Don Gagne
11 years ago
33 changed files with 10 additions and 2321 deletions
@ -1,231 +0,0 @@
@@ -1,231 +0,0 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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/**
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* @file |
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* @brief Implementation of QGCRemoteControlView |
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* @author Lorenz Meier <mail@qgroundcontrol.org> |
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* @author Bryan Godbolt <godbolt@ece.ualberta.ca> |
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*/ |
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#include <QGridLayout> |
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#include <QVBoxLayout> |
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#include <QHBoxLayout> |
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#include <QPushButton> |
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#include <QLabel> |
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#include <QProgressBar> |
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#include "QGCRemoteControlView.h" |
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#include "ui_QGCRemoteControlView.h" |
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#include "UASManager.h" |
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QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) : |
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QWidget(parent), |
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uasId(-1), |
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rssi(0.0f), |
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updated(false), |
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channelLayout(new QVBoxLayout()), |
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ui(NULL) |
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{ |
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ui->setupUi(this); |
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QGridLayout* layout = new QGridLayout(this); |
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layout->addLayout(channelLayout, 1, 0, 1, 2); |
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nameLabel = new QLabel(this); |
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layout->addWidget(nameLabel, 0, 0, 1, 2); |
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this->setVisible(false); |
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//setVisible(false);
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// calibrate = new QPushButton(tr("Calibrate"), this);
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// QHBoxLayout *calibrateButtonLayout = new QHBoxLayout();
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// calibrateButtonLayout->addWidget(calibrate, 0, Qt::AlignHCenter);
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// layout->addItem(calibrateButtonLayout, 3, 0, 1, 2);
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// calibrationWindow = new RadioCalibrationWindow(this);
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// connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show()));
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connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(setUASId(int))); |
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connect(&updateTimer, SIGNAL(timeout()), this, SLOT(redraw())); |
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updateTimer.start(1500); |
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} |
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QGCRemoteControlView::~QGCRemoteControlView() |
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{ |
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if(this->ui) |
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{ |
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delete ui; |
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} |
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if(this->channelLayout) |
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{ |
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delete channelLayout; |
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} |
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} |
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|
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void QGCRemoteControlView::setUASId(int id) |
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{ |
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if (uasId != -1) |
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{ |
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UASInterface* uas = UASManager::instance()->getUASForId(uasId); |
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if (uas) |
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{ |
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// The UAS exists, disconnect any existing connections
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disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float))); |
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disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float))); |
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//disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
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//disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
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disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float))); |
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} |
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} |
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// Clear channel count
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raw.clear(); |
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raw.resize(0); |
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normalized.clear(); |
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normalized.resize(0); |
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foreach (QLabel* label, rawLabels) |
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{ |
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label->deleteLater(); |
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} |
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foreach(QProgressBar* bar, progressBars) |
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{ |
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bar->deleteLater(); |
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} |
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rawLabels.clear(); |
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rawLabels.resize(0); |
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progressBars.clear(); |
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progressBars.resize(0); |
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// Connect the new UAS
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UASInterface* newUAS = UASManager::instance()->getUASForId(id); |
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if (newUAS) |
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{ |
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// New UAS exists, connect
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nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName())); |
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//calibrationWindow->setUASId(id);
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//connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
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connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float))); |
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connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float))); |
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connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float))); |
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// only connect raw channels to calibration window widget
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//connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
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} |
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} |
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void QGCRemoteControlView::setChannelRaw(int channelId, float raw) |
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{ |
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if (this->raw.count() <= channelId) { |
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// This is a new channel, append it
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this->raw.append(raw); |
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appendChannelWidget(channelId); |
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updated = true; |
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} else { |
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// This is an existing channel, aupdate it
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if (this->raw[channelId] != raw) updated = true; |
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this->raw[channelId] = raw; |
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} |
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} |
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void QGCRemoteControlView::setChannelScaled(int channelId, float normalized) |
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{ |
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if (this->normalized.count() <= channelId) // using raw vector as size indicator
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{ |
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// This is a new channel, append it
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this->normalized.append(normalized); |
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appendChannelWidget(channelId); |
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updated = true; |
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} |
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else |
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{ |
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// This is an existing channel, update it
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if (this->normalized[channelId] != normalized) updated = true; |
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this->normalized[channelId] = normalized; |
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} |
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} |
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void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized) |
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{ |
