void JammingCurve::setData(double azimuth,
double azimutWidth,
QList<double> distances,
size_t size,
const QPen &pen)
{
clearCurves();
for(int i = 0; i < distances.size(); ++i) {
QwtPolarCurve *curve = new QwtPolarCurve();
curve->setPen(pen);
m_curves.append(curve);
m_curves.last()->setData(new ArcData(azimuth, azimutWidth, distances.at(i), size));
}
}
/**
* @brief TempCompCurve::plotData Visualize the measured data
* @param temp The set of temperature measurements
* @param gyro The set of gyro measurements
*/
void TempCompCurve::plotData(QList<double> temp, QList<double> gyro, QList <double> coeff)
{
// TODO: Keep the curves and free them in the destructors
const int STEPS = 100;
points.clear();
fit.clear();
clearCurves();
double min = temp[0];
double max = temp[0];
for (int i = 0; i < temp.size(); i++) {
points.append(QPointF(temp[i],gyro[i]));
min = qMin(min, temp[i]);
max = qMax(max, temp[i]);
}
double step = (max - min) / STEPS;
for (int i = 0; i < STEPS; i++) {
double t = min + step * i;
double f = coeff[0] + coeff[1] * t + coeff[2] * pow(t,2) + coeff[3] * pow(t,3);
fit.append(QPointF(t, f));
}
// Plot the raw data points
QPen pen = QPen(Qt::DotLine);
pen.setColor(QColor(244, 244, 244));
dataCurve = new QwtPlotCurve("Gyro");
dataCurve->setPen(pen);
dataCurve->setSamples(this->points);
dataCurve->attach(this);
// Plot the fit
pen.setStyle(Qt::SolidLine);
pen.setColor(QColor(0,255,0));
fitCurve = new QwtPlotCurve("Fit");
fitCurve->setPen(pen);
fitCurve->setSamples(fit);
fitCurve->attach(this);
replot();
}
void applyTemplate(uint8_t idx)
{
MixData *md;
//CC(STK) -> vSTK
//ICC(vSTK) -> STK
#define ICC(x) icc[(x)-1]
uint8_t icc[4] = {0};
for (uint8_t i=0; i<4; i++) { //generate inverse array
for(uint8_t j=0; j<4; j++)
if(CC(i+1)==j+MIXSRC_Rud) icc[j]=i;
}
switch (idx) {
case TMPL_CLEAR_MIXES:
case TMPL_SIMPLE_4CH:
case TMPL_HELI_SETUP:
clearMixes();
break;
}
switch (idx) {
// Simple 4-Ch
case TMPL_SIMPLE_4CH:
defaultInputs();
setDest(ICC(STK_RUD), TMPL_INPUT(STK_RUD));
setDest(ICC(STK_ELE), TMPL_INPUT(STK_ELE));
setDest(ICC(STK_THR), TMPL_INPUT(STK_THR));
setDest(ICC(STK_AIL), TMPL_INPUT(STK_AIL));
break;
// Sticky-T-Cut
case TMPL_STI_THR_CUT:
md=setDest(ICC(STK_THR), MIXSRC_MAX); mixSetWeight(md, -100); md->swtch=SWSRC_SWC; md->mltpx=MLTPX_REP;
md=setDest(13, MIXSRC_CH14); // md->weight= 100; done by setDest anyway
md=setDest(13, MIXSRC_MAX); mixSetWeight(md, -100); md->swtch=SWSRC_SWB; md->mltpx=MLTPX_REP;
md=setDest(13, MIXSRC_MAX); /* md->weight= 100;*/ md->swtch=SWSRC_THR; md->mltpx=MLTPX_REP;
setLogicalSwitch(11, LS_FUNC_VNEG, STK_THR, -99);
setLogicalSwitch(12, LS_FUNC_VPOS, MIXSRC_CH14, 0);
break;
// V-Tail
case TMPL_V_TAIL:
defaultInputs();
setDest(ICC(STK_RUD), TMPL_INPUT(STK_RUD), true);
md=setDest(ICC(STK_RUD), TMPL_INPUT(STK_ELE)); mixSetWeight(md, -100);
setDest(ICC(STK_ELE), TMPL_INPUT(STK_RUD), true);
setDest(ICC(STK_ELE), TMPL_INPUT(STK_ELE));
break;
// Elevon\\Delta
case TMPL_ELEVON_DELTA:
defaultInputs();
setDest(ICC(STK_ELE), MIXSRC_Ele, true);
