void ConfigStabilizationWidget::resetThrottleCurveToDefault()
{
UAVDataObject *defaultStabBank = (UAVDataObject *)getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));
Q_ASSERT(defaultStabBank);
defaultStabBank = defaultStabBank->dirtyClone();
UAVObjectField *field = defaultStabBank->getField("ThrustPIDScaleCurve");
Q_ASSERT(field);
QList<double> curve;
for (quint32 i = 0; i < field->getNumElements(); i++) {
curve.append(field->getValue(i).toDouble());
}
ui->thrustPIDScalingCurve->setCurve(&curve);
field = defaultStabBank->getField("EnableThrustPIDScaling");
Q_ASSERT(field);
bool enabled = field->getValue() == "TRUE";
ui->enableThrustPIDScalingCheckBox->setChecked(enabled);
ui->thrustPIDScalingCurve->setEnabled(enabled);
delete defaultStabBank;
}
/**
* Set the dropdown option for a channel output assignement
*/
void ConfigServoWidget::assignOutputChannel(UAVDataObject *obj, QString str)
{
UAVObjectField* field = obj->getField(str);
QStringList options = field->getOptions();
switch (options.indexOf(field->getValue().toString())) {
case 0:
m_config->ch0Output->setCurrentIndex(m_config->ch0Output->findText(str));
break;
case 1:
m_config->ch1Output->setCurrentIndex(m_config->ch1Output->findText(str));
break;
case 2:
m_config->ch2Output->setCurrentIndex(m_config->ch2Output->findText(str));
break;
case 3:
m_config->ch3Output->setCurrentIndex(m_config->ch3Output->findText(str));
break;
case 4:
m_config->ch4Output->setCurrentIndex(m_config->ch4Output->findText(str));
break;
case 5:
m_config->ch5Output->setCurrentIndex(m_config->ch5Output->findText(str));
break;
case 6:
m_config->ch6Output->setCurrentIndex(m_config->ch6Output->findText(str));
break;
case 7:
m_config->ch7Output->setCurrentIndex(m_config->ch7Output->findText(str));
break;
}
}
void EscCalibrationPage::startButtonClicked()
{
if (!m_isCalibrating) {
m_isCalibrating = true;
ui->startButton->setEnabled(false);
enableButtons(false);
ui->outputHigh->setEnabled(true);
ui->outputLow->setEnabled(false);
ui->nonconnectedLabel->setEnabled(false);
ui->connectedLabel->setEnabled(true);
ui->outputLevel->setText(QString(tr("%1 µs")).arg(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavoManager);
MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
Q_ASSERT(mSettings);
QString mixerTypePattern = "Mixer%1Type";
OutputCalibrationUtil::startOutputCalibration();
for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_MOTOR)) {
m_outputChannels << i;
}
}
m_outputUtil.startChannelOutput(m_outputChannels, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
QThread::msleep(100);
m_outputUtil.setChannelOutputValue(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
ui->stopButton->setEnabled(true);
}
}
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
Note: The default behavior of ConfigTaskWidget is bypassed.
Therefore no automatic synchronization of UAV Objects to UI is done.
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
{
Q_UNUSED(o);
if (!allObjectsUpdated()) {
return;
}
bool dirty = isDirty();
// Get the Airframe type from the system settings:
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
UAVObjectField *field = system->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code
QString frameType = field->getValue().toString();
// Always update custom tab from others airframe settings : debug/learn hardcoded mixers
int category = frameCategory("Custom");
m_aircraft->aircraftType->setCurrentIndex(category);
VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
if (vehicleConfig) {
vehicleConfig->refreshWidgetsValues("Custom");
}
// Switch to Airframe currently used
category = frameCategory(frameType);
if (frameType != "Custom") {
m_aircraft->aircraftType->setCurrentIndex(category);
VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
if (vehicleConfig) {
vehicleConfig->refreshWidgetsValues(frameType);
}
}
field = system->getField(QString("VehicleName"));
Q_ASSERT(field);
QString name;
for (uint i = 0; i < field->getNumElements(); ++i) {
QChar chr = field->getValue(i).toChar();
if (chr != 0) {
name.append(chr);
} else {
break;
}
}
m_aircraft->nameEdit->setText(name);
updateFeedForwardUI();
setDirty(dirty);
}
void ConfigStabilizationWidget::updateThrottleCurveFromObject()
{
bool dirty = isDirty();
UAVObject *stabBank = getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));
Q_ASSERT(stabBank);
UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
Q_ASSERT(field);
QList<double> curve;
for (quint32 i = 0; i < field->getNumElements(); i++) {
curve.append(field->getValue(i).toDouble());
}
ui->thrustPIDScalingCurve->setCurve(&curve);
field = stabBank->getField("EnableThrustPIDScaling");
Q_ASSERT(field);
bool enabled = field->getValue() == "TRUE";
ui->enableThrustPIDScalingCheckBox->setChecked(enabled);
ui->thrustPIDScalingCurve->setEnabled(enabled);
setDirty(dirty);
}
/*!
