mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-25 10:52:11 +01:00
3ef26a633a
Added partial save to support changed hardware settings. Made it possible to skip leveling procedure. Changed some texts. Changed isRebootRequired() criteria.
1203 lines
46 KiB
C++
1203 lines
46 KiB
C++
/**
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******************************************************************************
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*
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* @file vehicleconfigurationhelper.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup
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* @{
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* @addtogroup VehicleConfigurationHelper
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* @{
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* @brief
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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 "vehicleconfigurationhelper.h"
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#include "extensionsystem/pluginmanager.h"
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#include "hwsettings.h"
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#include "actuatorsettings.h"
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#include "attitudesettings.h"
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#include "mixersettings.h"
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#include "systemsettings.h"
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#include "manualcontrolsettings.h"
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#include "stabilizationsettings.h"
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const qint16 VehicleConfigurationHelper::LEGACY_ESC_FREQUENCE = 50;
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const qint16 VehicleConfigurationHelper::RAPID_ESC_FREQUENCE = 400;
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VehicleConfigurationHelper::VehicleConfigurationHelper(VehicleConfigurationSource *configSource)
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: m_configSource(configSource), m_uavoManager(0),
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m_transactionOK(false), m_transactionTimeout(false), m_currentTransactionObjectID(-1),
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m_progress(0)
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{
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Q_ASSERT(m_configSource);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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m_uavoManager = pm->getObject<UAVObjectManager>();
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Q_ASSERT(m_uavoManager);
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}
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bool VehicleConfigurationHelper::setupVehicle(bool save)
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{
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m_progress = 0;
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clearModifiedObjects();
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resetVehicleConfig();
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resetGUIData();
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if(!saveChangesToController(save)) {
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return false;
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}
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m_progress = 0;
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applyHardwareConfiguration();
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applyVehicleConfiguration();
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applyActuatorConfiguration();
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applyFlighModeConfiguration();
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applyLevellingConfiguration();
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applyStabilizationConfiguration();
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applyManualControlDefaults();
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bool result = saveChangesToController(save);
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emit saveProgress(m_modifiedObjects.count() + 1, ++m_progress, result ? tr("Done!") : tr("Failed!"));
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return result;
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}
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bool VehicleConfigurationHelper::setupHardwareSettings(bool save)
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{
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m_progress = 0;
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clearModifiedObjects();
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applyHardwareConfiguration();
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applyManualControlDefaults();
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bool result = saveChangesToController(save);
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emit saveProgress(m_modifiedObjects.count() + 1, ++m_progress, result ? tr("Done!") : tr("Failed!"));
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return result;
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}
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void VehicleConfigurationHelper::addModifiedObject(UAVDataObject *object, QString description)
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{
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m_modifiedObjects << new QPair<UAVDataObject*, QString>(object, description);
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}
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void VehicleConfigurationHelper::clearModifiedObjects()
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{
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for(int i = 0; i < m_modifiedObjects.count(); i++) {
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QPair<UAVDataObject*, QString> *pair = m_modifiedObjects.at(i);
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delete pair;
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}
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m_modifiedObjects.clear();
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}
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void VehicleConfigurationHelper::applyHardwareConfiguration()
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{
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HwSettings* hwSettings = HwSettings::GetInstance(m_uavoManager);
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HwSettings::DataFields data = hwSettings->getData();
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switch(m_configSource->getControllerType())
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{
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case VehicleConfigurationSource::CONTROLLER_CC:
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case VehicleConfigurationSource::CONTROLLER_CC3D:
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// Reset all ports
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data.CC_RcvrPort = HwSettings::CC_RCVRPORT_DISABLED;
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//Default flexiport to be active telemetry link
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data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_TELEMETRY;
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data.CC_MainPort = HwSettings::CC_MAINPORT_DISABLED;
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switch(m_configSource->getInputType())
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{
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case VehicleConfigurationSource::INPUT_PWM:
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data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PWM;
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break;
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case VehicleConfigurationSource::INPUT_PPM:
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data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPM;
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break;
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case VehicleConfigurationSource::INPUT_SBUS:
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data.CC_MainPort = HwSettings::CC_MAINPORT_SBUS;
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break;
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case VehicleConfigurationSource::INPUT_DSMX10:
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data.CC_MainPort = HwSettings::CC_MAINPORT_DSMX10BIT;
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break;
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case VehicleConfigurationSource::INPUT_DSMX11:
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data.CC_MainPort = HwSettings::CC_MAINPORT_DSMX11BIT;
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break;
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case VehicleConfigurationSource::INPUT_DSM2:
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data.CC_MainPort = HwSettings::CC_MAINPORT_DSM2;
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break;
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default:
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break;
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}
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break;
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case VehicleConfigurationSource::CONTROLLER_REVO:
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// TODO: Implement Revo settings
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break;
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default:
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break;
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}
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hwSettings->setData(data);
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addModifiedObject(hwSettings, tr("Writing hardware settings"));
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}
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void VehicleConfigurationHelper::applyVehicleConfiguration()
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{
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switch(m_configSource->getVehicleType())
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{
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case VehicleConfigurationSource::VEHICLE_MULTI:
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{
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switch(m_configSource->getVehicleSubType())
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{
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case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
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setupTriCopter();
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break;
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case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
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case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
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setupQuadCopter();
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break;
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case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
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case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
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case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
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setupHexaCopter();
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break;
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case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
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case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
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case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
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case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V:
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setupOctoCopter();
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break;
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default:
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break;
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}
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break;
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}
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case VehicleConfigurationSource::VEHICLE_FIXEDWING:
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case VehicleConfigurationSource::VEHICLE_HELI:
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case VehicleConfigurationSource::VEHICLE_SURFACE:
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// TODO: Implement settings for other vehicle types?
