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"));
}
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);
}
}
