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"));
}
/*!
\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);
}
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");
}
/**
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);
}
/**
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();
}
/**
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();
}
// 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);
}
}
/**
* 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);
}
}
/**
* 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();
}
/**
* 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();
}