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break;
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default:
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break;
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}
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}
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void VehicleConfigurationHelper::applyActuatorConfiguration()
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{
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ActuatorSettings* actSettings = ActuatorSettings::GetInstance(m_uavoManager);
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switch(m_configSource->getVehicleType()) {
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case VehicleConfigurationSource::VEHICLE_MULTI: {
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ActuatorSettings::DataFields data = actSettings->getData();
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QList<actuatorChannelSettings> actuatorSettings = m_configSource->getActuatorSettings();
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for(quint16 i = 0; i < ActuatorSettings::CHANNELMAX_NUMELEM; i++) {
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data.ChannelType[i] = ActuatorSettings::CHANNELTYPE_PWM;
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data.ChannelAddr[i] = i;
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data.ChannelMin[i] = actuatorSettings[i].channelMin;
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data.ChannelNeutral[i] = actuatorSettings[i].channelNeutral;
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data.ChannelMax[i] = actuatorSettings[i].channelMax;
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}
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data.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
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for(quint16 i = 0; i < ActuatorSettings::CHANNELUPDATEFREQ_NUMELEM; i++) {
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data.ChannelUpdateFreq[i] = LEGACY_ESC_FREQUENCE;
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}
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qint16 updateFrequence = LEGACY_ESC_FREQUENCE;
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switch(m_configSource->getESCType()) {
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case VehicleConfigurationSource::ESC_LEGACY:
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updateFrequence = LEGACY_ESC_FREQUENCE;
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break;
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case VehicleConfigurationSource::ESC_RAPID:
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updateFrequence = RAPID_ESC_FREQUENCE;
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break;
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default:
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break;
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}
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switch(m_configSource->getVehicleSubType()) {
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case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
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data.ChannelUpdateFreq[0] = updateFrequence;
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break;
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case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
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case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
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data.ChannelUpdateFreq[0] = updateFrequence;
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data.ChannelUpdateFreq[1] = updateFrequence;
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break;
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case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
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case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
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case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
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case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
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case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
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case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
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case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V:
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data.ChannelUpdateFreq[0] = updateFrequence;
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data.ChannelUpdateFreq[1] = updateFrequence;
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data.ChannelUpdateFreq[2] = updateFrequence;
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data.ChannelUpdateFreq[3] = updateFrequence;
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break;
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default:
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break;
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}
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actSettings->setData(data);
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addModifiedObject(actSettings, tr("Writing actuator settings"));
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break;
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}
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case VehicleConfigurationSource::VEHICLE_FIXEDWING:
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case VehicleConfigurationSource::VEHICLE_HELI:
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case VehicleConfigurationSource::VEHICLE_SURFACE:
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// TODO: Implement settings for other vehicle types?
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break;
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default:
