/** ****************************************************************************** * * @file configstabilizationwidget.h * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin * @{ * @brief The Configuration Gadget used to update settings in the firmware *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "configstabilizationwidget.h" #include #include #include #include #include #include ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent) { stabSettings = StabilizationSettings::GetInstance(getObjectManager()); m_stabilization = new Ui_StabilizationWidget(); m_stabilization->setupUi(this); // Now connect the widget to the ManualControlCommand / Channel UAVObject UAVObject *obj = dynamic_cast(getObjectManager()->getObject(QString("StabilizationSettings"))); requestStabilizationUpdate(); connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate())); connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate())); connect(m_stabilization->getStabilizationCurrent, SIGNAL(clicked()), this, SLOT(requestStabilizationUpdate())); connect(m_stabilization->resetStabilizationToDefaults, SIGNAL(clicked()), this, SLOT(resetStabilizationToDefaults())); connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestStabilizationUpdate())); // Create a timer to regularly send the object update in case // we want realtime updates. connect(&updateTimer, SIGNAL(timeout()), this, SLOT(sendStabilizationUpdate())); connect(m_stabilization->realTimeUpdates, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdateToggle(bool))); // Connect the updates of the stab values connect(m_stabilization->rateRollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKP(double))); connect(m_stabilization->rateRollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKI(double))); connect(m_stabilization->rateRollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollILimit(double))); connect(m_stabilization->ratePitchKp, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKP(double))); connect(m_stabilization->ratePitchKi, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKI(double))); connect(m_stabilization->ratePitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchILimit(double))); connect(m_stabilization->rollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRollKP(double))); connect(m_stabilization->rollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRollKI(double))); connect(m_stabilization->rollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRollILimit(double))); connect(m_stabilization->pitchKp, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKP(double))); connect(m_stabilization->pitchKi, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKI(double))); connect(m_stabilization->pitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updatePitchILimit(double))); } ConfigStabilizationWidget::~ConfigStabilizationWidget() { // Do nothing } void ConfigStabilizationWidget::updateRateRollKP(double val) { if (m_stabilization->linkRateRP->isChecked()) { m_stabilization->ratePitchKp->setValue(val); } } void ConfigStabilizationWidget::updateRateRollKI(double val) { if (m_stabilization->linkRateRP->isChecked()) { m_stabilization->ratePitchKi->setValue(val); } } void ConfigStabilizationWidget::updateRateRollILimit(double val) { if (m_stabilization->linkRateRP->isChecked()) { m_stabilization->ratePitchILimit->setValue(val); } } void ConfigStabilizationWidget::updateRatePitchKP(double val) { if (m_stabilization->linkRateRP->isChecked()) { m_stabilization->rateRollKp->setValue(val); } } void ConfigStabilizationWidget::updateRatePitchKI(double val) { if (m_stabilization->linkRateRP->isChecked()) { m_stabilization->rateRollKi->setValue(val); } } void ConfigStabilizationWidget::updateRatePitchILimit(double val) { if (m_stabilization->linkRateRP->isChecked()) { m_stabilization->rateRollILimit->setValue(val); } } void ConfigStabilizationWidget::updateRollKP(double val) { if (m_stabilization->linkAttitudeRP->isChecked()) { m_stabilization->pitchKp->setValue(val); } } void ConfigStabilizationWidget::updateRollKI(double val) { if (m_stabilization->linkAttitudeRP->isChecked()) { m_stabilization->pitchKi->setValue(val); } } void ConfigStabilizationWidget::updateRollILimit(double val) { if (m_stabilization->linkAttitudeRP->isChecked()) { m_stabilization->pitchILimit->setValue(val); } } void ConfigStabilizationWidget::updatePitchKP(double val) { if (m_stabilization->linkAttitudeRP->isChecked()) { m_stabilization->rollKp->setValue(val); } } void ConfigStabilizationWidget::updatePitchKI(double val) { if (m_stabilization->linkAttitudeRP->isChecked()) { m_stabilization->rollKi->setValue(val); } } void ConfigStabilizationWidget::updatePitchILimit(double val) { if (m_stabilization->linkAttitudeRP->isChecked()) { m_stabilization->rollILimit->setValue(val); } } /******************************* * Stabilization Settings *****************************/ /** Request stabilization settings from the board */ void ConfigStabilizationWidget::requestStabilizationUpdate() { stabSettings->requestUpdate(); StabilizationSettings::DataFields stabData = stabSettings->getData(); // Now fill in all the fields, this is fairly tedious: m_stabilization->rateRollKp->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP]); m_stabilization->rateRollKi->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI]); m_stabilization->rateRollILimit->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT]); m_stabilization->ratePitchKp->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP]); m_stabilization->ratePitchKi->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI]); m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT]); m_stabilization->rateYawKp->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP]); m_stabilization->rateYawKi->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI]); m_stabilization->rateYawILimit->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT]); m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]); m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]); m_stabilization->rollILimit->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT]); m_stabilization->pitchKp->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KP]); m_stabilization->pitchKi->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KI]); m_stabilization->pitchILimit->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT]); m_stabilization->yawKp->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KP]); m_stabilization->yawKi->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KI]); m_stabilization->yawILimit->setValue(stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT]); m_stabilization->rollMax->setValue(stabData.RollMax); m_stabilization->pitchMax->setValue(stabData.PitchMax); m_stabilization->yawMax->setValue(stabData.YawMax); } /** Send telemetry settings to the board */ void ConfigStabilizationWidget::sendStabilizationUpdate() { StabilizationSettings::DataFields stabData = stabSettings->getData(); stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP] = m_stabilization->rateRollKp->value(); stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI] = m_stabilization->rateRollKi->value(); stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT] = m_stabilization->rateRollILimit->value(); stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP] = m_stabilization->ratePitchKp->value(); stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI] = m_stabilization->ratePitchKi->value(); stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT] = m_stabilization->ratePitchILimit->value(); stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP] = m_stabilization->rateYawKp->value(); stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI] = m_stabilization->rateYawKi->value(); stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT] = m_stabilization->rateYawILimit->value(); stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value(); stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value(); stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT] = m_stabilization->rollILimit->value(); stabData.PitchPI[StabilizationSettings::PITCHPI_KP] = m_stabilization->pitchKp->value(); stabData.PitchPI[StabilizationSettings::PITCHPI_KI] = m_stabilization->pitchKi->value(); stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT] = m_stabilization->pitchILimit->value(); stabData.YawPI[StabilizationSettings::YAWPI_KP] = m_stabilization->yawKp->value(); stabData.YawPI[StabilizationSettings::YAWPI_KI] = m_stabilization->yawKi->value(); stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT] = m_stabilization->yawILimit->value(); stabData.RollMax = m_stabilization->rollMax->value(); stabData.PitchMax = m_stabilization->pitchMax->value(); stabData.YawMax = m_stabilization->yawMax->value(); stabSettings->setData(stabData); // this is atomic } /** Send telemetry settings to the board and request saving to SD card */ void ConfigStabilizationWidget::saveStabilizationUpdate() { // Send update so that the latest value is saved sendStabilizationUpdate(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("StabilizationSettings"))); Q_ASSERT(obj); updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj); } void ConfigStabilizationWidget::resetStabilizationToDefaults() { } void ConfigStabilizationWidget::realtimeUpdateToggle(bool state) { if (state) updateTimer.start(300); else updateTimer.stop(); }