Lorenz Meier
12 years ago
8 changed files with 3241 additions and 21 deletions
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#include "QGCConfigView.h" |
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#include "ui_QGCConfigView.h" |
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#include "UASManager.h" |
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#include "QGCPX4VehicleConfig.h" |
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#include "QGCVehicleConfig.h" |
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#include "QGCPX4VehicleConfig.h" |
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QGCConfigView::QGCConfigView(QWidget *parent) : |
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QWidget(parent), |
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ui(new Ui::QGCConfigView), |
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currUAS(NULL) |
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{ |
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ui->setupUi(this); |
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connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASChanged(UASInterface*))); |
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if (ui->waitingLabel) { |
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ui->gridLayout->removeWidget(ui->waitingLabel); |
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delete ui->waitingLabel; |
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ui->waitingLabel = NULL; |
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} |
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ui->gridLayout->addWidget(new QGCPX4VehicleConfig()); |
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} |
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QGCConfigView::~QGCConfigView() |
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{ |
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delete ui; |
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} |
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void QGCConfigView::activeUASChanged(UASInterface* uas) |
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{ |
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if (currUAS == uas) |
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return; |
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if (ui->waitingLabel) { |
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ui->gridLayout->removeWidget(ui->waitingLabel); |
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delete ui->waitingLabel; |
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ui->waitingLabel = NULL; |
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} |
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if (currUAS && currUAS->getAutopilotType() != uas->getAutopilotType()) { |
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foreach (QObject* obj, ui->gridLayout->children()) { |
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QWidget* w = dynamic_cast<QWidget*>(obj); |
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if (w) { |
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ui->gridLayout->removeWidget(w); |
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delete obj; |
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} |
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} |
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} |
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switch (uas->getAutopilotType()) { |
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case MAV_AUTOPILOT_PX4: |
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ui->gridLayout->addWidget(new QGCPX4VehicleConfig()); |
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default: |
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ui->gridLayout->addWidget(new QGCVehicleConfig()); |
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} |
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} |
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@ -0,0 +1,28 @@ |
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#ifndef QGCCONFIGVIEW_H |
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#define QGCCONFIGVIEW_H |
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#include <QWidget> |
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#include <UASInterface.h> |
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namespace Ui { |
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class QGCConfigView; |
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} |
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class QGCConfigView : public QWidget |
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{ |
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Q_OBJECT |
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public: |
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explicit QGCConfigView(QWidget *parent = 0); |
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~QGCConfigView(); |
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public slots: |
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void activeUASChanged(UASInterface* uas); |
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private: |
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Ui::QGCConfigView *ui; |
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UASInterface* currUAS; |
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}; |
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#endif // QGCCONFIGVIEW_H
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@ -0,0 +1,28 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<ui version="4.0"> |
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<class>QGCConfigView</class> |
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<widget class="QWidget" name="QGCConfigView"> |
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<property name="geometry"> |
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<rect> |
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<x>0</x> |
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<y>0</y> |
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<width>400</width> |
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<height>300</height> |
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</rect> |
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</property> |
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<property name="windowTitle"> |
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<string>Form</string> |
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</property> |
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<layout class="QGridLayout" name="gridLayout"> |
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<item row="0" column="0"> |
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<widget class="QLabel" name="waitingLabel"> |
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<property name="text"> |
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<string>Waiting for connection...</string> |
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</property> |
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</widget> |
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</item> |
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</layout> |
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</widget> |
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<resources/> |
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<connections/> |
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</ui> |
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@ -0,0 +1,202 @@ |
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#ifndef QGCPX4VehicleConfig_H |
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#define QGCPX4VehicleConfig_H |
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#include <QWidget> |
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#include <QTimer> |
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#include <QList> |
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#include <QGroupBox> |
