/**
Virtual function to update the UI widget objects
*/
QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
{
QString airframeType = "GroundVehicleCar";
// Save the curve (common to all ground vehicle frames)
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
// set the throttle curves
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve());
// All airframe types must start with "GroundVehicle"
if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)") {
airframeType = "GroundVehicleCar";
setupGroundVehicleCar(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") {
airframeType = "GroundVehicleDifferential";
setupGroundVehicleDifferential(airframeType);
} else {
airframeType = "GroundVehicleMotorcycle";
setupGroundVehicleMotorcycle(airframeType);
}
return airframeType;
}
/**
* @brief ConfigFixedWingWidget::updateConfigObjectsFromWidgets update the UI widget objects
* @return airframe type
*/
SystemSettings::AirframeTypeOptions ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
{
SystemSettings::AirframeTypeOptions airframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR;
// Save the curve (common to all ground vehicle frames)
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
// Remove Feed Forward, it is pointless on a ground vehicle:
setMixerValue(mixerSettings, "FeedForward", 0.0);
// set the throttle curves
setThrottleCurve(mixerSettings, MixerSettings::MIXER1VECTOR_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve() );
setThrottleCurve(mixerSettings, MixerSettings::MIXER1VECTOR_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve() );
//All airframe types must start with "GroundVehicle"
if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)" ) {
airframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR;
setupGroundVehicleCar(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") {
airframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL;
setupGroundVehicleDifferential(airframeType);
} else { // "Motorcycle"
airframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE;
setupGroundVehicleMotorcycle(airframeType);
}
return airframeType;
}
/**
Helper function to
*/
QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
{
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
// Update the table:
for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel);
if (q->currentText() == "Disabled") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
} else if (q->currentText() == "Motor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
} else if (q->currentText() == "ReversableMotor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
} else if (q->currentText() == "Servo") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
} else if (q->currentText() == "CameraRoll") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL);
} else if (q->currentText() == "CameraPitch") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAPITCH);
} else if (q->currentText() == "CameraYaw") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
} else if (q->currentText() == "Accessory0") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
} else if (q->currentText() == "Accessory1") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
} else if (q->currentText() == "Accessory2") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
} else if (q->currentText() == "Accessory3") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
} else if (q->currentText() == "Accessory4") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
} else if (q->currentText() == "Accessory5") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
}
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
}
return "Custom";
}
/**
Virtual function to update the UI widget objects
*/
QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
{
QString airframeType = "FixedWing";
// Save the curve (common to all Fixed wing frames)
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
// Set the throttle curve
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
// All airframe types must start with "FixedWing"
if (m_aircraft->fixedWingType->currentText() == "Aileron") {
airframeType = "FixedWing";
setupFrameFixedWing(airframeType);
} else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
airframeType = "FixedWingElevon";
setupFrameElevon(airframeType);
} else { // "Vtail"
airframeType = "FixedWingVtail";
setupFrameVtail(airframeType);
}
return airframeType;
}
/**
Helper function to
*/
QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
{
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
// Do not allow changes until AirframeType == Custom
// If user want to save custom mixer : first set AirframeType to 'Custom' without changes and next modify.
if (field->getValue().toString() == "Custom") {
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
GUIConfigDataUnion configData = getConfigData();
resetActuators(&configData);
// Update the table:
for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel);
if (q->currentText() == "Disabled") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
} else if (q->currentText() == "Motor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
if (configData.custom.Motor1 == 0) {
configData.custom.Motor1 = channel + 1;
} else if (configData.custom.Motor2 == 0) {
configData.custom.Motor2 = channel + 1;
} else if (configData.custom.Motor3 == 0) {
configData.custom.Motor3 = channel + 1;
} else if (configData.custom.Motor4 == 0) {
configData.custom.Motor4 = channel + 1;
} else if (configData.custom.Motor5 == 0) {
configData.custom.Motor5 = channel + 1;
} else if (configData.custom.Motor6 == 0) {
configData.custom.Motor6 = channel + 1;
} else if (configData.custom.Motor7 == 0) {
configData.custom.Motor7 = channel + 1;
} else if (configData.custom.Motor8 == 0) {
configData.custom.Motor8 = channel + 1;
}
} else if (q->currentText() == "ReversableMotor") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
if (configData.custom.RevMotor1 == 0) {
configData.custom.RevMotor1 = channel + 1;
