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Code Issues Releases Activity

Merge remote-tracking branch 'origin/laurent/OP-1734_Wizard_show_servo_movement' into next

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
This commit is contained in:
Laurent Lalanne 2015-03-07 12:43:03 +01:00
commit fba3281a8c
6 changed files with 3526 additions and 2855 deletions
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6
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -358,7 +358,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
// rudder
channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// ailerons
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
@ -542,13 +542,13 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
// First Vtail servo
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, -pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yaw);
// Second Vtail servo
channel = m_aircraft->fwElevator2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yaw);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");

92
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -216,7 +216,7 @@ void OutputCalibrationPage::setupVehicle()
case SetupWizard::FIXED_WING_AILERON:
loadSVGFile(FIXEDWING_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2 << 2 << 2;
m_vehicleElementIds << "aileron-single" << "ail2-frame" << "ail2-motor" << "ail2-aileron" << "ail2-elevator" << "ail2-rudder";
m_vehicleElementIds << "singleaileron" << "singleaileron-frame" << "singleaileron-motor" << "singleaileron-aileron" << "singleaileron-elevator" << "singleaileron-rudder";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 2 << 0 << 1 << 3;
@ -298,6 +298,7 @@ void OutputCalibrationPage::setupVehicle()
void OutputCalibrationPage::setupVehicleItems()
{
m_vehicleItems.clear();
m_arrowsItems.clear();
m_vehicleBoundsItem = new QGraphicsSvgItem();
m_vehicleBoundsItem->setSharedRenderer(m_vehicleRenderer);
m_vehicleBoundsItem->setElementId(m_vehicleElementIds[0]);
@ -319,6 +320,46 @@ void OutputCalibrationPage::setupVehicleItems()
m_vehicleScene->addItem(item);
m_vehicleItems << item;
bool addArrows = false;
if ((m_vehicleElementIds[i].contains("left")) || (m_vehicleElementIds[i].contains("right"))
|| (m_vehicleElementIds[i].contains("elevator")) || (m_vehicleElementIds[i].contains("rudder"))
|| (m_vehicleElementIds[i].contains("steering")) || (m_vehicleElementIds[i] == "singleaileron-aileron")) {
addArrows = true;
}
if (addArrows) {
QString arrowUp = "-up"; // right if rudder / steering
QString arrowDown = "-down"; // left
QGraphicsSvgItem *itemUp = new QGraphicsSvgItem();
itemUp->setSharedRenderer(m_vehicleRenderer);
QString elementUp = m_vehicleElementIds[i] + arrowUp;
itemUp->setElementId(elementUp);
itemUp->setZValue(i + 10);
itemUp->setOpacity(0);
QRectF itemBounds = m_vehicleRenderer->boundsOnElement(elementUp);
itemUp->setPos(itemBounds.x() - parentBounds.x(), itemBounds.y() - parentBounds.y());
m_vehicleScene->addItem(itemUp);
m_arrowsItems << itemUp;
QGraphicsSvgItem *itemDown = new QGraphicsSvgItem();
itemDown->setSharedRenderer(m_vehicleRenderer);
QString elementDown = m_vehicleElementIds[i] + arrowDown;
itemDown->setElementId(elementDown);
itemDown->setZValue(i + 10);
itemDown->setOpacity(0);
itemBounds = m_vehicleRenderer->boundsOnElement(elementDown);
itemDown->setPos(itemBounds.x() - parentBounds.x(), itemBounds.y() - parentBounds.y());
m_vehicleScene->addItem(itemDown);
m_arrowsItems << itemDown;
}
}
}
@ -345,6 +386,24 @@ void OutputCalibrationPage::setupVehicleHighlightedPart()
}
}
void OutputCalibrationPage::showElementMovement(bool isUp, qreal value)
{
QString highlightedItemName = m_vehicleItems[m_currentWizardIndex]->elementId();
for (int i = 0; i < m_arrowsItems.size(); i++) {
QString upItemName = highlightedItemName + "-up";
QString downItemName = highlightedItemName + "-down";
if (m_arrowsItems[i]->elementId() == upItemName) {
QGraphicsSvgItem *itemUp = m_arrowsItems[i];
itemUp->setOpacity(isUp ? value : 0);
}
if (m_arrowsItems[i]->elementId() == downItemName) {
QGraphicsSvgItem *itemDown = m_arrowsItems[i];
itemDown->setOpacity(isUp ? 0 : value);
}
}
}
void OutputCalibrationPage::setWizardPage()
{
qDebug() << "Wizard index: " << m_currentWizardIndex;
@ -390,6 +449,9 @@ void OutputCalibrationPage::setWizardPage()
}
}
setupVehicleHighlightedPart();
// Hide arrows
showElementMovement(true, 0);
showElementMovement(false, 0);
}
void OutputCalibrationPage::initializePage()
@ -551,6 +613,9 @@ void OutputCalibrationPage::enableServoSliders(bool enabled)
ui->servoMinAngleSlider->setEnabled(enabled);
ui->servoMaxAngleSlider->setEnabled(enabled);
ui->reverseCheckbox->setEnabled(!enabled);
// Hide arrows
showElementMovement(true, 0);
showElementMovement(false, 0);
}
bool OutputCalibrationPage::checkAlarms()
@ -654,6 +719,27 @@ void OutputCalibrationPage::on_servoCenterAngleSlider_valueChanged(int position)
ui->servoMaxAngleSlider->setValue(value);
}
}
quint16 minValue = (ui->reverseCheckbox->isChecked()) ? ui->servoMaxAngleSlider->value() : ui->servoMinAngleSlider->value();
quint16 maxValue = (ui->reverseCheckbox->isChecked()) ? ui->servoMinAngleSlider->value() : ui->servoMaxAngleSlider->value();
quint16 range = maxValue - minValue;
// Reset arows
showElementMovement(true, 0);
showElementMovement(false, 0);
// 30% "Dead band" : no arrow display
quint16 limitLow = minValue + (range * 0.35);
quint16 limitHigh = maxValue - (range * 0.35);
quint16 middle = minValue + (range / 2);
qreal arrowOpacity = 0;
if (value < limitLow) {
arrowOpacity = (qreal)(middle - value) / (qreal)(middle - minValue);
showElementMovement(ui->reverseCheckbox->isChecked(), arrowOpacity);
} else if (value > limitHigh) {
arrowOpacity = (qreal)(value - middle) / (qreal)(maxValue - middle);
showElementMovement(!ui->reverseCheckbox->isChecked(), arrowOpacity);
}
debugLogChannelValues();
}
@ -666,8 +752,8 @@ void OutputCalibrationPage::on_servoMinAngleSlider_valueChanged(int position)
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
m_actuatorSettings[currentChannel].channelMin = value;
ui->servoPWMValue->setText(tr("Output value : <b>%1</b> µs (Min)").arg(value));
// Adjust neutral and max
if (ui->reverseCheckbox->isChecked()) {
@ -697,8 +783,8 @@ void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
QList<quint16> currentChannels;
getCurrentChannels(currentChannels);
quint16 currentChannel = currentChannels[0];
m_actuatorSettings[currentChannel].channelMax = value;
ui->servoPWMValue->setText(tr("Output value : <b>%1</b> µs (Max)").arg(value));
// Adjust neutral and min
if (ui->reverseCheckbox->isChecked()) {