\brief Called when the flight mode drop down is changed and sets the ManualControlCommand->FlightMode accordingly
*/
void GCSControlGadgetWidget::selectFlightMode(int state)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
UAVObjectField * field = obj->getField("FlightMode");
field->setValue(field->getOptions()[state]);
obj->updated();
}
/**
Saves the AHRS sensors calibration (to RAM and SD)
*/
void ConfigAHRSWidget::saveAHRSCalibration()
{
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
UAVObjectField *field = obj->getField(QString("measure_var"));
field->setValue("SET");
obj->updated();
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
QString UsageTrackerPlugin::getUAVFieldValue(UAVObjectManager *objManager, QString objectName, QString fieldName, int index) const
{
UAVObject *object = objManager->getObject(objectName);
if (object != NULL) {
UAVObjectField *field = object->getField(fieldName);
if (field != NULL) {
return field->getValue(index).toString();
}
}
return tr("Unknown");
}
/**
* Slot called by visualization when a new @ref PositionDesired is requested
*/
void MagicWaypointGadgetWidget::positionSelected(double north, double east) {
double scale = m_magicwaypoint->horizontalSliderScale->value();
PositionDesired * posDesired = getPositionDesired();
if(posDesired) {
UAVObjectField * field = posDesired->getField("North");
if(field)
field->setDouble(north * scale);
field = posDesired->getField("East");
if(field)
field->setDouble(east * scale);
posDesired->updated();
}
}
/**
Launches the AHRS sensors calibration
*/
void ConfigAHRSWidget::launchAHRSCalibration()
{
m_ahrs->calibInstructions->setText("Estimating sensor variance...");
m_ahrs->ahrsCalibStart->setEnabled(false);
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
UAVObjectField *field = obj->getField(QString("measure_var"));
field->setValue("MEASURE");
obj->updated();
QTimer::singleShot(calibrationDelay*1000, this, SLOT(calibPhase2()));
m_ahrs->calibProgress->setRange(0,calibrationDelay);
phaseCounter = 0;
progressBarIndex = 0;
connect(&progressBarTimer, SIGNAL(timeout()), this, SLOT(incrementProgress()));
progressBarTimer.start(1000);
}
void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings channels[])
{
// Set all mixer data
MixerSettings *mSettings = MixerSettings::GetInstance(m_uavoManager);
Q_ASSERT(mSettings);
// Set Mixer types and values
QString mixerTypePattern = "Mixer%1Type";
QString mixerVectorPattern = "Mixer%1Vector";
for (int i = 0; i < 10; i++) {
UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
Q_ASSERT(field);
field->setValue(field->getOptions().at(channels[i].type));
field = mSettings->getField(mixerVectorPattern.arg(i + 1));
Q_ASSERT(field);
field->setValue((channels[i].throttle1 * 127) / 100, 0);
field->setValue((channels[i].throttle2 * 127) / 100, 1);
field->setValue((channels[i].roll * 127) / 100, 2);
field->setValue((channels[i].pitch * 127) / 100, 3);
field->setValue((channels[i].yaw * 127) / 100, 4);
}
// Apply updates
mSettings->setData(mSettings->getData());
addModifiedObject(mSettings, tr("Writing mixer settings"));
}
void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
{
UAVObject *stabBank = getObjectManager()->getObject(QString(m_stabTabBars.at(0)->tabData(m_currentStabSettingsBank).toString()));
Q_ASSERT(stabBank);
UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
Q_ASSERT(field);
QList<double> curve = ui->thrustPIDScalingCurve->getCurve();
for (quint32 i = 0; i < field->getNumElements(); i++) {
field->setValue(curve.at(i), i);
}
field = stabBank->getField("EnableThrustPIDScaling");
Q_ASSERT(field);
field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "TRUE" : "FALSE");
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
*/
void ConfigOutputWidget::sendChannelTest(int value)
{
int in_value = value;
QSlider *ob = (QSlider *)QObject::sender();
if (!ob) return;
int index = outSliders.indexOf(ob);
if (index < 0) return;
if (reversals[index]->isChecked())
value = outMin[index]->value() - value + outMax[index]->value(); // the chsnnel is reversed
// update the label
outLabels[index]->setText(QString::number(value));
if (links[index]->checkState())
{ // the channel is linked to other channels
// set the linked channels to the same value
for (int i = 0; i < outSliders.count(); i++)
{
if (i == index) continue;
if (!links[i]->checkState()) continue;
int val = in_value;
if (val < outSliders[i]->minimum()) val = outSliders[i]->minimum();
if (val > outSliders[i]->maximum()) val = outSliders[i]->maximum();
if (outSliders[i]->value() == val) continue;
outSliders[i]->setValue(val);
outLabels[i]->setText(QString::number(val));
}
}
if (!m_config->channelOutTest->isChecked())
return;
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
if (!obj) return;
UAVObjectField *channel = obj->getField("Channel");
if (!channel) return;
channel->setValue(value, index);
obj->updated();
}
/**
Request the current config from the board
*/
void ConfigInputWidget::refreshValues()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
//obj->requestUpdate();
UAVObjectField *field;
// Now update all the slider values:
UAVObjectField *field_max = obj->getField(QString("ChannelMax"));
UAVObjectField *field_min = obj->getField(QString("ChannelMin"));
UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral"));
Q_ASSERT(field_max);
Q_ASSERT(field_min);
Q_ASSERT(field_neu);
for (int i = 0; i < 8; i++) {
QVariant max = field_max->getValue(i);
QVariant min = field_min->getValue(i);
QVariant neutral = field_neu->getValue(i);
inMaxLabels[i]->setText(max.toString());
inMinLabels[i]->setText(min.toString());
if (max.toInt()> min.toInt()) {
inRevCheckboxes[i]->setChecked(false);
inSliders[i]->setMaximum(max.toInt());
inSliders[i]->setMinimum(min.toInt());
} else {
inRevCheckboxes[i]->setChecked(true);
inSliders[i]->setMaximum(min.toInt());
inSliders[i]->setMinimum(max.toInt());
}
inSliders[i]->setValue(neutral.toInt());
}
// Update receiver type
field = obj->getField(QString("InputMode"));
m_config->receiverType->setText(field->getValue().toString());
// Reset all channel assignement dropdowns:
foreach (QComboBox *combo, inChannelAssign) {
combo->setCurrentIndex(0);
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
*/
void ConfigServoWidget::sendChannelTest(int value)
{
// First of all, update the label:
QSlider *ob = (QSlider*)QObject::sender();
int index = outSliders.indexOf(ob);
if (reversals[index]->isChecked())
value = outMin[index]->value()-value+outMax[index]->value();
else
outLabels[index]->setText(QString::number(value));
outLabels[index]->setText(QString::number(value));
if (!m_config->channelOutTest->isChecked())
return;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
UAVObjectField * channel = obj->getField("Channel");
channel->setValue(value,index);
obj->updated();
}
ConfigCustomWidget::ConfigCustomWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_CustomConfigWidget())
{
m_aircraft->setupUi(this);
// Put combo boxes in line one of the custom mixer table:
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
UAVObjectField *field = mixer->getField(QString("Mixer1Type"));
QStringList list = field->getOptions();
for (int i = 0; i < (int)VehicleConfig::CHANNEL_NUMELEM; i++) {
QComboBox *qb = new QComboBox(m_aircraft->customMixerTable);
qb->addItems(list);
m_aircraft->customMixerTable->setCellWidget(0, i, qb);
}
SpinBoxDelegate *sbd = new SpinBoxDelegate();
for (int i = 1; i < (int)VehicleConfig::CHANNEL_NUMELEM; i++) {
m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
}
}
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
Note: The default behavior of ConfigTaskWidget is bypassed.
Therefore no automatic synchronization of UAV Objects to UI is done.
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
{
Q_UNUSED(o);
if (!allObjectsUpdated()) {
return;
}
bool dirty = isDirty();
// Get the Airframe type from the system settings:
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
UAVObjectField *field = system->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but there you go.
QString frameType = field->getValue().toString();
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - frame type:" << frameType;
QString category = frameCategory(frameType);
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText(category));
VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
if (vehicleConfig) {
vehicleConfig->refreshWidgetsValues(frameType);
}
updateFeedForwardUI();
setDirty(dirty);
qDebug() << "ConfigVehicleTypeWidget::refreshWidgetsValues - end";
}
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_config = new Ui_InputWidget();
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// First of all, put all the channel widgets into lists, so that we can
// manipulate those:
inMaxLabels << m_config->ch0Max
<< m_config->ch1Max
<< m_config->ch2Max
<< m_config->ch3Max
<< m_config->ch4Max
<< m_config->ch5Max
<< m_config->ch6Max
<< m_config->ch7Max;
inMinLabels << m_config->ch0Min
<< m_config->ch1Min
<< m_config->ch2Min
<< m_config->ch3Min
<< m_config->ch4Min
<< m_config->ch5Min
<< m_config->ch6Min
<< m_config->ch7Min;
inSliders << m_config->inSlider0
<< m_config->inSlider1
<< m_config->inSlider2
<< m_config->inSlider3
<< m_config->inSlider4
<< m_config->inSlider5
<< m_config->inSlider6
<< m_config->inSlider7;
inRevCheckboxes << m_config->ch0Rev
<< m_config->ch1Rev
<< m_config->ch2Rev
<< m_config->ch3Rev
<< m_config->ch4Rev
<< m_config->ch5Rev
<< m_config->ch6Rev
<< m_config->ch7Rev;
inChannelAssign << m_config->ch0Assign
<< m_config->ch1Assign
<< m_config->ch2Assign
<< m_config->ch3Assign
<< m_config->ch4Assign
<< m_config->ch5Assign
<< m_config->ch6Assign
<< m_config->ch7Assign;
// Now connect the widget to the ManualControlCommand / Channel UAVObject
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlCommand")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*)));
// Register for ManualControlSettings changes:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
// Get the receiver types supported by OpenPilot and fill the corresponding
// dropdown menu:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
UAVObjectField * field;
// Fill in the dropdown menus for the channel RC Input assignement.
