bool GpsPage::validatePage(SelectionItem *selectedItem)
{
getWizard()->setGpsType((SetupWizard::GPS_TYPE)selectedItem->id());
if (getWizard()->getGpsType() == SetupWizard::GPS_DISABLED) {
getWizard()->setAirspeedType(VehicleConfigurationSource::AIRSPEED_DISABLED);
}
return true;
}
void OutputCalibrationPage::enableButtons(bool enable)
{
getWizard()->button(QWizard::NextButton)->setEnabled(enable);
getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
getWizard()->button(QWizard::BackButton)->setEnabled(enable);
QApplication::processEvents();
}
void SavePage::enableButtons(bool enable)
{
ui->saveButton->setEnabled(enable);
getWizard()->button(QWizard::NextButton)->setEnabled(enable);
getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
getWizard()->button(QWizard::BackButton)->setEnabled(enable);
QApplication::processEvents();
}
void AutoUpdatePage::enableButtons(bool enable)
{
ui->startUpdate->setEnabled(enable);
getWizard()->button(QWizard::NextButton)->setEnabled(enable);
getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
getWizard()->button(QWizard::BackButton)->setEnabled(enable);
getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
QApplication::processEvents();
}
bool OutputPage::validatePage()
{
if (ui->rapidESCButton->isChecked()) {
getWizard()->setESCType(SetupWizard::ESC_RAPID);
} else {
getWizard()->setESCType(SetupWizard::ESC_LEGACY);
}
return true;
}
void EscCalibrationPage::enableButtons(bool enable)
{
getWizard()->button(QWizard::NextButton)->setEnabled(enable);
getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
getWizard()->button(QWizard::BackButton)->setEnabled(enable);
getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
ui->securityCheckBox1->setEnabled(enable);
ui->securityCheckBox2->setEnabled(enable);
ui->securityCheckBox3->setEnabled(enable);
QApplication::processEvents();
}
bool VehiclePage::validatePage()
{
if (ui->multirotorButton->isChecked()) {
getWizard()->setVehicleType(SetupWizard::VEHICLE_MULTI);
} else if (ui->fixedwingButton->isChecked()) {
getWizard()->setVehicleType(SetupWizard::VEHICLE_FIXEDWING);
} else if (ui->heliButton->isChecked()) {
getWizard()->setVehicleType(SetupWizard::VEHICLE_HELI);
} else if (ui->surfaceButton->isChecked()) {
getWizard()->setVehicleType(SetupWizard::VEHICLE_SURFACE);
} else {
getWizard()->setVehicleType(SetupWizard::VEHICLE_UNKNOWN);
}
return true;
}
bool MultiPage::validatePage()
{
SetupWizard::VEHICLE_SUB_TYPE type = (SetupWizard::VEHICLE_SUB_TYPE)ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
getWizard()->setVehicleSubType(type);
return true;
}
int EscCalibrationPage::getHighOutputRate()
{
if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) {
return HIGH_ONESHOT125_OUTPUT_PULSE_LENGTH_MICROSECONDS;
} else {
return HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS;
}
}
//! Store the configuration data in the wizard
bool ConfigurePage::validatePage()
{
quint32 bps = ui->cbBaudRate->currentText().toInt();
quint32 maxRfPower = ui->cbRfPower->currentText().toFloat();
quint8 minChannel = ui->sbMinChannel->value();
quint8 maxChannel = ui->sbMaxChannel->value();
enum Core::IBoardType::LinkMode linkMode;
linkMode = (enum Core::IBoardType::LinkMode) ui->cbLinkMode->currentData().value<int>();
getWizard()->setMaxBps(bps);
getWizard()->setMaxRfPower(maxRfPower);
getWizard()->setMinChannel(minChannel);
getWizard()->setMaxChannel(maxChannel);
getWizard()->setLinkMode(linkMode);
return true;
}
int OutputCalibrationPage::getHighOutputRate()
{
if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) {
return HIGH_OUTPUT_RATE_MILLISECONDS_ONESHOT125;
} else {
return HIGH_OUTPUT_RATE_MILLISECONDS_PWM;
}
}
bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedType)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavoManager);
HwSettings *hwSettings = HwSettings::GetInstance(uavoManager);
HwSettings::DataFields data = hwSettings->getData();
switch (getWizard()->getControllerType()) {
case SetupWizard::CONTROLLER_CC:
case SetupWizard::CONTROLLER_CC3D:
{
switch (selectedType) {
case VehicleConfigurationSource::INPUT_PWM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWMNOONESHOT;
case VehicleConfigurationSource::INPUT_PPM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPMNOONESHOT;
case VehicleConfigurationSource::INPUT_SBUS:
return data.CC_MainPort != HwSettings::CC_MAINPORT_SBUS;
case VehicleConfigurationSource::INPUT_DSM:
// TODO: Handle all of the DSM types ?? Which is most common?
