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313 lines
13 KiB
C++
313 lines
13 KiB
C++
/**
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******************************************************************************
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*
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* @file configstabilizationwidget.h
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* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief The Configuration Gadget used to update settings in the firmware
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "configstabilizationwidget.h"
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#include <QDebug>
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#include <QStringList>
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#include <QtGui/QWidget>
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#include <QtGui/QTextEdit>
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#include <QtGui/QVBoxLayout>
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#include <QtGui/QPushButton>
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#include <QDesktopServices>
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#include <QUrl>
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ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
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{
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stabSettings = StabilizationSettings::GetInstance(getObjectManager());
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m_stabilization = new Ui_StabilizationWidget();
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m_stabilization->setupUi(this);
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connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate()));
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connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate()));
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enableControls(false);
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refreshValues();
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connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
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connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
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// Now connect the widget to the StabilizationSettings object
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UAVObject *obj = getObjectManager()->getObject(QString("StabilizationSettings"));
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connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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// Create a timer to regularly send the object update in case
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// we want realtime updates.
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connect(&updateTimer, SIGNAL(timeout()), this, SLOT(sendStabilizationUpdate()));
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connect(m_stabilization->realTimeUpdates, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdateToggle(bool)));
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// Connect the updates of the stab values
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connect(m_stabilization->rateRollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKP(double)));
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connect(m_stabilization->rateRollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKI(double)));
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connect(m_stabilization->rateRollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollILimit(double)));
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connect(m_stabilization->ratePitchKp, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKP(double)));
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connect(m_stabilization->ratePitchKi, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKI(double)));
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connect(m_stabilization->ratePitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchILimit(double)));
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connect(m_stabilization->rollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRollKP(double)));
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connect(m_stabilization->rollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRollKI(double)));
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connect(m_stabilization->rollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRollILimit(double)));
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connect(m_stabilization->pitchKp, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKP(double)));
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connect(m_stabilization->pitchKi, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKI(double)));
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connect(m_stabilization->pitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updatePitchILimit(double)));
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// Connect the help button
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connect(m_stabilization->stabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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}
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ConfigStabilizationWidget::~ConfigStabilizationWidget()
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{
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// Do nothing
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}
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void ConfigStabilizationWidget::enableControls(bool enable)
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{
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//m_stabilization->saveStabilizationToRAM->setEnabled(enable);
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m_stabilization->saveStabilizationToSD->setEnabled(enable);
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}
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void ConfigStabilizationWidget::updateRateRollKP(double val)
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{
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if (m_stabilization->linkRateRP->isChecked()) {
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m_stabilization->ratePitchKp->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updateRateRollKI(double val)
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{
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if (m_stabilization->linkRateRP->isChecked()) {
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m_stabilization->ratePitchKi->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updateRateRollILimit(double val)
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{
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if (m_stabilization->linkRateRP->isChecked()) {
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m_stabilization->ratePitchILimit->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updateRatePitchKP(double val)
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{
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if (m_stabilization->linkRateRP->isChecked()) {
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m_stabilization->rateRollKp->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updateRatePitchKI(double val)
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{
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if (m_stabilization->linkRateRP->isChecked()) {
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m_stabilization->rateRollKi->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updateRatePitchILimit(double val)
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{
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if (m_stabilization->linkRateRP->isChecked()) {
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m_stabilization->rateRollILimit->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updateRollKP(double val)
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{
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if (m_stabilization->linkAttitudeRP->isChecked()) {
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m_stabilization->pitchKp->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updateRollKI(double val)
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{
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if (m_stabilization->linkAttitudeRP->isChecked()) {
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m_stabilization->pitchKi->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updateRollILimit(double val)
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{
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if (m_stabilization->linkAttitudeRP->isChecked()) {
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m_stabilization->pitchILimit->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updatePitchKP(double val)
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{
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if (m_stabilization->linkAttitudeRP->isChecked()) {
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m_stabilization->rollKp->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updatePitchKI(double val)
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{
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if (m_stabilization->linkAttitudeRP->isChecked()) {
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m_stabilization->rollKi->setValue(val);
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}
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}
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void ConfigStabilizationWidget::updatePitchILimit(double val)
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{
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if (m_stabilization->linkAttitudeRP->isChecked()) {
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m_stabilization->rollILimit->setValue(val);
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}
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}
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/*******************************
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* Stabilization Settings
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*****************************/
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/**
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Request stabilization settings from the board