QStringList channelsList;
channelsList << "None";
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
channelsList.append(field->getName());
}
}
m_config->ch0Assign->addItems(channelsList);
m_config->ch1Assign->addItems(channelsList);
m_config->ch2Assign->addItems(channelsList);
m_config->ch3Assign->addItems(channelsList);
m_config->ch4Assign->addItems(channelsList);
m_config->ch5Assign->addItems(channelsList);
m_config->ch6Assign->addItems(channelsList);
m_config->ch7Assign->addItems(channelsList);
// And the flight mode settings:
field = obj->getField(QString("FlightModePosition"));
m_config->fmsModePos1->addItems(field->getOptions());
m_config->fmsModePos2->addItems(field->getOptions());
m_config->fmsModePos3->addItems(field->getOptions());
field = obj->getField(QString("Stabilization1Settings"));
channelsList.clear();
channelsList.append(field->getOptions());
m_config->fmsSsPos1Roll->addItems(channelsList);
m_config->fmsSsPos1Pitch->addItems(channelsList);
m_config->fmsSsPos1Yaw->addItems(channelsList);
m_config->fmsSsPos2Roll->addItems(channelsList);
m_config->fmsSsPos2Pitch->addItems(channelsList);
m_config->fmsSsPos2Yaw->addItems(channelsList);
m_config->fmsSsPos3Roll->addItems(channelsList);
m_config->fmsSsPos3Pitch->addItems(channelsList);
m_config->fmsSsPos3Yaw->addItems(channelsList);
// And the Armin configurations:
field = obj->getField(QString("Arming"));
m_config->armControl->clear();
m_config->armControl->addItems(field->getOptions());
connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
enableControls(false);
refreshValues();
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
connect(m_config->ch0Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch1Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch2Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch3Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch4Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch5Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch6Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch7Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->doRCInputCalibration,SIGNAL(stateChanged(int)),this,SLOT(updateTips(int)));
firstUpdate = true;
// Connect the help button
connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
updateTips(Qt::Unchecked);
}
ConfigServoWidget::ConfigServoWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_config = new Ui_SettingsWidget();
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// First of all, put all the channel widgets into lists, so that we can
// manipulate those:
// NOTE: for historical reasons, we have objects below called ch0 to ch7, but the convention for OP is Channel 1 to Channel 8.
outLabels << m_config->ch0OutValue
<< m_config->ch1OutValue
<< m_config->ch2OutValue
<< m_config->ch3OutValue
<< m_config->ch4OutValue
<< m_config->ch5OutValue
<< m_config->ch6OutValue
<< m_config->ch7OutValue;
outSliders << m_config->ch0OutSlider
<< m_config->ch1OutSlider
<< m_config->ch2OutSlider
<< m_config->ch3OutSlider
<< m_config->ch4OutSlider
<< m_config->ch5OutSlider
<< m_config->ch6OutSlider
<< m_config->ch7OutSlider;
outMin << m_config->ch0OutMin
<< m_config->ch1OutMin
<< m_config->ch2OutMin
<< m_config->ch3OutMin
<< m_config->ch4OutMin
<< m_config->ch5OutMin
<< m_config->ch6OutMin
<< m_config->ch7OutMin;
outMax << m_config->ch0OutMax
<< m_config->ch1OutMax
<< m_config->ch2OutMax
<< m_config->ch3OutMax
<< m_config->ch4OutMax
<< m_config->ch5OutMax
<< m_config->ch6OutMax
<< m_config->ch7OutMax;
reversals << m_config->ch0Rev
<< m_config->ch1Rev
<< m_config->ch2Rev
<< m_config->ch3Rev
<< m_config->ch4Rev
<< m_config->ch5Rev
<< m_config->ch6Rev
<< m_config->ch7Rev;
inMaxLabels << m_config->ch0Max
<< m_config->ch1Max
<< m_config->ch2Max
<< m_config->ch3Max
<< m_config->ch4Max
<< m_config->ch5Max
<< m_config->ch6Max
<< m_config->ch7Max;
inMinLabels << m_config->ch0Min
<< m_config->ch1Min
<< m_config->ch2Min
<< m_config->ch3Min
<< m_config->ch4Min
<< m_config->ch5Min
<< m_config->ch6Min
<< m_config->ch7Min;
inNeuLabels << m_config->ch0Cur
<< m_config->ch1Cur
<< m_config->ch2Cur
<< m_config->ch3Cur
<< m_config->ch4Cur
<< m_config->ch5Cur
<< m_config->ch6Cur
<< m_config->ch7Cur;
inSliders << m_config->inSlider0
<< m_config->inSlider1
<< m_config->inSlider2
<< m_config->inSlider3
<< m_config->inSlider4
<< m_config->inSlider5
<< m_config->inSlider6
<< m_config->inSlider7;
// Now connect the widget to the ManualControlCommand / Channel UAVObject
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlCommand")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*)));
// Get the receiver types supported by OpenPilot and fill the corresponding
// dropdown menu:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
QString fieldName = QString("InputMode");
UAVObjectField *field = obj->getField(fieldName);
m_config->receiverType->addItems(field->getOptions());
m_config->receiverType->setDisabled(true); // This option does not work for now, it is a compile-time option.
// Fill in the dropdown menus for the channel RC Input assignement.
