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Code Issues Releases Activity

ConfigVehicleType, bugfix: set/get feedforward settings;

Browse Source 
refactor set/getMixerValue into vehicleConfig;
This commit is contained in:
Mike LaBranche 2012-06-24 11:11:53 -07:00
parent f6f98aa091
commit fc5d0a0175
5 changed files with 59 additions and 20 deletions
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24
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -233,6 +233,30 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
}
}
double VehicleConfig::getMixerValue(UAVDataObject* mixer, QString elementName)
{
Q_ASSERT(mixer);
double value = 0.0;
QPointer<UAVObjectField> field = mixer->getField(elementName);
if (field) {
value = field->getDouble();
}
return value;
}
void VehicleConfig::setMixerValue(UAVDataObject* mixer, QString elementName, double value)
{
Q_ASSERT(mixer);
QPointer<UAVObjectField> field = mixer->getField(elementName);
if (field) {
field->setDouble(value);
}
}
void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
{
QPointer<UAVObjectField> field;

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -130,6 +130,8 @@ class VehicleConfig: public ConfigTaskWidget
void resetMixerVector(UAVDataObject* mixer, int channel);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName);
void setMixerValue(UAVDataObject* mixer, QString elementName, double value);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
bool isValidThrottleCurve(QList<double>* curve);

44
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -444,16 +444,17 @@ void ConfigVehicleTypeWidget::enableFFTest()
// Depending on phase, either move actuator or send FF settings:
if (ffTuningPhase) {
// Send FF settings to the board
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
obj->updated();
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
mixer->updated();
} else {
// Toggle motor state
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
@ -809,6 +810,12 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
}
}
// Update feed forward settings
m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer,"FeedForward") * 100);
m_aircraft->accelTime->setValue(vconfig->getMixerValue(mixer,"AccelTime"));
m_aircraft->decelTime->setValue(vconfig->getMixerValue(mixer,"DecelTime"));
m_aircraft->maxAccelSlider->setValue(vconfig->getMixerValue(mixer,"MaxAccel"));
}
@ -821,6 +828,17 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@ -835,12 +853,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
else {
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());

7
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
View File

@ -185,11 +185,11 @@ QList<double> MixerCurveWidget::getCurve() {
*/
void MixerCurveWidget::initLinearCurve(int numPoints, double maxValue, double minValue)
{
setRange(minValue, maxValue);
double range = setRange(minValue, maxValue);
QList<double> points;
for (double i=0; i < (double)numPoints; i++) {
double val = ((curveMax - curveMin) * ( i / (double)(numPoints-1) ) ) + curveMin;
double val = (range * ( i / (double)(numPoints-1) ) ) + minValue;
points.append(val);
}
initCurve(points);
@ -268,8 +268,9 @@ double MixerCurveWidget::getMax()
{
return curveMax;
}
void MixerCurveWidget::setRange(double min, double max)
double MixerCurveWidget::setRange(double min, double max)
{
curveMin = min;
curveMax = max;
return curveMax - curveMin;
}

2
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
View File

@ -52,7 +52,7 @@ public:
double getMin();
void setMax(double value);
double getMax();
void setRange(double min, double max);
double setRange(double min, double max);
static const int NODE_NUMELEM = 5;