/** ****************************************************************************** * * @file configservowidget.cpp * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin * @{ * @brief Servo input/output configuration panel for the config gadget *****************************************************************************/ /* * 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 "configservowidget.h" #include #include #include #include #include #include ConfigServoWidget::ConfigServoWidget(QWidget *parent) : ConfigTaskWidget(parent) { m_config = new Ui_SettingsWidget(); m_config->setupUi(this); // First of all, put all the channel widgets into lists, so that we can // manipulate those: // NOTE: for historical reasons, we have objects below called ch0 to ch7, but the // convention for OP is Channel 1 to Channel 8. outLabels << m_config->ch0OutValue << m_config->ch1OutValue << m_config->ch2OutValue << m_config->ch3OutValue << m_config->ch4OutValue << m_config->ch5OutValue << m_config->ch6OutValue << m_config->ch7OutValue; outSliders << m_config->ch0OutSlider << m_config->ch1OutSlider << m_config->ch2OutSlider << m_config->ch3OutSlider << m_config->ch4OutSlider << m_config->ch5OutSlider << m_config->ch6OutSlider << m_config->ch7OutSlider; outMin << m_config->ch0OutMin << m_config->ch1OutMin << m_config->ch2OutMin << m_config->ch3OutMin << m_config->ch4OutMin << m_config->ch5OutMin << m_config->ch6OutMin << m_config->ch7OutMin; outMax << m_config->ch0OutMax << m_config->ch1OutMax << m_config->ch2OutMax << m_config->ch3OutMax << m_config->ch4OutMax << m_config->ch5OutMax << m_config->ch6OutMax << m_config->ch7OutMax; reversals << m_config->ch0Rev << m_config->ch1Rev << m_config->ch2Rev << m_config->ch3Rev << m_config->ch4Rev << m_config->ch5Rev << m_config->ch6Rev << m_config->ch7Rev; inSliders << m_config->ch0Slider << m_config->ch1Slider << m_config->ch2Slider << m_config->ch3Slider << m_config->ch4Slider << m_config->ch5Slider << m_config->ch6Slider << m_config->ch7Slider; // Now connect the widget to the ManualControlCommand / Channel UAVObject ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlCommand"))); connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*))); // Get the receiver types supported by OpenPilot and fill the corresponding // dropdown menu: obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); QString fieldName = QString("InputMode"); UAVObjectField *field = obj->getField(fieldName); m_config->receiverType->addItems(field->getOptions()); m_config->receiverType->setDisabled(true); // This option does not work for now, it is a compile-time option. // Fill in the dropdown menus for the channel RC Input assignement. QStringList channelsList; channelsList << "None"; QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { if (field->getUnits().contains("channel")) { channelsList.append(field->getName()); } } m_config->ch0Assign->addItems(channelsList); m_config->ch1Assign->addItems(channelsList); m_config->ch2Assign->addItems(channelsList); m_config->ch3Assign->addItems(channelsList); m_config->ch4Assign->addItems(channelsList); m_config->ch5Assign->addItems(channelsList); m_config->ch6Assign->addItems(channelsList); m_config->ch7Assign->addItems(channelsList); // And for the channel output assignement options m_config->ch0Output->addItem("None"); m_config->ch1Output->addItem("None"); m_config->ch2Output->addItem("None"); m_config->ch3Output->addItem("None"); m_config->ch4Output->addItem("None"); m_config->ch5Output->addItem("None"); m_config->ch6Output->addItem("None"); m_config->ch7Output->addItem("None"); // And the flight mode settings: field = obj->getField(QString("Pos1FlightMode")); m_config->fmsModePos1->addItems(field->getOptions()); m_config->fmsModePos2->addItems(field->getOptions()); m_config->fmsModePos3->addItems(field->getOptions()); field = obj->getField(QString("Pos1StabilizationSettings")); channelsList.clear(); channelsList.append(field->getOptions()); m_config->fmsSsPos1Roll->addItems(channelsList); m_config->fmsSsPos1Pitch->addItems(channelsList); m_config->fmsSsPos1Yaw->addItems(channelsList); m_config->fmsSsPos2Roll->addItems(channelsList); m_config->fmsSsPos2Pitch->addItems(channelsList); m_config->fmsSsPos2Yaw->addItems(channelsList); m_config->fmsSsPos3Roll->addItems(channelsList); m_config->fmsSsPos3Pitch->addItems(channelsList); m_config->fmsSsPos3Yaw->addItems(channelsList); obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { if (field->getUnits().contains("channel")) { m_config->ch0Output->addItem(field->getName()); m_config->ch1Output->addItem(field->getName()); m_config->ch2Output->addItem(field->getName()); m_config->ch3Output->addItem(field->getName()); m_config->ch4Output->addItem(field->getName()); m_config->ch5Output->addItem(field->getName()); m_config->ch6Output->addItem(field->getName()); m_config->ch7Output->addItem(field->getName()); } } for (int i = 0; i < 8; i++) { connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange())); connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange())); connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool))); // Now connect the channel out sliders to our signal to send updates in test mode connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int))); } connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool))); requestRCInputUpdate(); requestRCOutputUpdate(); connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject())); connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate())); connect(m_config->getRCInputCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate())); // Flightmode panel is connected to the same as rcinput because // the underlying object is the same! connect(m_config->saveFmsToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject())); connect(m_config->saveFmsToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate())); connect(m_config->getFmsCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate())); connect(m_config->saveRCOutputToSD, SIGNAL(clicked()), this, SLOT(saveRCOutputObject())); connect(m_config->saveRCOutputToRAM, SIGNAL(clicked()), this, SLOT(sendRCOutputUpdate())); connect(m_config->getRCOutputCurrent, SIGNAL(clicked()), this, SLOT(requestRCOutputUpdate())); connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCInputUpdate())); connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCOutputUpdate())); firstUpdate = true; } ConfigServoWidget::~ConfigServoWidget() { // Do nothing } /** Sends the channel value to the UAV to move the servo. Returns immediately if we are not in testing mode */ void ConfigServoWidget::sendChannelTest(int value) { // First of all, update the label: QSlider *ob = (QSlider*)QObject::sender(); int index = outSliders.indexOf(ob); if (reversals[index]->isChecked()) value = outMin[index]->value()-value+outMax[index]->value(); else outLabels[index]->setText(QString::number(value)); outLabels[index]->setText(QString::number(value)); if (!m_config->channelOutTest->isChecked()) return; UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); UAVObjectField * channel = obj->getField("Channel"); channel->setValue(value,index); obj->updated(); } /** Toggles the channel testing mode by making the GCS take over the ActuatorCommand objects */ void ConfigServoWidget::runChannelTests(bool state) { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ActuatorCommand"))); UAVObject::Metadata mdata = obj->getMetadata(); if (state) { accInitialData = mdata; mdata.flightAccess = UAVObject::ACCESS_READONLY; mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; mdata.gcsTelemetryAcked = false; mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; mdata.gcsTelemetryUpdatePeriod = 100; } else { mdata = accInitialData; // Restore metadata } obj->setMetadata(mdata); } /******************************** * Output settings *******************************/ /** Request the current config from the board (RC Output) */ void ConfigServoWidget::requestRCOutputUpdate() { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); // Get