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break;
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}
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}
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void VehicleConfigurationHelper::applyFlighModeConfiguration()
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{
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ManualControlSettings* controlSettings = ManualControlSettings::GetInstance(m_uavoManager);
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Q_ASSERT(controlSettings);
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ManualControlSettings::DataFields data = controlSettings->getData();
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data.Stabilization1Settings[0] = ManualControlSettings::STABILIZATION1SETTINGS_ATTITUDE;
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data.Stabilization1Settings[1] = ManualControlSettings::STABILIZATION1SETTINGS_ATTITUDE;
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data.Stabilization1Settings[2] = ManualControlSettings::STABILIZATION1SETTINGS_AXISLOCK;
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data.Stabilization2Settings[0] = ManualControlSettings::STABILIZATION2SETTINGS_ATTITUDE;
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data.Stabilization2Settings[1] = ManualControlSettings::STABILIZATION2SETTINGS_ATTITUDE;
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data.Stabilization2Settings[2] = ManualControlSettings::STABILIZATION2SETTINGS_RATE;
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data.Stabilization3Settings[0] = ManualControlSettings::STABILIZATION3SETTINGS_RATE;
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data.Stabilization3Settings[1] = ManualControlSettings::STABILIZATION3SETTINGS_RATE;
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data.Stabilization3Settings[2] = ManualControlSettings::STABILIZATION3SETTINGS_RATE;
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data.FlightModeNumber = 3;
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data.FlightModePosition[0] = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
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data.FlightModePosition[1] = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
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data.FlightModePosition[2] = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
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data.FlightModePosition[3] = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
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data.FlightModePosition[4] = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
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data.FlightModePosition[5] = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
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controlSettings->setData(data);
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addModifiedObject(controlSettings, tr("Writing flight mode settings"));
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}
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void VehicleConfigurationHelper::applyLevellingConfiguration()
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{
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if(m_configSource->isLevellingPerformed())
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{
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accelGyroBias bias = m_configSource->getLevellingBias();
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AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
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Q_ASSERT(attitudeSettings);
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AttitudeSettings::DataFields data = attitudeSettings->getData();
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data.AccelBias[0] += bias.m_accelerometerXBias;
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data.AccelBias[1] += bias.m_accelerometerYBias;
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data.AccelBias[2] += bias.m_accelerometerZBias;
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data.GyroBias[0] = -bias.m_gyroXBias;
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data.GyroBias[1] = -bias.m_gyroYBias;
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data.GyroBias[2] = -bias.m_gyroZBias;
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attitudeSettings->setData(data);
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addModifiedObject(attitudeSettings, tr("Writing gyro and accelerometer bias settings"));
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}
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}
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void VehicleConfigurationHelper::applyStabilizationConfiguration()
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{
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StabilizationSettings *stabSettings = StabilizationSettings::GetInstance(m_uavoManager);
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Q_ASSERT(stabSettings);
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StabilizationSettings::DataFields data = stabSettings->getData();
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StabilizationSettings defaultSettings;
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stabSettings->setData(defaultSettings.getData());
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addModifiedObject(stabSettings, tr("Writing stabilization settings"));
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}
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void VehicleConfigurationHelper::applyMixerConfiguration(mixerSettings mixer)
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{
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// Set all mixer data
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MixerSettings* mSettings = MixerSettings::GetInstance(m_uavoManager);
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Q_ASSERT(mSettings);
