void ControllerPage::initializePage()
{
if (anyControllerConnected()) {
SetupWizard::CONTROLLER_TYPE type = getControllerType();
setControllerType(type);
} else {
setControllerType(SetupWizard::CONTROLLER_UNKNOWN);
}
emit completeChanged();
}
bool Controller::ISNewText (const char * dev, const char * name, char * texts[], char * names[], int n)
{
if(strcmp(dev,device->getDeviceName())==0)
{
if (!strcmp(name, "JOYSTICKSETTINGS") && n <= JoystickSettingTP.ntp)
{
for (int i=0; i < JoystickSettingTP.ntp; i++)
{
IText * tp = IUFindText(&JoystickSettingTP, names[i]);
if (tp)
{
ControllerType cType = getControllerType(texts[i]);
ControllerType myType = *((ControllerType *) JoystickSettingT[i].aux0);
if (cType != myType)
{
JoystickSettingTP.s = IPS_ALERT;
IDSetText(&JoystickSettingTP, NULL);
DEBUGFDEVICE(dev, INDI::Logger::DBG_ERROR, "Cannot change controller type to %s.", texts[i]);
return false;
}
}
}
IUUpdateText(&JoystickSettingTP, texts, names, n);
for (int i=0; i < n; i++)
{
if (strstr(JoystickSettingT[i].text, "JOYSTICK_"))
IDSnoopDevice("Joystick", JoystickSettingT[i].text);
}
JoystickSettingTP.s = IPS_OK;
IDSetText(&JoystickSettingTP, NULL);
return true;
}
}
return false;
}
int SetupWizard::nextId() const
{
switch (currentId()) {
case PAGE_START:
if(canAutoUpdate()) {
return PAGE_UPDATE;
} else {
return PAGE_CONTROLLER;
}
case PAGE_UPDATE:
return PAGE_CONTROLLER;
case PAGE_CONTROLLER: {
switch(getControllerType())
{
case CONTROLLER_CC:
case CONTROLLER_CC3D:
return PAGE_INPUT;
case CONTROLLER_REVO:
case CONTROLLER_PIPX:
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_VEHICLES: {
switch(getVehicleType())
{
case VEHICLE_MULTI:
return PAGE_MULTI;
case VEHICLE_FIXEDWING:
return PAGE_FIXEDWING;
case VEHICLE_HELI:
return PAGE_HELI;
case VEHICLE_SURFACE:
return PAGE_SURFACE;
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_MULTI:
return PAGE_OUTPUT;
case PAGE_INPUT:
if(isRestartNeeded()) {
saveHardwareSettings();
return PAGE_REBOOT;
}
else {
return PAGE_VEHICLES;
}
case PAGE_REBOOT:
return PAGE_VEHICLES;
case PAGE_OUTPUT:
return PAGE_SUMMARY;
case PAGE_LEVELLING:
return PAGE_CALIBRATION;
case PAGE_CALIBRATION:
return PAGE_SAVE;
case PAGE_SUMMARY:
return PAGE_LEVELLING;
case PAGE_SAVE:
return PAGE_END;
case PAGE_NOTYETIMPLEMENTED:
return PAGE_END;
default:
return -1;
}
}
QString SetupWizard::getSummaryText()
{
QString summary = "";
summary.append("<b>").append(tr("Controller type: ")).append("</b>");
switch(getControllerType())
{
case CONTROLLER_CC:
summary.append(tr("OpenPilot CopterControl"));
break;
case CONTROLLER_CC3D:
summary.append(tr("OpenPilot CopterControl 3D"));
break;
case CONTROLLER_REVO:
summary.append(tr("OpenPilot Revolution"));
break;
case CONTROLLER_PIPX:
summary.append(tr("OpenPilot PipX Radio Modem"));
break;
default:
summary.append(tr("Unknown"));
break;
}
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle type: ")).append("</b>");
switch (getVehicleType())
{
case VEHICLE_MULTI:
summary.append(tr("Multirotor"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType())
{
case SetupWizard::MULTI_ROTOR_TRI_Y:
summary.append(tr("Tricopter"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
summary.append(tr("Quadcopter X"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
