mirror of
https://bitbucket.org/librepilot/librepilot.git
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217 lines
8.4 KiB
C++
217 lines
8.4 KiB
C++
/**
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******************************************************************************
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*
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* @file configstabilizationwidget.cpp
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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 <QWidget>
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#include <QTextEdit>
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#include <QVBoxLayout>
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#include <QPushButton>
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#include <QDesktopServices>
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#include <QUrl>
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#include <QList>
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#include <extensionsystem/pluginmanager.h>
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#include <coreplugin/generalsettings.h>
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#include "altitudeholdsettings.h"
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ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent),
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boardModel(0)
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{
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ui = new Ui_StabilizationWidget();
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ui->setupUi(this);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
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if (!settings->useExpertMode()) {
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ui->saveStabilizationToRAM_6->setVisible(false);
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}
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autoLoadWidgets();
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realtimeUpdates = new QTimer(this);
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connect(realtimeUpdates, SIGNAL(timeout()), this, SLOT(apply()));
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connect(ui->realTimeUpdates_6, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
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addWidget(ui->realTimeUpdates_6);
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connect(ui->realTimeUpdates_8, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
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addWidget(ui->realTimeUpdates_8);
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connect(ui->realTimeUpdates_12, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
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addWidget(ui->realTimeUpdates_12);
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connect(ui->checkBox_7, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
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addWidget(ui->checkBox_7);
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connect(ui->checkBox_2, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
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addWidget(ui->checkBox_2);
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connect(ui->checkBox_8, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
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addWidget(ui->checkBox_8);
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connect(ui->checkBox_3, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
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addWidget(ui->checkBox_3);
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addWidget(ui->pushButton_2);
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addWidget(ui->pushButton_3);
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addWidget(ui->pushButton_4);
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addWidget(ui->pushButton_5);
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addWidget(ui->pushButton_6);
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addWidget(ui->pushButton_9);
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addWidget(ui->pushButton_20);
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addWidget(ui->pushButton_22);
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addWidget(ui->pushButton_23);
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addWidget(ui->basicResponsivenessGroupBox);
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connect(ui->basicResponsivenessGroupBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
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addWidget(ui->advancedResponsivenessGroupBox);
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connect(ui->advancedResponsivenessGroupBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
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connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
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connect(this, SIGNAL(autoPilotConnected()), this, SLOT(onBoardConnected()));
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disableMouseWheelEvents();
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updateEnableControls();
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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::refreshWidgetsValues(UAVObject *o)
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{
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ConfigTaskWidget::refreshWidgetsValues(o);
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ui->basicResponsivenessGroupBox->setChecked(ui->rateRollKp_3->value() == ui->ratePitchKp_4->value() &&
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ui->rateRollKi_3->value() == ui->ratePitchKi_4->value());
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}
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void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
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{
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ui->realTimeUpdates_6->setChecked(value);
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ui->realTimeUpdates_8->setChecked(value);
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ui->realTimeUpdates_12->setChecked(value);
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if (value && !realtimeUpdates->isActive()) {
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realtimeUpdates->start(AUTOMATIC_UPDATE_RATE);
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qDebug() << "Instant Update timer started.";
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} else if (!value && realtimeUpdates->isActive()) {
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realtimeUpdates->stop();
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qDebug() << "Instant Update timer stopped.";
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}
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}
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void ConfigStabilizationWidget::linkCheckBoxes(bool value)
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{
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if (sender() == ui->checkBox_7) {
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ui->checkBox_3->setChecked(value);
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} else if (sender() == ui->checkBox_3) {
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ui->checkBox_7->setChecked(value);
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} else if (sender() == ui->checkBox_8) {
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ui->checkBox_2->setChecked(value);
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} else if (sender() == ui->checkBox_2) {
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ui->checkBox_8->setChecked(value);
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} else if (sender() == ui->basicResponsivenessGroupBox) {
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ui->advancedResponsivenessGroupBox->setChecked(!value);
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if (value) {
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processLinkedWidgets(ui->AttitudeResponsivenessSlider);
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processLinkedWidgets(ui->RateResponsivenessSlider);
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}
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} else if (sender() == ui->advancedResponsivenessGroupBox) {
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ui->basicResponsivenessGroupBox->setChecked(!value);
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}
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}
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void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
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{
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if (ui->checkBox_7->isChecked()) {
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if (widget == ui->RateRollKp_2) {
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ui->RatePitchKp->setValue(ui->RateRollKp_2->value());
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} else if (widget == ui->RateRollKi_2) {
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ui->RatePitchKi->setValue(ui->RateRollKi_2->value());
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} else if (widget == ui->RateRollILimit_2) {
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ui->RatePitchILimit->setValue(ui->RateRollILimit_2->value());
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} else if (widget == ui->RatePitchKp) {
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ui->RateRollKp_2->setValue(ui->RatePitchKp->value());
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} else if (widget == ui->RatePitchKi) {
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ui->RateRollKi_2->setValue(ui->RatePitchKi->value());
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} else if (widget == ui->RatePitchILimit) {
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ui->RateRollILimit_2->setValue(ui->RatePitchILimit->value());
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} else if (widget == ui->RollRateKd) {
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ui->PitchRateKd->setValue(ui->RollRateKd->value());
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} else if (widget == ui->PitchRateKd) {
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ui->RollRateKd->setValue(ui->PitchRateKd->value());
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}
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}
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if (ui->checkBox_8->isChecked()) {
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if (widget == ui->AttitudeRollKp) {
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ui->AttitudePitchKp_2->setValue(ui->AttitudeRollKp->value());
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} else if (widget == ui->AttitudeRollKi) {
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ui->AttitudePitchKi_2->setValue(ui->AttitudeRollKi->value());
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} else if (widget == ui->AttitudeRollILimit) {
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ui->AttitudePitchILimit_2->setValue(ui->AttitudeRollILimit->value());
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} else if (widget == ui->AttitudePitchKp_2) {
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ui->AttitudeRollKp->setValue(ui->AttitudePitchKp_2->value());
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} else if (widget == ui->AttitudePitchKi_2) {
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ui->AttitudeRollKi->setValue(ui->AttitudePitchKi_2->value());
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} else if (widget == ui->AttitudePitchILimit_2) {
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ui->AttitudeRollILimit->setValue(ui->AttitudePitchILimit_2->value());
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}
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}
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if (ui->basicResponsivenessGroupBox->isChecked()) {
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if (widget == ui->AttitudeResponsivenessSlider) {
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ui->ratePitchKp_4->setValue(ui->AttitudeResponsivenessSlider->value());
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} else if (widget == ui->RateResponsivenessSlider) {
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ui->ratePitchKi_4->setValue(ui->RateResponsivenessSlider->value());
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}
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}
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}
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void ConfigStabilizationWidget::onBoardConnected()
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
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Q_ASSERT(utilMngr);
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boardModel = utilMngr->getBoardModel();
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// If Revolution board enable misc tab, otherwise disable it
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ui->AltitudeHold->setEnabled((boardModel & 0xff00) == 0x0900);
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}
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bool ConfigStabilizationWidget::shouldObjectBeSaved(UAVObject *object)
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{
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// AltitudeHoldSettings should only be saved for Revolution board to avoid error.
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if ((boardModel & 0xff00) != 0x0900) {
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return dynamic_cast<AltitudeHoldSettings *>(object) == 0;
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} else {
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return true;
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}
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}
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