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// Set Mixer types and values
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QString mixerTypePattern = "Mixer%1Type";
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QString mixerVectorPattern = "Mixer%1Vector";
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for(int i = 0; i < 10; i++) {
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UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
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Q_ASSERT(field);
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field->setValue(field->getOptions().at(mixer.channels[i].type));
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field = mSettings->getField(mixerVectorPattern.arg(i + 1));
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Q_ASSERT(field);
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field->setValue((mixer.channels[i].throttle1 * 127) / 100, 0);
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field->setValue((mixer.channels[i].throttle2 * 127) / 100, 1);
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field->setValue((mixer.channels[i].roll * 127) / 100, 2);
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field->setValue((mixer.channels[i].pitch * 127) / 100, 3);
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field->setValue((mixer.channels[i].yaw *127) / 100, 4);
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}
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// Apply updates
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mSettings->setData(mSettings->getData());
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addModifiedObject(mSettings, tr("Writing mixer settings"));
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}
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void VehicleConfigurationHelper::applyMultiGUISettings(SystemSettings::AirframeTypeOptions airframe, GUIConfigDataUnion guiConfig)
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{
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SystemSettings * sSettings = SystemSettings::GetInstance(m_uavoManager);
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Q_ASSERT(sSettings);
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SystemSettings::DataFields data = sSettings->getData();
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data.AirframeType = airframe;
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for (int i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++) {
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data.GUIConfigData[i] = guiConfig.UAVObject[i];
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}
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sSettings->setData(data);
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addModifiedObject(sSettings, tr("Writing vehicle settings"));
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}
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void VehicleConfigurationHelper::applyManualControlDefaults()
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{
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ManualControlSettings *mcSettings = ManualControlSettings::GetInstance(m_uavoManager);
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Q_ASSERT(mcSettings);
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ManualControlSettings::DataFields cData = mcSettings->getData();
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ManualControlSettings::ChannelGroupsOptions channelType = ManualControlSettings::CHANNELGROUPS_PWM;
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switch(m_configSource->getInputType())
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{
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case VehicleConfigurationSource::INPUT_PWM:
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channelType = ManualControlSettings::CHANNELGROUPS_PWM;
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break;
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case VehicleConfigurationSource::INPUT_PPM:
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channelType = ManualControlSettings::CHANNELGROUPS_PPM;
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break;
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case VehicleConfigurationSource::INPUT_SBUS:
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channelType = ManualControlSettings::CHANNELGROUPS_SBUS;
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break;
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case VehicleConfigurationSource::INPUT_DSMX10:
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case VehicleConfigurationSource::INPUT_DSMX11:
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case VehicleConfigurationSource::INPUT_DSM2:
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channelType = ManualControlSettings::CHANNELGROUPS_DSMMAINPORT;
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break;
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default:
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break;
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}
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cData.ChannelGroups[ManualControlSettings::CHANNELGROUPS_THROTTLE] = channelType;
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cData.ChannelGroups[ManualControlSettings::CHANNELGROUPS_ROLL] = channelType;
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cData.ChannelGroups[ManualControlSettings::CHANNELGROUPS_YAW] = channelType;
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cData.ChannelGroups[ManualControlSettings::CHANNELGROUPS_PITCH] = channelType;
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cData.ChannelGroups[ManualControlSettings::CHANNELGROUPS_FLIGHTMODE] = channelType;
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cData.ChannelNumber[ManualControlSettings::CHANNELGROUPS_THROTTLE] = 1;
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cData.ChannelNumber[ManualControlSettings::CHANNELGROUPS_ROLL] = 2;