summary.append(tr("Quadcopter +"));
break;
case SetupWizard::MULTI_ROTOR_HEXA:
summary.append(tr("Hexacopter"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
summary.append(tr("Hexacopter Coax (Y6)"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_H:
summary.append(tr("Hexacopter X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO:
summary.append(tr("Octocopter"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
summary.append(tr("Octocopter Coax X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
summary.append(tr("Octocopter Coax +"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_V:
summary.append(tr("Octocopter V"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
case VEHICLE_FIXEDWING:
summary.append(tr("Fixed wing"));
break;
case VEHICLE_HELI:
summary.append(tr("Helicopter"));
break;
case VEHICLE_SURFACE:
summary.append(tr("Surface vehicle"));
break;
default:
summary.append(tr("Unknown"));
}
summary.append("<br>");
summary.append("<b>").append(tr("Input type: ")).append("</b>");
switch (getInputType())
{
case INPUT_PWM:
summary.append(tr("PWM (One cable per channel)"));
break;
case INPUT_PPM:
summary.append(tr("PPM (One cable for all channels)"));
break;
case INPUT_SBUS:
summary.append(tr("Futaba S.Bus"));
break;
case INPUT_DSM2:
summary.append(tr("Spektrum satellite (DSM2)"));
break;
case INPUT_DSMX10:
summary.append(tr("Spektrum satellite (DSMX10BIT)"));
break;
case INPUT_DSMX11:
summary.append(tr("Spektrum satellite (DSMX11BIT)"));
break;
default:
summary.append(tr("Unknown"));
}
summary.append("<br>");
summary.append("<b>").append(tr("ESC type: ")).append("</b>");
switch (getESCType())
{
case ESC_LEGACY:
summary.append(tr("Legacy ESC (50 Hz)"));
break;
case ESC_RAPID:
summary.append(tr("Rapid ESC (400 Hz)"));
break;
default:
summary.append(tr("Unknown"));
}
/*
summary.append("<br>");
summary.append("<b>").append(tr("Reboot required: ")).append("</b>");
summary.append(isRestartNeeded() ? tr("<font color='red'>Yes</font>") : tr("<font color='green'>No</font>"));
*/
return summary;
}
int SetupWizard::nextId() const
{
switch (currentId()) {
case PAGE_START:
if (canAutoUpdate()) {
return PAGE_UPDATE;
} else {
return PAGE_CONTROLLER;
}
case PAGE_UPDATE:
return PAGE_CONTROLLER;
case PAGE_CONTROLLER:
{
switch (getControllerType()) {
case CONTROLLER_CC:
case CONTROLLER_CC3D:
case CONTROLLER_REVO:
case CONTROLLER_DISCOVERYF4:
return PAGE_INPUT;
case CONTROLLER_NANO:
if (isRestartNeeded()) {
reboot();
}
return PAGE_INPUT;
case CONTROLLER_OPLINK:
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_VEHICLES:
{
switch (getVehicleType()) {
case VEHICLE_MULTI:
return PAGE_MULTI;
case VEHICLE_FIXEDWING:
return PAGE_FIXEDWING;
case VEHICLE_HELI:
return PAGE_HELI;
case VEHICLE_SURFACE:
return PAGE_SURFACE;
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_MULTI:
return PAGE_ESC;
case PAGE_FIXEDWING:
case PAGE_SURFACE:
if (getVehicleSubType() == GROUNDVEHICLE_DIFFERENTIAL) {
return PAGE_ESC;
} else {
return PAGE_SERVO;
}
case PAGE_INPUT:
if (isRestartNeeded()) {
saveHardwareSettings();
reboot();
}
return PAGE_VEHICLES;
case PAGE_ESC:
if (getVehicleSubType() == MULTI_ROTOR_TRI_Y) {
return PAGE_SERVO;
} else {
switch (getControllerType()) {
case CONTROLLER_REVO:
case CONTROLLER_NANO:
