mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-07 18:46:06 +01:00
380 lines
13 KiB
C++
380 lines
13 KiB
C++
/**
|
|
******************************************************************************
|
|
*
|
|
* @file configtxpidswidget.cpp
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @addtogroup GCSPlugins GCS Plugins
|
|
* @{
|
|
* @addtogroup ConfigPlugin Config Plugin
|
|
* @{
|
|
* @brief The Configuration Gadget used to configure TxPID module
|
|
*****************************************************************************/
|
|
/*
|
|
* 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 "configtxpidwidget.h"
|
|
#include "txpidsettings.h"
|
|
#include "hwsettings.h"
|
|
#include "stabilizationsettings.h"
|
|
#include "stabilizationsettingsbank1.h"
|
|
#include "stabilizationsettingsbank2.h"
|
|
#include "stabilizationsettingsbank3.h"
|
|
#include <extensionsystem/pluginmanager.h>
|
|
#include <coreplugin/generalsettings.h>
|
|
|
|
ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
|
{
|
|
m_txpid = new Ui_TxPIDWidget();
|
|
m_txpid->setupUi(this);
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
|
|
if (!settings->useExpertMode()) {
|
|
m_txpid->Apply->setVisible(false);
|
|
}
|
|
autoLoadWidgets();
|
|
addApplySaveButtons(m_txpid->Apply, m_txpid->Save);
|
|
|
|
// Cannot use addUAVObjectToWidgetRelation() for OptionaModules enum because
|
|
// QCheckBox returns bool (0 or -1) and this value is then set to enum instead
|
|
// or enum options
|
|
connect(HwSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
|
|
connect(m_txpid->Apply, SIGNAL(clicked()), this, SLOT(applySettings()));
|
|
connect(m_txpid->Save, SIGNAL(clicked()), this, SLOT(saveSettings()));
|
|
|
|
connect(m_txpid->PID1, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
|
|
connect(m_txpid->PID2, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
|
|
connect(m_txpid->PID3, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
|
|
|
|
addWidgetBinding("TxPIDSettings", "BankNumber", m_txpid->pidBank, 0, 1, true);
|
|
|
|
addWidgetBinding("TxPIDSettings", "Inputs", m_txpid->Input1, TxPIDSettings::INPUTS_INSTANCE1);
|
|
addWidgetBinding("TxPIDSettings", "Inputs", m_txpid->Input2, TxPIDSettings::INPUTS_INSTANCE2);
|
|
addWidgetBinding("TxPIDSettings", "Inputs", m_txpid->Input3, TxPIDSettings::INPUTS_INSTANCE3);
|
|
|
|
// It's important that the PIDx values are populated before the MinPIDx and MaxPIDx,
|
|
// otherwise the MinPIDx and MaxPIDx will be capped by the old spin box limits. The correct limits
|
|
// are set when updateSpinBoxProperties is called when the PIDx->currentTextChanged signal is sent.
|
|
// The binding order is reversed because the values are populated in reverse.
|
|
|
|
addWidgetBinding("TxPIDSettings", "MinPID", m_txpid->MinPID1, TxPIDSettings::MINPID_INSTANCE1);
|
|
addWidgetBinding("TxPIDSettings", "MinPID", m_txpid->MinPID2, TxPIDSettings::MINPID_INSTANCE2);
|
|
addWidgetBinding("TxPIDSettings", "MinPID", m_txpid->MinPID3, TxPIDSettings::MINPID_INSTANCE3);
|
|
|
|
addWidgetBinding("TxPIDSettings", "MaxPID", m_txpid->MaxPID1, TxPIDSettings::MAXPID_INSTANCE1);
|
|
addWidgetBinding("TxPIDSettings", "MaxPID", m_txpid->MaxPID2, TxPIDSettings::MAXPID_INSTANCE2);