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if (rssi != rssiNormalized) updated = true; |
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rssi = rssiNormalized; |
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} |
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void QGCRemoteControlView::appendChannelWidget(int channelId) |
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{ |
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// Create new layout
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QHBoxLayout* layout = new QHBoxLayout(); |
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// Add content
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layout->addWidget(new QLabel(QString("Channel %1").arg(channelId + 1), this)); |
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QLabel* raw = new QLabel(this); |
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// Append raw label
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rawLabels.append(raw); |
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layout->addWidget(raw); |
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// Append progress bar
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QProgressBar* normalized = new QProgressBar(this); |
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normalized->setMinimum(-100); |
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normalized->setMaximum(100); |
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normalized->setFormat("%v%"); |
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progressBars.append(normalized); |
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layout->addWidget(normalized); |
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channelLayout->addLayout(layout); |
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} |
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void QGCRemoteControlView::redraw() |
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{ |
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if(isVisible() && updated) |
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{ |
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// Update percent bars and raw labels
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for(int i = 0; (i < progressBars.count()) && (i < rawLabels.count()) && (i < normalized.count()) && (i < raw.count()); i++) |
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{ |
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rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0'))); |
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int vv = normalized.at(i)*100.0f; |
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progressBars.at(i)->setValue(vv); |
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} |
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// Update RSSI
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if(rssi>0) { |
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//rssiBar->setValue(rssi);//*100);
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} |
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updated = false; |
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} |
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} |
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void QGCRemoteControlView::changeEvent(QEvent *e) |
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{ |
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Q_UNUSED(e); |
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// FIXME If the lines below are commented in
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// runtime errors can occur on x64 systems.
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// QWidget::changeEvent(e);
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// switch (e->type()) {
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// case QEvent::LanguageChange:
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// //ui->retranslateUi(this);
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// break;
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// default:
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// break;
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// }
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} |
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@ -1,85 +0,0 @@
@@ -1,85 +0,0 @@
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/*=====================================================================
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
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This file is part of the QGROUNDCONTROL project |
||||
|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
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You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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|
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/**
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* @file |
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* @brief Declaration of QGCRemoteControlView |
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* @author Lorenz Meier <mail@qgroundcontrol.org> |
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*/ |
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#ifndef QGCREMOTECONTROLVIEW_H |
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#define QGCREMOTECONTROLVIEW_H |
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#include <QWidget> |
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#include <QVector> |
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#include <QPushButton> |
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#include "RadioCalibration/RadioCalibrationWindow.h" |
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namespace Ui |
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{ |
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class QGCRemoteControlView; |
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} |
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class QVBoxLayout; |
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class QLabel; |
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class QProgressBar; |
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class QGCRemoteControlView : public QWidget |
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{ |
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Q_OBJECT |
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public: |
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QGCRemoteControlView(QWidget *parent = 0); |
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~QGCRemoteControlView(); |
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public slots: |
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void setUASId(int id); |
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void setChannelRaw(int channelId, float raw); |
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void setChannelScaled(int channelId, float normalized); |
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void setRemoteRSSI(float rssiNormalized); |
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void redraw(); |
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protected slots: |
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void appendChannelWidget(int channelId); |
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protected: |
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void changeEvent(QEvent *e); |
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int uasId; |
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float rssi; |
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bool updated; |
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QVBoxLayout* channelLayout; |
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QVector<int> raw; |
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QVector<float> normalized; |
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QVector<QLabel*> rawLabels; |
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QVector<QProgressBar*> progressBars; |
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QProgressBar* rssiBar; |
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QLabel* nameLabel; |
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QPushButton *calibrate; |
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RadioCalibrationWindow *calibrationWindow; |
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QTimer updateTimer; |
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private: |
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Ui::QGCRemoteControlView *ui; |
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}; |
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#endif // QGCREMOTECONTROLVIEW_H
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@ -1,19 +0,0 @@
@@ -1,19 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?> |
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<ui version="4.0"> |
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<class>QGCRemoteControlView</class> |
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<widget class="QWidget" name="QGCRemoteControlView"> |
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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>155</width> |
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<height>106</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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</widget> |
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<resources/> |
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<connections/> |
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</ui> |
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@ -1,68 +0,0 @@
@@ -1,68 +0,0 @@
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#include "AbstractCalibrator.h" |
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AbstractCalibrator::AbstractCalibrator(QWidget *parent) : |
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QWidget(parent), |
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pulseWidth(new QLabel()), |
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log(new QVector<uint16_t>()) |
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{ |
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} |
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AbstractCalibrator::~AbstractCalibrator() |
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{ |
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delete log; |
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} |
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uint16_t AbstractCalibrator::logAverage() |
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{ |
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// Short-circuit here if the log is empty otherwise we get a div-by-0 error.
