/**
* 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();
}
/**
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);
}