QStringList channelsList;
channelsList << "None";
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
channelsList.append(field->getName());
}
}
m_config->ch0Assign->addItems(channelsList);
m_config->ch1Assign->addItems(channelsList);
m_config->ch2Assign->addItems(channelsList);
m_config->ch3Assign->addItems(channelsList);
m_config->ch4Assign->addItems(channelsList);
m_config->ch5Assign->addItems(channelsList);
m_config->ch6Assign->addItems(channelsList);
m_config->ch7Assign->addItems(channelsList);
// And for the channel output assignement options
m_config->ch0Output->addItem("None");
m_config->ch1Output->addItem("None");
m_config->ch2Output->addItem("None");
m_config->ch3Output->addItem("None");
m_config->ch4Output->addItem("None");
m_config->ch5Output->addItem("None");
m_config->ch6Output->addItem("None");
m_config->ch7Output->addItem("None");
// And the flight mode settings:
field = obj->getField(QString("FlightModePosition"));
m_config->fmsModePos1->addItems(field->getOptions());
m_config->fmsModePos2->addItems(field->getOptions());
m_config->fmsModePos3->addItems(field->getOptions());
field = obj->getField(QString("Stabilization1Settings"));
channelsList.clear();
channelsList.append(field->getOptions());
m_config->fmsSsPos1Roll->addItems(channelsList);
m_config->fmsSsPos1Pitch->addItems(channelsList);
m_config->fmsSsPos1Yaw->addItems(channelsList);
m_config->fmsSsPos2Roll->addItems(channelsList);
m_config->fmsSsPos2Pitch->addItems(channelsList);
m_config->fmsSsPos2Yaw->addItems(channelsList);
m_config->fmsSsPos3Roll->addItems(channelsList);
m_config->fmsSsPos3Pitch->addItems(channelsList);
m_config->fmsSsPos3Yaw->addItems(channelsList);
// And the Armin configurations:
field = obj->getField(QString("Arming"));
m_config->armControl->clear();
m_config->armControl->addItems(field->getOptions());
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
m_config->ch0Output->addItem(field->getName());
m_config->ch1Output->addItem(field->getName());
m_config->ch2Output->addItem(field->getName());
m_config->ch3Output->addItem(field->getName());
m_config->ch4Output->addItem(field->getName());
m_config->ch5Output->addItem(field->getName());
m_config->ch6Output->addItem(field->getName());
m_config->ch7Output->addItem(field->getName());
}
}
// set the RC input tneutral value textees
for (int i = 0; i < 8; i++)
inNeuLabels[i]->setText(QString::number(inSliders[i]->value()));
for (int i = 0; i < 8; i++) {
connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
// Now connect the channel out sliders to our signal to send updates in test mode
connect(outSliders[i], SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
}
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
requestRCInputUpdate();
requestRCOutputUpdate();
connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
connect(m_config->getRCInputCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
// Flightmode panel is connected to the same as rcinput because
// the underlying object is the same!
connect(m_config->saveFmsToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveFmsToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
connect(m_config->getFmsCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
connect(m_config->saveArmToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveArmToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
connect(m_config->getArmCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
connect(m_config->saveRCOutputToSD, SIGNAL(clicked()), this, SLOT(saveRCOutputObject()));
connect(m_config->saveRCOutputToRAM, SIGNAL(clicked()), this, SLOT(sendRCOutputUpdate()));
connect(m_config->getRCOutputCurrent, SIGNAL(clicked()), this, SLOT(requestRCOutputUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCInputUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCOutputUpdate()));
connect(m_config->inSlider0, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged0(int)));
connect(m_config->inSlider1, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged1(int)));
connect(m_config->inSlider2, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged2(int)));
connect(m_config->inSlider3, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged3(int)));
connect(m_config->inSlider4, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged4(int)));
connect(m_config->inSlider5, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged5(int)));
connect(m_config->inSlider6, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged6(int)));
connect(m_config->inSlider7, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged7(int)));
firstUpdate = true;
enableControls(false);
// Listen to telemetry connection events
if (pm)
{
TelemetryManager *tm = pm->getObject<TelemetryManager>();
if (tm)
{
connect(tm, SIGNAL(myStart()), this, SLOT(onTelemetryStart()));
connect(tm, SIGNAL(myStop()), this, SLOT(onTelemetryStop()));
connect(tm, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
connect(tm, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
}
}
}
/**
Request the current config from the board (RC Output)
*/
void ConfigServoWidget::requestRCOutputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
UAVObjectField *field = obj->getField(QString("AirframeType"));
m_config->aircraftType->setText(QString("Aircraft type: ") + field->getValue().toString());
// Reset all channel assignements:
m_config->ch0Output->setCurrentIndex(0);
m_config->ch1Output->setCurrentIndex(0);
m_config->ch2Output->setCurrentIndex(0);
m_config->ch3Output->setCurrentIndex(0);
m_config->ch4Output->setCurrentIndex(0);
m_config->ch5Output->setCurrentIndex(0);
m_config->ch6Output->setCurrentIndex(0);
m_config->ch7Output->setCurrentIndex(0);
// Get the channel assignements:
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
assignOutputChannel(obj,field->getName());
}
}
// Get Output rates for both banks
field = obj->getField(QString("ChannelUpdateFreq"));
m_config->outputRate1->setValue(field->getValue(0).toInt());
m_config->outputRate2->setValue(field->getValue(1).toInt());
// Get Channel ranges:
for (int i=0;i<8;i++) {
field = obj->getField(QString("ChannelMin"));
int minValue = field->getValue(i).toInt();
outMin[i]->setValue(minValue);
field = obj->getField(QString("ChannelMax"));
int maxValue = field->getValue(i).toInt();
outMax[i]->setValue(maxValue);
if (maxValue>minValue) {
outSliders[i]->setMinimum(minValue);
outSliders[i]->setMaximum(maxValue);
reversals[i]->setChecked(false);
} else {
outSliders[i]->setMinimum(maxValue);
outSliders[i]->setMaximum(minValue);
reversals[i]->setChecked(true);
}
}
field = obj->getField(QString("ChannelNeutral"));
for (int i=0; i<8; i++) {
int value = field->getValue(i).toInt();
outSliders[i]->setValue(value);
outLabels[i]->setText(QString::number(value));
}
}
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_config = new Ui_OutputWidget();
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode())
m_config->saveRCOutputToRAM->setVisible(false);
/* There's lots of situations where it's unsafe to run tests.