|
|
addWidgetBinding("TxPIDSettings", "MaxPID", m_txpid->MaxPID3, TxPIDSettings::MAXPID_INSTANCE3);
|
|
|
|
addWidgetBinding("TxPIDSettings", "PIDs", m_txpid->PID1, TxPIDSettings::PIDS_INSTANCE1);
|
|
addWidgetBinding("TxPIDSettings", "PIDs", m_txpid->PID2, TxPIDSettings::PIDS_INSTANCE2);
|
|
addWidgetBinding("TxPIDSettings", "PIDs", m_txpid->PID3, TxPIDSettings::PIDS_INSTANCE3);
|
|
|
|
addWidgetBinding("TxPIDSettings", "ThrottleRange", m_txpid->ThrottleMin, TxPIDSettings::THROTTLERANGE_MIN);
|
|
addWidgetBinding("TxPIDSettings", "ThrottleRange", m_txpid->ThrottleMax, TxPIDSettings::THROTTLERANGE_MAX);
|
|
|
|
addWidgetBinding("TxPIDSettings", "UpdateMode", m_txpid->UpdateMode);
|
|
|
|
addWidget(m_txpid->TxPIDEnable);
|
|
|
|
enableControls(false);
|
|
populateWidgets();
|
|
refreshWidgetsValues();
|
|
|
|
disableMouseWheelEvents();
|
|
}
|
|
|
|
ConfigTxPIDWidget::~ConfigTxPIDWidget()
|
|
{
|
|
// Do nothing
|
|
}
|
|
|
|
static bool isResponsivenessOption(int pidOption)
|
|
{
|
|
switch (pidOption) {
|
|
case TxPIDSettings::PIDS_ROLLRATERESP:
|
|
case TxPIDSettings::PIDS_PITCHRATERESP:
|
|
case TxPIDSettings::PIDS_ROLLPITCHRATERESP:
|
|
case TxPIDSettings::PIDS_YAWRATERESP:
|
|
case TxPIDSettings::PIDS_ROLLATTITUDERESP:
|
|
case TxPIDSettings::PIDS_PITCHATTITUDERESP:
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDERESP:
|
|
case TxPIDSettings::PIDS_YAWATTITUDERESP:
|
|
return true;
|
|
|
|
default:
|
|
return false;
|
|
}
|
|
}
|
|
|
|
static bool isAttitudeOption(int pidOption)
|
|
{
|
|
switch (pidOption) {
|
|
case TxPIDSettings::PIDS_ROLLATTITUDEKP:
|
|
case TxPIDSettings::PIDS_PITCHATTITUDEKP:
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKP:
|
|
case TxPIDSettings::PIDS_YAWATTITUDEKP:
|
|
case TxPIDSettings::PIDS_ROLLATTITUDEKI:
|
|
case TxPIDSettings::PIDS_PITCHATTITUDEKI:
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKI:
|
|
case TxPIDSettings::PIDS_YAWATTITUDEKI:
|
|
case TxPIDSettings::PIDS_ROLLATTITUDEILIMIT:
|
|
case TxPIDSettings::PIDS_PITCHATTITUDEILIMIT:
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEILIMIT:
|
|
case TxPIDSettings::PIDS_YAWATTITUDEILIMIT:
|
|
case TxPIDSettings::PIDS_ROLLATTITUDERESP:
|
|
case TxPIDSettings::PIDS_PITCHATTITUDERESP:
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDERESP:
|
|
case TxPIDSettings::PIDS_YAWATTITUDERESP:
|
|
return true;
|
|
|
|
default:
|
|
return false;
|
|
}
|
|
}
|
|
|
|
template <class StabilizationSettingsBankX>
|
|
static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, int pidOption)
|
|
{
|
|
switch (pidOption) {
|
|
case TxPIDSettings::PIDS_DISABLED:
|
|
return 0.0f;
|
|
|
|
case TxPIDSettings::PIDS_ROLLRATEKP:
|
|
return bank->getRollRatePID_Kp();
|
|
|
|
case TxPIDSettings::PIDS_PITCHRATEKP:
|
|
return bank->getPitchRatePID_Kp();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHRATEKP:
|
|
return bank->getRollRatePID_Kp();
|
|
|
|
case TxPIDSettings::PIDS_YAWRATEKP:
|
|
return bank->getYawRatePID_Kp();
|
|
|
|
case TxPIDSettings::PIDS_ROLLRATEKI:
|
|
return bank->getRollRatePID_Ki();
|
|
|
|
case TxPIDSettings::PIDS_PITCHRATEKI:
|
|
return bank->getPitchRatePID_Ki();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHRATEKI:
|
|