setDest(ICC(STK_ELE), MIXSRC_Ail);
setDest(ICC(STK_AIL), MIXSRC_Ele, true);
md=setDest(ICC(STK_AIL), MIXSRC_Ail); mixSetWeight(md, -100);
break;
// eCCPM
case TMPL_ECCPM:
md=setDest(ICC(STK_ELE), MIXSRC_Ele, true); md->weight= 72;
md=setDest(ICC(STK_ELE), MIXSRC_Thr); md->weight= 55;
md=setDest(ICC(STK_AIL), MIXSRC_Ele, true); mixSetWeight(md, -36);
md=setDest(ICC(STK_AIL), MIXSRC_Ail); md->weight= 62;
md=setDest(ICC(STK_AIL), MIXSRC_Thr); md->weight= 55;
md=setDest(5, MIXSRC_Ele, true); mixSetWeight(md, -36);
md=setDest(5, MIXSRC_Ail); mixSetWeight(md, -62);
md=setDest(5, MIXSRC_Thr); md->weight= 55;
break;
// Heli Setup
case TMPL_HELI_SETUP:
clearCurves();
//Set up Mixes
// 3 cyclic channels
md=setDest(0, MIXSRC_CYC1); // md->weight=100;
md=setDest(1, MIXSRC_CYC2); // md->weight=100;
md=setDest(2, MIXSRC_CYC3); // md->weight=100;
// rudder
md=setDest(3, MIXSRC_Rud); // md->weight=100;
// throttle
#if defined(PCBTARANIS)
// TODO
#else
md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID0; mixSetCurve(md, 0); md->carryTrim=TRIM_OFF;
md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID1; mixSetCurve(md, 1); md->carryTrim=TRIM_OFF;
md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID2; mixSetCurve(md, 2); md->carryTrim=TRIM_OFF;
#endif
md=setDest(4, MIXSRC_MAX); mixSetWeight(md, -100); md->swtch=SWSRC_THR; md->mltpx=MLTPX_REP;
// gyro gain
md=setDest(5, MIXSRC_MAX); md->weight= 30; md->swtch=-SWSRC_GEA;
md=setDest(5, MIXSRC_MAX); mixSetWeight(md, -30); md->swtch= SWSRC_GEA;
// collective
#if defined(PCBTARANIS)
// TODO
#else
md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID0; mixSetCurve(md, 3); md->carryTrim=TRIM_OFF;
md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID1; mixSetCurve(md, 4); md->carryTrim=TRIM_OFF;
md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID2; mixSetCurve(md, 5); md->carryTrim=TRIM_OFF;
#endif
g_model.swashR.collectiveSource = MIXSRC_CH11;
g_model.swashR.type = SWASH_TYPE_120;
// curves
setCurve(0, heli_ar1);
setCurve(1, heli_ar2);
setCurve(2, heli_ar3);
setCurve(3, heli_ar4);
setCurve(4, heli_ar5);
setCurve(5, heli_ar5);
break;
// Servo Test
case TMPL_SERVO_TEST:
md=setDest(NUM_CHNOUT-1, MIXSRC_SW1, true); md->weight=110; md->mltpx=MLTPX_ADD; md->delayUp = 6; md->delayDown = 6; md->speedUp = 8; md->speedDown = 8;
setLogicalSwitch(1, LS_FUNC_VNEG, MIXSRC_LAST_CH, 0);
break;
default:
break;
}
eeDirty(EE_MODEL);
}
bool
EZPlot::do_cmd (int lx)
{
char str [1024];
char strIn [1024];
int n;
double f;
switch (lx) {
case S_TEXTSIZE:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE) {
if (f >= 0.0 && f <= 1.0) {
v_textsize = f;
s_textsize = TRUE;
} else
s_textsize = FALSE;
}
break;
case S_REPLOT:
plot (m_pSGP);
break;
case S_CLEAR:
clearCurves ();
break;
case S_TITLE:
m_pol.readText (strIn, sizeof(strIn));
c_title = strIn;
break;
case S_LEGEND:
m_pol.readText (strIn, sizeof(strIn));
if (m_iCurrentCurve >= 0)
setLegend (m_iCurrentCurve, strIn);
break;
case S_XLABEL:
m_pol.readText (strIn, sizeof(strIn));
c_xlabel = strIn;
break;