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cData.ChannelNumber[ManualControlSettings::CHANNELGROUPS_YAW] = 3;
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cData.ChannelNumber[ManualControlSettings::CHANNELGROUPS_PITCH] = 4;
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cData.ChannelNumber[ManualControlSettings::CHANNELGROUPS_FLIGHTMODE] = 5;
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mcSettings->setData(cData);
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addModifiedObject(mcSettings, tr("Writing manual control defaults"));
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}
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bool VehicleConfigurationHelper::saveChangesToController(bool save)
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{
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qDebug() << "Saving modified objects to controller. " << m_modifiedObjects.count() << " objects in found.";
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const int OUTER_TIMEOUT = 3000 * 20; // 10 seconds timeout for saving all objects
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const int INNER_TIMEOUT = 2000; // 1 second timeout on every save attempt
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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Q_ASSERT(pm);
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UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
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Q_ASSERT(utilMngr);
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QTimer outerTimeoutTimer;
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outerTimeoutTimer.setSingleShot(true);
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QTimer innerTimeoutTimer;
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innerTimeoutTimer.setSingleShot(true);
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connect(utilMngr, SIGNAL(saveCompleted(int ,bool)), this, SLOT(uAVOTransactionCompleted(int, bool)));
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connect(&innerTimeoutTimer, SIGNAL(timeout()), &m_eventLoop, SLOT(quit()));
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connect(&outerTimeoutTimer, SIGNAL(timeout()), this, SLOT(saveChangesTimeout()));
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outerTimeoutTimer.start(OUTER_TIMEOUT);
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for(int i = 0; i < m_modifiedObjects.count(); i++) {
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QPair<UAVDataObject*, QString> *objPair = m_modifiedObjects.at(i);
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m_transactionOK = false;
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UAVDataObject* obj = objPair->first;
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QString objDescription = objPair->second;
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if(UAVObject::GetGcsAccess(obj->getMetadata()) != UAVObject::ACCESS_READONLY && obj->isSettings()) {
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emit saveProgress(m_modifiedObjects.count() + 1, ++m_progress, objDescription);
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m_currentTransactionObjectID = obj->getObjID();
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connect(obj, SIGNAL(transactionCompleted(UAVObject* ,bool)), this, SLOT(uAVOTransactionCompleted(UAVObject*, bool)));
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while(!m_transactionOK && !m_transactionTimeout) {
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// Allow the transaction to take some time
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innerTimeoutTimer.start(INNER_TIMEOUT);
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// Set object updated
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obj->updated();
|
|
if(!m_transactionOK) {
|
|
m_eventLoop.exec();
|
|
}
|
|
innerTimeoutTimer.stop();
|
|
}
|
|
disconnect(obj, SIGNAL(transactionCompleted(UAVObject* ,bool)), this, SLOT(uAVOTransactionCompleted(UAVObject*, bool)));
|
|
if(m_transactionOK) {
|
|
qDebug() << "Object " << obj->getName() << " was successfully updated.";
|
|
if(save) {
|
|
m_transactionOK = false;
|
|
m_currentTransactionObjectID = obj->getObjID();
|
|
// Try to save until success or timeout
|
|
while(!m_transactionOK && !m_transactionTimeout) {
|
|
// Allow the transaction to take some time
|
|
innerTimeoutTimer.start(INNER_TIMEOUT);
|
|
|
|
// Persist object in controller
|
|
utilMngr->saveObjectToSD(obj);
|
|
if(!m_transactionOK) {
|
|
m_eventLoop.exec();
|
|
}
|
|
innerTimeoutTimer.stop();
|
|
}
|
|
m_currentTransactionObjectID = -1;
|
|
}
|
|
}
|
|
|
|
if(!m_transactionOK) {
|
|
qDebug() << "Transaction timed out when trying to save: " << obj->getName();
|
|
}
|
|
else {
|
|
qDebug() << "Object " << obj->getName() << " was successfully saved.";
|
|
}
|
|
}
|
|
else {
|
|
qDebug() << "Trying to save a UAVDataObject that is read only or is not a settings object.";
|
|
}
|
|
if(m_transactionTimeout) {
|
|
qDebug() << "Transaction timed out when trying to save " << m_modifiedObjects.count() << " objects.";
|
|
break;
|
|
}
|
|
}
|
|
|
|
outerTimeoutTimer.stop();
|
|
disconnect(&outerTimeoutTimer, SIGNAL(timeout()), this, SLOT(saveChangesTimeout()));
|
|
disconnect(&innerTimeoutTimer, SIGNAL(timeout()), &m_eventLoop, SLOT(quit()));
|
|
disconnect(utilMngr, SIGNAL(saveCompleted(int, bool)), this, SLOT(uAVOTransactionCompleted(int, bool)));
|
|
|
|
qDebug() << "Finished saving modified objects to controller. Success = " << m_transactionOK;
|
|
|
|
return m_transactionOK;
|
|
}
|
|
|
|
void VehicleConfigurationHelper::uAVOTransactionCompleted(int oid, bool success)
|
|
{
|
|
if(oid == m_currentTransactionObjectID)
|
|
{
|
|
m_transactionOK = success;
|
|
m_eventLoop.quit();
|
|
}
|
|
}
|
|
|
|
void VehicleConfigurationHelper::uAVOTransactionCompleted(UAVObject *object, bool success)
|
|
{
|
|
if(object) {
|
|
uAVOTransactionCompleted(object->getObjID(), success);
|
|
}
|
|
}
|
|
|
|
void VehicleConfigurationHelper::saveChangesTimeout()
|
|
{
|
