/**
Setup steerable ground vehicle.
Returns False if impossible to create the mixer.
*/
bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
config.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
config.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
int channel = m_aircraft->gvSteering1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
channel = m_aircraft->gvSteering2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
channel = m_aircraft->gvMotor1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
channel = m_aircraft->gvMotor2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup steerable ground vehicle.
Returns False if impossible to create the mixer.
*/
bool ConfigGroundVehicleWidget::setupGroundVehicleCar(SystemSettings::AirframeTypeOptions airframeType)
{
// Check coherence:
//Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
config.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
config.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
SetConfigData(config);
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
resetMixers(mixerSettings);
int channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
setMixerType(mixerSettings,channel, MixerSettings::MIXER1TYPE_SERVO);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW, 127);
channel = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
setMixerType(mixerSettings,channel, MixerSettings::MIXER1TYPE_SERVO);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW, -127);
channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
setMixerType(mixerSettings,channel, MixerSettings::MIXER1TYPE_MOTOR);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_THROTTLECURVE1, 127);
channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
setMixerType(mixerSettings,channel, MixerSettings::MIXER1TYPE_MOTOR);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_THROTTLECURVE2, 127);
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup Elevator/Aileron/Rudder airframe.
If both Aileron channels are set to 'None' (EasyStar), do Pitch/Rudder mixing
Returns False if impossible to create the mixer.
*/
bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
// motor
int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// rudder
channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
// ailerons
setMixerValue(mixer, "FirstRollServo", m_aircraft->fwAileron1ChannelBox->currentIndex());
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// Store differential value onboard
setMixerValue(mixer, "RollDifferential", m_aircraft->elevonSlider3->value());
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
}
// elevators
channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 127);
channel = m_aircraft->fwElevator2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, 127);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Setup VTail
*/
bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
// Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
GUIConfigDataUnion config = getConfigData();
resetActuators(&config);
config.fixedwing.FixedWingPitch1 = m_aircraft->fwElevator1ChannelBox->currentIndex();
config.fixedwing.FixedWingPitch2 = m_aircraft->fwElevator2ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
setConfigData(config);
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
// - Channel dropdowns start with 'None', then 0 to 7
// 1. Assign the servo/motor/none for each channel
double pitch;
double roll;
double yaw;
// motor
int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
// ailerons
setMixerValue(mixer, "FirstRollServo", m_aircraft->fwAileron1ChannelBox->currentIndex());
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// Roll mixer value, currently no slider (should be added for Ailerons response ?)
roll = 127;
// Store Roll fixed and RollDifferential values onboard
setMixerValue(mixer, "MixerValueRoll", 100);
setMixerValue(mixer, "RollDifferential", m_aircraft->elevonSlider3->value());
// First Aileron (left)
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
// Second Aileron (right)
channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, roll);
}
// vtail (pitch / yaw mixing)
channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
if (channel > -1) {
// Compute mixer absolute values
pitch = (double)(m_aircraft->elevonSlider2->value() * 1.27);
yaw = (double)(m_aircraft->elevonSlider1->value() * 1.27);
// Store sliders values onboard
setMixerValue(mixer, "MixerValuePitch", m_aircraft->elevonSlider2->value());
setMixerValue(mixer, "MixerValueYaw", m_aircraft->elevonSlider1->value());
// First Vtail servo
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, -pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yaw);
// Second Vtail servo
channel = m_aircraft->fwElevator2ChannelBox->currentIndex() - 1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, pitch);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yaw);
}
m_aircraft->fwStatusLabel->setText("Mixer generated");
return true;
}
/**
Helper function to update the UI widget objects
*/
SystemSettings::AirframeTypeOptions ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{
SystemSettings::AirframeTypeOptions airframeType = SystemSettings::AIRFRAMETYPE_FIXEDWING;
QList<QString> motorList;
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
// Curve is also common to all quads:
setThrottleCurve(mixerSettings, MixerSettings::MIXER1VECTOR_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_QUADP) {
airframeType = SystemSettings::AIRFRAMETYPE_QUADP;
setupQuad(true);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_QUADX) {
airframeType = SystemSettings::AIRFRAMETYPE_QUADX;
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXA) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXA;
setupHexa(true);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXAX) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXAX;
setupHexa(false);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXACOAX) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXACOAX;
//Show any config errors in GUI
if (throwConfigError(6)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorS" << "VTOLMotorSE";
setupMotors(motorList);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, -1},
{ 0.5, 1, 1},
{ 0.5, -1, -1},
{ 0.5, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTO) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTO;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{ 0, -1, -1},
{ -1, -1, 1},
{ -1, 0, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOV) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOV;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// IMPORTANT: Assumes evenly spaced engines
// pitch roll yaw
double mixer [8][3] = {
{ 0.33, -1, -1},
{ 1 , -1, 1},
{ -1 , -1, -1},
{ -0.33, -1, 1},
{ -0.33, 1, -1},
{ -1 , 1, 1},
{ 1 , 1, -1},
{ 0.33, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOCOAXP) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOCOAXP;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, 0, 1},
{ 0, -1, -1},
{ 0, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 1, -1},
{ 0, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOCOAXX) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOCOAXX;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 1, -1},
{ 1, 1, 1},
{ 1, -1, -1},
{ 1, -1, 1},
{ -1, -1, -1},
{ -1, -1, 1},
{ -1, 1, -1},
{ -1, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_TRI) {
airframeType = SystemSettings::AIRFRAMETYPE_TRI;
//Show any config errors in GUI
if (throwConfigError(3)) {
return airframeType;
}
if (m_aircraft->triYawChannelBox->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
GUIConfigDataUnion config = GetConfigData();
config.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
SetConfigData(config);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, 0},
{ 0.5, -1, 0},
{ -1, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMultiRotorMixer(mixer);
//tell the mixer about tricopter yaw channel
int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
if (channel > -1) {
setMixerType(mixerSettings, channel, MixerSettings::MIXER1TYPE_SERVO);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW, 127);
}
m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
}
return airframeType;
}