return data.CC_MainPort != HwSettings::CC_MAINPORT_DSM;
default: return true;
}
break;
}
case SetupWizard::CONTROLLER_REVO:
case SetupWizard::CONTROLLER_DISCOVERYF4:
case SetupWizard::CONTROLLER_NANO:
{
switch (selectedType) {
case VehicleConfigurationSource::INPUT_PWM:
return data.RM_RcvrPort != HwSettings::RM_RCVRPORT_PWM;
case VehicleConfigurationSource::INPUT_PPM:
return data.RM_RcvrPort != HwSettings::RM_RCVRPORT_PPM;
case VehicleConfigurationSource::INPUT_SBUS:
return data.RM_MainPort != HwSettings::RM_MAINPORT_SBUS;
case VehicleConfigurationSource::INPUT_SRXL:
return data.RM_FlexiPort != HwSettings::RM_FLEXIPORT_SRXL;
case VehicleConfigurationSource::INPUT_DSM:
// TODO: Handle all of the DSM types ?? Which is most common?
return data.RM_MainPort != HwSettings::RM_MAINPORT_DSM;
default: return true;
}
break;
}
default: return true;
}
}
void OutputCalibrationPage::customBackClicked()
{
if (m_currentWizardIndex > 0) {
m_currentWizardIndex--;
setWizardPage();
} else {
getWizard()->back();
}
}
void OutputCalibrationPage::enableAllMotorsCheckBox(bool enable)
{
if (getWizard()->getVehicleType() == SetupWizard::VEHICLE_MULTI) {
ui->calibrateAllMotors->setVisible(true);
ui->calibrateAllMotors->setEnabled(enable);
} else {
ui->calibrateAllMotors->setChecked(false);
ui->calibrateAllMotors->setVisible(false);
}
}
bool OutputCalibrationPage::validatePage()
{
if (isFinished()) {
getWizard()->setActuatorSettings(m_actuatorSettings);
return true;
} else {
m_currentWizardIndex++;
setWizardPage();
return false;
}
}
void OutputCalibrationPage::startWizard()
{
ui->calibrationStack->setCurrentIndex(m_wizardIndexes[0]);
setupVehicleHighlightedPart();
if (getWizard()->getESCType() == SetupWizard::ESC_ONESHOT) {
ui->motorNeutralSlider->setMinimum(125);
ui->motorNeutralSlider->setMaximum(140);
ui->motorNeutralSlider->setPageStep(1);
ui->motorNeutralSlider->setSingleStep(1);
}
}
bool OutputCalibrationPage::checkAlarms()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
SystemAlarms *systemAlarms = SystemAlarms::GetInstance(uavObjectManager);
Q_ASSERT(systemAlarms);
SystemAlarms::DataFields data = systemAlarms->getData();
if (data.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
QMessageBox mbox(this);
mbox.setText(QString(tr("The actuator module is in an error state.\n\n"
"Please make sure the correct firmware version is used then "
"restart the wizard and try again. If the problem persists please "
"consult the openpilot.org support forum.")));
mbox.setStandardButtons(QMessageBox::Ok);
mbox.setIcon(QMessageBox::Critical);
getWizard()->setWindowFlags(getWizard()->windowFlags() & ~Qt::WindowStaysOnTopHint);
mbox.exec();
getWizard()->setWindowFlags(getWizard()->windowFlags() | Qt::WindowStaysOnTopHint);
getWizard()->setWindowIcon(qApp->windowIcon());
getWizard()->show();
return false;
}
return true;
}
void OutputCalibrationPage::setupActuatorMinMaxAndNeutral(int motorChannelStart, int motorChannelEnd, int totalUsedChannels)
{
// Default values for the actuator settings, extra important for
// servos since a value out of range can actually destroy the
// vehicle if unlucky.