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if (log->empty()) |
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{ |
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return 0; |
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} |
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uint16_t total = 0; |
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for (int i=0; i<log->size(); ++i) |
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{ |
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total += log->value(i); |
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} |
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return total/log->size(); |
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} |
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uint16_t AbstractCalibrator::logExtrema() |
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{ |
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uint16_t extrema = logAverage(); |
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if (logAverage() < 1500) |
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{ |
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for (int i=0; i<log->size(); ++i) |
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{ |
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if (log->value(i) < extrema) |
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{ |
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extrema = log->value(i);
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} |
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} |
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extrema -= 5; // add 5us to prevent integer overflow
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} |
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else |
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{ |
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for (int i=0; i<log->size(); ++i) |
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{ |
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if (log->value(i) > extrema) |
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{ |
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extrema = log->value(i); |
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} |
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} |
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extrema += 5; // subtact 5us to prevent integer overflow
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} |
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return extrema; |
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} |
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void AbstractCalibrator::channelChanged(uint16_t raw) |
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{ |
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pulseWidth->setText(QString::number(raw)); |
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if (log->size() == 5) |
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{ |
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log->pop_front(); |
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} |
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log->push_back(raw); |
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} |
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@ -1,83 +0,0 @@
@@ -1,83 +0,0 @@
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/*=====================================================================
|
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
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|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
||||
You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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|
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======================================================================*/ |
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|
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/**
|
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* @file |
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* @brief Common aspects of radio calibration widgets |
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* @author Bryan Godbolt <godbolt@ualberta.ca> |
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*/ |
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|
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#ifndef ABSTRACTCALIBRATOR_H |
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#define ABSTRACTCALIBRATOR_H |
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|
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#include <QWidget> |
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#include <QString> |
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#include <QLabel> |
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#include <QVector> |
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|
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#include <math.h> |
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#include <stdint.h> |
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|
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/**
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@brief Holds the code which is common to all the radio calibration widgets. |
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|
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@author Bryan Godbolt <godbolt@ece.ualberta.ca> |
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*/ |
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class AbstractCalibrator : public QWidget |
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{ |
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Q_OBJECT |
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public: |
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explicit AbstractCalibrator(QWidget *parent = 0); |
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~AbstractCalibrator(); |
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|
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/** Change the setpoints of the widget. Used when
|
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changing the display from an external source (file/uav). |
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@param data QVector of setpoints |
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*/ |