* Import/export:
*/
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
/* Board connection/disconnection: */
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(stopTests()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(stopTests()));
/* When we go into wizards, etc.. time to stop this too. */
Core::ModeManager *modeMngr = Core::ModeManager::instance();
connect(modeMngr, SIGNAL(currentModeAboutToChange(Core::IMode *)), this,
SLOT(stopTests()));
connect(modeMngr, SIGNAL(currentModeChanged(Core::IMode *)), this,
SLOT(stopTests()));
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
{
OutputChannelForm *outputForm = new OutputChannelForm(i, this, i==0);
m_config->channelLayout->addWidget(outputForm);
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), outputForm, SLOT(enableChannelTest(bool)));
connect(outputForm, SIGNAL(channelChanged(int,int)), this, SLOT(sendChannelTest(int,int)));
connect(outputForm, SIGNAL(formChanged()), this, SLOT(do_SetDirty()));
}
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
connect(m_config->calibrateESC, SIGNAL(clicked()), this, SLOT(startESCCalibration()));
// Configure the task widget
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
// Associate the buttons with their UAVO fields
addWidget(m_config->cb_outputRate6);
addWidget(m_config->cb_outputRate5);
addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2);
addWidget(m_config->cb_outputRate1);
addWidget(m_config->spinningArmed);
// Cache all the combo boxes and labels
lblList.clear();
lblList << m_config->chBank1 << m_config->chBank2 << m_config->chBank3 << m_config->chBank4
<< m_config->chBank5 << m_config->chBank6;
rateList.clear();
rateList << m_config->cb_outputRate1 << m_config->cb_outputRate2 << m_config->cb_outputRate3
<< m_config->cb_outputRate4 << m_config->cb_outputRate5 << m_config->cb_outputRate6;
resList.clear();
resList << m_config->cb_outputResolution1 << m_config->cb_outputResolution2 << m_config->cb_outputResolution3
<< m_config->cb_outputResolution4 << m_config->cb_outputResolution5 << m_config->cb_outputResolution6;
// Get the list of output resolutions and assign to the resolution dropdowns
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
UAVObjectField *resolutions = actuatorSettings->getField("TimerPwmResolution");
Q_ASSERT(resolutions);
QList<QComboBox*>::iterator resIter;
for (resIter = resList.begin(); resIter != resList.end(); resIter++) {
QComboBox *res = *resIter;
res->clear();
res->addItems(resolutions->getOptions());
addWidget(res);
connect(res, SIGNAL(currentIndexChanged(int)), this, SLOT(refreshWidgetRanges()));
}
QList<QComboBox*>::iterator rateIter;
for (rateIter = rateList.begin(); rateIter != rateList.end(); rateIter++) {
QComboBox *rate = *rateIter;
connect(rate, SIGNAL(currentIndexChanged(int)), this, SLOT(refreshWidgetRanges()));
}
disconnect(this, SLOT(refreshWidgetsValues(UAVObject*)));
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false);
connect(SystemSettings::GetInstance(objManager), SIGNAL(objectUpdated(UAVObject*)),this,SLOT(assignOutputChannels(UAVObject*)));
refreshWidgetsValues();
}
/**
* Sends the config to the board, without saving to the SD card (RC Output)
*/
void ConfigServoWidget::sendRCOutputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
Q_ASSERT(obj);
// Now send channel ranges:
UAVObjectField * field = obj->getField(QString("ChannelMax"));
for (int i = 0; i < 8; i++) {
field->setValue(outMax[i]->value(),i);
}
field = obj->getField(QString("ChannelMin"));
for (int i = 0; i < 8; i++) {
field->setValue(outMin[i]->value(),i);
}
field = obj->getField(QString("ChannelNeutral"));
for (int i = 0; i < 8; i++) {
field->setValue(outSliders[i]->value(),i);
}
field = obj->getField(QString("ChannelUpdateFreq"));
field->setValue(m_config->outputRate1->value(),0);
field->setValue(m_config->outputRate2->value(),1);
// Set Actuator assignement for each channel:
// Rule: if two channels have the same setting (which is wrong!) the higher channel
// will get the setting.
// First, reset all channel assignements:
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
// NOTE: we assume that all options in ActuatorSettings are a channel assignement
// except for the options called "ChannelXXX"
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
if (m_config->ch0Output->currentIndex() != 0) {
field = obj->getField(m_config->ch0Output->currentText());
field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch1Output->currentIndex() != 0) {
field = obj->getField(m_config->ch1Output->currentText());
field->setValue(field->getOptions().at(1)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch2Output->currentIndex() != 0) {
field = obj->getField(m_config->ch2Output->currentText());
field->setValue(field->getOptions().at(2)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch3Output->currentIndex() != 0) {
field = obj->getField(m_config->ch3Output->currentText());
field->setValue(field->getOptions().at(3)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch4Output->currentIndex() != 0) {
field = obj->getField(m_config->ch4Output->currentText());
field->setValue(field->getOptions().at(4)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch5Output->currentIndex() != 0) {
field = obj->getField(m_config->ch5Output->currentText());
field->setValue(field->getOptions().at(5)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch6Output->currentIndex() != 0) {
field = obj->getField(m_config->ch6Output->currentText());
field->setValue(field->getOptions().at(6)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch7Output->currentIndex() != 0) {
field = obj->getField(m_config->ch7Output->currentText());
field->setValue(field->getOptions().at(7)); // -> This way we don't depend on channel naming convention
}
// ... and send to the OP Board
obj->updated();
}
/*!
\brief Called by updates to @OPLinkStatus
*/
void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
{
// Request and update of the setting object if we haven't received it yet.
if (!settingsUpdated) {
oplinkSettingsObj->requestUpdate();
}
// Update the link state
UAVObjectField *linkField = object->getField("LinkState");
m_oplink->LinkState->setText(linkField->getValue().toString());
bool linkConnected = (linkField->getValue() == linkField->getOptions().at(OPLinkStatus::LINKSTATE_CONNECTED));
bool modemEnabled = linkConnected || (linkField->getValue() == linkField->getOptions().at(OPLinkStatus::LINKSTATE_DISCONNECTED)) ||
(linkField->getValue() == linkField->getOptions().at(OPLinkStatus::LINKSTATE_ENABLED));
UAVObjectField *pairRssiField = object->getField("PairSignalStrengths");
bool bound;
bool ok;
quint32 boundPairId = m_oplink->CoordID->text().toUInt(&ok, 16);
// Update the detected devices.
UAVObjectField *pairIdField = object->getField("PairIDs");
quint32 pairid = pairIdField->getValue(0).toUInt();
bound = (pairid == boundPairId);
m_oplink->PairID1->setText(QString::number(pairid, 16).toUpper());
m_oplink->PairID1->setEnabled(false);
m_oplink->Bind1->setText(bound ? tr("Unbind") : tr("Bind"));
m_oplink->Bind1->setEnabled(pairid && modemEnabled);
m_oplink->PairSignalStrengthBar1->setValue(((bound && !linkConnected) || !modemEnabled) ? -127 : pairRssiField->getValue(0).toInt());
m_oplink->PairSignalStrengthLabel1->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar1->value()));
pairid = pairIdField->getValue(1).toUInt();
bound = (pairid == boundPairId);
m_oplink->PairID2->setText(QString::number(pairid, 16).toUpper());
m_oplink->PairID2->setEnabled(false);
m_oplink->Bind2->setText(bound ? tr("Unbind") : tr("Bind"));
m_oplink->Bind2->setEnabled(pairid && modemEnabled);
m_oplink->PairSignalStrengthBar2->setValue(((bound && !linkConnected) || !modemEnabled) ? -127 : pairRssiField->getValue(1).toInt());
m_oplink->PairSignalStrengthLabel2->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar2->value()));
pairid = pairIdField->getValue(2).toUInt();
bound = (pairid == boundPairId);
m_oplink->PairID3->setText(QString::number(pairid, 16).toUpper());
m_oplink->PairID3->setEnabled(false);
m_oplink->Bind3->setText(bound ? tr("Unbind") : tr("Bind"));
m_oplink->Bind3->setEnabled(pairid && modemEnabled);
m_oplink->PairSignalStrengthBar3->setValue(((bound && !linkConnected) || !modemEnabled) ? -127 : pairRssiField->getValue(2).toInt());
m_oplink->PairSignalStrengthLabel3->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar3->value()));
pairid = pairIdField->getValue(3).toUInt();
bound = (pairid == boundPairId);
m_oplink->PairID4->setText(QString::number(pairid, 16).toUpper());
m_oplink->PairID4->setEnabled(false);
m_oplink->Bind4->setText(bound ? tr("Unbind") : tr("Bind"));
m_oplink->Bind4->setEnabled(pairid && modemEnabled);
m_oplink->PairSignalStrengthBar4->setValue(((bound && !linkConnected) || !modemEnabled) ? -127 : pairRssiField->getValue(3).toInt());
m_oplink->PairSignalStrengthLabel4->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar4->value()));
// Update the Description field
// TODO use UAVObjectUtilManager::descriptionToStructure()
UAVObjectField *descField = object->getField("Description");
if (descField->getValue(0) != QChar(255)) {
/*
* This looks like a binary with a description at the end:
* 4 bytes: header: "OpFw".