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#include <QPushButton> |
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#include "QGCToolWidget.h" |
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#include "UASInterface.h" |
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namespace Ui { |
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class QGCPX4VehicleConfig; |
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} |
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class QGCPX4VehicleConfig : public QWidget |
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{ |
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Q_OBJECT |
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public: |
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explicit QGCPX4VehicleConfig(QWidget *parent = 0); |
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~QGCPX4VehicleConfig(); |
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enum RC_MODE { |
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RC_MODE_1 = 1, |
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RC_MODE_2 = 2, |
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RC_MODE_3 = 3, |
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RC_MODE_4 = 4, |
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RC_MODE_NONE = 5 |
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}; |
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public slots: |
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void rcMenuButtonClicked(); |
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void sensorMenuButtonClicked(); |
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void generalMenuButtonClicked(); |
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void advancedMenuButtonClicked(); |
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/** Set the MAV currently being calibrated */ |
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void setActiveUAS(UASInterface* active); |
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/** Fallback function, automatically called by loadConfig() upon failure to find and xml file*/ |
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void loadQgcConfig(bool primary); |
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/** Load configuration from xml file */ |
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void loadConfig(); |
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/** Start the RC calibration routine */ |
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void startCalibrationRC(); |
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/** Stop the RC calibration routine */ |
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void stopCalibrationRC(); |
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/** Start/stop the RC calibration routine */ |
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void toggleCalibrationRC(bool enabled); |
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/** Set trim positions */ |
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void setTrimPositions(); |
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/** Detect which channels need to be inverted */ |
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void detectChannelInversion(); |
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/** Change the mode setting of the control inputs */ |
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void setRCModeIndex(int newRcMode); |
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/** Render the data updated */ |
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void updateView(); |
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void updateMinMax(); |
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/** Set the RC channel */ |
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void setRollChan(int channel) { |
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rcMapping[0] = channel - 1; |
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updateInvertedCheckboxes(channel - 1); |
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} |
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/** Set the RC channel */ |
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void setPitchChan(int channel) { |
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rcMapping[1] = channel - 1; |
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updateInvertedCheckboxes(channel - 1); |
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} |
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/** Set the RC channel */ |
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void setYawChan(int channel) { |
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rcMapping[2] = channel - 1; |
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updateInvertedCheckboxes(channel - 1); |
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} |
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/** Set the RC channel */ |
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void setThrottleChan(int channel) { |
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rcMapping[3] = channel - 1; |
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updateInvertedCheckboxes(channel - 1); |
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} |
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/** Set the RC channel */ |
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void setModeChan(int channel) { |
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rcMapping[4] = channel - 1; |
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updateInvertedCheckboxes(channel - 1); |
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} |
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/** Set the RC channel */ |
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void setAux1Chan(int channel) { |
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rcMapping[5] = channel - 1; |
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updateInvertedCheckboxes(channel - 1); |
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} |
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/** Set the RC channel */ |
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void setAux2Chan(int channel) { |
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rcMapping[6] = channel - 1; |
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updateInvertedCheckboxes(channel - 1); |
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} |
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/** Set the RC channel */ |
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void setAux3Chan(int channel) { |
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rcMapping[7] = channel - 1; |
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updateInvertedCheckboxes(channel - 1); |
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} |
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/** Set channel inversion status */ |
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void setRollInverted(bool inverted) { |
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rcRev[rcMapping[0]] = inverted; |
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} |
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/** Set channel inversion status */ |
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void setPitchInverted(bool inverted) { |
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rcRev[rcMapping[1]] = inverted; |
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} |
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/** Set channel inversion status */ |
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void setYawInverted(bool inverted) { |
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rcRev[rcMapping[2]] = inverted; |
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} |
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/** Set channel inversion status */ |
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void setThrottleInverted(bool inverted) { |