case S_YLABEL:
m_pol.readText (strIn, sizeof(strIn));
c_ylabel = strIn;
break;
case S_XCROSS:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE) {
v_xcross = f;
s_xcross = TRUE;
} else
s_xcross = FALSE;
break;
case S_YCROSS:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE) {
v_ycross = f;
s_ycross = TRUE;
} else
s_ycross = FALSE;
break;
case S_NOXAXIS:
o_xaxis = NOAXIS;
break;
case S_NOYAXIS:
o_yaxis = NOAXIS;
break;
case S_XLIN:
o_xaxis = LINEAR;
break;
case S_YLIN:
o_yaxis = LINEAR;
break;
case S_XLOG:
o_xaxis = LOG;
break;
case S_YLOG:
o_yaxis = LOG;
break;
case S_XAUTOSCALE:
s_xmin = FALSE;
s_xmax = FALSE;
break;
case S_YAUTOSCALE:
s_ymin = FALSE;
s_ymax = FALSE;
break;
case S_XMIN:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE) {
v_xmin = f;
s_xmin = TRUE;
}
break;
case S_XMAX:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE) {
v_xmax = f;
s_xmax = TRUE;
}
break;
case S_YMIN:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE) {
v_ymin = f;
s_ymin = TRUE;
}
break;
case S_YMAX:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE) {
v_ymax = f;
s_ymax = TRUE;
}
break;
case S_SOLID:
o_linestyle = SGP::LS_SOLID;
break;
case S_DASH:
int ls;
ls = SGP::LS_DASH1;
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE) {
if (n == 1)
ls = SGP::LS_DASH1;
else if (n == 2)
ls = SGP::LS_DASH2;
else if (n == 3)
ls = SGP::LS_DASH3;
else if (n == 4)
ls = SGP::LS_DASH4;
else if (n == 5)
ls = SGP::LS_DOTTED;
}
if (m_iCurrentCurve < 0)
o_linestyle = ls;
else
setLinestyle (m_iCurrentCurve, ls);
break;
case S_NOLINE:
o_linestyle = SGP::LS_NOLINE;
break;
case S_PEN:
case S_COLOR:
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE)
{
if (n >= 0) {
if (m_iCurrentCurve < 0)
o_color = n;
else
setColor (m_iCurrentCurve, n);
} else
bad_option("The color you picked");
}
break;
case S_BOX:
o_box = TRUE;
break;
case S_NOBOX:
o_box = FALSE;
break;
case S_GRID:
o_grid = TRUE;
break;
case S_NOGRID:
o_grid = FALSE;
break;
case S_XLENGTH:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE)
if (f > 0.0 && f <= 1.0)
o_xlength = f;
break;
case S_YLENGTH:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE)
if (f > 0.0 && f <= 1.0)
o_ylength = f;
break;
case S_XPORIGIN:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE)
if (f >= 0.0 && f < 1.0)
o_xporigin = f;
break;
case S_YPORIGIN:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE)
if (f >= 0.0 && f < 1.0)
o_yporigin = f;
break;
case S_TAG:
if (m_pol.readWord("no", 2) == TRUE)
o_tag = FALSE;
else if (m_pol.readWord("off", 2) == TRUE)
o_tag = FALSE;
else
o_tag = TRUE;
break;
case S_LEGENDBOX:
if (m_pol.readWord("inside", 2) == TRUE)
o_legendbox = INSIDE;
else if (m_pol.readWord("outside", 3) == TRUE)
o_legendbox = OUTSIDE;
else if (m_pol.readWord("none",2) == TRUE)
o_legendbox = NOLEGEND;
else {
m_pol.readText (str, POL::MAXTOK);
bad_option(str);
}
break;
case S_XLEGEND:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE)
{
if (f >= 0.0 && f < 1.0) {
v_xlegend = f;
s_xlegend = TRUE;
}
else
s_xlegend = FALSE;