|
m_transactionOK = false;
|
|
m_transactionTimeout = true;
|
|
m_eventLoop.quit();
|
|
}
|
|
|
|
void VehicleConfigurationHelper::resetVehicleConfig()
|
|
{
|
|
// Reset all vehicle data
|
|
MixerSettings* mSettings = MixerSettings::GetInstance(m_uavoManager);
|
|
|
|
// Reset feed forward, accel times etc
|
|
mSettings->setFeedForward(0.0f);
|
|
mSettings->setMaxAccel(1000.0f);
|
|
mSettings->setAccelTime(0.0f);
|
|
mSettings->setDecelTime(0.0f);
|
|
|
|
// Reset throttle curves
|
|
QString throttlePattern = "ThrottleCurve%1";
|
|
for(int i = 1; i <= 2; i++) {
|
|
UAVObjectField *field = mSettings->getField(throttlePattern.arg(i));
|
|
Q_ASSERT(field);
|
|
for(quint32 i = 0; i < field->getNumElements(); i++){
|
|
field->setValue(i * ( 1.0f / (field->getNumElements() - 1)), i);
|
|
}
|
|
}
|
|
|
|
// Reset Mixer types and values
|
|
QString mixerTypePattern = "Mixer%1Type";
|
|
QString mixerVectorPattern = "Mixer%1Vector";
|
|
for(int i = 1; i <= 10; i++) {
|
|
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i));
|
|
Q_ASSERT(field);
|
|
field->setValue(field->getOptions().at(0));
|
|
|
|
field = mSettings->getField(mixerVectorPattern.arg(i));
|
|
Q_ASSERT(field);
|
|
for(quint32 i = 0; i < field->getNumElements(); i++){
|
|
field->setValue(0, i);
|
|
}
|
|
}
|
|
|
|
// Apply updates
|
|
//mSettings->setData(mSettings->getData());
|
|
addModifiedObject(mSettings, tr("Preparing mixer settings"));
|
|
}
|
|
|
|
void VehicleConfigurationHelper::resetGUIData()
|
|
{
|
|
SystemSettings * sSettings = SystemSettings::GetInstance(m_uavoManager);
|
|
Q_ASSERT(sSettings);
|
|
SystemSettings::DataFields data = sSettings->getData();
|
|
data.AirframeType = SystemSettings::AIRFRAMETYPE_CUSTOM;
|
|
for(quint32 i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++) {
|
|
data.GUIConfigData[i] = 0;
|
|
}
|
|
sSettings->setData(data);
|
|
addModifiedObject(sSettings, tr("Preparing vehicle settings"));
|
|
}
|
|
|
|
|
|
void VehicleConfigurationHelper::setupTriCopter()
|
|
{
|
|
// Typical vehicle setup
|
|
// 1. Setup mixer data
|
|
// 2. Setup GUI data
|
|
// 3. Apply changes
|
|
|
|
mixerSettings mixer;
|
|
GUIConfigDataUnion guiSettings = getGUIConfigData();
|
|
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = 100;
|
|
mixer.channels[0].pitch = 50;
|
|
mixer.channels[0].yaw = 0;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = -100;
|
|
mixer.channels[1].pitch = 50;
|
|
mixer.channels[1].yaw = 0;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = 0;
|
|
mixer.channels[2].pitch = -100;
|
|
mixer.channels[2].yaw = 0;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_SERVO;
|
|
mixer.channels[3].throttle1 = 0;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = 0;
|
|
mixer.channels[3].pitch = 0;
|
|
mixer.channels[3].yaw = 100;
|
|
|
|
guiSettings.multi.VTOLMotorNW = 1;
|
|
guiSettings.multi.VTOLMotorNE = 2;
|
|
guiSettings.multi.VTOLMotorS = 3;
|
|
guiSettings.multi.TRIYaw = 4;
|
|
|
|
applyMixerConfiguration(mixer);
|
|
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_TRI, guiSettings);
|
|
}
|
|
|
|
GUIConfigDataUnion VehicleConfigurationHelper::getGUIConfigData()
|
|
{
|
|
GUIConfigDataUnion configData;
|
|
|
|
SystemSettings * systemSettings = SystemSettings::GetInstance(m_uavoManager);
|
|
Q_ASSERT(systemSettings);
|
|
SystemSettings::DataFields systemSettingsData = systemSettings->getData();
|
|
|
|
for(int i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++) {
|
|
configData.UAVObject[i] = 0; //systemSettingsData.GUIConfigData[i];
|
|
}
|
|
|
|
return configData;
|
|
}
|
|
|
|
void VehicleConfigurationHelper::setupQuadCopter()
|
|
{
|
|
mixerSettings mixer;
|
|
GUIConfigDataUnion guiSettings = getGUIConfigData();
|
|
SystemSettings::AirframeTypeOptions frame;
|
|
|
|
switch(m_configSource->getVehicleSubType())
|
|
{
|
|
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS: {
|
|
frame = SystemSettings::AIRFRAMETYPE_QUADP;
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = 0;
|
|
mixer.channels[0].pitch = 100;
|
|
mixer.channels[0].yaw = -50;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = -100;
|
|
mixer.channels[1].pitch = 0;
|
|
mixer.channels[1].yaw = 50;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = 0;
|
|
mixer.channels[2].pitch = -100;
|
|
mixer.channels[2].yaw = -50;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = 100;
|
|
mixer.channels[3].pitch = 0;
|
|
mixer.channels[3].yaw = 50;
|
|
|
|
guiSettings.multi.VTOLMotorN = 1;
|
|
guiSettings.multi.VTOLMotorE = 2;
|
|
guiSettings.multi.VTOLMotorS = 3;
|
|
guiSettings.multi.VTOLMotorW = 4;
|
|
|
|
break;
|
|
}
|
|
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X: {
|
|
frame = SystemSettings::AIRFRAMETYPE_QUADX;
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = 50;
|
|
mixer.channels[0].pitch = 50;
|
|
mixer.channels[0].yaw = -50;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = -50;
|
|
mixer.channels[1].pitch = 50;
|
|
mixer.channels[1].yaw = 50;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = -50;
|
|
mixer.channels[2].pitch = -50;
|
|
mixer.channels[2].yaw = -50;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = 50;
|
|
mixer.channels[3].pitch = -50;
|
|
mixer.channels[3].yaw = 50;
|
|
|
|
guiSettings.multi.VTOLMotorNW = 1;
|
|
guiSettings.multi.VTOLMotorNE = 2;
|
|
guiSettings.multi.VTOLMotorSE = 3;
|
|
guiSettings.multi.VTOLMotorSW = 4;
|
|
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
applyMixerConfiguration(mixer);
|
|
applyMultiGUISettings(frame, guiSettings);
|
|
}
|
|
|
|
void VehicleConfigurationHelper::setupHexaCopter()
|
|
{
|
|
mixerSettings mixer;
|
|
GUIConfigDataUnion guiSettings = getGUIConfigData();
|
|
SystemSettings::AirframeTypeOptions frame;
|
|
|
|
switch(m_configSource->getVehicleSubType())
|
|
{
|
|
case VehicleConfigurationSource::MULTI_ROTOR_HEXA: {
|
|
frame = SystemSettings::AIRFRAMETYPE_HEXA;
|
|
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = 0;
|
|
mixer.channels[0].pitch = 33;
|
|
mixer.channels[0].yaw = -33;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = -50;
|
|
mixer.channels[1].pitch = 33;
|
|