the Airframe type from the system settings: UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("SystemSettings"))); Q_ASSERT(obj); obj->requestUpdate(); UAVObjectField *field = obj->getField(QString("AirframeType")); m_config->aircraftType->setText(QString("Aircraft type: ") + field->getValue().toString()); // Reset all channel assignements: m_config->ch0Output->setCurrentIndex(0); m_config->ch1Output->setCurrentIndex(0); m_config->ch2Output->setCurrentIndex(0); m_config->ch3Output->setCurrentIndex(0); m_config->ch4Output->setCurrentIndex(0); m_config->ch5Output->setCurrentIndex(0); m_config->ch6Output->setCurrentIndex(0); m_config->ch7Output->setCurrentIndex(0); // Get the channel assignements: obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); Q_ASSERT(obj); obj->requestUpdate(); QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { if (field->getUnits().contains("channel")) { assignOutputChannel(obj,field->getName()); } } // Get Output rates for both banks field = obj->getField(QString("ChannelUpdateFreq")); m_config->outputRate1->setValue(field->getValue(0).toInt()); m_config->outputRate2->setValue(field->getValue(1).toInt()); // Get Channel ranges: for (int i=0;i<8;i++) { field = obj->getField(QString("ChannelMin")); int minValue = field->getValue(i).toInt(); outMin[i]->setValue(minValue); field = obj->getField(QString("ChannelMax")); int maxValue = field->getValue(i).toInt(); outMax[i]->setValue(maxValue); if (maxValue>minValue) { outSliders[i]->setMinimum(minValue); outSliders[i]->setMaximum(maxValue); reversals[i]->setChecked(false); } else { outSliders[i]->setMinimum(maxValue); outSliders[i]->setMaximum(minValue); reversals[i]->setChecked(true); } } field = obj->getField(QString("ChannelNeutral")); for (int i=0; i<8; i++) { int value = field->getValue(i).toInt(); outSliders[i]->setValue(value); outLabels[i]->setText(QString::number(value)); } } /** * Sends the config to the board, without saving to the SD card (RC Output) */ void ConfigServoWidget::sendRCOutputUpdate() { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); Q_ASSERT(obj); // Now send channel ranges: UAVObjectField * field = obj->getField(QString("ChannelMax")); for (int i = 0; i < 8; i++) { field->setValue(outMax[i]->value(),i); } field = obj->getField(QString("ChannelMin")); for (int i = 0; i < 8; i++) { field->setValue(outMin[i]->value(),i); } field = obj->getField(QString("ChannelNeutral")); for (int i = 0; i < 8; i++) { field->setValue(outSliders[i]->value(),i); } field = obj->getField(QString("ChannelUpdateFreq")); field->setValue(m_config->outputRate1->value(),0); field->setValue(m_config->outputRate2->value(),1); // Set Actuator assignement for each channel: // Rule: if two channels have the same setting (which is wrong!) the higher channel // will get the setting. // First, reset all channel assignements: QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { // NOTE: we assume that all options in ActuatorSettings are a channel assignement // except for the options called "ChannelXXX" if (field->getUnits().contains("channel")) { field->setValue(field->getOptions().last()); } } if (m_config->ch0Output->currentIndex() != 0) { field = obj->getField(m_config->ch0Output->currentText()); field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention } if (m_config->ch1Output->currentIndex() != 0) { field = obj->getField(m_config->ch1Output->currentText()); field->setValue(field->getOptions().at(1)); // -> This way we don't depend on channel naming convention } if (m_config->ch2Output->currentIndex() != 0) { field = obj->getField(m_config->ch2Output->currentText()); field->setValue(field->getOptions().at(2)); // -> This way we don't depend on channel naming convention } if (m_config->ch3Output->currentIndex() != 0) { field = obj->getField(m_config->ch3Output->currentText()); field->setValue(field->getOptions().at(3)); // -> This way we don't depend on channel naming convention } if (m_config->ch4Output->currentIndex() != 