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cd6387d0a6
It is now possible to have 1 to 6 flight mode switch positions
(usefull for guidance, position hold and similar use).
The input channel range is divided into N (1 to 6) zones and each
zone represents a flight mode. Default is 3 zones (backward compatible),
but more can be chosen.
How to use: configure Tx mixers in a way they provide required number
of different values for the same FlightMode channel. For instance,
using Turnigy 9X radio with ER9X firmware, one can create a mixer like
this:
-100 MAX ID0 Manual
R -50 MAX ID1 Stabilized1 (Rate)
R 0 MAX ID2 Stabilized2 (Attitude)
R 50 MAX RUD PositionHold
R 100 MAX ELE ReturnToBase
And set number of flight mode positions to 5. As a result, the 3-pos
switch (ID0, ID1, ID2) will provide first three flight modes, the rudder
D/R switch will override those and enable the 4th flight mode, and
elevator D/R switch will have highest precedence and activate the 5th
flight mode.
This will change the ManualControlSettings objectID.
161 lines
5.4 KiB
C++
161 lines
5.4 KiB
C++
/**
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******************************************************************************
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*
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* @file configservowidget.h
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* @author 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 Servo input/output configuration panel for the config gadget
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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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#ifndef CONFIGINPUTWIDGET_H
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#define CONFIGINPUTWIDGET_H
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#include "ui_input.h"
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#include "../uavobjectwidgetutils/configtaskwidget.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include <QtGui/QWidget>
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#include <QList>
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#include "inputchannelform.h"
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#include "ui_inputchannelform.h"
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#include <QRadioButton>
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#include "manualcontrolcommand.h"
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#include "manualcontrolsettings.h"
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#include "receiveractivity.h"
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#include <QGraphicsView>
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#include <QtSvg/QSvgRenderer>
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#include <QtSvg/QGraphicsSvgItem>
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class Ui_InputWidget;
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class ConfigInputWidget: public ConfigTaskWidget
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{
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Q_OBJECT
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public:
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ConfigInputWidget(QWidget *parent = 0);
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~ConfigInputWidget();
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enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish,wizardNone};
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enum txMode{mode1,mode2};
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enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
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enum txMovementType{vertical,horizontal,jump,mix};
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enum txType {acro, heli};
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public slots:
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private:
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bool growing;
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bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
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txMovements currentMovement;
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int movePos;
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void setTxMovement(txMovements movement);
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Ui_InputWidget *m_config;
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wizardSteps wizardStep;
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QList<QWidget*> extraWidgets;
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txMode transmitterMode;
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txType transmitterType;
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struct channelsStruct
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{
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bool operator ==(const channelsStruct& rhs) const
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{
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return((group==rhs.group) &&(number==rhs.number));
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}
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int group;
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int number;
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}lastChannel;
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channelsStruct currentChannel;
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QList<channelsStruct> usedChannels;
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bool channelDetected;
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QEventLoop * loop;
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bool skipflag;
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int currentChannelNum;
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QList<int> heliChannelOrder;
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QList<int> acroChannelOrder;
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ManualControlCommand * manualCommandObj;
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ManualControlCommand::DataFields manualCommandData;
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UAVObject::Metadata manualControlMdata;
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ManualControlSettings * manualSettingsObj;
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ManualControlSettings::DataFields manualSettingsData;
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ManualControlSettings::DataFields previousManualSettingsData;
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ReceiverActivity * receiverActivityObj;
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ReceiverActivity::DataFields receiverActivityData;
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QSvgRenderer *m_renderer;
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// Background: background
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QGraphicsSvgItem *m_txMainBody;
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QGraphicsSvgItem *m_txLeftStick;
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QGraphicsSvgItem *m_txRightStick;
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QGraphicsSvgItem *m_txAccess0;
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QGraphicsSvgItem *m_txAccess1;
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QGraphicsSvgItem *m_txAccess2;
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QGraphicsSvgItem *m_txFlightMode;
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QGraphicsSvgItem *m_txBackground;
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QGraphicsSvgItem *m_txArrows;
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QTransform m_txLeftStickOrig;
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QTransform m_txRightStickOrig;
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QTransform m_txAccess0Orig;
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QTransform m_txAccess1Orig;
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QTransform m_txAccess2Orig;
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QTransform m_txFlightModeCOrig;
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QTransform m_txFlightModeLOrig;
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QTransform m_txFlightModeROrig;
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QTransform m_txMainBodyOrig;
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QTransform m_txArrowsOrig;
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QTimer * animate;
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void resetTxControls();
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void setMoveFromCommand(int command);
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void fastMdata();
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void restoreMdata();
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void setChannel(int);
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void nextChannel();
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void prevChannel();
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void wizardSetUpStep(enum wizardSteps);
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void wizardTearDownStep(enum wizardSteps);
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private slots:
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void wzNext();
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void wzBack();
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void wzCancel();
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void goToWizard();
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void openHelp();
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void identifyControls();
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void identifyLimits();
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void moveTxControls();
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void moveSticks();
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void dimOtherControls(bool value);
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void moveFMSlider();
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void updatePositionSlider();
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void invertControls();
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void simpleCalibration(bool state);
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void updateCalibration();
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protected:
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void resizeEvent(QResizeEvent *event);
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virtual void enableControls(bool enable);
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};
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#endif
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