
m_vehicleScene->clear();
// KF moved code from OutputCalibrationPage() here so it can be used to detect the current vehicle
// needs to be slimmed down and not repeated.
switch (getWizard()->getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
if (QFile::exists(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
ui->vehicleView->setScene(m_vehicleScene);
}
m_wizardIndexes << 0 << 1 << 1 << 1 << 2 << 3 << 4;
m_vehicleElementIds << "tri" << "tri-frame" << "tri-m1" << "tri-m2" << "tri-m3" << "tri-s1";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 4 << 4;
@ -75,35 +85,116 @@ void OutputCalibrationPage::setupVehicle()
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
if (QFile::exists(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
ui->vehicleView->setScene(m_vehicleScene);
}
m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "quad-x" << "quad-x-frame" << "quad-x-m1" << "quad-x-m2" << "quad-x-m3" << "quad-x-m4";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 0 << 1 << 2 << 3;
break;
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
if (QFile::exists(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
ui->vehicleView->setScene(m_vehicleScene);
}
m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "quad-p" << "quad-p-frame" << "quad-p-m1" << "quad-p-m2" << "quad-p-m3" << "quad-p-m4";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 0 << 1 << 2 << 3;
break;
case SetupWizard::MULTI_ROTOR_HEXA:
if (QFile::exists(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
ui->vehicleView->setScene(m_vehicleScene);
}
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa" << "hexa-frame" << "hexa-m1" << "hexa-m2" << "hexa-m3" << "hexa-m4" << "hexa-m5" << "hexa-m6";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
break;
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
if (QFile::exists(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
ui->vehicleView->setScene(m_vehicleScene);
}
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa-y6" << "hexa-y6-frame" << "hexa-y6-m2" << "hexa-y6-m1" << "hexa-y6-m4" << "hexa-y6-m3" << "hexa-y6-m6" << "hexa-y6-m5";
m_vehicleHighlightElementIndexes << 0 << 2 << 1 << 4 << 3 << 6 << 5;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
break;
case SetupWizard::MULTI_ROTOR_HEXA_H:
if (QFile::exists(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/multirotor-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
ui->vehicleView->setScene(m_vehicleScene);
}
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa-h" << "hexa-h-frame" << "hexa-h-m1" << "hexa-h-m2" << "hexa-h-m3" << "hexa-h-m4" << "hexa-h-m5" << "hexa-h-m6";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
break;
// KF hack
case SetupWizard::FIXED_WING_AILERON:
if (QFile::exists(QString(":/setupwizard/resources/fixedwing-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/fixedwing-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
ui->vehicleView->setScene(m_vehicleScene);
}
qDebug() << "no clue what a wizard index is!";
m_wizardIndexes << 0 << 1 << 3 << 3 << 3 << 3; // These come from OutputCalibrationPage::setWizardPage()
m_vehicleElementIds << "fixed-aileron" << "aileron";
m_vehicleHighlightElementIndexes << 0 << 1;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4;
// see Servo city for an example. 1500 usec is center on MS85mg for example. - http://www.servocity.com/html/hs-85mg__mighty_micro.html
// make sure Aileron servo one does not go to an extreme value
m_actuatorSettings[1].channelMin = 1500;
m_actuatorSettings[1].channelNeutral = 1500;
m_actuatorSettings[1].channelMax = 1500;
// make sure Aileron servo two does not go to an extreme value
m_actuatorSettings[2].channelMin = 1500;
m_actuatorSettings[2].channelNeutral = 1500;
m_actuatorSettings[2].channelMax = 1500;
// make sure Elevator servo one does not go to an extreme value
m_actuatorSettings[3].channelMin = 1500;
m_actuatorSettings[4].channelNeutral = 1500;
m_actuatorSettings[3].channelMax = 1500;
// make sure Rudder servo one does not go to an extreme value
m_actuatorSettings[4].channelMin = 1500;
m_actuatorSettings[4].channelNeutral = 1500;
m_actuatorSettings[4].channelMax = 1500;
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::FIXED_WING_VTAIL:
if (QFile::exists(QString(":/setupwizard/resources/fixedwing-shapes.svg")) &&
m_vehicleRenderer->load(QString(":/setupwizard/resources/fixedwing-shapes.svg")) &&
m_vehicleRenderer->isValid()) {
ui->vehicleView->setScene(m_vehicleScene);
}
qDebug() << "no clue what a wizard index is!";
m_wizardIndexes << 0 << 1 << 3 << 3; // These come from OutputCalibrationPage::setWizardPage()
m_vehicleElementIds << "fixed-vtail" << "vtail";
m_vehicleHighlightElementIndexes << 0 << 1;
m_channelIndex << 0 << 0 << 1 << 2;
// make sure elevon servo one does not go to an extreme value
m_actuatorSettings[1].channelMin = 1500;
m_actuatorSettings[1].channelNeutral = 1500;
m_actuatorSettings[1].channelMax = 1500;
// make sure elevon servo two does not go to an extreme value
m_actuatorSettings[2].channelMin = 1500;
m_actuatorSettings[2].channelNeutral = 1500;
m_actuatorSettings[2].channelMax = 1500;
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
default:
break;
}
@ -191,7 +282,7 @@ void OutputCalibrationPage::setWizardPage()
ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
}
}
setupVehicleHighlightedPart();
// setupVehicleHighlightedPart(); // turn this off for now, need to fix fixedwing image elements
}
void OutputCalibrationPage::initializePage()

