mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-09 20:46:07 +01:00
9aae70fedf
Currently this will not update hardware correctly... but it will set the matrix under the Advanced Settings tab. Do NOT use for flight! git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1952 ebee16cc-31ac-478f-84a7-5cbb03baadba
659 lines
25 KiB
C++
659 lines
25 KiB
C++
/**
|
||
******************************************************************************
|
||
*
|
||
* @file configccpmwidget.cpp
|
||
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||
* @addtogroup GCSPlugins GCS Plugins
|
||
* @{
|
||
* @addtogroup ConfigPlugin Config Plugin
|
||
* @{
|
||
* @brief ccpm configuration panel
|
||
*****************************************************************************/
|
||
/*
|
||
* This program is free software; you can redistribute it and/or modify
|
||
* it under the terms of the GNU General Public License as published by
|
||
* the Free Software Foundation; either version 3 of the License, or
|
||
* (at your option) any later version.
|
||
*
|
||
* This program is distributed in the hope that it will be useful, but
|
||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||
* for more details.
|
||
*
|
||
* You should have received a copy of the GNU General Public License along
|
||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
*/
|
||
#include "configccpmwidget.h"
|
||
|
||
#include <QDebug>
|
||
#include <QStringList>
|
||
#include <QtGui/QWidget>
|
||
#include <QtGui/QTextEdit>
|
||
#include <QtGui/QVBoxLayout>
|
||
#include <QtGui/QPushButton>
|
||
#include <math.h>
|
||
|
||
#define Pi 3.14159265358979323846
|
||
|
||
|
||
ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||
{
|
||
m_ccpm = new Ui_ccpmWidget();
|
||
m_ccpm->setupUi(this);
|
||
|
||
// Now connect the widget to the ManualControlCommand / Channel UAVObject
|
||
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||
|
||
// Initialization of the swashplaye widget
|
||
m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
|
||
|
||
QSvgRenderer *renderer = new QSvgRenderer();
|
||
renderer->load(QString(":/configgadget/images/ccpm_setup.svg"));
|
||
|
||
|
||
SwashplateImg = new QGraphicsSvgItem();
|
||
SwashplateImg->setSharedRenderer(renderer);
|
||
SwashplateImg->setElementId("Swashplate");
|
||
SwashplateImg->setObjectName("Swashplate");
|
||
m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg);
|
||
m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect());
|
||
|
||
m_ccpm->SwashplateImage->scale(.75,.75);
|
||
|
||
ServoW = new QGraphicsSvgItem();
|
||
ServoW->setSharedRenderer(renderer);
|
||
ServoW->setElementId("ServoW");
|
||
m_ccpm->SwashplateImage->scene()->addItem(ServoW);
|
||
|
||
ServoX = new QGraphicsSvgItem();
|
||
ServoX->setSharedRenderer(renderer);
|
||
ServoX->setElementId("ServoX");
|
||
m_ccpm->SwashplateImage->scene()->addItem(ServoX);
|
||
|
||
ServoY = new QGraphicsSvgItem();
|
||
ServoY->setSharedRenderer(renderer);
|
||
ServoY->setElementId("ServoY");
|
||
m_ccpm->SwashplateImage->scene()->addItem(ServoY);
|
||
|
||
ServoZ = new QGraphicsSvgItem();
|
||
ServoZ->setSharedRenderer(renderer);
|
||
ServoZ->setElementId("ServoZ");
|
||
m_ccpm->SwashplateImage->scene()->addItem(ServoZ);
|
||
|
||
QFont serifFont("Times", 16, QFont::Bold);
|
||
|
||
ServoWText = new QGraphicsTextItem();
|
||
ServoWText->setDefaultTextColor(Qt::red);
|
||
ServoWText->setPlainText(QString("-"));
|
||
ServoWText->setFont(serifFont);
|
||
m_ccpm->SwashplateImage->scene()->addItem(ServoWText);
|
||
|
||
ServoXText = new QGraphicsTextItem();
|
||
ServoXText->setDefaultTextColor(Qt::red);
|
||
ServoXText->setPlainText(QString("-"));
|
||
ServoXText->setFont(serifFont);
|
||