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*/
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void ConfigStabilizationWidget::refreshValues()
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{
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// Not needed anymore as this slot is only called whenever we get
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// a signal that the object was just updated
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// stabSettings->requestUpdate();
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StabilizationSettings::DataFields stabData = stabSettings->getData();
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// Now fill in all the fields, this is fairly tedious:
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m_stabilization->rateRollKp->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP]);
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m_stabilization->rateRollKi->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI]);
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m_stabilization->rateRollILimit->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT]);
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m_stabilization->ratePitchKp->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP]);
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m_stabilization->ratePitchKi->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI]);
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m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT]);
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m_stabilization->rateYawKp->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP]);
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m_stabilization->rateYawKi->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI]);
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m_stabilization->rateYawILimit->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT]);
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m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]);
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m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]);
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m_stabilization->rollILimit->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT]);
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m_stabilization->pitchKp->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KP]);
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m_stabilization->pitchKi->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KI]);
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m_stabilization->pitchILimit->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT]);
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m_stabilization->yawKp->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KP]);
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m_stabilization->yawKi->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KI]);
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m_stabilization->yawILimit->setValue(stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT]);
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m_stabilization->rollMax->setValue(stabData.RollMax);
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m_stabilization->pitchMax->setValue(stabData.PitchMax);
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m_stabilization->yawMax->setValue(stabData.YawMax);
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m_stabilization->manualRoll->setValue(stabData.ManualRate[StabilizationSettings::MANUALRATE_ROLL]);
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m_stabilization->manualPitch->setValue(stabData.ManualRate[StabilizationSettings::MANUALRATE_PITCH]);
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m_stabilization->manualYaw->setValue(stabData.ManualRate[StabilizationSettings::MANUALRATE_YAW]);
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m_stabilization->maximumRoll->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_ROLL]);
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m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]);
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m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]);
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}
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/**
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Send telemetry settings to the board
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*/
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void ConfigStabilizationWidget::sendStabilizationUpdate()
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{
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StabilizationSettings::DataFields stabData = stabSettings->getData();
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stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP] = m_stabilization->rateRollKp->value();
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stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI] = m_stabilization->rateRollKi->value();
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stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT] = m_stabilization->rateRollILimit->value();
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stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP] = m_stabilization->ratePitchKp->value();
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stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI] = m_stabilization->ratePitchKi->value();
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stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT] = m_stabilization->ratePitchILimit->value();
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stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP] = m_stabilization->rateYawKp->value();
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stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI] = m_stabilization->rateYawKi->value();
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stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT] = m_stabilization->rateYawILimit->value();
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stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value();
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stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value();
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stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT] = m_stabilization->rollILimit->value();
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stabData.PitchPI[StabilizationSettings::PITCHPI_KP] = m_stabilization->pitchKp->value();
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stabData.PitchPI[StabilizationSettings::PITCHPI_KI] = m_stabilization->pitchKi->value();
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stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT] = m_stabilization->pitchILimit->value();
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stabData.YawPI[StabilizationSettings::YAWPI_KP] = m_stabilization->yawKp->value();
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stabData.YawPI[StabilizationSettings::YAWPI_KI] = m_stabilization->yawKi->value();
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stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT] = m_stabilization->yawILimit->value();
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stabData.RollMax = m_stabilization->rollMax->value();
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stabData.PitchMax = m_stabilization->pitchMax->value();
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stabData.YawMax = m_stabilization->yawMax->value();
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stabData.ManualRate[StabilizationSettings::MANUALRATE_ROLL] = m_stabilization->manualRoll->value();
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stabData.ManualRate[StabilizationSettings::MANUALRATE_PITCH] = m_stabilization->manualPitch->value();
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stabData.ManualRate[StabilizationSettings::MANUALRATE_YAW] = m_stabilization->manualYaw->value();
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stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_ROLL] = m_stabilization->maximumRoll->value();
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stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH] = m_stabilization->maximumPitch->value();
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stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW] = m_stabilization->maximumYaw->value();
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stabSettings->setData(stabData); // this is atomic
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}
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/**
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Send telemetry settings to the board and request saving to SD card
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*/
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void ConfigStabilizationWidget::saveStabilizationUpdate()
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{
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// Send update so that the latest value is saved
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sendStabilizationUpdate();
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("StabilizationSettings")));
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Q_ASSERT(obj);
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saveObjectToSD(obj);
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}
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void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
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{
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if (state) {
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updateTimer.start(300);
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} else {
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updateTimer.stop();
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}
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}
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void ConfigStabilizationWidget::openHelp()
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{
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QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Stabilization+panel", QUrl::StrictMode) );
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}
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