}
break;
case S_YLEGEND:
if (m_pol.readFloat (&f, POL::TT_REAL, FALSE, 0.0, 0.0) == TRUE)
{
if (f >= 0.0 && f < 1.0) {
v_ylegend = f;
s_ylegend = TRUE;
}
else
s_ylegend = FALSE;
}
break;
case S_SYMBOL:
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE) {
if (n > 0 && n <= MAXSYMBOL) {
if (m_iCurrentCurve < 0)
o_symbol = n;
else
setSymbol (m_iCurrentCurve, n);
}
} else {
if (m_pol.readWord("every",5) == TRUE) {
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE) {
int sym = 1;
if (n > 0)
sym = n;
if (m_iCurrentCurve < 0)
o_symfreq = sym;
else
setSymbolFreq (m_iCurrentCurve, sym);
}
} else if (m_pol.readWord ("none",4) == TRUE) {
o_symbol = -1;
}
}
break;
case S_CURVE:
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE) {
if (n > 0)
m_iCurrentCurve = n - 1;
} else {
if (m_pol.readWord ("all",3) == TRUE)
m_iCurrentCurve = -1;
}
break;
case S_XTICKS:
if (m_pol.readUserToken(str,&lx) == FALSE)
break;
if (lx == S_ABOVE)
o_xticks = ABOVE;
else if (lx == S_BELOW)
o_xticks = BELOW;
else if (lx == S_NOLABEL)
o_xtlabel = FALSE;
else if (lx == S_LABEL)
o_xtlabel = TRUE;
else if (lx == S_MAJOR) {
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE)
if (n > 1 && n < 100)
o_xmajortick = n;
} else if (lx == S_MINOR)
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE)
if (n >= 0 && n < 100)
o_xminortick = n;
break;
case S_YTICKS:
if (m_pol.readUserToken(str,&lx) == FALSE)
break;
if (lx == S_RIGHT)
o_yticks = RIGHT;
else if (lx == S_LEFT)
o_yticks = LEFT;
else if (lx == S_NOLABEL)
o_ytlabel = FALSE;
else if (lx == S_LABEL)
o_ytlabel = TRUE;
else if (lx == S_MAJOR) {
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE)
if (n > 1 && n < 100)
o_ymajortick = n;
} else if (lx == S_MINOR)
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE)
if (n >= 0 && n < 100)
o_yminortick = n;
break;
case S_LXFRAC:
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE) {
if (n >= 0) {
v_lxfrac = n;
s_lxfrac = TRUE;
}
} else
s_lxfrac = FALSE;
break;
case S_LYFRAC:
if (m_pol.readInteger (&n, POL::TT_REAL, FALSE, 0, 0) == TRUE) {
if (n >= 0) {
v_lyfrac = n;
s_lyfrac = TRUE;
}
} else
s_lyfrac = FALSE;
break;
break;
default:
fprintf (stderr, "Unimplemented EZPLOT command\n");
break;
}
m_pol.reader ();
return (true);
}
JammingCurve::~JammingCurve()
{
clearCurves();
}
void applyTemplate(uint8_t idx)
#endif
{
MixData *md = &g_model.mixData[0];
//CC(STK) -> vSTK
//ICC(vSTK) -> STK
#define ICC(x) icc[(x)-1]
uint8_t icc[4] = {0};
for(uint8_t i=1; i<=4; i++) //generate inverse array
for(uint8_t j=1; j<=4; j++) if(CC(i)==j) icc[j-1]=i;
#ifndef NO_TEMPLATES
uint8_t j = 0;
//Simple 4-Ch
if(idx==j++)
{
#endif
clearMixes();
md=setDest(ICC(STK_RUD));
md->srcRaw=CM(STK_RUD);
md=setDest(ICC(STK_ELE));
md->srcRaw=CM(STK_ELE);
md=setDest(ICC(STK_THR));
md->srcRaw=CM(STK_THR);
md=setDest(ICC(STK_AIL));
md->srcRaw=CM(STK_AIL);
#ifndef NO_TEMPLATES
}
//T-Cut
if(idx==j++)
{
md=setDest(ICC(STK_THR));
md->srcRaw=MIX_MAX;
md->weight=-100;
md->swtch=DSW_THR;
md->mltpx=MLTPX_REP;
}
//sticky t-cut
if(idx==j++)
