void ConfigStabilizationWidget::updateThrottleCurveFromObject()
{
bool dirty = isDirty();
UAVObject *stabBank = getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));
Q_ASSERT(stabBank);
UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
Q_ASSERT(field);
QList<double> curve;
for (quint32 i = 0; i < field->getNumElements(); i++) {
curve.append(field->getValue(i).toDouble());
}
ui->thrustPIDScalingCurve->setCurve(&curve);
field = stabBank->getField("EnableThrustPIDScaling");
Q_ASSERT(field);
bool enabled = field->getValue() == "TRUE";
ui->enableThrustPIDScalingCheckBox->setChecked(enabled);
ui->thrustPIDScalingCurve->setEnabled(enabled);
setDirty(dirty);
}
/**
Saves the AHRS sensors calibration (to RAM and SD)
*/
void ConfigAHRSWidget::saveAHRSCalibration()
{
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
UAVObjectField *field = obj->getField(QString("measure_var"));
field->setValue("SET");
obj->updated();
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
{
UAVObject *stabBank = getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));
Q_ASSERT(stabBank);
UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
Q_ASSERT(field);
QList<double> curve = ui->thrustPIDScalingCurve->getCurve();
for (quint32 i = 0; i < field->getNumElements(); i++) {
field->setValue(curve.at(i), i);
}
field = stabBank->getField("EnableThrustPIDScaling");
Q_ASSERT(field);
field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "TRUE" : "FALSE");
}
QString UsageTrackerPlugin::getUAVFieldValue(UAVObjectManager *objManager, QString objectName, QString fieldName, int index) const
{
UAVObject *object = objManager->getObject(objectName);
if (object != NULL) {
UAVObjectField *field = object->getField(fieldName);
if (field != NULL) {
return field->getValue(index).toString();
}
}
return tr("Unknown");
}
/**
Launches the AHRS sensors calibration
*/
void ConfigAHRSWidget::launchAHRSCalibration()
{
m_ahrs->calibInstructions->setText("Estimating sensor variance...");
m_ahrs->ahrsCalibStart->setEnabled(false);
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
UAVObjectField *field = obj->getField(QString("measure_var"));
field->setValue("MEASURE");
obj->updated();
QTimer::singleShot(calibrationDelay*1000, this, SLOT(calibPhase2()));
m_ahrs->calibProgress->setRange(0,calibrationDelay);
phaseCounter = 0;
progressBarIndex = 0;
connect(&progressBarTimer, SIGNAL(timeout()), this, SLOT(incrementProgress()));
progressBarTimer.start(1000);
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::importUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVObjects XML files (*.uav);; XML files (*.xml)");
fileName = QFileDialog::getOpenFileName(0, tr("Import UAV Settings"), "", filters);
if (fileName.isEmpty()) {
return;
}
// Now open the file
QFile file(fileName);
QDomDocument doc("UAVObjects");
file.open(QFile::ReadOnly | QFile::Text);
if (!doc.setContent(file.readAll())) {
QMessageBox msgBox;
msgBox.setText(tr("File Parsing Failed."));
msgBox.setInformativeText(tr("This file is not a correct XML file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
file.close();
// find the root of settings subtree
emit importAboutToBegin();
qDebug() << "Import about to begin";
QDomElement root = doc.documentElement();
if (root.tagName() == "uavobjects") {
root = root.firstChildElement("settings");
}
if (root.isNull() || (root.tagName() != "settings")) {
QMessageBox msgBox;
msgBox.setText(tr("Wrong file contents"));
msgBox.setInformativeText(tr("This file does not contain correct UAVSettings"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
// We are now ok: setup the import summary dialog & update it as we
// go along.
ImportSummaryDialog swui((QWidget *)Core::ICore::instance()->mainWindow());
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
swui.show();
QDomNode node = root.firstChild();
while (!node.isNull()) {
QDomElement e = node.toElement();
if (e.tagName() == "object") {
// - Read each object
QString uavObjectName = e.attribute("name");
uint uavObjectID = e.attribute("id").toUInt(NULL, 16);
// Sanity Check:
UAVObject *obj = objManager->getObject(uavObjectName);
if (obj == NULL) {
// This object is unknown!