0) { field = obj->getField(m_config->ch4Output->currentText()); field->setValue(field->getOptions().at(4)); // -> This way we don't depend on channel naming convention } if (m_config->ch5Output->currentIndex() != 0) { field = obj->getField(m_config->ch5Output->currentText()); field->setValue(field->getOptions().at(5)); // -> This way we don't depend on channel naming convention } if (m_config->ch6Output->currentIndex() != 0) { field = obj->getField(m_config->ch6Output->currentText()); field->setValue(field->getOptions().at(6)); // -> This way we don't depend on channel naming convention } if (m_config->ch7Output->currentIndex() != 0) { field = obj->getField(m_config->ch7Output->currentText()); field->setValue(field->getOptions().at(7)); // -> This way we don't depend on channel naming convention } // ... and send to the OP Board obj->updated(); } /** Sends the config to the board and request saving into the SD card (RC Output) */ void ConfigServoWidget::saveRCOutputObject() { // Send update so that the latest value is saved sendRCOutputUpdate(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); Q_ASSERT(obj); updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj); } /** Sets the minimum/maximum value of the channel 0 to seven output sliders. Have to do it here because setMinimum is not a slot. One added trick: if the slider is at either its max or its min when the value is changed, then keep it on the max/min. */ void ConfigServoWidget::setChOutRange() { QSpinBox *spinbox = (QSpinBox*)QObject::sender(); int index = outMin.indexOf(spinbox); // This is the channel number if (index < 0) index = outMax.indexOf(spinbox); // We can't know if the signal came from min or max QSlider *slider = outSliders[index]; int oldMini = slider->minimum(); int oldMaxi = slider->maximum(); if (outMin[index]->value()value()) { slider->setRange(outMin[index]->value(), outMax[index]->value()); reversals[index]->setChecked(false); } else { slider->setRange(outMax[index]->value(), outMin[index]->value()); reversals[index]->setChecked(true); } if (slider->value()==oldMini) slider->setValue(slider->minimum()); if (slider->value()==oldMaxi) slider->setValue(slider->maximum()); } /** Reverses the channel when the checkbox is clicked */ void ConfigServoWidget::reverseChannel(bool state) { QCheckBox *checkbox = (QCheckBox*)QObject::sender(); int index = reversals.indexOf(checkbox); // This is the channel number // Sanity check: if state became true, make sure the Maxvalue was higher than Minvalue // the situations below can happen! if (state && (outMax[index]->value()value())) return; if (!state && (outMax[index]->value()>outMin[index]->value())) return; // Now, swap the min & max values (only on the spinboxes, the slider // does not change! int temp = outMax[index]->value(); outMax[index]->setValue(outMin[index]->value()); outMin[index]->setValue(temp); // Also update the channel value // This is a trick to force the slider to update its value and // emit the right signal itself, because our sendChannelTest(int) method // relies on the object sender's identity. if (outSliders[index]->value()maximum()) { outSliders[index]->setValue(outSliders[index]->value()+1); outSliders[index]->setValue(outSliders[index]->value()-1); } else { outSliders[index]->setValue(outSliders[index]->value()-1); outSliders[index]->setValue(outSliders[index]->value()+1); } } /******************************** * Input settings *******************************/ /** Request the current config from the board */ void ConfigServoWidget::requestRCInputUpdate() { UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); Q_ASSERT(obj); obj->requestUpdate(); // Now update all the slider values: QString fieldName = QString("ChannelMax"); UAVObjectField *field = obj->getField(fieldName); m_config->ch0Max->setText(field->getValue(0).toString()); m_config->ch0Slider->setMaximum(field->getValue(0).toInt()); m_config->ch1Max->setText(field->getValue(1).toString()); m_config->ch1Slider->setMaximum(field->getValue(1).toInt()); m_config->ch2Max->setText(field->getValue(2).toString()); m_config->ch2Slider->setMaximum(field->getValue(2).toInt()); m_config->ch3Max->setText(field->getValue(3).toString()); m_config->ch3Slider->setMaximum(field->getValue(3).toInt()); m_config->ch4Max->setText(field->getValue(4).toString()); m_config->ch4Slider->setMaximum(field->getValue(4).toInt()); m_config->ch5Max->setText(field->getValue(5).toString()); m_config->ch5Slider->setMaximum(field->getValue(5).toInt()); m_config->ch6Max->setText(field->getValue(6).toString()); m_config->ch6Slider->setMaximum(field->getValue(6).toInt()); m_config->ch7Max->setText(field->getValue(7).toString()); m_config->ch7Slider->setMaximum(field->getValue(7).toInt()); fieldName = QString("ChannelMin"); field = obj->getField(fieldName); m_config->ch0Min->setText(field->getValue(0).toString()); m_config->ch0Slider->setMinimum(field->getValue(0).toInt()); m_config->ch1Min->setText(field->getValue(1).toString()); m_config->ch1Slider->setMinimum(field->getValue(1).toInt()); m_config->ch2Min->setText(field->getValue(2).toString()); m_config->ch2Slider->setMinimum(field->getValue(2).toInt()); m_config->ch3Min->setText(field->getValue(3).toString()); m_config->ch3Slider->setMinimum(field->getValue(3).toInt()); m_config->ch4Min->setText(field->getValue(4).toString()); m_config->ch4Slider->setMinimum(field->getValue(4).toInt()); m_config->ch5Min->setText(field->getValue(5).toString()); m_config->ch5Slider->setMinimum(field->getValue(5).toInt()); m_config->ch6Min->setText(field->getValue(6).toString()); m_config->ch6Slider->setMinimum(field->getValue(6).toInt()); m_config->ch7Min->setText(field->getValue(7).toString()); m_config->ch7Slider->setMinimum(field->getValue(7).toInt()); fieldName = QString("ChannelNeutral"); field = obj->getField(fieldName); m_config->ch0Slider->setValue(field->getValue(0).toInt()); m_config->ch1Slider->setValue(field->getValue(1).toInt()); m_config->ch2Slider->setValue(field->getValue(2).toInt()); m_config->ch3Slider->setValue(field->getValue(3).toInt()); m_config->ch4Slider->setValue(field->getValue(4).toInt()); m_config->ch5Slider->setValue(field->getValue(5).toInt()); m_config->ch6Slider->setValue(field->getValue(6).toInt()); m_config->ch7Slider->setValue(field->getValue(7).toInt()); // Update receiver type fieldName = QString("InputMode"); field = obj->getField(fieldName); m_config->receiverType->setCurrentIndex(m_config->receiverType->findText(field->getValue().toString())); // Reset all channel assignement dropdowns: m_config->ch0Assign->setCurrentIndex(0); m_config->ch1Assign->setCurrentIndex(0); m_config->ch2Assign->setCurrentIndex(0); m_config->ch3Assign->setCurrentIndex(0); m_config->ch4Assign->setCurrentIndex(0); m_config->ch5Assign->setCurrentIndex(0); m_config->ch6Assign->setCurrentIndex(0); m_config->ch7Assign->setCurrentIndex(0); // Update all channels assignements QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { if (field->getUnits().contains("channel")) { assignChannel(obj, field->getName()); } } // Update all the flight mode settingsin the relevant tab field = obj->getField(QString("Pos1FlightMode")); m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue().toString()))); field = obj->getField(QString("Pos2FlightMode")); m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue().toString()))); field = obj->getField(QString("Pos3FlightMode")); m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue().toString()))); field = obj->getField(QString("Pos1StabilizationSettings")); m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText( field->getValue(field->getElementNames().indexOf("Roll")).toString())); m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText( field->getValue(field->getElementNames().indexOf("Pitch")).toString())); m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText( field->getValue(field->getElementNames().indexOf("Yaw")).toString())); field = obj->getField(QString("Pos2StabilizationSettings")); m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText( field->getValue(field->getElementNames().indexOf("Roll")).toString())); m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText( field->getValue(field->getElementNames().indexOf("Pitch")).toString())); m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText( field->getValue(field->getElementNames().indexOf("Yaw")).toString())); field = obj->getField(QString("Pos3StabilizationSettings")); m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText( field->getValue(field->getElementNames().indexOf("Roll")).toString())); m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText( field->getValue(field->getElementNames().indexOf("Pitch")).toString())); m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText( field->getValue(field->getElementNames().indexOf("Yaw")).toString())); } /** * Sends the config to the board, without saving to the SD card */ void ConfigServoWidget::sendRCInputUpdate() { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); Q_ASSERT(obj); // Now update all fields from the sliders: QString fieldName = QString("ChannelMax"); UAVObjectField * field = obj->getField(fieldName); field->setValue(m_config->ch0Max->text().toInt(),0); field->setValue(m_config->ch1Max->text().toInt(),1); field->setValue(m_config->ch2Max->text().toInt(),2); field->setValue(m_config->ch3Max->text().toInt(),3); field->setValue(m_config->ch4Max->text().toInt(),4); field->setValue(m_config->ch5Max->text().toInt(),5); field->setValue(m_config->ch6Max->text().toInt(),6); field->setValue(m_config->ch7Max->text().toInt(),7); fieldName = QString("ChannelMin"); field = obj->getField(fieldName); field->setValue(m_config->ch0Min->text().toInt(),0); field->setValue(m_config->ch1Min->text().toInt(),1); field->setValue(m_config->ch2Min->text().toInt(),2); field->setValue(m_config->ch3Min->text().toInt(),3); field->setValue(m_config->ch4Min->text().toInt(),4); field->setValue(m_config->ch5Min->text().toInt(),5); field->setValue(m_config->ch6Min->text().toInt(),6); field->setValue(m_config->ch7Min->text().toInt(),7); fieldName = QString("ChannelNeutral"); field = obj->getField(fieldName); field->setValue(m_config->ch0Slider->value(),0); field->setValue(m_config->ch1Slider->value(),1); field->setValue(m_config->ch2Slider->value(),2); field->setValue(m_config->ch3Slider->value(),3); field->setValue(m_config->ch4Slider->value(),4); field->setValue(m_config->ch5Slider->value(),5); field->setValue(m_config->ch6Slider->value(),6); field->setValue(m_config->ch7Slider->value(),7); // Set RC Receiver type: fieldName = QString("InputMode"); field = obj->getField(fieldName); field->setValue(m_config->receiverType->currentText()); // Set Roll/Pitch/Yaw/Etc assignement: // Rule: if two channels have the same setting (which is wrong!) the higher channel // will get the setting. // First, reset all channel assignements: QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { if (field->getUnits().contains("channel")) { field->setValue(field->getOptions().last()); } } // Then assign according to current GUI state: if (m_config->ch0Assign->currentIndex() != 0) { field = obj->getField(m_config->ch0Assign->currentText()); field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention } if (m_config->ch1Assign->currentIndex() != 0) { field = obj->getField(m_config->ch1Assign->currentText()); field->setValue(field->getOptions().at(1)); } if (m_config->ch2Assign->currentIndex() != 0) { field = obj->getField(m_config->ch2Assign->currentText()); field->setValue(field->getOptions().at(2)); } if (m_config->ch3Assign->currentIndex() != 0) { field = obj->getField(m_config->ch3Assign->currentText()); field->setValue(field->getOptions().at(3)); } if (m_config->ch4Assign->currentIndex() != 0) { field = obj->getField(m_config->ch4Assign->currentText()); field->setValue(field->getOptions().at(4)); } if (m_config->ch5Assign->currentIndex() != 0) { field = obj->getField(m_config->ch5Assign->currentText()); field->setValue(field->getOptions().at(5)); } if (m_config->ch6Assign->currentIndex() != 0) { field = obj->getField(m_config->ch6Assign->currentText()); field->setValue(field->getOptions().at(6)); } if (m_config->ch7Assign->currentIndex() != 0) { field = obj->getField(m_config->ch7Assign->currentText()); field->setValue(field->getOptions().at(7)); } // Send all the flight mode settings field = obj->getField(QString("Pos1FlightMode")); field->setValue(m_config->fmsModePos1->currentText()); field = obj->getField(QString("Pos2FlightMode")); field->setValue(m_config->fmsModePos2->currentText()); field = obj->getField(QString("Pos3FlightMode")); field->setValue(m_config->fmsModePos3->currentText()); field = obj->getField(QString("Pos1StabilizationSettings")); field->setValue(m_config->fmsSsPos1Roll->currentText(), field->getElementNames().indexOf("Roll")); field->setValue(m_config->fmsSsPos1Pitch->currentText(), field->getElementNames().indexOf("Pitch")); field->setValue(m_config->fmsSsPos1Yaw->currentText(), field->getElementNames().indexOf("Yaw")); field = obj->getField(QString("Pos2StabilizationSettings")); field->setValue(m_config->fmsSsPos2Roll->currentText(), field->getElementNames().indexOf("Roll")); field->setValue(m_config->fmsSsPos2Pitch->currentText(), field->getElementNames().indexOf("Pitch")); field->setValue(m_config->fmsSsPos2Yaw->currentText(), field->getElementNames().indexOf("Yaw")); field = obj->getField(QString("Pos3StabilizationSettings")); field->setValue(m_config->fmsSsPos3Roll->currentText(), field->getElementNames().indexOf("Roll")); field->setValue(m_config->fmsSsPos3Pitch->currentText(), field->getElementNames().indexOf("Pitch")); field->setValue(m_config->fmsSsPos3Yaw->currentText(), field->getElementNames().indexOf("Yaw")); // ... and send to the OP Board obj->updated(); } /** Sends the config to the board and request saving into the SD card */ void ConfigServoWidget::saveRCInputObject() { // Send update so that the latest value is saved sendRCInputUpdate(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); Q_ASSERT(obj); updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj); } /** * Set the dropdown option for a channel Input assignement */ void ConfigServoWidget::assignChannel(UAVDataObject *obj, QString str) { UAVObjectField* field = obj->getField(str); QStringList options = field->getOptions(); switch (options.indexOf(field->getValue().toString())) { case 0: m_config->ch0Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 1: m_config->ch1Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 2: m_config->ch2Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 3: m_config->ch3Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 4: m_config->ch4Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 5: m_config->ch5Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 6: m_config->ch6Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; case 7: m_config->ch7Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); break; } } /** * Set the dropdown option for a channel output assignement */ void ConfigServoWidget::assignOutputChannel(UAVDataObject *obj, QString str) { UAVObjectField* field = obj->getField(str); QStringList options = field->getOptions(); switch (options.indexOf(field->getValue().toString())) { case 0: m_config->ch0Output->setCurrentIndex(m_config->ch0Output->findText(str)); break; case 1: m_config->ch1Output->setCurrentIndex(m_config->ch1Output->findText(str)); break; case 2: m_config->ch2Output->setCurrentIndex(m_config->ch2Output->findText(str)); break; case 3: m_config->ch3Output->setCurrentIndex(m_config->ch3Output->findText(str)); break; case 4: m_config->ch4Output->setCurrentIndex(m_config->ch4Output->findText(str)); break; case 5: m_config->ch5Output->setCurrentIndex(m_config->ch5Output->findText(str)); break; case 6: m_config->ch6Output->setCurrentIndex(m_config->ch6Output->findText(str)); break; case 7: m_config->ch7Output->setCurrentIndex(m_config->ch7Output->findText(str)); break; } } /** * Updates the slider