m_ccpm->SwashplateImage->scene()->addItem(ServoXText);
|
||
|
||
ServoYText = new QGraphicsTextItem();
|
||
ServoYText->setDefaultTextColor(Qt::red);
|
||
ServoYText->setPlainText(QString("-"));
|
||
ServoYText->setFont(serifFont);
|
||
m_ccpm->SwashplateImage->scene()->addItem(ServoYText);
|
||
|
||
ServoZText = new QGraphicsTextItem();
|
||
ServoZText->setDefaultTextColor(Qt::red);
|
||
ServoZText->setPlainText(QString("-"));
|
||
ServoZText->setFont(serifFont);
|
||
m_ccpm->SwashplateImage->scene()->addItem(ServoZText);
|
||
|
||
|
||
|
||
|
||
|
||
QStringList channels;
|
||
channels << "Channel0" << "Channel1" << "Channel2" <<
|
||
"Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "None" ;
|
||
m_ccpm->ccpmEngineChannel->addItems(channels);
|
||
m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
|
||
m_ccpm->ccpmTailChannel->addItems(channels);
|
||
m_ccpm->ccpmTailChannel->setCurrentIndex(8);
|
||
m_ccpm->ccpmServoWChannel->addItems(channels);
|
||
m_ccpm->ccpmServoWChannel->setCurrentIndex(8);
|
||
m_ccpm->ccpmServoXChannel->addItems(channels);
|
||
m_ccpm->ccpmServoXChannel->setCurrentIndex(8);
|
||
m_ccpm->ccpmServoYChannel->addItems(channels);
|
||
m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
|
||
m_ccpm->ccpmServoZChannel->addItems(channels);
|
||
m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
|
||
|
||
QStringList Types;
|
||
Types << "CCPM 2 Servo 90<39>" << "CCPM 3 Servo 120<32>" << "CCPM 3 Servo 140<34>" << "Custom - User Angles" << "Custom - Advanced Settings" ;
|
||
m_ccpm->ccpmType->addItems(Types);
|
||
m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
|
||
requestccpmUpdate();
|
||
UpdateCurveSettings();
|
||
|
||
//disable changing number of points in curves until UAVObjects have more than 5
|
||
m_ccpm->NumCurvePoints->setEnabled(0);
|
||
|
||
UpdateType();
|
||
|
||
connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
|
||
connect(m_ccpm->saveccpmToRAM, SIGNAL(clicked()), this, SLOT(sendccpmUpdate()));
|
||
connect(m_ccpm->getccpmCurrent, SIGNAL(clicked()), this, SLOT(requestccpmUpdate()));
|
||
connect(m_ccpm->ccpmGenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
|
||
connect(m_ccpm->NumCurvePoints, SIGNAL(valueChanged(int)), this, SLOT(UpdateCurveSettings()));
|
||
connect(m_ccpm->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
|
||
connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmAngleZ, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmCorrectionAngle, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmServoWChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmServoXChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmServoYChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmServoZChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(ccpmSwashplateUpdate()));
|
||
connect(m_ccpm->ccpmEngineChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
|
||
connect(m_ccpm->ccpmTailChannel, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateMixer()));
|
||
connect(m_ccpm->ccpmRevoSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||
connect(m_ccpm->ccpmREVOspinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||
connect(m_ccpm->ccpmCollectiveSlider, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||
connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||
connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
|
||
connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
|
||
|
||
|
||
|
||
|
||
|
||
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
|
||
|
||
}
|
||
|
||
ConfigccpmWidget::~ConfigccpmWidget()
|
||
{
|
||
// Do nothing
|
||
}
|
||
|
||
void ConfigccpmWidget::UpdateType()
|
||
{
|
||
int TypeInt,SingleServoIndex;
|
||
QString TypeText;
|
||
|
||
|
||