return PAGE_GPS;
default:
return PAGE_SUMMARY;
}
}
case PAGE_SERVO:
{
switch (getControllerType()) {
case CONTROLLER_REVO:
case CONTROLLER_NANO:
return PAGE_GPS;
default:
return PAGE_SUMMARY;
}
}
case PAGE_BIAS_CALIBRATION:
if (getVehicleType() == VEHICLE_MULTI) {
return PAGE_ESC_CALIBRATION;
} else {
return PAGE_OUTPUT_CALIBRATION;
}
case PAGE_ESC_CALIBRATION:
return PAGE_OUTPUT_CALIBRATION;
case PAGE_OUTPUT_CALIBRATION:
return PAGE_AIRFRAME_INITIAL_TUNING;
case PAGE_AIRFRAME_INITIAL_TUNING:
return PAGE_SAVE;
case PAGE_GPS:
switch (getVehicleType()) {
case VEHICLE_FIXEDWING:
if (getGpsType() != GPS_DISABLED) {
return PAGE_AIRSPEED;
} else {
return PAGE_SUMMARY;
}
default:
return PAGE_SUMMARY;
}
case PAGE_AIRSPEED:
return PAGE_SUMMARY;
case PAGE_SUMMARY:
{
switch (getControllerType()) {
case CONTROLLER_CC:
case CONTROLLER_CC3D:
case CONTROLLER_REVO:
case CONTROLLER_NANO:
case CONTROLLER_DISCOVERYF4:
switch (getVehicleType()) {
case VEHICLE_FIXEDWING:
return PAGE_OUTPUT_CALIBRATION;
default:
return PAGE_BIAS_CALIBRATION;
}
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_SAVE:
return PAGE_END;
case PAGE_NOTYETIMPLEMENTED:
return PAGE_END;
default:
return -1;
}
}
QString SetupWizard::getSummaryText()
{
QString summary = "";
summary.append("<b>").append(tr("Controller type: ")).append("</b>");
switch (getControllerType()) {
case CONTROLLER_CC:
summary.append(tr("OpenPilot CopterControl"));
break;
case CONTROLLER_CC3D:
summary.append(tr("OpenPilot CopterControl 3D"));
break;
case CONTROLLER_REVO:
summary.append(tr("OpenPilot Revolution"));
break;
case CONTROLLER_NANO:
summary.append(tr("OpenPilot Nano"));
break;
case CONTROLLER_OPLINK:
summary.append(tr("OpenPilot OPLink Radio Modem"));
break;
case CONTROLLER_DISCOVERYF4:
summary.append(tr("OpenPilot DiscoveryF4 Development Board"));
break;
default:
summary.append(tr("Unknown"));
break;
}
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle type: ")).append("</b>");
switch (getVehicleType()) {
case VEHICLE_MULTI:
summary.append(tr("Multirotor"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
summary.append(tr("Tricopter"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
summary.append(tr("Quadcopter X"));
break;
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
summary.append(tr("Quadcopter +"));
break;
case SetupWizard::MULTI_ROTOR_HEXA:
summary.append(tr("Hexacopter"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
summary.append(tr("Hexacopter Coax (Y6)"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_H:
summary.append(tr("Hexacopter H"));
break;
case SetupWizard::MULTI_ROTOR_HEXA_X:
summary.append(tr("Hexacopter X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO:
summary.append(tr("Octocopter"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
summary.append(tr("Octocopter Coax X"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
summary.append(tr("Octocopter Coax +"));
break;
case SetupWizard::MULTI_ROTOR_OCTO_V:
summary.append(tr("Octocopter V"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
case VEHICLE_FIXEDWING:
summary.append(tr("Fixed wing"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType()) {
case SetupWizard::FIXED_WING_DUAL_AILERON:
summary.append(tr("Dual Aileron"));
break;