return bank->getRollRatePID_Ki();
|
|
|
|
case TxPIDSettings::PIDS_YAWRATEKI:
|
|
return bank->getYawRatePID_Ki();
|
|
|
|
case TxPIDSettings::PIDS_ROLLRATEKD:
|
|
return bank->getRollRatePID_Kd();
|
|
|
|
case TxPIDSettings::PIDS_PITCHRATEKD:
|
|
return bank->getPitchRatePID_Kd();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHRATEKD:
|
|
return bank->getRollRatePID_Kd();
|
|
|
|
case TxPIDSettings::PIDS_YAWRATEKD:
|
|
return bank->getYawRatePID_Kd();
|
|
|
|
case TxPIDSettings::PIDS_ROLLRATEILIMIT:
|
|
return bank->getRollRatePID_ILimit();
|
|
|
|
case TxPIDSettings::PIDS_PITCHRATEILIMIT:
|
|
return bank->getPitchRatePID_ILimit();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHRATEILIMIT:
|
|
return bank->getRollRatePID_ILimit();
|
|
|
|
case TxPIDSettings::PIDS_YAWRATEILIMIT:
|
|
return bank->getYawRatePID_ILimit();
|
|
|
|
case TxPIDSettings::PIDS_ROLLRATERESP:
|
|
return bank->getManualRate_Roll();
|
|
|
|
case TxPIDSettings::PIDS_PITCHRATERESP:
|
|
return bank->getManualRate_Pitch();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHRATERESP:
|
|
return bank->getManualRate_Roll();
|
|
|
|
case TxPIDSettings::PIDS_YAWRATERESP:
|
|
return bank->getManualRate_Yaw();
|
|
|
|
case TxPIDSettings::PIDS_ROLLATTITUDEKP:
|
|
return bank->getRollPI_Kp();
|
|
|
|
case TxPIDSettings::PIDS_PITCHATTITUDEKP:
|
|
return bank->getPitchPI_Kp();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKP:
|
|
return bank->getRollPI_Kp();
|
|
|
|
case TxPIDSettings::PIDS_YAWATTITUDEKP:
|
|
return bank->getYawPI_Kp();
|
|
|
|
case TxPIDSettings::PIDS_ROLLATTITUDEKI:
|
|
return bank->getRollPI_Ki();
|
|
|
|
case TxPIDSettings::PIDS_PITCHATTITUDEKI:
|
|
return bank->getPitchPI_Ki();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKI:
|
|
return bank->getRollPI_Ki();
|
|
|
|
case TxPIDSettings::PIDS_YAWATTITUDEKI:
|
|
return bank->getYawPI_Ki();
|
|
|
|
case TxPIDSettings::PIDS_ROLLATTITUDEILIMIT:
|
|
return bank->getRollPI_ILimit();
|
|
|
|
case TxPIDSettings::PIDS_PITCHATTITUDEILIMIT:
|
|
return bank->getPitchPI_ILimit();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEILIMIT:
|
|
return bank->getRollPI_ILimit();
|
|
|
|
case TxPIDSettings::PIDS_YAWATTITUDEILIMIT:
|
|
return bank->getYawPI_ILimit();
|
|
|
|
case TxPIDSettings::PIDS_ROLLATTITUDERESP:
|
|
return (float)bank->getRollMax();
|
|
|
|
case TxPIDSettings::PIDS_PITCHATTITUDERESP:
|
|
return (float)bank->getPitchMax();
|
|
|
|
case TxPIDSettings::PIDS_ROLLPITCHATTITUDERESP:
|
|
return (float)bank->getRollMax();
|
|
|
|
case TxPIDSettings::PIDS_YAWATTITUDERESP:
|
|
return bank->getYawMax();
|
|
|
|
case -1: // The PID Option field was uninitialized.
|
|
return 0.0f;
|
|
|
|
default:
|
|
Q_ASSERT_X(false, "getDefaultValueForOption", "Incorrect PID option");
|
|
return 0.0f;
|
|
}
|
|
}
|
|
|
|
float ConfigTxPIDWidget::getDefaultValueForPidOption(int pidOption)
|
|
{
|
|
if (pidOption == TxPIDSettings::PIDS_GYROTAU) {
|
|
StabilizationSettings *stab = qobject_cast<StabilizationSettings *>(getObject(QString("StabilizationSettings")));
|
|
return stab->getGyroTau();
|
|
}
|
|
|
|
int pidBankIndex = m_txpid->pidBank->currentIndex();
|
|
|
|
if (pidBankIndex == -1) {
|
|
// The pidBank field was uninitilized.