positions and min/max values * */ void ConfigServoWidget::updateChannels(UAVObject* controlCommand) { QString fieldName = QString("Connected"); UAVObjectField *field = controlCommand->getField(fieldName); if (field->getValue().toBool()) { m_config->RCInputConnected->setText("RC Receiver Connected"); } else { m_config->RCInputConnected->setText("RC Receiver Not Connected"); } if (m_config->doRCInputCalibration->isChecked()) { if (firstUpdate) { // Increase the data rate from the board so that the sliders // move faster UAVObject::Metadata mdata = controlCommand->getMetadata(); mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; mccDataRate = mdata.flightTelemetryUpdatePeriod; mdata.flightTelemetryUpdatePeriod = 150; controlCommand->setMetadata(mdata); } fieldName = QString("Channel"); field = controlCommand->getField(fieldName); // Hey: if you find a nicer way of doing this, be my guest! this->updateChannelSlider(&*m_config->ch0Slider, &*m_config->ch0Min, &*m_config->ch0Max, &*m_config->ch0Rev,field->getValue(0).toInt()); this->updateChannelSlider(&*m_config->ch1Slider, &*m_config->ch1Min, &*m_config->ch1Max, &*m_config->ch1Rev,field->getValue(1).toInt()); this->updateChannelSlider(&*m_config->ch2Slider, &*m_config->ch2Min, &*m_config->ch2Max, &*m_config->ch2Rev,field->getValue(2).toInt()); this->updateChannelSlider(&*m_config->ch3Slider, &*m_config->ch3Min, &*m_config->ch3Max, &*m_config->ch3Rev,field->getValue(3).toInt()); this->updateChannelSlider(&*m_config->ch4Slider, &*m_config->ch4Min, &*m_config->ch4Max, &*m_config->ch4Rev,field->getValue(4).toInt()); this->updateChannelSlider(&*m_config->ch5Slider, &*m_config->ch5Min, &*m_config->ch5Max, &*m_config->ch5Rev,field->getValue(5).toInt()); this->updateChannelSlider(&*m_config->ch6Slider, &*m_config->ch6Min, &*m_config->ch6Max, &*m_config->ch6Rev,field->getValue(6).toInt()); this->updateChannelSlider(&*m_config->ch7Slider, &*m_config->ch7Min, &*m_config->ch7Max, &*m_config->ch7Rev,field->getValue(7).toInt()); firstUpdate = false; } else { if (!firstUpdate) { // Restore original data rate from the board: UAVObject::Metadata mdata = controlCommand->getMetadata(); mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; mdata.flightTelemetryUpdatePeriod = mccDataRate; controlCommand->setMetadata(mdata); } firstUpdate = true; } //Update the Flight mode channel slider UAVObject* obj = getObjectManager()->getObject("ManualControlSettings"); // Find the channel currently assigned to flightmode field = obj->getField("FlightMode"); int chIndex = field->getOptions().indexOf(field->getValue().toString()); if ( chIndex < field->getOptions().length()) { float valueScaled; int chMin = inSliders.at(chIndex)->minimum(); int chMax = inSliders.at(chIndex)->maximum(); int chNeutral = inSliders.at(chIndex)->value(); int value = controlCommand->getField("Channel")->getValue(chIndex).toInt(); if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) { if (chMax != chNeutral) { valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral); } else { valueScaled = 0; } } else { if (chMin != chNeutral) { valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin); } else { valueScaled = 0; } } // Bound if (valueScaled > 1.0) { valueScaled = 1.0; } else if (valueScaled < -1.0) { valueScaled = -1.0; } m_config->fmsSlider->setValue(valueScaled*100); } } void ConfigServoWidget::updateChannelSlider(QSlider* slider, QLabel* min, QLabel* max, QCheckBox* rev, int value) { Q_UNUSED(rev); if (firstUpdate) { // Reset all the min/max values of the sliders since we are // starting the calibration. slider->setMaximum(value); slider->setMinimum(value); slider->setValue(value); max->setText(QString::number(value)); min->setText(QString::number(value)); return; } if (value != 0) { // Avoids glitches... if (value > slider->maximum()) { slider->setMaximum(value); max->setText(QString::number(value)); } if (value < slider->minimum()) { slider->setMinimum(value); min->setText(QString::number(value)); } slider->setValue(value); } }