{
md=setDest(ICC(STK_THR));
md->srcRaw=MIX_MAX;
md->weight=-100;
md->swtch=DSW_SWC;
md->mltpx=MLTPX_REP;
md=setDest(14);
md->srcRaw=CH(14);
md=setDest(14);
md->srcRaw=MIX_MAX;
md->weight=-100;
md->swtch=DSW_SWB;
md->mltpx=MLTPX_REP;
md=setDest(14);
md->srcRaw=MIX_MAX;
md->swtch=DSW_THR;
md->mltpx=MLTPX_REP;
setSwitch(0xB,CS_VNEG, CM(STK_THR), -99);
setSwitch(0xC,CS_VPOS, CH(14), 0);
}
//V-Tail
if(idx==j++)
{
clearMixes();
md=setDest(ICC(STK_RUD));
md->srcRaw=CM(STK_RUD);
md=setDest(ICC(STK_RUD));
md->srcRaw=CM(STK_ELE);
md->weight=-100;
md=setDest(ICC(STK_ELE));
md->srcRaw=CM(STK_RUD);
md=setDest(ICC(STK_ELE));
md->srcRaw=CM(STK_ELE);
}
//Elevon\\Delta
if(idx==j++)
{
clearMixes();
md=setDest(ICC(STK_ELE));
md->srcRaw=CM(STK_ELE);
md=setDest(ICC(STK_ELE));
md->srcRaw=CM(STK_AIL);
md=setDest(ICC(STK_AIL));
md->srcRaw=CM(STK_ELE);
md=setDest(ICC(STK_AIL));
md->srcRaw=CM(STK_AIL);
md->weight=-100;
}
//Heli Setup
if(idx==j++)
{
clearMixes(); //This time we want a clean slate
clearCurves();
//Set up Mixes
//3 cyclic channels
md=setDest(1);
md->srcRaw=MIX_CYC1;
md=setDest(2);
md->srcRaw=MIX_CYC2;
md=setDest(3);
md->srcRaw=MIX_CYC3;
//rudder
md=setDest(4);
md->srcRaw=CM(STK_RUD);
//Throttle
md=setDest(5);
md->srcRaw=CM(STK_THR);
md->swtch= DSW_ID0;
md->curve=CV(1);
md->carryTrim=TRIM_OFF;
md=setDest(5);
md->srcRaw=CM(STK_THR);
md->swtch= DSW_ID1;
md->curve=CV(2);
md->carryTrim=TRIM_OFF;
md=setDest(5);
md->srcRaw=CM(STK_THR);
md->swtch= DSW_ID2;
md->curve=CV(3);
md->carryTrim=TRIM_OFF;
md=setDest(5);
md->srcRaw=MIX_MAX;
md->weight=-100;
md->swtch= DSW_THR;
md->mltpx=MLTPX_REP;
//gyro gain
md=setDest(6);
md->srcRaw=MIX_FULL;
md->weight=30;
md->swtch=-DSW_GEA;
//collective
md=setDest(11);
md->srcRaw=CM(STK_THR);
md->weight=70;
md->swtch= DSW_ID0;
md->curve=CV(4);
md->carryTrim=TRIM_OFF;
md=setDest(11);
md->srcRaw=CM(STK_THR);
md->weight=70;
md->swtch= DSW_ID1;
md->curve=CV(5);
md->carryTrim=TRIM_OFF;
md=setDest(11);
md->srcRaw=CM(STK_THR);
md->weight=70;
md->swtch= DSW_ID2;
md->curve=CV(6);
md->carryTrim=TRIM_OFF;
g_model.swashType = SWASH_TYPE_120;
g_model.swashCollectiveSource = CH(11);
//Set up Curves
setCurve(CURVE5(1),heli_ar1);
setCurve(CURVE5(2),heli_ar2);
setCurve(CURVE5(3),heli_ar3);
setCurve(CURVE5(4),heli_ar4);
setCurve(CURVE5(5),heli_ar5);
setCurve(CURVE5(6),heli_ar5);
}
//Gyro Gain
if(idx==j++)
{
md=setDest(6);
md->srcRaw=STK_P2;
md->weight= 50;
md->swtch=-DSW_GEA;
md->sOffset=100;
md=setDest(6);
md->srcRaw=STK_P2;
md->weight=-50;
md->swtch= DSW_GEA;
md->sOffset=100;
}
//Servo Test
if(idx==j++)
{
md=setDest(15);
md->srcRaw=CH(16);
md->speedUp = 8;
md->speedDown = 8;
md=setDest(16);
md->srcRaw=MIX_FULL;
md->weight= 110;
md->swtch=DSW_SW1;
md=setDest(16);
md->srcRaw=MIX_MAX;
md->weight=-110;
md->swtch=DSW_SW2;
md->mltpx=MLTPX_REP;
md=setDest(16);
md->srcRaw=MIX_MAX;
md->weight= 110;
md->swtch=DSW_SW3;
md->mltpx=MLTPX_REP;
setSwitch(1,CS_LESS,CH(15),CH(16));
setSwitch(2,CS_VPOS,CH(15), 105);
setSwitch(3,CS_VNEG,CH(15), -105);
}
STORE_MODELVARS;
eeWaitComplete() ;
#endif
}