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
|
||
TypeText = m_ccpm->ccpmType->currentText();
|
||
SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
|
||
|
||
//set visibility of user settings
|
||
m_ccpm->ccpmAdvancedSettingsTable->setEnabled(TypeInt==0);
|
||
m_ccpm->ccpmAdvancedSettingsTable->clearFocus();;
|
||
|
||
m_ccpm->ccpmAngleW->setEnabled(TypeInt==1);
|
||
m_ccpm->ccpmAngleX->setEnabled(TypeInt==1);
|
||
m_ccpm->ccpmAngleY->setEnabled(TypeInt==1);
|
||
m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1);
|
||
m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1);
|
||
|
||
m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmServoYChannel->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmServoZChannel->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmSingleServo->setEnabled(TypeInt>1);
|
||
|
||
m_ccpm->ccpmEngineChannel->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmTailChannel->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmCollectiveSlider->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmCollectivespinBox->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmRevoSlider->setEnabled(TypeInt>0);
|
||
m_ccpm->ccpmREVOspinBox->setEnabled(TypeInt>0);
|
||
|
||
|
||
//set values for pre defined heli types
|
||
if (TypeText.compare(QString("CCPM 2 Servo 90<39>"), Qt::CaseInsensitive)==0)
|
||
{
|
||
m_ccpm->ccpmAngleW->setValue(0);
|
||
m_ccpm->ccpmAngleX->setValue(90);
|
||
m_ccpm->ccpmAngleY->setValue(0);
|
||
m_ccpm->ccpmAngleZ->setValue(0);
|
||
m_ccpm->ccpmAngleY->setEnabled(0);
|
||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||
m_ccpm->ccpmServoYChannel->setEnabled(0);
|
||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||
m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
|
||
}
|
||
if (TypeText.compare(QString("CCPM 3 Servo 120<32>"), Qt::CaseInsensitive)==0)
|
||
{
|
||
m_ccpm->ccpmAngleW->setValue(0);
|
||
m_ccpm->ccpmAngleX->setValue(120);
|
||
m_ccpm->ccpmAngleY->setValue(240);
|
||
m_ccpm->ccpmAngleZ->setValue(0);
|
||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||
m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
|
||
}
|
||
if (TypeText.compare(QString("CCPM 3 Servo 140<34>"), Qt::CaseInsensitive)==0)
|
||
{
|
||
m_ccpm->ccpmAngleW->setValue(0);
|
||
m_ccpm->ccpmAngleX->setValue(140);
|
||
m_ccpm->ccpmAngleY->setValue(220);
|
||
m_ccpm->ccpmAngleZ->setValue(0);
|
||
m_ccpm->ccpmAngleZ->setEnabled(0);
|
||
m_ccpm->ccpmServoZChannel->setEnabled(0);
|
||
m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
|
||
}
|
||
|
||
|
||
//update UI
|
||
ccpmSwashplateUpdate();
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
void ConfigccpmWidget::UpdateCurveSettings()
|
||
{
|
||
int NumCurvePoints,i;
|
||
double scale;
|
||
QString CurveType;
|
||
QStringList vertHeaders;
|
||
|
||
//get the user settings
|
||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||
CurveType=m_ccpm->CurveType->currentText();
|
||
|
||
vertHeaders << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" ;
|
||
for (i=0;i<NumCurvePoints;i++)
|
||
{
|
||
scale =((double)i/(double)(NumCurvePoints-1));
|
||
vertHeaders[i] = tr( "%1%" ).arg(100.00*scale, 0, 'f', 1);
|
||
}
|
||
m_ccpm->CurveSettings->setVerticalHeaderLabels( vertHeaders );
|
||
|
||
if ( CurveType.compare("Flat")==0)
|
||
{
|
||
m_ccpm->CurveLabel1->setText("Value");
|
||
m_ccpm->CurveLabel1->setVisible(true);
|
||
m_ccpm->CurveValue1->setVisible(true);
|
||
m_ccpm->CurveLabel2->setVisible(false);
|
||
m_ccpm->CurveValue2->setVisible(false);
|
||
m_ccpm->CurveLabel3->setVisible(false);
|
||
m_ccpm->CurveValue3->setVisible(false);
|
||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||
m_ccpm->CurveToGenerate->setVisible(true);