} else if (configData.custom.RevMotor2 == 0) {
configData.custom.RevMotor2 = channel + 1;
} else if (configData.custom.RevMotor3 == 0) {
configData.custom.RevMotor3 = channel + 1;
} else if (configData.custom.RevMotor4 == 0) {
configData.custom.RevMotor4 = channel + 1;
} else if (configData.custom.RevMotor5 == 0) {
configData.custom.RevMotor5 = channel + 1;
} else if (configData.custom.RevMotor6 == 0) {
configData.custom.RevMotor6 = channel;
} else if (configData.custom.RevMotor7 == 0) {
configData.custom.RevMotor7 = channel;
} else if (configData.custom.RevMotor8 == 0) {
configData.custom.RevMotor8 = channel;
}
} else if (q->currentText() == "Servo") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
if (configData.custom.Servo1 == 0) {
configData.custom.Servo1 = channel + 1;
} else if (configData.custom.Servo2 == 0) {
configData.custom.Servo2 = channel + 1;
} else if (configData.custom.Servo3 == 0) {
configData.custom.Servo3 = channel + 1;
} else if (configData.custom.Servo4 == 0) {
configData.custom.Servo4 = channel + 1;
} else if (configData.custom.Servo5 == 0) {
configData.custom.Servo5 = channel + 1;
} else if (configData.custom.Servo6 == 0) {
configData.custom.Servo6 = channel + 1;
} else if (configData.custom.Servo7 == 0) {
configData.custom.Servo7 = channel + 1;
} else if (configData.custom.Servo8 == 0) {
configData.custom.Servo8 = channel + 1;
}
} else if (q->currentText() == "CameraRoll") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL);
} else if (q->currentText() == "CameraPitch") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAPITCH);
} else if (q->currentText() == "CameraYaw") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
} else if (q->currentText() == "Accessory0") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
} else if (q->currentText() == "Accessory1") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
} else if (q->currentText() == "Accessory2") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
} else if (q->currentText() == "Accessory3") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
} else if (q->currentText() == "Accessory4") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
} else if (q->currentText() == "Accessory5") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
}
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
m_aircraft->customMixerTable->item(2, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL,
m_aircraft->customMixerTable->item(3, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH,
m_aircraft->customMixerTable->item(4, channel)->text().toDouble());
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
}
setConfigData(configData);
}
return "Custom";
}
/**
Helper function to update the UI widget objects
*/
SystemSettings::AirframeTypeOptions ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{
SystemSettings::AirframeTypeOptions airframeType = SystemSettings::AIRFRAMETYPE_FIXEDWING;
QList<QString> motorList;
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
// Curve is also common to all quads:
setThrottleCurve(mixerSettings, MixerSettings::MIXER1VECTOR_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_QUADP) {
airframeType = SystemSettings::AIRFRAMETYPE_QUADP;
setupQuad(true);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_QUADX) {
airframeType = SystemSettings::AIRFRAMETYPE_QUADX;
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXA) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXA;
setupHexa(true);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXAX) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXAX;
setupHexa(false);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXACOAX) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXACOAX;
//Show any config errors in GUI
if (throwConfigError(6)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorS" << "VTOLMotorSE";
setupMotors(motorList);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, -1},
{ 0.5, 1, 1},
{ 0.5, -1, -1},
{ 0.5, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTO) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTO;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{ 0, -1, -1},
{ -1, -1, 1},
{ -1, 0, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOV) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOV;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// IMPORTANT: Assumes evenly spaced engines
// pitch roll yaw
double mixer [8][3] = {
{ 0.33, -1, -1},
{ 1 , -1, 1},
{ -1 , -1, -1},
{ -0.33, -1, 1},
{ -0.33, 1, -1},
{ -1 , 1, 1},
{ 1 , 1, -1},
{ 0.33, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOCOAXP) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOCOAXP;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, 0, 1},
{ 0, -1, -1},
{ 0, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 1, -1},
{ 0, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOCOAXX) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOCOAXX;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 1, -1},
{ 1, 1, 1},
{ 1, -1, -1},
{ 1, -1, 1},
{ -1, -1, -1},
{ -1, -1, 1},
{ -1, 1, -1},
{ -1, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_TRI) {
airframeType = SystemSettings::AIRFRAMETYPE_TRI;
//Show any config errors in GUI
if (throwConfigError(3)) {
return airframeType;
}
if (m_aircraft->triYawChannelBox->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
GUIConfigDataUnion config = GetConfigData();
config.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
SetConfigData(config);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, 0},
{ 0.5, -1, 0},
{ -1, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMultiRotorMixer(mixer);
//tell the mixer about tricopter yaw channel
int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
if (channel > -1) {
setMixerType(mixerSettings, channel, MixerSettings::MIXER1TYPE_SERVO);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW, 127);
}
m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
}
return airframeType;
}