qDebug() << "Object unknown:" << uavObjectName << uavObjectID;
swui.addLine(uavObjectName, "Error (Object unknown)", false);
} else {
// - Update each field
// - Issue and "updated" command
bool error = false;
bool setError = false;
QDomNode field = node.firstChild();
while (!field.isNull()) {
QDomElement f = field.toElement();
if (f.tagName() == "field") {
UAVObjectField *uavfield = obj->getField(f.attribute("name"));
if (uavfield) {
QStringList list = f.attribute("values").split(",");
if (list.length() == 1) {
if (false == uavfield->checkValue(f.attribute("values"))) {
qDebug() << "checkValue returned false on: " << uavObjectName << f.attribute("values");
setError = true;
} else {
uavfield->setValue(f.attribute("values"));
}
} else {
// This is an enum:
int i = 0;
QStringList list = f.attribute("values").split(",");
foreach(QString element, list) {
if (false == uavfield->checkValue(element, i)) {
qDebug() << "checkValue(list) returned false on: " << uavObjectName << list;
setError = true;
} else {
uavfield->setValue(element, i);
}
i++;
}
}
} else {
error = true;
}
}
field = field.nextSibling();
}
obj->updated();
if (error) {
swui.addLine(uavObjectName, "Warning (Object field unknown)", true);
} else if (uavObjectID != obj->getObjID()) {
qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
} else if (setError) {
swui.addLine(uavObjectName, "Warning (Objects field value(s) invalid)", false);
} else {
swui.addLine(uavObjectName, "OK", true);
}
}
ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_ahrs = new Ui_AHRSWidget();
m_ahrs->setupUi(this);
// Initialization of the Paper plane widget
m_ahrs->sixPointsHelp->setScene(new QGraphicsScene(this));
paperplane = new QGraphicsSvgItem();
paperplane->setSharedRenderer(new QSvgRenderer());
paperplane->renderer()->load(QString(":/configgadget/images/paper-plane.svg"));
paperplane->setElementId("plane-horizontal");
m_ahrs->sixPointsHelp->scene()->addItem(paperplane);
m_ahrs->sixPointsHelp->setSceneRect(paperplane->boundingRect());
// Initialization of the AHRS bargraph graph
m_ahrs->ahrsBargraph->setScene(new QGraphicsScene(this));
QSvgRenderer *renderer = new QSvgRenderer();
ahrsbargraph = new QGraphicsSvgItem();
renderer->load(QString(":/configgadget/images/ahrs-calib.svg"));
ahrsbargraph->setSharedRenderer(renderer);
ahrsbargraph->setElementId("background");
ahrsbargraph->setObjectName("background");
m_ahrs->ahrsBargraph->scene()->addItem(ahrsbargraph);
m_ahrs->ahrsBargraph->setSceneRect(ahrsbargraph->boundingRect());
// Initialize the 9 bargraph values:
QMatrix lineMatrix = renderer->matrixForElement("accel_x");
QRectF rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_x"));
qreal startX = rect.x();
qreal startY = rect.y()+ rect.height();
// maxBarHeight will be used for scaling it later.
maxBarHeight = rect.height();
// Then once we have the initial location, we can put it
// into a QGraphicsSvgItem which we will display at the same
// place: we do this so that the heading scale can be clipped to
// the compass dial region.
accel_x = new QGraphicsSvgItem();
accel_x->setSharedRenderer(renderer);
accel_x->setElementId("accel_x");
m_ahrs->ahrsBargraph->scene()->addItem(accel_x);
accel_x->setPos(startX, startY);
accel_x->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("accel_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
accel_y = new QGraphicsSvgItem();
accel_y->setSharedRenderer(renderer);
accel_y->setElementId("accel_y");
m_ahrs->ahrsBargraph->scene()->addItem(accel_y);
accel_y->setPos(startX,startY);
accel_y->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("accel_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
accel_z = new QGraphicsSvgItem();
accel_z->setSharedRenderer(renderer);
accel_z->setElementId("accel_z");
m_ahrs->ahrsBargraph->scene()->addItem(accel_z);
accel_z->setPos(startX,startY);
accel_z->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("gyro_x");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_x"));
startX = rect.x();
startY = rect.y()+ rect.height();
gyro_x = new QGraphicsSvgItem();
gyro_x->setSharedRenderer(renderer);
gyro_x->setElementId("gyro_x");
m_ahrs->ahrsBargraph->scene()->addItem(gyro_x);
gyro_x->setPos(startX,startY);
gyro_x->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("gyro_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
gyro_y = new QGraphicsSvgItem();
gyro_y->setSharedRenderer(renderer);
gyro_y->setElementId("gyro_y");
m_ahrs->ahrsBargraph->scene()->addItem(gyro_y);
gyro_y->setPos(startX,startY);
gyro_y->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("gyro_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
gyro_z = new QGraphicsSvgItem();
gyro_z->setSharedRenderer(renderer);