|
||
}
|
||
if ( CurveType.compare("Linear")==0)
|
||
{
|
||
m_ccpm->CurveLabel1->setText("Min");
|
||
m_ccpm->CurveLabel1->setVisible(true);
|
||
m_ccpm->CurveValue1->setVisible(true);
|
||
m_ccpm->CurveLabel2->setText("Max");
|
||
m_ccpm->CurveLabel2->setVisible(true);
|
||
m_ccpm->CurveValue2->setVisible(true);
|
||
m_ccpm->CurveLabel3->setVisible(false);
|
||
m_ccpm->CurveValue3->setVisible(false);
|
||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||
m_ccpm->CurveToGenerate->setVisible(true);
|
||
}
|
||
if ( CurveType.compare("Step")==0)
|
||
{
|
||
m_ccpm->CurveLabel1->setText("Min");
|
||
m_ccpm->CurveLabel1->setVisible(true);
|
||
m_ccpm->CurveValue1->setVisible(true);
|
||
m_ccpm->CurveLabel2->setText("Max");
|
||
m_ccpm->CurveLabel2->setVisible(true);
|
||
m_ccpm->CurveValue2->setVisible(true);
|
||
m_ccpm->CurveLabel3->setText("Step at");
|
||
m_ccpm->CurveLabel3->setVisible(true);
|
||
m_ccpm->CurveValue3->setVisible(true);
|
||
m_ccpm->ccpmGenerateCurve->setVisible(true);
|
||
m_ccpm->CurveToGenerate->setVisible(true);
|
||
}
|
||
if ( CurveType.compare("Custom")==0)
|
||
{
|
||
m_ccpm->CurveLabel1->setVisible(false);
|
||
m_ccpm->CurveValue1->setVisible(false);
|
||
m_ccpm->CurveLabel2->setVisible(false);
|
||
m_ccpm->CurveValue2->setVisible(false);
|
||
m_ccpm->CurveLabel3->setVisible(false);
|
||
m_ccpm->CurveValue3->setVisible(false);
|
||
m_ccpm->ccpmGenerateCurve->setVisible(false);
|
||
m_ccpm->CurveToGenerate->setVisible(false);
|
||
}
|
||
|
||
}
|
||
void ConfigccpmWidget::GenerateCurve()
|
||
{
|
||
int NumCurvePoints,CurveToGenerate,i;
|
||
double value1, value2, value3, scale;
|
||
QString CurveType;
|
||
QTableWidgetItem *item;
|
||
|
||
|
||
//get the user settings
|
||
NumCurvePoints=m_ccpm->NumCurvePoints->value();
|
||
value1=m_ccpm->CurveValue1->value();
|
||
value2=m_ccpm->CurveValue2->value();
|
||
value3=m_ccpm->CurveValue3->value();
|
||
CurveToGenerate=m_ccpm->CurveToGenerate->currentIndex();
|
||
CurveType=m_ccpm->CurveType->currentText();
|
||
|
||
|
||
|
||
for (i=0;i<NumCurvePoints;i++)
|
||
{
|
||
scale =((double)i/(double)(NumCurvePoints-1));
|
||
item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
|
||
|
||
if ( CurveType.compare("Flat")==0)
|
||
{
|
||
item->setText( tr( "%1" ).arg( value1 ) );
|
||
}
|
||
if ( CurveType.compare("Linear")==0)
|
||
{
|
||
item->setText( tr( "%1" ).arg(value1 +(scale*(value2-value1))) );
|
||
}
|
||
if ( CurveType.compare("Step")==0)
|
||
{
|
||
if (scale*100<value3)
|
||
{
|
||
item->setText( tr( "%1" ).arg(value1) );
|
||
}
|
||
else
|
||
{
|
||
item->setText( tr( "%1" ).arg(value2) );
|
||
}
|
||
}
|
||
}
|
||
for (i=NumCurvePoints;i<10;i++)
|
||
{
|
||
item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
|
||
item->setText( tr( "" ) );
|
||
}
|
||
|
||
|
||
}
|
||
|
||
void ConfigccpmWidget::ccpmSwashplateUpdate()
|
||
{
|
||
double angle,CorrectionAngle,x,y,CenterX,CenterY;
|
||
int used;
|
||
|
||
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
|
||
|
||
//CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x();
|
||
// CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y();
|
||
CenterX=200;
|
||
CenterY=220;
|
||
|
||
SwashplateImg->setPos(CenterX-200,CenterY-200);
|
||
|
||
used=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
|
||
ServoW->setVisible(used!=0);
|
||
ServoWText->setVisible(used!=0);
|
||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleW->value())*Pi/180.00;
|
||
x=CenterX-(200.00*sin(angle))-10.00;
|
||
y=CenterY+(200.00*cos(angle))-10.00;
|
||
ServoW->setPos(x, y);
|
||
x=CenterX-(170.00*sin(angle))-10.00;
|
||
y=CenterY+(170.00*cos(angle))-10.00;
|
||
ServoWText->setPos(x, y);
|
||
|
||
used=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
