/** 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; }