// Motors are not that important. REMOVE propellers always!!
OutputCalibrationUtil::startOutputCalibration();
for (int servoid = 0; servoid < 12; servoid++) {
if (servoid >= motorChannelStart && servoid <= motorChannelEnd) {
// Set to motor safe values
m_actuatorSettings[servoid].channelMin = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = getHighOutputRate();
m_actuatorSettings[servoid].isReversableMotor = false;
// Car and Tank should use reversable Esc/motors
if ((getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_CAR)
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL)) {
m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].isReversableMotor = true;
// Set initial output value
m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MILLISECONDS);
m_calibrationUtil->stopChannelOutput();
}
} else if (servoid < totalUsedChannels) {
// Set to servo safe values
m_actuatorSettings[servoid].channelMin = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
// Set initial servo output value
m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MILLISECONDS);
m_calibrationUtil->stopChannelOutput();
} else {
// "Disable" these channels
m_actuatorSettings[servoid].channelMin = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = LOW_OUTPUT_RATE_MILLISECONDS;
}
}
}
bool InputPage::validatePage()
{
if (ui->pwmButton->isChecked()) {
getWizard()->setInputType(SetupWizard::INPUT_PWM);
} else if (ui->ppmButton->isChecked()) {
getWizard()->setInputType(SetupWizard::INPUT_PPM);
} else if (ui->sbusButton->isChecked()) {
getWizard()->setInputType(SetupWizard::INPUT_SBUS);
} else if (ui->spectrumButton->isChecked()) {
getWizard()->setInputType(SetupWizard::INPUT_DSM);
} else if (ui->multiplexButton->isChecked()) {
getWizard()->setInputType(SetupWizard::INPUT_SRXL);
} else {
getWizard()->setInputType(SetupWizard::INPUT_PWM);
}
getWizard()->setRestartNeeded(getWizard()->isRestartNeeded() || restartNeeded(getWizard()->getInputType()));
return true;
}
void SavePage::writeToController()
{
if(!getWizard()->getConnectionManager()->isConnected()) {
QMessageBox msgBox;
msgBox.setText(tr("An OpenPilot controller must be connected to your computer to save the "
"configuration.\nPlease connect your OpenPilot controller to your computer and try again."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
return;
}
enableButtons(false);
VehicleConfigurationHelper helper(getWizard());
connect(&helper, SIGNAL(saveProgress(int, int, QString)),this, SLOT(saveProgress(int, int, QString)));
m_successfulWrite = helper.setupVehicle();
disconnect(&helper, SIGNAL(saveProgress(int, int, QString)),this, SLOT(saveProgress(int, int, QString)));
ui->saveProgressLabel->setText(QString("<font color='%1'>%2</font>").arg(m_successfulWrite ? "green" : "red", ui->saveProgressLabel->text()));
enableButtons(true);
emit completeChanged();
}
void EndPage::openInputWizard()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
ConfigGadgetFactory* configGadgetFactory = pm->getObject<ConfigGadgetFactory>();
if(configGadgetFactory) {
//Core::ModeManager::instance()->activateModeByWorkspaceName("Configuration");
getWizard()->close();
configGadgetFactory->startInputWizard();
}
else {
QMessageBox msgBox;
msgBox.setText(tr("Unable to open Input Wizard since the Config Plugin is not\nloaded in the current workspace."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
}
}
void OutputCalibrationPage::customBackClicked()
{
if (m_currentWizardIndex >= 0) {
m_currentWizardIndex--;
if (ui->calibrateAllMotors->isChecked()) {
while (m_currentWizardIndex > 0 &&
m_wizardIndexes[m_currentWizardIndex] == 1 &&
m_wizardIndexes[m_currentWizardIndex - 1] == 1) {
m_currentWizardIndex--;
}
}
}
if (m_currentWizardIndex >= 0) {
setWizardPage();
} else {
getWizard()->back();
}
}
bool OutputCalibrationPage::validatePage()
{
if (!isFinished()) {
m_currentWizardIndex++;
if (ui->calibrateAllMotors->isChecked() &&
m_currentWizardIndex > 0 &&
m_wizardIndexes[m_currentWizardIndex - 1] == 1) {