case SetupWizard::FIXED_WING_AILERON:
summary.append(tr("Aileron"));
break;
case SetupWizard::FIXED_WING_ELEVON:
summary.append(tr("Elevon"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
case VEHICLE_HELI:
summary.append(tr("Helicopter"));
break;
case VEHICLE_SURFACE:
summary.append(tr("Surface vehicle"));
summary.append("<br>");
summary.append("<b>").append(tr("Vehicle sub type: ")).append("</b>");
switch (getVehicleSubType()) {
case SetupWizard::GROUNDVEHICLE_CAR:
summary.append(tr("Car"));
break;
case SetupWizard::GROUNDVEHICLE_DIFFERENTIAL:
summary.append(tr("Tank"));
break;
case SetupWizard::GROUNDVEHICLE_MOTORCYCLE:
summary.append(tr("Motorcycle"));
break;
default:
summary.append(tr("Unknown"));
break;
}
break;
default:
summary.append(tr("Unknown"));
}
summary.append("<br>");
summary.append("<b>").append(tr("Input type: ")).append("</b>");
switch (getInputType()) {
case INPUT_PWM:
summary.append(tr("PWM (One cable per channel)"));
break;
case INPUT_PPM:
summary.append(tr("PPM (One cable for all channels)"));
break;
case INPUT_SBUS:
summary.append(tr("Futaba S.Bus"));
break;
case INPUT_DSM:
summary.append(tr("Spektrum Satellite"));
break;
default:
summary.append(tr("Unknown"));
}
summary.append("<br>");
summary.append("<b>").append(tr("Speed Controller (ESC) type: ")).append("</b>");
switch (getEscType()) {
case ESC_STANDARD:
summary.append(tr("Standard ESC (%1 Hz)").arg(VehicleConfigurationHelper::LEGACY_ESC_FREQUENCY));
break;
case ESC_RAPID:
summary.append(tr("Rapid ESC (%1 Hz)").arg(VehicleConfigurationHelper::RAPID_ESC_FREQUENCY));
break;
case ESC_SYNCHED:
summary.append(tr("Synched ESC"));
break;
case ESC_ONESHOT:
summary.append(tr("Oneshot ESC"));
break;
default:
summary.append(tr("Unknown"));
}
// If Tricopter show tail servo speed
if (getVehicleSubType() == MULTI_ROTOR_TRI_Y || getVehicleType() == VEHICLE_FIXEDWING
|| getVehicleSubType() == GROUNDVEHICLE_MOTORCYCLE || getVehicleSubType() == GROUNDVEHICLE_CAR) {
summary.append("<br>");
summary.append("<b>").append(tr("Servo type: ")).append("</b>");
switch (getServoType()) {
case SERVO_ANALOG:
summary.append(tr("Analog Servos (50 Hz)"));
break;
case SERVO_DIGITAL:
summary.append(tr("Digital Servos (333 Hz)"));
break;
default:
summary.append(tr("Unknown"));
}
}
// Show GPS Type
if (getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO) {
summary.append("<br>");
summary.append("<b>").append(tr("GPS type: ")).append("</b>");
switch (getGpsType()) {
case GPS_PLATINUM:
summary.append(tr("OpenPilot Platinum"));
break;
case GPS_UBX:
summary.append(tr("OpenPilot v8 or Generic UBLOX GPS"));
break;
case GPS_NMEA:
summary.append(tr("Generic NMEA GPS"));
break;
default:
summary.append(tr("None"));
}
}
// Show Airspeed sensor type
if ((getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO) && getVehicleType() == VEHICLE_FIXEDWING) {
summary.append("<br>");
summary.append("<b>").append(tr("Airspeed Sensor: ")).append("</b>");
switch (getAirspeedType()) {
case AIRSPEED_ESTIMATE:
summary.append(tr("Software Estimated"));
break;
case AIRSPEED_EAGLETREE:
summary.append(tr("EagleTree on Flexi-Port"));
break;
case AIRSPEED_MS4525:
summary.append(tr("MS4525 based on Flexi-Port"));
break;
default:
summary.append(tr("Unknown"));
}
}
return summary;
}