gyro_z->setElementId("gyro_z");
m_ahrs->ahrsBargraph->scene()->addItem(gyro_z);
gyro_z->setPos(startX,startY);
gyro_z->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("mag_x");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_x"));
startX = rect.x();
startY = rect.y()+ rect.height();
mag_x = new QGraphicsSvgItem();
mag_x->setSharedRenderer(renderer);
mag_x->setElementId("mag_x");
m_ahrs->ahrsBargraph->scene()->addItem(mag_x);
mag_x->setPos(startX,startY);
mag_x->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("mag_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
mag_y = new QGraphicsSvgItem();
mag_y->setSharedRenderer(renderer);
mag_y->setElementId("mag_y");
m_ahrs->ahrsBargraph->scene()->addItem(mag_y);
mag_y->setPos(startX,startY);
mag_y->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("mag_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
mag_z = new QGraphicsSvgItem();
mag_z->setSharedRenderer(renderer);
mag_z->setElementId("mag_z");
m_ahrs->ahrsBargraph->scene()->addItem(mag_z);
mag_z->setPos(startX,startY);
mag_z->setTransform(QTransform::fromScale(1,0),true);
position = -1;
// Fill the dropdown menus:
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVObjectField *field = obj->getField(QString("Algorithm"));
m_ahrs->algorithm->addItems(field->getOptions());
// Register for Home Location state changes
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this , SLOT(enableHomeLocSave(UAVObject*)));
// Connect the signals
connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));
/*
connect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
connect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
connect(m_ahrs->homeLocation, SIGNAL(clicked()), this, SLOT(homeLocationSaveSD()));
*/
connect(m_ahrs->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveRAM()));
connect(m_ahrs->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveSD()));
connect(m_ahrs->sixPointsStart, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMode()));
connect(m_ahrs->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
}
/**
* Updates the slider positions and min/max values
*
*/
void ConfigServoWidget::updateChannels(UAVObject* controlCommand)
{
QString fieldName = QString("Connected");
UAVObjectField *field = controlCommand->getField(fieldName);
if (field->getValue().toBool())
m_config->RCInputConnected->setText("RC Receiver Connected");
else
m_config->RCInputConnected->setText("RC Receiver Not Connected");
if (m_config->doRCInputCalibration->isChecked())
{
if (firstUpdate)
{
// Increase the data rate from the board so that the sliders
// move faster
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mccDataRate = mdata.flightTelemetryUpdatePeriod;
mdata.flightTelemetryUpdatePeriod = 150;
controlCommand->setMetadata(mdata);
// Also protect the user by setting all values to zero
// and making the ActuatorCommand object readonly
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
mdata = obj->getMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY;
obj->setMetadata(mdata);
UAVObjectField *field = obj->getField("Channel");
for (int i=0; i< field->getNumElements(); i++) {
field->setValue(0,i);
}
obj->updated();
}
field = controlCommand->getField(QString("Channel"));
for (int i = 0; i < 8; i++)
updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], reversals[i], field->getValue(i).toInt());
firstUpdate = false;
}
else
{
if (!firstUpdate)
{
// Restore original data rate from the board:
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = mccDataRate;
controlCommand->setMetadata(mdata);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
mdata = obj->getMetadata();
mdata.flightAccess = UAVObject::ACCESS_READWRITE;
obj->setMetadata(mdata);
}
firstUpdate = true;
}
//Update the Flight mode channel slider
UAVObject* obj = getObjectManager()->getObject("ManualControlSettings");
// Find the channel currently assigned to flightmode
field = obj->getField("FlightMode");
int chIndex = field->getOptions().indexOf(field->getValue().toString());
if (chIndex < field->getOptions().length() - 1)
{
float valueScaled;
int chMin = inSliders[chIndex]->minimum();
int chMax = inSliders[chIndex]->maximum();
int chNeutral = inSliders[chIndex]->value();
int value = controlCommand->getField("Channel")->getValue(chIndex).toInt();
if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
{
if (chMax != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
else
valueScaled = 0;
}
else
{
if (chMin != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
else
valueScaled = 0;
}
// Bound
if (valueScaled > 1.0) valueScaled = 1.0;
else
if (valueScaled < -1.0) valueScaled = -1.0;
m_config->fmsSlider->setValue(valueScaled * 100);
}
}