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rcRev[rcMapping[3]] = inverted; |
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} |
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/** Set channel inversion status */ |
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void setModeInverted(bool inverted) { |
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rcRev[rcMapping[4]] = inverted; |
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} |
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/** Set channel inversion status */ |
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void setAux1Inverted(bool inverted) { |
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rcRev[rcMapping[5]] = inverted; |
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} |
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/** Set channel inversion status */ |
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void setAux2Inverted(bool inverted) { |
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rcRev[rcMapping[6]] = inverted; |
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} |
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/** Set channel inversion status */ |
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void setAux3Inverted(bool inverted) { |
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rcRev[rcMapping[7]] = inverted; |
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} |
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protected slots: |
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void menuButtonClicked(); |
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/** Reset the RC calibration */ |
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void resetCalibrationRC(); |
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/** Write the RC calibration */ |
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void writeCalibrationRC(); |
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/** Request the RC calibration */ |
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void requestCalibrationRC(); |
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/** Store all parameters in onboard EEPROM */ |
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void writeParameters(); |
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/** Receive remote control updates from MAV */ |
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void remoteControlChannelRawChanged(int chan, float val); |
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/** Parameter changed onboard */ |
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void parameterChanged(int uas, int component, QString parameterName, QVariant value); |
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void updateStatus(const QString& str); |
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void updateError(const QString& str); |
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void setRCType(int type); |
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/** Check timeouts */ |
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void checktimeOuts(); |
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/** Update checkbox status */ |
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void updateInvertedCheckboxes(int index); |
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protected: |
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bool doneLoadingConfig; |
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UASInterface* mav; ///< The current MAV
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static const unsigned int chanMax = 8; ///< Maximum number of channels
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unsigned int chanCount; ///< Actual channels
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int rcType; ///< Type of the remote control
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quint64 rcTypeUpdateRequested; ///< Zero if not requested, non-zero if requested
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static const unsigned int rcTypeTimeout = 5000; ///< 5 seconds timeout, in milliseconds
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float rcMin[chanMax]; ///< Minimum values
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float rcMax[chanMax]; ///< Maximum values
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float rcTrim[chanMax]; ///< Zero-position (center for roll/pitch/yaw, 0 throttle for throttle)
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int rcMapping[chanMax]; ///< PWM to function mappings
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float rcScaling[chanMax]; ///< Scaling of channel input to control commands
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bool rcRev[chanMax]; ///< Channel reverse
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int rcValue[chanMax]; ///< Last values
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float rcRoll; ///< PPM input channel used as roll control input
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float rcPitch; ///< PPM input channel used as pitch control input
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float rcYaw; ///< PPM input channel used as yaw control input
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float rcThrottle; ///< PPM input channel used as throttle control input
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float rcMode; ///< PPM input channel used as mode switch control input
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float rcAux1; ///< PPM input channel used as aux 1 input
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float rcAux2; ///< PPM input channel used as aux 1 input
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float rcAux3; ///< PPM input channel used as aux 1 input
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bool rcCalChanged; ///< Set if the calibration changes (and needs to be written)
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bool changed; ///< Set if any of the input data changed
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QTimer updateTimer; ///< Controls update intervals
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enum RC_MODE rc_mode; ///< Mode of the remote control, according to usual convention
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QList<QGCToolWidget*> toolWidgets; ///< Configurable widgets
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bool calibrationEnabled; ///< calibration mode on / off
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QMap<QString,QGCToolWidget*> paramToWidgetMap; ///< Holds the current active MAV's parameter widgets.
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QList<QWidget*> additionalTabs; ///< Stores additional tabs loaded for this vehicle/autopilot configuration. Used for cleaning up.
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QMap<QString,QGCToolWidget*> libParamToWidgetMap; ///< Holds the library parameter widgets
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QMap<QString,QMap<QString,QGCToolWidget*> > systemTypeToParamMap; ///< Holds all loaded MAV specific parameter widgets, for every MAV.
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QMap<QGCToolWidget*,QGroupBox*> toolToBoxMap; ///< Easy method of figuring out which QGroupBox is tied to which ToolWidget.
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QMap<QString,QString> paramTooltips; ///< Tooltips for the ? button next to a parameter.
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private: |
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Ui::QGCPX4VehicleConfig *ui; |
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QMap<QPushButton*,QWidget*> buttonToWidgetMap; |
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signals: |
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void visibilityChanged(bool visible); |
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}; |
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#endif // QGCPX4VehicleConfig_H
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