2
ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui
View File

@ -146,7 +146,7 @@ p, li { white-space: pre-wrap; }
<item>
<widget class="QToolButton" name="fixedwingButton">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="font">
<font>

2789
ground/openpilotgcs/src/plugins/setupwizard/resources/fixedwing-shapes.svg Normal file
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18
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
View File

@ -112,6 +112,9 @@ int SetupWizard::nextId() const
case PAGE_MULTI:
return PAGE_OUTPUT;
case PAGE_FIXEDWING:
return PAGE_OUTPUT;
case PAGE_INPUT:
if (isRestartNeeded()) {
saveHardwareSettings();
@ -226,6 +229,21 @@ QString SetupWizard::getSummaryText()
break;
case VEHICLE_FIXEDWING:
summary.append(tr("Fixed wing"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType()) {
case SetupWizard::FIXED_WING_AILERON:
summary.append(tr("Aileron"));
break;
case SetupWizard::FIXED_WING_VTAIL:
summary.append(tr("Vtail"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
case VEHICLE_HELI:
summary.append(tr("Helicopter"));

119
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -214,6 +214,19 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
break;
}
case VehicleConfigurationSource::VEHICLE_FIXEDWING:
{
switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::FIXED_WING_AILERON:
setupAileron();
break;
case VehicleConfigurationSource::FIXED_WING_VTAIL:
setupVtail();
break;
default:
break;
}
break;
}
case VehicleConfigurationSource::VEHICLE_HELI:
case VehicleConfigurationSource::VEHICLE_SURFACE:
// TODO: Implement settings for other vehicle types?
@ -293,7 +306,23 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
addModifiedObject(actSettings, tr("Writing actuator settings"));
break;
}
/*
case VehicleConfigurationSource::VEHICLE_FIXEDWING:
{
ActuatorSettings::DataFields data = actSettings->getData();
qDebug() << "Override center pulse for fixed wing servos\n";
// move all but first chan to 1500 center pluse
QList<actuatorChannelSettings> actuatorSettings = m_configSource->getActuatorSettings();
for (quint16 i = 1; i < ActuatorSettings::CHANNELMAX_NUMELEM; i++) {
data.ChannelType[i] = ActuatorSettings::CHANNELTYPE_PWM;
data.ChannelAddr[i] = i;
data.ChannelMin[i] = 1500;
data.ChannelNeutral[i] = 1500;
data.ChannelMax[i] = 1500;
}
}
*/
case VehicleConfigurationSource::VEHICLE_HELI:
case VehicleConfigurationSource::VEHICLE_SURFACE:
// TODO: Implement settings for other vehicle types?
@ -1287,3 +1316,93 @@ void VehicleConfigurationHelper::setupOctoCopter()
applyMixerConfiguration(channels);
applyMultiGUISettings(frame, guiSettings);
}
void VehicleConfigurationHelper::setupVtail()
{
mixerChannelSettings channels[10];
GUIConfigDataUnion guiSettings = getGUIConfigData();
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 0;
channels[1].type = MIXER_TYPE_SERVO;
channels[1].throttle1 = 0;
channels[1].throttle2 = 0;
channels[1].roll = -100;
channels[1].pitch = 50;
channels[1].yaw = 0;
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 100;
channels[2].pitch = -50;
channels[2].yaw = 0;
guiSettings.fixedwing.FixedWingThrottle = 1;
guiSettings.fixedwing.FixedWingRoll1 = 2;
guiSettings.fixedwing.FixedWingRoll2 = 3;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL, guiSettings);
}
void VehicleConfigurationHelper::setupAileron()
{
// Typical vehicle setup
// 1. Setup mixer data
// 2. Setup GUI data
// 3. Apply changes
mixerChannelSettings channels[10];
GUIConfigDataUnion guiSettings = getGUIConfigData();
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = 0;
channels[0].pitch = 0;
channels[0].yaw = 0;
channels[1].type = MIXER_TYPE_SERVO;
channels[1].throttle1 = 0;
channels[1].throttle2 = 0;
channels[1].roll = -100;
channels[1].pitch = 0;
channels[1].yaw = 0;
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 100;
channels[2].pitch = 0;
channels[2].yaw = 0;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 100;
channels[3].yaw = 0;
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 100;
guiSettings.fixedwing.FixedWingThrottle = 1;
guiSettings.fixedwing.FixedWingRoll1 = 2;
guiSettings.fixedwing.FixedWingRoll2 = 3;
guiSettings.fixedwing.FixedWingPitch1 = 4;
guiSettings.fixedwing.FixedWingYaw1 = 5;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWING, guiSettings);
}

2
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
View File

@ -103,6 +103,8 @@ private:
void setupQuadCopter();
void setupHexaCopter();
void setupOctoCopter();
void setupVtail();
void setupAileron();
private slots:
void uAVOTransactionCompleted(UAVObject *object, bool success);

2
ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
View File

@ -30,6 +30,8 @@
<file>resources/bttn-turbo-down.png</file>
<file>resources/bttn-turbo-up.png</file>
<file>resources/multirotor-shapes.svg</file>
<!-- these are different from the files in /config/images -->
<file>resources/fixedwing-shapes.svg</file>
<file>resources/bttn-illustration-down.png</file>
<file>resources/bttn-illustration-up.png</file>
<file>resources/bttn-save-down.png</file>