|
|
return 0.0f;
|
|
}
|
|
|
|
int bankNumber = pidBankIndex + 1;
|
|
|
|
if (bankNumber == 1) {
|
|
StabilizationSettingsBank1 *bank = qobject_cast<StabilizationSettingsBank1 *>(getObject(QString("StabilizationSettingsBank1")));
|
|
return defaultValueForPidOption(bank, pidOption);
|
|
} else if (bankNumber == 2) {
|
|
StabilizationSettingsBank2 *bank = qobject_cast<StabilizationSettingsBank2 *>(getObject(QString("StabilizationSettingsBank2")));
|
|
return defaultValueForPidOption(bank, pidOption);
|
|
} else if (bankNumber == 3) {
|
|
StabilizationSettingsBank3 *bank = qobject_cast<StabilizationSettingsBank3 *>(getObject(QString("StabilizationSettingsBank3")));
|
|
return defaultValueForPidOption(bank, pidOption);
|
|
} else {
|
|
Q_ASSERT_X(false, "getDefaultValueForPidOption", "Incorrect bank number");
|
|
return 0.0f;
|
|
}
|
|
}
|
|
|
|
void ConfigTxPIDWidget::updateSpinBoxProperties(int selectedPidOption)
|
|
{
|
|
QObject *PIDx = sender();
|
|
|
|
QDoubleSpinBox *minPID;
|
|
QDoubleSpinBox *maxPID;
|
|
|
|
if (PIDx == m_txpid->PID1) {
|
|
minPID = m_txpid->MinPID1;
|
|
maxPID = m_txpid->MaxPID1;
|
|
} else if (PIDx == m_txpid->PID2) {
|
|
minPID = m_txpid->MinPID2;
|
|
maxPID = m_txpid->MaxPID2;
|
|
} else if (PIDx == m_txpid->PID3) {
|
|
minPID = m_txpid->MinPID3;
|
|
maxPID = m_txpid->MaxPID3;
|
|
} else {
|
|
Q_ASSERT_X(false, "updateSpinBoxProperties", "Incorrect sender object");
|
|
return;
|
|
}
|
|
|
|
// The ranges need to be setup before the values can be set,
|
|
// otherwise the value might be incorrectly capped.
|
|
|
|
if (isResponsivenessOption(selectedPidOption)) {
|
|
if (isAttitudeOption(selectedPidOption)) {
|
|
// Limit to 180 degrees.
|
|
minPID->setRange(0, 180);
|
|
maxPID->setRange(0, 180);
|
|
} else {
|
|
minPID->setRange(0, 999);
|
|
maxPID->setRange(0, 999);
|
|
}
|
|
minPID->setSingleStep(1);
|
|
maxPID->setSingleStep(1);
|
|
minPID->setDecimals(0);
|
|
maxPID->setDecimals(0);
|
|
} else {
|
|
minPID->setRange(0, 99.99);
|
|
maxPID->setRange(0, 99.99);
|
|
minPID->setSingleStep(0.000100);
|
|
maxPID->setSingleStep(0.000100);
|
|
minPID->setDecimals(6);
|
|
maxPID->setDecimals(6);
|
|
}
|
|
|
|
float value = getDefaultValueForPidOption(selectedPidOption);
|
|
|
|
minPID->setValue(value);
|
|
maxPID->setValue(value);
|
|
}
|
|
|
|
void ConfigTxPIDWidget::refreshValues()
|
|
{
|
|
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
|
|
HwSettings::DataFields hwSettingsData = hwSettings->getData();
|
|
|
|
m_txpid->TxPIDEnable->setChecked(
|
|
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_TXPID] == HwSettings::OPTIONALMODULES_ENABLED);
|
|
}
|
|
|
|
void ConfigTxPIDWidget::applySettings()
|
|
{
|
|
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
|
|
HwSettings::DataFields hwSettingsData = hwSettings->getData();
|
|
|
|
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_TXPID] =
|
|
m_txpid->TxPIDEnable->isChecked() ? HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
|
|
hwSettings->setData(hwSettingsData);
|
|
}
|
|
|
|
void ConfigTxPIDWidget::saveSettings()
|
|
{
|
|
applySettings();
|
|
UAVObject *obj = HwSettings::GetInstance(getObjectManager());
|
|
saveObjectToSD(obj);
|
|
}
|