|
||
ServoX->setVisible(used!=0);
|
||
ServoXText->setVisible(used!=0);
|
||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleX->value())*Pi/180.00;
|
||
x=CenterX-(200.00*sin(angle))-10.00;
|
||
y=CenterY+(200.00*cos(angle))-10.00;
|
||
ServoX->setPos(x, y);
|
||
x=CenterX-(170.00*sin(angle))-10.00;
|
||
y=CenterY+(170.00*cos(angle))-10.00;
|
||
ServoXText->setPos(x, y);
|
||
|
||
used=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
|
||
ServoY->setVisible(used!=0);
|
||
ServoYText->setVisible(used!=0);
|
||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleY->value())*Pi/180.00;
|
||
x=CenterX-(200.00*sin(angle))-10.00;
|
||
y=CenterY+(200.00*cos(angle))-10.00;
|
||
ServoY->setPos(x, y);
|
||
x=CenterX-(170.00*sin(angle))-10.00;
|
||
y=CenterY+(170.00*cos(angle))-10.00;
|
||
ServoYText->setPos(x, y);
|
||
|
||
used=((m_ccpm->ccpmServoZChannel->currentIndex()<8)&&(m_ccpm->ccpmServoZChannel->isEnabled()));
|
||
ServoZ->setVisible(used!=0);
|
||
ServoZText->setVisible(used!=0);
|
||
angle=(CorrectionAngle+180+m_ccpm->ccpmAngleZ->value())*Pi/180.00;
|
||
x=CenterX-(200.00*sin(angle))-10.00;
|
||
y=CenterY+(200.00*cos(angle))-10.00;
|
||
ServoZ->setPos(x, y);
|
||
x=CenterX-(170.00*sin(angle))-10.00;
|
||
y=CenterY+(170.00*cos(angle))-10.00;
|
||
ServoZText->setPos(x, y);
|
||
|
||
//m_ccpm->SwashplateImage->centerOn (CenterX, CenterY);
|
||
|
||
|
||
UpdateMixer();
|
||
|
||
}
|
||
|
||
void ConfigccpmWidget::UpdateMixer()
|
||
{
|
||
int i,j,Type,ThisEnable[6];
|
||
float CollectiveConstant,CorrectionAngle,ThisAngle[6];
|
||
//QTableWidgetItem *newItem;// = new QTableWidgetItem();
|
||
QString Channel;
|
||
|
||
Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
|
||
CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
|
||
CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
|
||
|
||
|
||
if (Type>0)
|
||
{//not advanced settings
|
||
//get the channel data from the ui
|
||
MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
|
||
MixerChannelData[1] = m_ccpm->ccpmTailChannel->currentIndex();
|
||
MixerChannelData[2] = m_ccpm->ccpmServoWChannel->currentIndex();
|
||
MixerChannelData[3] = m_ccpm->ccpmServoXChannel->currentIndex();
|
||
MixerChannelData[4] = m_ccpm->ccpmServoYChannel->currentIndex();
|
||
MixerChannelData[5] = m_ccpm->ccpmServoZChannel->currentIndex();
|
||
|
||
//get the angle data from the ui
|
||
ThisAngle[2] = m_ccpm->ccpmAngleW->value();
|
||
ThisAngle[3] = m_ccpm->ccpmAngleX->value();
|
||
ThisAngle[4] = m_ccpm->ccpmAngleY->value();
|
||
ThisAngle[5] = m_ccpm->ccpmAngleZ->value();
|
||
|
||
//get the angle data from the ui
|
||
ThisEnable[2] = m_ccpm->ccpmServoWChannel->isEnabled();
|
||
ThisEnable[3] = m_ccpm->ccpmServoXChannel->isEnabled();
|
||
ThisEnable[4] = m_ccpm->ccpmServoYChannel->isEnabled();
|
||
ThisEnable[5] = m_ccpm->ccpmServoZChannel->isEnabled();
|
||
|
||
ServoWText->setPlainText(QString("%1").arg( MixerChannelData[2] ));
|
||
ServoXText->setPlainText(QString("%1").arg( MixerChannelData[3] ));
|
||
ServoYText->setPlainText(QString("%1").arg( MixerChannelData[4] ));
|
||
ServoZText->setPlainText(QString("%1").arg( MixerChannelData[5] ));
|
||
|
||
|
||
//go through the user data and update the mixer matrix
|
||
for (i=0;i<6;i++)
|
||
{
|
||
/*
|
||
data.Mixer0Type = 0;//Disabled,Motor,Servo
|
||
data.Mixer0Vector[0] = 0;//ThrottleCurve1
|
||
data.Mixer0Vector[1] = 0;//ThrottleCurve2
|
||
data.Mixer0Vector[2] = 0;//Roll
|
||
data.Mixer0Vector[3] = 0;//Pitch
|
||
data.Mixer0Vector[4] = 0;//Yaw
|
||
|
||
*/
|
||
if ((MixerChannelData[i]<8)&&(ThisEnable[i]))
|
||
{
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i] ));
|
||
//config the vector
|
||
if (i==0)
|
||
{//motor-engine