mixer.channels[1].yaw = 33;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = -50;
|
|
mixer.channels[2].pitch = -33;
|
|
mixer.channels[2].yaw = -33;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = 0;
|
|
mixer.channels[3].pitch = -33;
|
|
mixer.channels[3].yaw = 33;
|
|
|
|
mixer.channels[4].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[4].throttle1 = 100;
|
|
mixer.channels[4].throttle2 = 0;
|
|
mixer.channels[4].roll = 50;
|
|
mixer.channels[4].pitch = -33;
|
|
mixer.channels[4].yaw = -33;
|
|
|
|
mixer.channels[5].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[5].throttle1 = 100;
|
|
mixer.channels[5].throttle2 = 0;
|
|
mixer.channels[5].roll = 50;
|
|
mixer.channels[5].pitch = 33;
|
|
mixer.channels[5].yaw = 33;
|
|
|
|
guiSettings.multi.VTOLMotorN = 1;
|
|
guiSettings.multi.VTOLMotorNE = 2;
|
|
guiSettings.multi.VTOLMotorSE = 3;
|
|
guiSettings.multi.VTOLMotorS = 4;
|
|
guiSettings.multi.VTOLMotorSW = 5;
|
|
guiSettings.multi.VTOLMotorNW = 6;
|
|
|
|
break;
|
|
}
|
|
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y: {
|
|
frame = SystemSettings::AIRFRAMETYPE_HEXACOAX;
|
|
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = 100;
|
|
mixer.channels[0].pitch = 25;
|
|
mixer.channels[0].yaw = -66;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = 100;
|
|
mixer.channels[1].pitch = 25;
|
|
mixer.channels[1].yaw = 66;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = -100;
|
|
mixer.channels[2].pitch = 25;
|
|
mixer.channels[2].yaw = -66;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = -100;
|
|
mixer.channels[3].pitch = 25;
|
|
mixer.channels[3].yaw = 66;
|
|
|
|
mixer.channels[4].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[4].throttle1 = 100;
|
|
mixer.channels[4].throttle2 = 0;
|
|
mixer.channels[4].roll = 0;
|
|
mixer.channels[4].pitch = -50;
|
|
mixer.channels[4].yaw = -66;
|
|
|
|
mixer.channels[5].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[5].throttle1 = 100;
|
|
mixer.channels[5].throttle2 = 0;
|
|
mixer.channels[5].roll = 0;
|
|
mixer.channels[5].pitch = -50;
|
|
mixer.channels[5].yaw = 66;
|
|
|
|
guiSettings.multi.VTOLMotorNW = 1;
|
|
guiSettings.multi.VTOLMotorW = 2;
|
|
guiSettings.multi.VTOLMotorNE = 3;
|
|
guiSettings.multi.VTOLMotorE = 4;
|
|
guiSettings.multi.VTOLMotorS = 5;
|
|
guiSettings.multi.VTOLMotorSE = 6;
|
|
|
|
break;
|
|
}
|
|
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H: {
|
|
frame = SystemSettings::AIRFRAMETYPE_HEXAX;
|
|
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = -33;
|
|
mixer.channels[0].pitch = 50;
|
|
mixer.channels[0].yaw = -33;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = -33;
|
|
mixer.channels[1].pitch = 0;
|
|
mixer.channels[1].yaw = 33;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = -33;
|
|
mixer.channels[2].pitch = -50;
|
|
mixer.channels[2].yaw = -33;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = -33;
|
|
mixer.channels[3].pitch = -50;
|
|
mixer.channels[3].yaw = 33;
|
|
|
|
mixer.channels[4].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[4].throttle1 = 100;
|
|
mixer.channels[4].throttle2 = 0;
|
|
mixer.channels[4].roll = 33;
|
|
mixer.channels[4].pitch = 0;
|
|
mixer.channels[4].yaw = -33;
|
|
|
|
mixer.channels[5].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[5].throttle1 = 100;
|
|
mixer.channels[5].throttle2 = 0;
|
|
mixer.channels[5].roll = 33;
|
|
mixer.channels[5].pitch = 50;
|
|
mixer.channels[5].yaw = -33;
|
|
|
|
guiSettings.multi.VTOLMotorNE = 1;
|
|
guiSettings.multi.VTOLMotorE = 2;
|
|
guiSettings.multi.VTOLMotorSE = 3;
|
|
guiSettings.multi.VTOLMotorSW = 4;
|
|
guiSettings.multi.VTOLMotorW = 5;
|
|
guiSettings.multi.VTOLMotorNW = 6;
|
|
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
applyMixerConfiguration(mixer);
|
|
applyMultiGUISettings(frame, guiSettings);
|
|
}
|
|
|
|
void VehicleConfigurationHelper::setupOctoCopter()
|
|
{
|
|
mixerSettings mixer;
|
|
GUIConfigDataUnion guiSettings = getGUIConfigData();
|
|
SystemSettings::AirframeTypeOptions frame;
|
|
|
|
switch(m_configSource->getVehicleSubType())
|
|
{
|
|
case VehicleConfigurationSource::MULTI_ROTOR_OCTO: {
|
|
frame = SystemSettings::AIRFRAMETYPE_OCTO;
|
|
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = 0;
|
|
mixer.channels[0].pitch = 33;
|
|
mixer.channels[0].yaw = -25;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = -33;
|
|
mixer.channels[1].pitch = 33;
|
|
mixer.channels[1].yaw = 25;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = -33;
|
|
mixer.channels[2].pitch = 0;
|
|
mixer.channels[2].yaw = -25;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = -33;
|
|
mixer.channels[3].pitch = -33;
|
|
mixer.channels[3].yaw = 25;
|
|
|
|
mixer.channels[4].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[4].throttle1 = 100;
|
|
mixer.channels[4].throttle2 = 0;
|
|
mixer.channels[4].roll = 0;
|
|
mixer.channels[4].pitch = -33;
|
|
mixer.channels[4].yaw = -25;
|
|
|
|
mixer.channels[5].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[5].throttle1 = 100;
|
|
mixer.channels[5].throttle2 = 0;
|
|
mixer.channels[5].roll = 33;
|
|
mixer.channels[5].pitch = -33;
|
|
mixer.channels[5].yaw = 25;
|
|
|
|
mixer.channels[6].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[6].throttle1 = 100;
|
|
mixer.channels[6].throttle2 = 0;
|
|
mixer.channels[6].roll = 33;
|
|
mixer.channels[6].pitch = 0;
|
|
mixer.channels[6].yaw = -25;
|
|
|
|
mixer.channels[7].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[7].throttle1 = 100;
|
|
mixer.channels[7].throttle2 = 0;
|
|
mixer.channels[7].roll = 33;
|
|
mixer.channels[7].pitch = 33;
|
|
mixer.channels[7].yaw = 25;
|
|
|
|
guiSettings.multi.VTOLMotorN = 1;
|
|
guiSettings.multi.VTOLMotorNE = 2;
|
|
guiSettings.multi.VTOLMotorE = 3;
|
|
guiSettings.multi.VTOLMotorSE = 4;
|
|
guiSettings.multi.VTOLMotorS = 5;
|
|
guiSettings.multi.VTOLMotorSW = 6;
|
|
guiSettings.multi.VTOLMotorW = 7;
|
|
guiSettings.multi.VTOLMotorNW = 8;
|
|
|
|
break;
|
|
}
|
|
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X: {
|
|
frame = SystemSettings::AIRFRAMETYPE_OCTOCOAXX;
|
|