while (!isFinished() && m_wizardIndexes[m_currentWizardIndex] == 1) {
m_currentWizardIndex++;
}
}
}
if (isFinished()) {
getWizard()->setActuatorSettings(m_actuatorSettings);
return true;
} else {
setWizardPage();
return false;
}
}
ControllerPage::ControllerPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::ControllerPage)
{
ui->setupUi(this);
m_connectionManager = getWizard()->getConnectionManager();
Q_ASSERT(m_connectionManager);
connect(m_connectionManager, SIGNAL(availableDevicesChanged(QLinkedList<Core::DevListItem>)), this, SLOT(devicesChanged(QLinkedList<Core::DevListItem>)));
ExtensionSystem::PluginManager *pluginManager = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pluginManager);
m_telemtryManager = pluginManager->getObject<TelemetryManager>();
Q_ASSERT(m_telemtryManager);
connect(m_telemtryManager, SIGNAL(connected()), this, SLOT(connectionStatusChanged()));
connect(m_telemtryManager, SIGNAL(disconnected()), this, SLOT(connectionStatusChanged()));
connect(ui->connectButton, SIGNAL(clicked()), this, SLOT(connectDisconnect()));
setupBoardTypes();
setupDeviceList();
}
void OutputCalibrationPage::setupVehicle()
{
m_actuatorSettings = getWizard()->getActuatorSettings();
m_wizardIndexes.clear();
m_vehicleElementIds.clear();
m_vehicleElementTypes.clear();
m_vehicleHighlightElementIndexes.clear();
m_channelIndex.clear();
m_currentWizardIndex = 0;
m_vehicleScene->clear();
resetOutputCalibrationUtil();
switch (getWizard()->getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
// Loads the SVG file resourse and sets the scene
loadSVGFile(MULTI_SVG_FILE);
// The m_wizardIndexes array contains the index of the QStackedWidget
// in the page to use for each step.
m_wizardIndexes << 0 << 1 << 1 << 1 << 2;
// All element ids to load from the svg file and manage.
m_vehicleElementIds << "tri" << "tri-frame" << "tri-m1" << "tri-m2" << "tri-m3" << "tri-s1";
// The type of each element.
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << SERVO;
// The index of the elementId to highlight ( not dim ) for each step
// this is the index in the m_vehicleElementIds - 1.
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
// The channel number to configure for each step.
m_channelIndex << 0 << 0 << 1 << 2 << 3;
setupActuatorMinMaxAndNeutral(0, 2, 4);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
loadSVGFile(MULTI_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "quad-x" << "quad-x-frame" << "quad-x-m1" << "quad-x-m2" << "quad-x-m3" << "quad-x-m4";
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 0 << 1 << 2 << 3;
setupActuatorMinMaxAndNeutral(0, 3, 4);
break;
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
loadSVGFile(MULTI_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "quad-p" << "quad-p-frame" << "quad-p-m1" << "quad-p-m2" << "quad-p-m3" << "quad-p-m4";
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 0 << 1 << 2 << 3;
setupActuatorMinMaxAndNeutral(0, 3, 4);
break;
case SetupWizard::MULTI_ROTOR_HEXA:
loadSVGFile(MULTI_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa" << "hexa-frame" << "hexa-m1" << "hexa-m2" << "hexa-m3" << "hexa-m4" << "hexa-m5" << "hexa-m6";
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
setupActuatorMinMaxAndNeutral(0, 5, 6);
break;
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
loadSVGFile(MULTI_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa-y6" << "hexa-y6-frame" << "hexa-y6-m2" << "hexa-y6-m1" << "hexa-y6-m4" << "hexa-y6-m3" << "hexa-y6-m6" << "hexa-y6-m5";
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
m_vehicleHighlightElementIndexes << 0 << 2 << 1 << 4 << 3 << 6 << 5;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
setupActuatorMinMaxAndNeutral(0, 5, 6);
break;
case SetupWizard::MULTI_ROTOR_HEXA_H:
loadSVGFile(MULTI_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa-h" << "hexa-h-frame" << "hexa-h-m1" << "hexa-h-m2" << "hexa-h-m3" << "hexa-h-m4" << "hexa-h-m5" << "hexa-h-m6";