* 4 bytes: GIT commit tag (short version of SHA1).
* 4 bytes: Unix timestamp of compile time.
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
* 20 bytes: SHA1 sum of the firmware.
* 20 bytes: SHA1 sum of the uavo definitions.
* 20 bytes: free for now.
*/
char buf[OPLinkStatus::DESCRIPTION_NUMELEM];
for (unsigned int i = 0; i < 26; ++i) {
buf[i] = descField->getValue(i + 14).toChar().toLatin1();
}
buf[26] = '\0';
QString descstr(buf);
quint32 gitDate = descField->getValue(11).toChar().toLatin1() & 0xFF;
for (int i = 1; i < 4; i++) {
gitDate = gitDate << 8;
gitDate += descField->getValue(11 - i).toChar().toLatin1() & 0xFF;
}
QString date = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyy-MM-dd HH:mm");
m_oplink->FirmwareVersion->setText(descstr + " " + date);
} else {
m_oplink->FirmwareVersion->setText(tr("Unknown"));
}
// Update the serial number field
UAVObjectField *serialField = object->getField("CPUSerial");
char buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2 + 1];
for (unsigned int i = 0; i < OPLinkStatus::CPUSERIAL_NUMELEM; ++i) {
unsigned char val = serialField->getValue(i).toUInt() >> 4;
buf[i * 2] = ((val < 10) ? '0' : '7') + val;
val = serialField->getValue(i).toUInt() & 0xf;
buf[i * 2 + 1] = ((val < 10) ? '0' : '7') + val;
}
buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2] = '\0';
m_oplink->SerialNumber->setText(buf);
updateEnableControls();
}
// Slot called by the menu manager on user action
void UAVSettingsImportExportFactory::importUAVSettings()
{
// ask for file name
QString fileName;
QString filters = tr("UAVObjects XML files (*.uav);; XML files (*.xml)");
fileName = QFileDialog::getOpenFileName(0, tr("Import UAV Settings"), "", filters);
if (fileName.isEmpty()) {
return;
}
// Now open the file
QFile file(fileName);
QDomDocument doc("UAVObjects");
file.open(QFile::ReadOnly | QFile::Text);
if (!doc.setContent(file.readAll())) {
QMessageBox msgBox;
msgBox.setText(tr("File Parsing Failed."));
msgBox.setInformativeText(tr("This file is not a correct XML file"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
file.close();
// find the root of settings subtree
emit importAboutToBegin();
qDebug() << "Import about to begin";
QDomElement root = doc.documentElement();
if (root.tagName() == "uavobjects") {
root = root.firstChildElement("settings");
}
if (root.isNull() || (root.tagName() != "settings")) {
QMessageBox msgBox;
msgBox.setText(tr("Wrong file contents"));
msgBox.setInformativeText(tr("This file does not contain correct UAVSettings"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.exec();
return;
}
// We are now ok: setup the import summary dialog & update it as we
// go along.
ImportSummaryDialog swui((QWidget *)Core::ICore::instance()->mainWindow());
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
swui.show();
QDomNode node = root.firstChild();
while (!node.isNull()) {
QDomElement e = node.toElement();
if (e.tagName() == "object") {
// - Read each object
QString uavObjectName = e.attribute("name");
uint uavObjectID = e.attribute("id").toUInt(NULL, 16);
// Sanity Check:
UAVObject *obj = objManager->getObject(uavObjectName);
if (obj == NULL) {
// This object is unknown!
qDebug() << "Object unknown:" << uavObjectName << uavObjectID;
swui.addLine(uavObjectName, "Error (Object unknown)", false);
} else {
// - Update each field
// - Issue and "updated" command
bool error = false;
bool setError = false;
QDomNode field = node.firstChild();
while (!field.isNull()) {
QDomElement f = field.toElement();
if (f.tagName() == "field") {
UAVObjectField *uavfield = obj->getField(f.attribute("name"));
if (uavfield) {
QStringList list = f.attribute("values").split(",");
if (list.length() == 1) {
if (false == uavfield->checkValue(f.attribute("values"))) {
qDebug() << "checkValue returned false on: " << uavObjectName << f.attribute("values");
setError = true;
} else {
uavfield->setValue(f.attribute("values"));
}
} else {
// This is an enum:
int i = 0;
QStringList list = f.attribute("values").split(",");
foreach(QString element, list) {
if (false == uavfield->checkValue(element, i)) {
qDebug() << "checkValue(list) returned false on: " << uavObjectName << list;
setError = true;
} else {
uavfield->setValue(element, i);
}
i++;
}
}
} else {
error = true;
}
}
field = field.nextSibling();
}
obj->updated();
if (error) {
swui.addLine(uavObjectName, "Warning (Object field unknown)", true);
} else if (uavObjectID != obj->getObjID()) {
qDebug() << "Mismatch for Object " << uavObjectName << uavObjectID << " - " << obj->getObjID();
swui.addLine(uavObjectName, "Warning (ObjectID mismatch)", true);
} else if (setError) {
swui.addLine(uavObjectName, "Warning (Objects field value(s) invalid)", false);
} else {
swui.addLine(uavObjectName, "OK", true);
}
}
ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_ahrs = new Ui_AHRSWidget();
m_ahrs->setupUi(this);
// Initialization of the Paper plane widget
m_ahrs->sixPointsHelp->setScene(new QGraphicsScene(this));
paperplane = new QGraphicsSvgItem();
paperplane->setSharedRenderer(new QSvgRenderer());
paperplane->renderer()->load(QString(":/configgadget/images/paper-plane.svg"));
paperplane->setElementId("plane-horizontal");
m_ahrs->sixPointsHelp->scene()->addItem(paperplane);
m_ahrs->sixPointsHelp->setSceneRect(paperplane->boundingRect());
// Initialization of the AHRS bargraph graph
m_ahrs->ahrsBargraph->setScene(new QGraphicsScene(this));
QSvgRenderer *renderer = new QSvgRenderer();
ahrsbargraph = new QGraphicsSvgItem();
renderer->load(QString(":/configgadget/images/ahrs-calib.svg"));
ahrsbargraph->setSharedRenderer(renderer);
ahrsbargraph->setElementId("background");
ahrsbargraph->setObjectName("background");
m_ahrs->ahrsBargraph->scene()->addItem(ahrsbargraph);
m_ahrs->ahrsBargraph->setSceneRect(ahrsbargraph->boundingRect());
// Initialize the 9 bargraph values:
QMatrix lineMatrix = renderer->matrixForElement("accel_x");
QRectF rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_x"));
qreal startX = rect.x();
qreal startY = rect.y()+ rect.height();
// maxBarHeight will be used for scaling it later.
