/** 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::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; }
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); }
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"); }
/** * 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); } }