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
setupActuatorMinMaxAndNeutral(0, 5, 6);
break;
case SetupWizard::MULTI_ROTOR_HEXA_X:
loadSVGFile(MULTI_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa-x" << "hexa-x-frame" << "hexa-x-m1" << "hexa-x-m2" << "hexa-x-m3" << "hexa-x-m4" << "hexa-x-m5" << "hexa-x-m6";
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
setupActuatorMinMaxAndNeutral(0, 5, 6);
break;
// Fixed Wing
case SetupWizard::FIXED_WING_DUAL_AILERON:
loadSVGFile(FIXEDWING_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2 << 2 << 2 << 2;
m_vehicleElementIds << "aileron" << "aileron-frame" << "aileron-motor" << "aileron-ail-left" << "aileron-ail-right" << "aileron-elevator" << "aileron-rudder";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 1 << 3;
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::FIXED_WING_AILERON:
loadSVGFile(FIXEDWING_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2 << 2 << 2;
m_vehicleElementIds << "singleaileron" << "singleaileron-frame" << "singleaileron-motor" << "singleaileron-aileron" << "singleaileron-elevator" << "singleaileron-rudder";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 2 << 0 << 1 << 3;
setupActuatorMinMaxAndNeutral(2, 2, 4);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::FIXED_WING_ELEVON:
loadSVGFile(FIXEDWING_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2 << 2;
m_vehicleElementIds << "elevon" << "elevon-frame" << "elevon-motor" << "elevon-left" << "elevon-right";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3;
m_channelIndex << 0 << 2 << 0 << 1;
setupActuatorMinMaxAndNeutral(2, 2, 3);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::FIXED_WING_VTAIL:
loadSVGFile(FIXEDWING_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2 << 2 << 2 << 2;
m_vehicleElementIds << "vtail" << "vtail-frame" << "vtail-motor" << "vtail-ail-left" << "vtail-ail-right" << "vtail-rudder-left" << "vtail-rudder-right";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 3 << 1;
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
// Ground vehicles
case SetupWizard::GROUNDVEHICLE_CAR:
loadSVGFile(GROUND_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2;
m_vehicleElementIds << "car" << "car-frame" << "car-motor" << "car-steering";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
setupActuatorMinMaxAndNeutral(1, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::GROUNDVEHICLE_DIFFERENTIAL:
loadSVGFile(GROUND_SVG_FILE);
m_wizardIndexes << 0 << 1 << 1;
m_vehicleElementIds << "tank" << "tank-frame" << "tank-left-motor" << "tank-right-motor";
m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 0 << 1;
setupActuatorMinMaxAndNeutral(0, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::GROUNDVEHICLE_MOTORCYCLE:
loadSVGFile(GROUND_SVG_FILE);
m_wizardIndexes << 0 << 1 << 2;
m_vehicleElementIds << "motorbike" << "motorbike-frame" << "motorbike-motor" << "motorbike-steering";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
setupActuatorMinMaxAndNeutral(1, 1, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
default:
break;
}
setupVehicleItems();
}
void OutputCalibrationPage::setupVehicle()
{
m_actuatorSettings = getWizard()->getActuatorSettings();
m_wizardIndexes.clear();
m_vehicleElementIds.clear();
m_vehicleHighlightElementIndexes.clear();
m_channelIndex.clear();
m_currentWizardIndex = 0;
m_vehicleScene->clear();
switch (getWizard()->getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
m_wizardIndexes << 0 << 1 << 1 << 1 << 2 << 3 << 4;
m_vehicleElementIds << "tri" << "tri-frame" << "tri-m1" << "tri-m2" << "tri-m3" << "tri-s1";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 4 << 4;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 3 << 3;
m_actuatorSettings[3].channelMin = 1500;
m_actuatorSettings[3].channelNeutral = 1500;
m_actuatorSettings[3].channelMax = 1500;
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
case SetupWizard::MULTI_ROTOR_QUAD_X:
m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "quad-x" << "quad-x-frame" << "quad-x-m1" << "quad-x-m2" << "quad-x-m3" << "quad-x-m4";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 0 << 1 << 2 << 3;
break;
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "quad-p" << "quad-p-frame" << "quad-p-m1" << "quad-p-m2" << "quad-p-m3" << "quad-p-m4";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 0 << 1 << 2 << 3;
break;
case SetupWizard::MULTI_ROTOR_HEXA:
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa" << "hexa-frame" << "hexa-m1" << "hexa-m2" << "hexa-m3" << "hexa-m4" << "hexa-m5" << "hexa-m6";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
break;
case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa-y6" << "hexa-y6-frame" << "hexa-y6-m2" << "hexa-y6-m1" << "hexa-y6-m4" << "hexa-y6-m3" << "hexa-y6-m6" << "hexa-y6-m5";
m_vehicleHighlightElementIndexes << 0 << 2 << 1 << 4 << 3 << 6 << 5;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
break;
case SetupWizard::MULTI_ROTOR_HEXA_H:
m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
m_vehicleElementIds << "hexa-h" << "hexa-h-frame" << "hexa-h-m1" << "hexa-h-m2" << "hexa-h-m3" << "hexa-h-m4" << "hexa-h-m5" << "hexa-h-m6";
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
break;
default:
break;
}
VehicleConfigurationHelper helper(getWizard());
helper.setupVehicle(false);
if (m_calibrationUtil) {
delete m_calibrationUtil;
m_calibrationUtil = 0;
}
m_calibrationUtil = new OutputCalibrationUtil();
setupVehicleItems();
}
bool ControllerPage::validatePage()
{
getWizard()->setControllerType((SetupWizard::CONTROLLER_TYPE)ui->boardTypeCombo->itemData(ui->boardTypeCombo->currentIndex()).toInt());
return true;
}
void SummaryPage::showDiagram()
{
ConnectionDiagram diagram(this, getWizard());
diagram.exec();
}
bool FixedWingPage::validatePage(SelectionItem *selectedItem)
{
getWizard()->setVehicleSubType((SetupWizard::VEHICLE_SUB_TYPE)selectedItem->id());
return true;
}
void AutoUpdatePage::updateStatus(uploader::AutoUpdateStep status, QVariant value)
{
switch (status) {
case uploader::WAITING_DISCONNECT:
getWizard()->setWindowFlags(getWizard()->windowFlags() & ~Qt::WindowStaysOnTopHint);
disableButtons();
ui->statusLabel->setText(tr("Waiting for all boards to be disconnected"));
break;
case uploader::WAITING_CONNECT:
getWizard()->setWindowFlags(getWizard()->windowFlags() | Qt::WindowStaysOnTopHint);
getWizard()->setWindowIcon(qApp->windowIcon());
disableButtons();
getWizard()->show();
ui->statusLabel->setText(tr("Please connect the board to the USB port (don't use external supply)"));
ui->levellinProgressBar->setValue(value.toInt());
break;
case uploader::JUMP_TO_BL:
ui->levellinProgressBar->setValue(0);
ui->statusLabel->setText(tr("Board going into bootloader mode"));
break;
case uploader::LOADING_FW:
ui->statusLabel->setText(tr("Loading firmware"));
break;
case uploader::UPLOADING_FW:
ui->statusLabel->setText(tr("Uploading firmware"));
ui->levellinProgressBar->setValue(value.toInt());
break;
case uploader::UPLOADING_DESC:
ui->statusLabel->setText(tr("Uploading description"));
break;
case uploader::BOOTING:
ui->statusLabel->setText(tr("Booting the board"));
break;
case uploader::SUCCESS:
enableButtons(true);
ui->statusLabel->setText(tr("Board Updated, please press the 'next' button below"));
break;
case uploader::FAILURE_FILENOTFOUND:
getWizard()->setWindowFlags(getWizard()->windowFlags() | Qt::WindowStaysOnTopHint);
getWizard()->setWindowIcon(qApp->windowIcon());
enableButtons(true);
getWizard()->show();
ui->statusLabel->setText(tr("File for this controller board not packaged in GCS"));
case uploader::FAILURE:
getWizard()->setWindowFlags(getWizard()->windowFlags() | Qt::WindowStaysOnTopHint);
getWizard()->setWindowIcon(qApp->windowIcon());
enableButtons(true);
getWizard()->show();
ui->statusLabel->setText(tr("Something went wrong, you will have to manually upgrade the board using the uploader plugin"));
break;
default:
Q_ASSERT(0);
}
}