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(127));//ThrottleCurve1
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
|
||
}
|
||
if (i==1)
|
||
{//tailrotor
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg(0));//ThrottleCurve2
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg(0));//Roll
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg(0));//Pitch
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(127));//Yaw
|
||
}
|
||
if (i>1)
|
||
{//Swashplate
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
|
||
m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
|
||
|
||
}
|
||
}
|
||
else
|
||
{
|
||
for (j=0;j<6;j++) m_ccpm->ccpmAdvancedSettingsTable->item(i,j)->setText(QString("-"));
|
||
}
|
||
|
||
}
|
||
}
|
||
else
|
||
{//advanced settings
|
||
for (i=0;i<6;i++)
|
||
{
|
||
Channel =m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->text();
|
||
if (Channel == "-") Channel = QString("8");
|
||
MixerChannelData[i]= Channel.toInt();
|
||
}
|
||
}
|
||
|
||
|
||
|
||
}
|
||
|
||
/**************************
|
||
* ccpm settings
|
||
**************************/
|
||
/**
|
||
Request the current value of the SystemSettings which holds the ccpm type
|
||
*/
|
||
void ConfigccpmWidget::requestccpmUpdate()
|
||
{
|
||
//ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||
//UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||
|
||
|
||
//UAVObjectField *field;
|
||
//QTableWidgetItem *newItem;// = new QTableWidgetItem();
|
||
|
||
|
||
//not doing anything yet
|
||
|
||
|
||
ccpmSwashplateUpdate();
|
||
|
||
}
|
||
|
||
|
||
/**
|
||
Sends the config to the board (ccpm type)
|
||
*/
|
||
void ConfigccpmWidget::sendccpmUpdate()
|
||
{
|
||
int i,j;
|
||
UAVObjectField *field;
|
||
UAVDataObject* obj;
|
||
|
||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||
|
||
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
|
||
Q_ASSERT(obj);
|
||
|
||
UpdateMixer();
|
||
|
||
//go through the user data and update the mixer matrix
|
||
for (i=0;i<6;i++)
|
||
{
|
||
/*
|
||
data.Mixer0Type = 0;//Disabled,Motor,Servo
|
||
data.Mixer0Vector[0] = 0;//ThrottleCurve1
|
||
data.Mixer0Vector[1] = 0;//ThrottleCurve2
|
||
data.Mixer0Vector[2] = 0;//Roll
|
||
data.Mixer0Vector[3] = 0;//Pitch
|
||
data.Mixer0Vector[4] = 0;//Yaw
|
||
|
||
*/
|
||
if (MixerChannelData[i]<8)
|
||
{
|
||
//select the correct mixer for this config element
|
||
field = obj->getField(tr( "Mixer%1Type" ).arg( MixerChannelData[i] ));
|
||
//set the mixer type
|
||
if (i==0)
|
||
{
|
||
field->setValue("Motor");
|
||
}
|
||
else
|
||
{
|
||
field->setValue("Servo");
|
||
}
|
||
|
||
//select the correct mixer for this config element
|
||
field = obj->getField(tr( "Mixer%1Vector" ).arg( MixerChannelData[i] ));
|
||
//config the vector
|
||
for (j=0;j<5;j++)
|
||
{
|
||
//field->setValue(j,m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt());
|
||
}
|
||
|
||
}
|
||
|
||
}
|
||
|
||
|
||
//get the user data for the curve into the mixer settings
|
||
field = obj->getField(QString("ThrottleCurve1"));
|
||
for (i=0;i<5;i++)
|
||
{
|
||
field->setValue(m_ccpm->CurveSettings->item(i, 0)->text().toDouble(),i);
|
||
}
|
||
field = obj->getField(QString("ThrottleCurve2"));
|
||
for (i=0;i<5;i++)
|
||
{
|
||
field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i);
|
||
}
|
||
|
||
obj->updated();
|
||
|
||
|
||
}
|
||
|
||
/**
|
||
Send ccpm type to the board and request saving to SD card
|
||
*/
|
||
void ConfigccpmWidget::saveccpmUpdate()
|
||
{
|
||
// Send update so that the latest value is saved
|
||
sendccpmUpdate();
|
||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
|
||
Q_ASSERT(obj);
|
||
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
|
||
}
|
||
|