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virtual void set(const QVector<uint16_t>& data)=0; |
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signals: |
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/** Announce a setpoint change.
|
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@param index setpoint number - 0 based in the current implementation |
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@param value new value |
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*/ |
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void setpointChanged(int index, uint16_t value); |
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|
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public slots: |
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/** Slot to call when the relevant channel is updated
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@param raw current channel value |
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*/ |
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void channelChanged(uint16_t raw); |
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|
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protected: |
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/** Display the current pulse width */ |
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QLabel *pulseWidth; |
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|
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/** Log of the past few samples for use in averaging and finding extrema */ |
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QVector<uint16_t> *log; |
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/** Find the maximum or minimum of the data log */ |
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uint16_t logExtrema(); |
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/** Find the average of the log */ |
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uint16_t logAverage(); |
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}; |
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|
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#endif // ABSTRACTCALIBRATOR_H
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@ -1,104 +0,0 @@
@@ -1,104 +0,0 @@
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#include "AirfoilServoCalibrator.h" |
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|
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AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent) : |
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AbstractCalibrator(parent), |
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highPulseWidth(new QLabel()), |
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centerPulseWidth(new QLabel()), |
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lowPulseWidth(new QLabel()) |
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{ |
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QGridLayout *grid = new QGridLayout(this); |
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|
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/* Add title */ |
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QHBoxLayout *titleLayout = new QHBoxLayout(); |
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QLabel* title; |
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if (type == AILERON) { |
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title = new QLabel(tr("Aileron")); |
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} else if (type == ELEVATOR) { |
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title = new QLabel(tr("Elevator")); |
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} else if (type == RUDDER) { |
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title = new QLabel(tr("Rudder")); |
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} else { |
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title = new QLabel(tr("Unknown")); |
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} |
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|
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titleLayout->addWidget(title); |
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grid->addLayout(titleLayout, 0, 0, 1, 3, Qt::AlignHCenter); |
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|
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/* Add current Pulse Width Display */ |
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QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)")); |
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QHBoxLayout *pulseLayout = new QHBoxLayout(); |
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pulseLayout->addWidget(pulseWidthTitle); |
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pulseLayout->addWidget(pulseWidth); |
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grid->addLayout(pulseLayout, 1, 0, 1, 3); |
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|
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QLabel *highPulseString; |
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QLabel *centerPulseString; |
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QLabel *lowPulseString; |
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if (type == AILERON) { |
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highPulseString = new QLabel(tr("Bank Right")); |
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centerPulseString = new QLabel(tr("Center")); |
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lowPulseString = new QLabel(tr("Bank Left")); |
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} else if (type == ELEVATOR) { |
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highPulseString = new QLabel(tr("Nose Up")); |
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centerPulseString = new QLabel(tr("Center")); |
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lowPulseString = new QLabel(tr("Nose Down")); |
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} else if (type == RUDDER) { |
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highPulseString = new QLabel(tr("Nose Right")); |
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centerPulseString = new QLabel(tr("Center")); |
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lowPulseString = new QLabel(tr("Nose Left")); |
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} else { |
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highPulseString = new QLabel(tr("High")); |