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = 50;
|
|
mixer.channels[0].pitch = 50;
|
|
mixer.channels[0].yaw = -50;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = 50;
|
|
mixer.channels[1].pitch = 50;
|
|
mixer.channels[1].yaw = 50;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = -50;
|
|
mixer.channels[2].pitch = 50;
|
|
mixer.channels[2].yaw = -50;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = -50;
|
|
mixer.channels[3].pitch = 50;
|
|
mixer.channels[3].yaw = 50;
|
|
|
|
mixer.channels[4].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[4].throttle1 = 100;
|
|
mixer.channels[4].throttle2 = 0;
|
|
mixer.channels[4].roll = -50;
|
|
mixer.channels[4].pitch = -50;
|
|
mixer.channels[4].yaw = -50;
|
|
|
|
mixer.channels[5].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[5].throttle1 = 100;
|
|
mixer.channels[5].throttle2 = 0;
|
|
mixer.channels[5].roll = -50;
|
|
mixer.channels[5].pitch = -50;
|
|
mixer.channels[5].yaw = 50;
|
|
|
|
mixer.channels[6].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[6].throttle1 = 100;
|
|
mixer.channels[6].throttle2 = 0;
|
|
mixer.channels[6].roll = 50;
|
|
mixer.channels[6].pitch = -50;
|
|
mixer.channels[6].yaw = -50;
|
|
|
|
mixer.channels[7].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[7].throttle1 = 100;
|
|
mixer.channels[7].throttle2 = 0;
|
|
mixer.channels[7].roll = 50;
|
|
mixer.channels[7].pitch = -50;
|
|
mixer.channels[7].yaw = 50;
|
|
|
|
guiSettings.multi.VTOLMotorNW = 1;
|
|
guiSettings.multi.VTOLMotorN = 2;
|
|
guiSettings.multi.VTOLMotorNE = 3;
|
|
guiSettings.multi.VTOLMotorE = 4;
|
|
guiSettings.multi.VTOLMotorSE = 5;
|
|
guiSettings.multi.VTOLMotorS = 6;
|
|
guiSettings.multi.VTOLMotorSW = 7;
|
|
guiSettings.multi.VTOLMotorW = 8;
|
|
|
|
break;
|
|
}
|
|
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS: {
|
|
frame = SystemSettings::AIRFRAMETYPE_OCTOCOAXP;
|
|
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = 0;
|
|
mixer.channels[0].pitch = 100;
|
|
mixer.channels[0].yaw = -50;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = 0;
|
|
mixer.channels[1].pitch = 100;
|
|
mixer.channels[1].yaw = 50;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = -100;
|
|
mixer.channels[2].pitch = 0;
|
|
mixer.channels[2].yaw = -50;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = -100;
|
|
mixer.channels[3].pitch = 0;
|
|
mixer.channels[3].yaw = 50;
|
|
|
|
mixer.channels[4].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[4].throttle1 = 100;
|
|
mixer.channels[4].throttle2 = 0;
|
|
mixer.channels[4].roll = 0;
|
|
mixer.channels[4].pitch = -100;
|
|
mixer.channels[4].yaw = -50;
|
|
|
|
mixer.channels[5].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[5].throttle1 = 100;
|
|
mixer.channels[5].throttle2 = 0;
|
|
mixer.channels[5].roll = 0;
|
|
mixer.channels[5].pitch = -100;
|
|
mixer.channels[5].yaw = 50;
|
|
|
|
mixer.channels[6].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[6].throttle1 = 100;
|
|
mixer.channels[6].throttle2 = 0;
|
|
mixer.channels[6].roll = 100;
|
|
mixer.channels[6].pitch = 0;
|
|
mixer.channels[6].yaw = -50;
|
|
|
|
mixer.channels[7].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[7].throttle1 = 100;
|
|
mixer.channels[7].throttle2 = 0;
|
|
mixer.channels[7].roll = 100;
|
|
mixer.channels[7].pitch = 0;
|
|
mixer.channels[7].yaw = 50;
|
|
|
|
guiSettings.multi.VTOLMotorN = 1;
|
|
guiSettings.multi.VTOLMotorNE = 2;
|
|
guiSettings.multi.VTOLMotorE = 3;
|
|
guiSettings.multi.VTOLMotorSE = 4;
|
|
guiSettings.multi.VTOLMotorS = 5;
|
|
guiSettings.multi.VTOLMotorSW = 6;
|
|
guiSettings.multi.VTOLMotorW = 7;
|
|
guiSettings.multi.VTOLMotorNW = 8;
|
|
|
|
break;
|
|
}
|
|
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V: {
|
|
frame = SystemSettings::AIRFRAMETYPE_OCTOV;
|
|
mixer.channels[0].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[0].throttle1 = 100;
|
|
mixer.channels[0].throttle2 = 0;
|
|
mixer.channels[0].roll = -25;
|
|
mixer.channels[0].pitch = 8;
|
|
mixer.channels[0].yaw = -25;
|
|
|
|
mixer.channels[1].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[1].throttle1 = 100;
|
|
mixer.channels[1].throttle2 = 0;
|
|
mixer.channels[1].roll = -25;
|
|
mixer.channels[1].pitch = 25;
|
|
mixer.channels[1].yaw = 25;
|
|
|
|
mixer.channels[2].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[2].throttle1 = 100;
|
|
mixer.channels[2].throttle2 = 0;
|
|
mixer.channels[2].roll = -25;
|
|
mixer.channels[2].pitch = -25;
|
|
mixer.channels[2].yaw = -25;
|
|
|
|
mixer.channels[3].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[3].throttle1 = 100;
|
|
mixer.channels[3].throttle2 = 0;
|
|
mixer.channels[3].roll = -25;
|
|
mixer.channels[3].pitch = -8;
|
|
mixer.channels[3].yaw = 25;
|
|
|
|
mixer.channels[4].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[4].throttle1 = 100;
|
|
mixer.channels[4].throttle2 = 0;
|
|
mixer.channels[4].roll = 25;
|
|
mixer.channels[4].pitch = -8;
|
|
mixer.channels[4].yaw = -25;
|
|
|
|
mixer.channels[5].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[5].throttle1 = 100;
|
|
mixer.channels[5].throttle2 = 0;
|
|
mixer.channels[5].roll = 25;
|
|
mixer.channels[5].pitch = -25;
|
|
mixer.channels[5].yaw = 25;
|
|
|
|
mixer.channels[6].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[6].throttle1 = 100;
|
|
mixer.channels[6].throttle2 = 0;
|
|
mixer.channels[6].roll = 25;
|
|
mixer.channels[6].pitch = 25;
|
|
mixer.channels[6].yaw = -25;
|
|
|
|
mixer.channels[7].type = MIXER_TYPE_MOTOR;
|
|
mixer.channels[7].throttle1 = 100;
|
|
mixer.channels[7].throttle2 = 0;
|
|
mixer.channels[7].roll = 25;
|
|
mixer.channels[7].pitch = 8;
|
|
mixer.channels[7].yaw = 25;
|
|
|
|
guiSettings.multi.VTOLMotorN = 1;
|
|
guiSettings.multi.VTOLMotorNE = 2;
|
|
guiSettings.multi.VTOLMotorE = 3;
|
|
guiSettings.multi.VTOLMotorSE = 4;
|
|
guiSettings.multi.VTOLMotorS = 5;
|
|
guiSettings.multi.VTOLMotorSW = 6;
|
|
guiSettings.multi.VTOLMotorW = 7;
|
|
guiSettings.multi.VTOLMotorNW = 8;
|
|
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
|
|
applyMixerConfiguration(mixer);
|
|
applyMultiGUISettings(frame, guiSettings);
|
|
}
|