/**
* @brief ConfigOutputWidget::assignOutputChannels Sets the output channel form text and min/max values
* @param actuatorSettings UAVO input
*/
void ConfigOutputWidget::assignOutputChannels(UAVObject *obj)
{
Q_UNUSED(obj);
// Get UAVO
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Get channel descriptions
QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
// Find all output forms in the tab, and set the text and min/max values
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
outputChannelForm->setAssignment(ChannelDesc[outputChannelForm->index()]);
// init min,max,neutral
quint32 minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
quint32 maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
outputChannelForm->setMinmax(minValue, maxValue);
quint32 neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
outputChannelForm->setNeutral(neutral);
// init type
quint16 type = actuatorSettingsData.ChannelType[outputChannelForm->index()];
outputChannelForm->setType(type);
}
void VehicleConfigurationHelper::applyActuatorConfiguration()
{
ActuatorSettings *actSettings = ActuatorSettings::GetInstance(m_uavoManager);
switch (m_configSource->getVehicleType()) {
case VehicleConfigurationSource::VEHICLE_MULTI:
{
ActuatorSettings::DataFields data = actSettings->getData();
QList<actuatorChannelSettings> actuatorSettings = m_configSource->getActuatorSettings();
for (quint16 i = 0; i < ActuatorSettings::CHANNELMAX_NUMELEM; i++) {
data.ChannelType[i] = ActuatorSettings::CHANNELTYPE_PWM;
data.ChannelAddr[i] = i;
data.ChannelMin[i] = actuatorSettings[i].channelMin;
data.ChannelNeutral[i] = actuatorSettings[i].channelNeutral;
data.ChannelMax[i] = actuatorSettings[i].channelMax;
}
data.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
for (quint16 i = 0; i < ActuatorSettings::CHANNELUPDATEFREQ_NUMELEM; i++) {
data.ChannelUpdateFreq[i] = LEGACY_ESC_FREQUENCE;
}
qint16 updateFrequence = LEGACY_ESC_FREQUENCE;
switch (m_configSource->getESCType()) {
case VehicleConfigurationSource::ESC_LEGACY:
updateFrequence = LEGACY_ESC_FREQUENCE;
break;
case VehicleConfigurationSource::ESC_RAPID:
updateFrequence = RAPID_ESC_FREQUENCE;
break;
default:
break;
}
// TOOD: vehicle specific sets of update frequencies
switch (m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
data.ChannelUpdateFreq[0] = updateFrequence;
data.ChannelUpdateFreq[1] = updateFrequence;
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
data.ChannelUpdateFreq[0] = updateFrequence;
data.ChannelUpdateFreq[1] = updateFrequence;
data.ChannelUpdateFreq[2] = updateFrequence;
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V:
data.ChannelUpdateFreq[0] = updateFrequence;
data.ChannelUpdateFreq[1] = updateFrequence;
data.ChannelUpdateFreq[2] = updateFrequence;
data.ChannelUpdateFreq[3] = updateFrequence;
break;
default:
break;
}
actSettings->setData(data);
addModifiedObject(actSettings, tr("Writing actuator settings"));
break;
}
case VehicleConfigurationSource::VEHICLE_FIXEDWING:
case VehicleConfigurationSource::VEHICLE_HELI:
case VehicleConfigurationSource::VEHICLE_SURFACE:
// TODO: Implement settings for other vehicle types?
break;
default:
break;
}
}