maxBarHeight = rect.height();
// Then once we have the initial location, we can put it
// into a QGraphicsSvgItem which we will display at the same
// place: we do this so that the heading scale can be clipped to
// the compass dial region.
accel_x = new QGraphicsSvgItem();
accel_x->setSharedRenderer(renderer);
accel_x->setElementId("accel_x");
m_ahrs->ahrsBargraph->scene()->addItem(accel_x);
accel_x->setPos(startX, startY);
accel_x->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("accel_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
accel_y = new QGraphicsSvgItem();
accel_y->setSharedRenderer(renderer);
accel_y->setElementId("accel_y");
m_ahrs->ahrsBargraph->scene()->addItem(accel_y);
accel_y->setPos(startX,startY);
accel_y->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("accel_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
accel_z = new QGraphicsSvgItem();
accel_z->setSharedRenderer(renderer);
accel_z->setElementId("accel_z");
m_ahrs->ahrsBargraph->scene()->addItem(accel_z);
accel_z->setPos(startX,startY);
accel_z->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("gyro_x");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_x"));
startX = rect.x();
startY = rect.y()+ rect.height();
gyro_x = new QGraphicsSvgItem();
gyro_x->setSharedRenderer(renderer);
gyro_x->setElementId("gyro_x");
m_ahrs->ahrsBargraph->scene()->addItem(gyro_x);
gyro_x->setPos(startX,startY);
gyro_x->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("gyro_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
gyro_y = new QGraphicsSvgItem();
gyro_y->setSharedRenderer(renderer);
gyro_y->setElementId("gyro_y");
m_ahrs->ahrsBargraph->scene()->addItem(gyro_y);
gyro_y->setPos(startX,startY);
gyro_y->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("gyro_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
gyro_z = new QGraphicsSvgItem();
gyro_z->setSharedRenderer(renderer);
gyro_z->setElementId("gyro_z");
m_ahrs->ahrsBargraph->scene()->addItem(gyro_z);
gyro_z->setPos(startX,startY);
gyro_z->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("mag_x");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_x"));
startX = rect.x();
startY = rect.y()+ rect.height();
mag_x = new QGraphicsSvgItem();
mag_x->setSharedRenderer(renderer);
mag_x->setElementId("mag_x");
m_ahrs->ahrsBargraph->scene()->addItem(mag_x);
mag_x->setPos(startX,startY);
mag_x->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("mag_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
mag_y = new QGraphicsSvgItem();
mag_y->setSharedRenderer(renderer);
mag_y->setElementId("mag_y");
m_ahrs->ahrsBargraph->scene()->addItem(mag_y);
mag_y->setPos(startX,startY);
mag_y->setTransform(QTransform::fromScale(1,0),true);
lineMatrix = renderer->matrixForElement("mag_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
mag_z = new QGraphicsSvgItem();
mag_z->setSharedRenderer(renderer);
mag_z->setElementId("mag_z");
m_ahrs->ahrsBargraph->scene()->addItem(mag_z);
mag_z->setPos(startX,startY);
mag_z->setTransform(QTransform::fromScale(1,0),true);
position = -1;
// Fill the dropdown menus:
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVObjectField *field = obj->getField(QString("Algorithm"));
m_ahrs->algorithm->addItems(field->getOptions());
// Register for Home Location state changes
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this , SLOT(enableHomeLocSave(UAVObject*)));
// Connect the signals
connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));
/*
connect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
connect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
connect(m_ahrs->homeLocation, SIGNAL(clicked()), this, SLOT(homeLocationSaveSD()));
*/
connect(m_ahrs->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveRAM()));
connect(m_ahrs->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveSD()));
connect(m_ahrs->sixPointsStart, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMode()));
connect(m_ahrs->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
}
/**
Request the current config from the board
*/
void ConfigServoWidget::requestRCInputUpdate()
{
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
obj->requestUpdate();
UAVObjectField *field;
// Now update all the slider values:
UAVObjectField *field_max = obj->getField(QString("ChannelMax"));
UAVObjectField *field_min = obj->getField(QString("ChannelMin"));
UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral"));
Q_ASSERT(field_max);
Q_ASSERT(field_min);
Q_ASSERT(field_neu);
for (int i = 0; i < 8; i++)
{
QVariant max = field_max->getValue(i);
QVariant min = field_min->getValue(i);
QVariant neutral = field_neu->getValue(i);
inMaxLabels[i]->setText(max.toString());
inMinLabels[i]->setText(min.toString());
inSliders[i]->setMaximum(max.toInt());
inSliders[i]->setMinimum(min.toInt());
inSliders[i]->setValue(neutral.toInt());
}
// Update receiver type
field = obj->getField(QString("InputMode"));
m_config->receiverType->setCurrentIndex(m_config->receiverType->findText(field->getValue().toString()));
// Reset all channel assignement dropdowns:
m_config->ch0Assign->setCurrentIndex(0);
m_config->ch1Assign->setCurrentIndex(0);
m_config->ch2Assign->setCurrentIndex(0);
m_config->ch3Assign->setCurrentIndex(0);
m_config->ch4Assign->setCurrentIndex(0);
m_config->ch5Assign->setCurrentIndex(0);
m_config->ch6Assign->setCurrentIndex(0);
m_config->ch7Assign->setCurrentIndex(0);
// Update all channels assignements
QList<UAVObjectField *> fieldList = obj->getFields();
foreach (UAVObjectField *field, fieldList)
{
if (field->getUnits().contains("channel"))
assignChannel(obj, field->getName());
}
// Update all the flight mode settingsin the relevant tab
field = obj->getField(QString("FlightModePosition"));
m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue(0).toString())));
m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue(1).toString())));
m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue(2).toString())));
field = obj->getField(QString("Stabilization1Settings"));
m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
field = obj->getField(QString("Stabilization2Settings"));
m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
field = obj->getField(QString("Stabilization3Settings"));
m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString()));
m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString()));
m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString()));
// Load the arming settings
field = obj->getField(QString("Arming"));
m_config->armControl->setCurrentIndex(m_config->armControl->findText(field->getValue().toString()));
field = obj->getField(QString("ArmedTimeout"));
m_config->armTimeout->setValue(field->getValue().toInt()/1000);
}
/**
* Sends the config to the board, without saving to the SD card
*/
void ConfigServoWidget::sendRCInputUpdate()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
// Now update all fields from the sliders:
QString fieldName = QString("ChannelMax");
UAVObjectField * field = obj->getField(fieldName);
for (int i = 0; i < 8; i++)
field->setValue(inMaxLabels[i]->text().toInt(), i);
fieldName = QString("ChannelMin");
field = obj->getField(fieldName);
for (int i = 0; i < 8; i++)
field->setValue(inMinLabels[i]->text().toInt(), i);
fieldName = QString("ChannelNeutral");
field = obj->getField(fieldName);
for (int i = 0; i < 8; i++)
field->setValue(inSliders[i]->value(), i);
// Set RC Receiver type:
fieldName = QString("InputMode");
field = obj->getField(fieldName);
field->setValue(m_config->receiverType->currentText());
// Set Roll/Pitch/Yaw/Etc assignement:
// Rule: if two channels have the same setting (which is wrong!) the higher channel
// will get the setting.
