/**
Virtual function to update the UI widget objects
*/
QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
{
QString airframeType = "GroundVehicleCar";
// Save the curve (common to all ground vehicle frames)
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
// Remove Feed Forward, it is pointless on a ground vehicle:
setMixerValue(mixer, "FeedForward", 0.0);
// set the throttle curves
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve());
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve());
// All airframe types must start with "GroundVehicle"
if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)") {
airframeType = "GroundVehicleCar";
setupGroundVehicleCar(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") {
airframeType = "GroundVehicleDifferential";
setupGroundVehicleDifferential(airframeType);
} else { // "Motorcycle"
airframeType = "GroundVehicleMotorcycle";
setupGroundVehicleMotorcycle(airframeType);
}
return airframeType;
}
/**
* @brief ConfigFixedWingWidget::updateConfigObjectsFromWidgets update the UI widget objects
* @return airframe type
*/
SystemSettings::AirframeTypeOptions ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
{
SystemSettings::AirframeTypeOptions airframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR;
// Save the curve (common to all ground vehicle frames)
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
// Remove Feed Forward, it is pointless on a ground vehicle:
setMixerValue(mixerSettings, "FeedForward", 0.0);
// set the throttle curves
setThrottleCurve(mixerSettings, MixerSettings::MIXER1VECTOR_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve() );
setThrottleCurve(mixerSettings, MixerSettings::MIXER1VECTOR_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve() );
//All airframe types must start with "GroundVehicle"
if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)" ) {
airframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR;
setupGroundVehicleCar(airframeType);
} else if (m_aircraft->groundVehicleType->currentText() == "Differential (tank)") {
airframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL;
setupGroundVehicleDifferential(airframeType);
} else { // "Motorcycle"
airframeType = SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE;
setupGroundVehicleMotorcycle(airframeType);
}
return airframeType;
}
/*
* Parse the audio configuration file.
* The file is named audio_conf.txt and must begin with the following header:
*
* card=<ALSA card number>
* device=<ALSA device number>
* period_size=<period size>
* period_count=<period count>
*
* This header is followed by zero or more mixer settings, each with the format:
* mixer "<name>" = <value list>
* Since mixer names can contain spaces, the name must be enclosed in double quotes.
* The values in the value list can be integers, booleans (represented by 0 or 1)
* or strings for enum values.
*/
bool AudioPlayer::init(const char* config)
{
int tempInt;
struct mixer* mixer = NULL;
char name[MAX_LINE_LENGTH];
for (;;) {
const char* endl = strstr(config, "\n");
if (!endl) break;
String8 line(config, endl - config);
if (line.length() >= MAX_LINE_LENGTH) {
ALOGE("Line too long in audio_conf.txt");
return false;
}
const char* l = line.string();
if (sscanf(l, "card=%d", &tempInt) == 1) {
ALOGD("card=%d", tempInt);
mCard = tempInt;
mixer = mixer_open(mCard);
if (!mixer) {
ALOGE("could not open mixer for card %d", mCard);
return false;
}
} else if (sscanf(l, "device=%d", &tempInt) == 1) {
ALOGD("device=%d", tempInt);
mDevice = tempInt;
} else if (sscanf(l, "period_size=%d", &tempInt) == 1) {
ALOGD("period_size=%d", tempInt);
mPeriodSize = tempInt;
} else if (sscanf(l, "period_count=%d", &tempInt) == 1) {
ALOGD("period_count=%d", tempInt);
mPeriodCount = tempInt;
} else if (sscanf(l, "mixer \"%[0-9a-zA-Z _]s\"", name) == 1) {
const char* values = strchr(l, '=');
if (values) {
values++; // skip '='
ALOGD("name: \"%s\" = %s", name, values);
setMixerValue(mixer, name, values);
} else {
ALOGE("values missing for name: \"%s\"", name);
}
}
config = ++endl;
}
mixer_close(mixer);
if (mCard >= 0 && mDevice >= 0) {
return true;
}
return false;
}
/**
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;
}
/**
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;
}
