void EscCalibrationPage::startButtonClicked()
{
if (!m_isCalibrating) {
m_isCalibrating = true;
ui->startButton->setEnabled(false);
enableButtons(false);
ui->outputHigh->setEnabled(true);
ui->outputLow->setEnabled(false);
ui->nonconnectedLabel->setEnabled(false);
ui->connectedLabel->setEnabled(true);
ui->outputLevel->setText(QString(tr("%1 µs")).arg(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavoManager);
MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
Q_ASSERT(mSettings);
QString mixerTypePattern = "Mixer%1Type";
OutputCalibrationUtil::startOutputCalibration();
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_MOTOR)) {
m_outputChannels << i;
}
}
m_outputUtil.startChannelOutput(m_outputChannels, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
QThread::msleep(100);
m_outputUtil.setChannelOutputValue(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
ui->stopButton->setEnabled(true);
}
}
void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings channels[])
{
// Set all mixer data
MixerSettings *mSettings = MixerSettings::GetInstance(m_uavoManager);
Q_ASSERT(mSettings);
// Set Mixer types and values
QString mixerTypePattern = "Mixer%1Type";
QString mixerVectorPattern = "Mixer%1Vector";
for (int i = 0; i < 10; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
field->setValue(field->getOptions().at(channels[i].type));
field = mSettings->getField(mixerVectorPattern.arg(i + 1));
Q_ASSERT(field);
field->setValue((channels[i].throttle1 * 127) / 100, 0);
field->setValue((channels[i].throttle2 * 127) / 100, 1);
field->setValue((channels[i].roll * 127) / 100, 2);
field->setValue((channels[i].pitch * 127) / 100, 3);
field->setValue((channels[i].yaw * 127) / 100, 4);
}
// Apply updates
mSettings->setData(mSettings->getData());
addModifiedObject(mSettings, tr("Writing mixer settings"));
}
/*
* This overridden function refreshes widgets which have no direct relation
* to any of UAVObjects. It saves their dirty state first because update comes
* from UAVObjects, and then restores it. Aftewards it calls base class
* function to take care of other widgets which were dynamically added.
*/
void ConfigCameraStabilizationWidget::refreshWidgetsValues(UAVObject *obj)
{
bool dirty = isDirty();
// Set module enable checkbox from OptionalModules UAVObject item.
// It needs special processing because ConfigTaskWidget uses TRUE/FALSE
// for QCheckBox, but OptionalModules uses Enabled/Disabled enum values.
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
ui->enableCameraStabilization->setChecked(
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] == HwSettings::OPTIONALMODULES_ENABLED);
// Load mixer outputs which are mapped to camera controls
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
// TODO: Need to reformat object so types are an
// array themselves. This gets really awkward
quint8 *mixerTypes[] = {
&mixerSettingsData.Mixer1Type,
&mixerSettingsData.Mixer2Type,
&mixerSettingsData.Mixer3Type,
&mixerSettingsData.Mixer4Type,
&mixerSettingsData.Mixer5Type,
&mixerSettingsData.Mixer6Type,
&mixerSettingsData.Mixer7Type,
&mixerSettingsData.Mixer8Type,
&mixerSettingsData.Mixer9Type,
&mixerSettingsData.Mixer10Type,
};
const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);
QComboBox *outputs[] = {
ui->rollChannel,
ui->pitchChannel,
ui->yawChannel
};
const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
for (int i = 0; i < NUM_OUTPUTS; i++) {
// Default to none if not found.
// Then search for any mixer channels set to this
outputs[i]->setCurrentIndex(0);
for (int j = 0; j < NUM_MIXERS; j++) {
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i) &&
outputs[i]->currentIndex() != (j + 1)) {
outputs[i]->setCurrentIndex(j + 1);
}
}
}
setDirty(dirty);
ConfigTaskWidget::refreshWidgetsValues(obj);
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
UAVDataObject* MixerSettings::clone(quint32 instID)
{
MixerSettings* obj = new MixerSettings();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/*
* This overridden function updates UAVObjects which have no direct relation
* to any of widgets. Aftewards it calls base class function to take care of
* other object to widget relations which were dynamically added.
*/
void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
{
// Save state of the module enable checkbox first.
// Do not use setData() member on whole object, if possible, since it triggers
// unnessesary UAVObect update.
quint8 enableModule = ui->enableCameraStabilization->isChecked() ?
HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_CAMERASTAB, enableModule);
// Update mixer channels which were mapped to camera outputs in case they are
// not used for other function yet
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
// TODO: Need to reformat object so types are an
// array themselves. This gets really awkward
quint8 *mixerTypes[] = {
&mixerSettingsData.Mixer1Type,
&mixerSettingsData.Mixer2Type,
&mixerSettingsData.Mixer3Type,
&mixerSettingsData.Mixer4Type,
&mixerSettingsData.Mixer5Type,
&mixerSettingsData.Mixer6Type,
&mixerSettingsData.Mixer7Type,
&mixerSettingsData.Mixer8Type,
&mixerSettingsData.Mixer9Type,
&mixerSettingsData.Mixer10Type,
};
const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);
QComboBox *outputs[] = {
ui->rollChannel,
ui->pitchChannel,
ui->yawChannel
};
const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
ui->message->setText("");
bool widgetUpdated;
do {
widgetUpdated = false;
for (int i = 0; i < NUM_OUTPUTS; i++) {
// Channel 1 is second entry, so becomes zero
int mixerNum = outputs[i]->currentIndex() - 1;
if ((mixerNum >= 0) && // Short circuit in case of none
(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED) &&
(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i)) {
// If the mixer channel already mapped to something, it should not be
// used for camera output, we reset it to none
outputs[i]->setCurrentIndex(0);
ui->message->setText("One of the channels is already assigned, reverted to none");
// Loop again or we may have inconsistent widget and UAVObject
widgetUpdated = true;
} else {
// Make sure no other channels have this output set
for (int j = 0; j < NUM_MIXERS; j++) {
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i)) {
*mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;
}
}
// If this channel is assigned to one of the outputs that is not disabled
// set it
if ((mixerNum >= 0) && (mixerNum < NUM_MIXERS)) {
*mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i;
}
}
}
} while (widgetUpdated);
// FIXME: Should not use setData() to prevent double updates.
// It should be refactored after the reformatting of MixerSettings UAVObject.
mixerSettings->setData(mixerSettingsData);
ConfigTaskWidget::updateObjectsFromWidgets();
}