// First, reset all channel assignements:
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
field->setValue(field->getOptions().last());
}
}
// Then assign according to current GUI state:
if (m_config->ch0Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch0Assign->currentText());
field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention
}
if (m_config->ch1Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch1Assign->currentText());
field->setValue(field->getOptions().at(1));
}
if (m_config->ch2Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch2Assign->currentText());
field->setValue(field->getOptions().at(2));
}
if (m_config->ch3Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch3Assign->currentText());
field->setValue(field->getOptions().at(3));
}
if (m_config->ch4Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch4Assign->currentText());
field->setValue(field->getOptions().at(4));
}
if (m_config->ch5Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch5Assign->currentText());
field->setValue(field->getOptions().at(5));
}
if (m_config->ch6Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch6Assign->currentText());
field->setValue(field->getOptions().at(6));
}
if (m_config->ch7Assign->currentIndex() != 0) {
field = obj->getField(m_config->ch7Assign->currentText());
field->setValue(field->getOptions().at(7));
}
// Send all the flight mode settings
field = obj->getField(QString("FlightModePosition"));
field->setValue(m_config->fmsModePos1->currentText(),0);
field->setValue(m_config->fmsModePos2->currentText(),1);
field->setValue(m_config->fmsModePos3->currentText(),2);
field = obj->getField(QString("Stabilization1Settings"));
field->setValue(m_config->fmsSsPos1Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos1Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos1Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
field = obj->getField(QString("Stabilization2Settings"));
field->setValue(m_config->fmsSsPos2Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos2Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos2Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
field = obj->getField(QString("Stabilization3Settings"));
field->setValue(m_config->fmsSsPos3Roll->currentText(), field->getElementNames().indexOf("Roll"));
field->setValue(m_config->fmsSsPos3Pitch->currentText(), field->getElementNames().indexOf("Pitch"));
field->setValue(m_config->fmsSsPos3Yaw->currentText(), field->getElementNames().indexOf("Yaw"));
// Save the arming settings
field = obj->getField(QString("Arming"));
field->setValue(m_config->armControl->currentText());
field = obj->getField(QString("ArmedTimeout"));
field->setValue(m_config->armTimeout->value()*1000);
// ... and send to the OP Board
obj->updated();
}
/**
Helper function to refresh the UI widget values
*/
void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
{
Q_ASSERT(m_aircraft);
setupUI(frameType);
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
// Do not allow table edit until AirframeType == Custom
// First save set AirframeType to 'Custom' and next modify.
if (field->getValue().toString() != "Custom") {
m_aircraft->customMixerTable->setEditTriggers(QAbstractItemView::NoEditTriggers);
} else {
m_aircraft->customMixerTable->setEditTriggers(QAbstractItemView::AllEditTriggers);
}
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
getChannelDescriptions();
QList<double> curveValues;
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->customThrottle1Curve->initCurve(&curveValues);
} else {
// no, init a straight curve
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0);
}
double Throttle2CurveMin = m_aircraft->customThrottle2Curve->getMin();
if (MixerSettings * mxr = qobject_cast<MixerSettings *>(mixer)) {
MixerSettings::DataFields mixerSettingsData = mxr->getData();
if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE && Throttle2CurveMin >= 0) {
m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
} else {
m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
}
}
// Setup all Throttle2 curves for all types of airframes
getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (isValidThrottleCurve(&curveValues)) {
m_aircraft->customThrottle2Curve->initCurve(&curveValues);
} else {
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin());
}
// Update the mixer table:
for (int channel = 0; channel < m_aircraft->customMixerTable->columnCount(); channel++) {
UAVObjectField *field = mixer->getField(mixerTypes.at(channel));
if (field) {
QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel);
if (q) {
QString s = field->getValue().toString();
setComboCurrentIndex(q, q->findText(s));
}
m_aircraft->customMixerTable->item(1, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
m_aircraft->customMixerTable->item(2, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
m_aircraft->customMixerTable->item(3, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL)));
m_aircraft->customMixerTable->item(4, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH)));
m_aircraft->customMixerTable->item(5, channel)->setText(
QString::number(getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW)));
}
}
}
/**
* Updates the slider positions and min/max values
*
*/
void ConfigServoWidget::updateChannels(UAVObject* controlCommand)
{
QString fieldName = QString("Connected");
UAVObjectField *field = controlCommand->getField(fieldName);
if (field->getValue().toBool())
m_config->RCInputConnected->setText("RC Receiver Connected");
else
m_config->RCInputConnected->setText("RC Receiver Not Connected");
if (m_config->doRCInputCalibration->isChecked())
{
if (firstUpdate)
{
// Increase the data rate from the board so that the sliders
// move faster
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mccDataRate = mdata.flightTelemetryUpdatePeriod;
mdata.flightTelemetryUpdatePeriod = 150;
controlCommand->setMetadata(mdata);
// Also protect the user by setting all values to zero
// and making the ActuatorCommand object readonly
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
mdata = obj->getMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY;
obj->setMetadata(mdata);
UAVObjectField *field = obj->getField("Channel");
for (int i=0; i< field->getNumElements(); i++) {
field->setValue(0,i);
}
obj->updated();
}
field = controlCommand->getField(QString("Channel"));
for (int i = 0; i < 8; i++)
updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], reversals[i], field->getValue(i).toInt());
firstUpdate = false;
}
else
{
if (!firstUpdate)
{
// Restore original data rate from the board:
UAVObject::Metadata mdata = controlCommand->getMetadata();
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = mccDataRate;
controlCommand->setMetadata(mdata);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
mdata = obj->getMetadata();
mdata.flightAccess = UAVObject::ACCESS_READWRITE;
obj->setMetadata(mdata);
}
firstUpdate = true;
}
//Update the Flight mode channel slider
UAVObject* obj = getObjectManager()->getObject("ManualControlSettings");
// Find the channel currently assigned to flightmode
field = obj->getField("FlightMode");
int chIndex = field->getOptions().indexOf(field->getValue().toString());
if (chIndex < field->getOptions().length() - 1)
{
float valueScaled;
int chMin = inSliders[chIndex]->minimum();
int chMax = inSliders[chIndex]->maximum();
int chNeutral = inSliders[chIndex]->value();
int value = controlCommand->getField("Channel")->getValue(chIndex).toInt();
if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
{
if (chMax != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
else
valueScaled = 0;
}
else
{
if (chMin != chNeutral)
valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
else
valueScaled = 0;
}
// Bound
if (valueScaled > 1.0) valueScaled = 1.0;
else
if (valueScaled < -1.0) valueScaled = -1.0;
m_config->fmsSlider->setValue(valueScaled * 100);
}
}