2
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
View File

@ -78,6 +78,7 @@ private:
void startWizard();
void setupVehicleItems();
void setupVehicleHighlightedPart();
void showElementMovement(bool isUp, qreal value);
void setWizardPage();
void enableButtons(bool enable);
void enableServoSliders(bool enabled);
@ -98,6 +99,7 @@ private:
QList<QString> m_vehicleElementIds;
QList<ElementType> m_vehicleElementTypes;
QList<QGraphicsSvgItem *> m_vehicleItems;
QList<QGraphicsSvgItem *> m_arrowsItems;
QList<quint16> m_vehicleHighlightElementIndexes;
QList<quint16> m_channelIndex;
QList<quint16> m_wizardIndexes;

6147
ground/openpilotgcs/src/plugins/setupwizard/resources/fixedwing-shapes-wizard.svg
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126
ground/openpilotgcs/src/plugins/setupwizard/resources/ground-shapes-wizard.svg
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8
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -1927,7 +1927,7 @@ void VehicleConfigurationHelper::setupDualAileron()
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 100;
channels[3].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingRoll1 = 1;
@ -1979,7 +1979,7 @@ void VehicleConfigurationHelper::setupAileron()
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 100;
channels[3].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingRoll1 = 1;
@ -2030,7 +2030,7 @@ void VehicleConfigurationHelper::setupVtail()
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 100;
channels[1].yaw = 100;
channels[1].yaw = -100;
// Left Vtail Servo (Chan 4)
channels[3].type = MIXER_TYPE_SERVO;
@ -2038,7 +2038,7 @@ void VehicleConfigurationHelper::setupVtail()
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = -100;
channels[3].yaw = 100;
channels[3].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingRoll1 = 1;