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centerPulseString = new QLabel(tr("Center")); |
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lowPulseString = new QLabel(tr("Low")); |
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} |
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|
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|
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QPushButton *highButton = new QPushButton(tr("Set")); |
||||
QPushButton *centerButton = new QPushButton(tr("Set")); |
||||
QPushButton *lowButton = new QPushButton(tr("Set")); |
||||
|
||||
grid->addWidget(highPulseString, 2, 0); |
||||
grid->addWidget(highPulseWidth, 2, 1); |
||||
grid->addWidget(highButton, 2, 2); |
||||
|
||||
grid->addWidget(centerPulseString, 3, 0); |
||||
grid->addWidget(centerPulseWidth, 3, 1); |
||||
grid->addWidget(centerButton, 3, 2); |
||||
|
||||
grid->addWidget(lowPulseString, 4, 0); |
||||
grid->addWidget(lowPulseWidth, 4, 1); |
||||
grid->addWidget(lowButton, 4, 2); |
||||
|
||||
this->setLayout(grid); |
||||
|
||||
connect(highButton, SIGNAL(clicked()), this, SLOT(setHigh())); |
||||
connect(centerButton, SIGNAL(clicked()), this, SLOT(setCenter())); |
||||
connect(lowButton, SIGNAL(clicked()), this, SLOT(setLow())); |
||||
} |
||||
|
||||
void AirfoilServoCalibrator::setHigh() |
||||
{ |
||||
highPulseWidth->setText(QString::number(logExtrema())); |
||||
emit setpointChanged(2, logExtrema()); |
||||
} |
||||
|
||||
void AirfoilServoCalibrator::setCenter() |
||||
{ |
||||
centerPulseWidth->setText(QString::number(logAverage())); |
||||
emit setpointChanged(1, logAverage()); |
||||
} |
||||
|
||||
void AirfoilServoCalibrator::setLow() |
||||
{ |
||||
lowPulseWidth->setText(QString::number(logExtrema())); |
||||
emit setpointChanged(0, logExtrema()); |
||||
} |
||||
|
||||
void AirfoilServoCalibrator::set(const QVector<uint16_t> &data) |
||||
{ |
||||
if (data.size() == 3) { |
||||
lowPulseWidth->setText(QString::number(data[0])); |
||||
centerPulseWidth->setText(QString::number(data[1])); |
||||
highPulseWidth->setText(QString::number(data[2])); |
||||
} |
||||
} |
||||
@ -1,74 +0,0 @@
@@ -1,74 +0,0 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
||||
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
||||
You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/**
|
||||
* @file |
||||
* @brief Calibration widget for 3 point airfoil servo |
||||
* @author Bryan Godbolt <godbolt@ualberta.ca> |
||||
*/ |
||||
|
||||
#ifndef AIRFOILSERVOCALIBRATOR_H |
||||
#define AIRFOILSERVOCALIBRATOR_H |
||||
|
||||
#include <QWidget> |
||||
#include <QLabel> |
||||
#include <QPushButton> |
||||
#include <QVector> |
||||
#include <QGridLayout> |
||||
#include <QHBoxLayout> |
||||
|
||||
#include "AbstractCalibrator.h" |
||||
|
||||
/**
|
||||
@brief Calibration widget three setpoint control input. |
||||
For the helicopter autopilot at UAlberta this is used for Aileron, Elevator, and Rudder channels. |
||||
|
||||
@author Bryan Godbolt <godbolt@ece.ualberta.ca> |
||||
*/ |
||||
class AirfoilServoCalibrator : public AbstractCalibrator |
||||
{ |
||||
Q_OBJECT |
||||
public: |
||||
enum AirfoilType { |
||||
AILERON, |
||||
ELEVATOR, |
||||
RUDDER |
||||
}; |
||||
|
||||
explicit AirfoilServoCalibrator(AirfoilType type = AILERON, QWidget *parent = 0); |
||||
|
||||
/** @param data must have exaclty 3 elemets. they are assumed to be low center high */ |
||||
void set(const QVector<uint16_t>& data); |
||||
|
||||
protected slots: |
||||
void setHigh(); |
||||
void setCenter(); |
||||
void setLow(); |
||||
|
||||
protected: |
||||
QLabel *highPulseWidth; |
||||
QLabel *centerPulseWidth; |
||||
QLabel *lowPulseWidth; |
||||
}; |
||||
|
||||
#endif // AIRFOILSERVOCALIBRATOR_H
|
||||
@ -1,126 +0,0 @@
@@ -1,126 +0,0 @@
|
||||
#include "CurveCalibrator.h" |
||||
|
||||
CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) : |
||||
AbstractCalibrator(parent), |
||||
setpoints(new QVector<uint16_t>(5)), |
||||
positions(new QVector<uint16_t>()) |
||||
{ |
||||
QGridLayout *grid = new QGridLayout(this); |
||||
QLabel *title = new QLabel(titleString); |
||||
grid->addWidget(title, 0, 0, 1, 5, Qt::AlignHCenter); |
||||
|
||||
QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)")); |
||||
pulseWidth = new QLabel(); |
||||
QHBoxLayout *pulseLayout = new QHBoxLayout(); |
||||
pulseLayout->addWidget(pulseWidthTitle); |
||||
pulseLayout->addWidget(pulseWidth); |
||||
grid->addLayout(pulseLayout, 1, 0, 1, 5, Qt::AlignHCenter); |
||||
|
||||
for (int i=0; i<=100; i=i+100/4) |
||||
positions->append(static_cast<double>(i)); |
||||
|
||||
|
||||
setpoints->fill(1500); |
||||
|
||||
plot = new QwtPlot(); |
||||
|
||||
grid->addWidget(plot, 2, 0, 1, 5, Qt::AlignHCenter); |
||||
|
||||
|
||||
plot->setAxisScale(QwtPlot::yLeft, 1000, 2000, 200); |
||||
plot->setAxisScale(QwtPlot::xBottom, 0, 100, 25); |
||||
|
||||
curve = new QwtPlotCurve(); |
||||
curve->setPen(QPen(QColor(QString("lime")))); |
||||
|
||||
QVector<double> pos(positions->size()); |
||||
QVector<double> set(setpoints->size()); |
||||
|
||||
for (int i=0; i<positions->size()&&i<setpoints->size(); i++) |
||||
{ |
||||
pos[i] = static_cast<double>((*positions)[i]); |
||||
set[i] = static_cast<double>((*setpoints)[i]); |
||||
} |
||||
|
||||
curve->setSamples(pos, set); |
||||
curve->attach(plot); |
||||
|
||||
plot->replot(); |
||||
|
||||
QPushButton *zero = new QPushButton(tr("0 %")); |
||||
QPushButton *twentyfive = new QPushButton(tr("25 %")); |
||||
QPushButton *fifty = new QPushButton(tr("50 %")); |
||||
QPushButton *seventyfive = new QPushButton(tr("75 %")); |
||||
QPushButton *hundred = new QPushButton(tr("100 %")); |
||||
|
||||
grid->addWidget(zero, 3, 0); |
||||
grid->addWidget(twentyfive, 3, 1); |
||||
grid->addWidget(fifty, 3, 2); |
||||
grid->addWidget(seventyfive, 3, 3); |
||||
grid->addWidget(hundred, 3, 4); |
||||
|
||||
this->setLayout(grid); |
||||
|
||||
signalMapper = new QSignalMapper(this); |
||||
signalMapper->setMapping(zero, 0); |
||||
signalMapper->setMapping(twentyfive, 1); |
||||
signalMapper->setMapping(fifty, 2); |
||||
signalMapper->setMapping(seventyfive, 3); |
||||
signalMapper->setMapping(hundred, 4); |
||||
|
||||
connect(zero, SIGNAL(clicked()), signalMapper, SLOT(map())); |
||||
connect(twentyfive, SIGNAL(clicked()), signalMapper, SLOT(map())); |
||||
connect(fifty, SIGNAL(clicked()), signalMapper, SLOT(map())); |
||||
connect(seventyfive, SIGNAL(clicked()), signalMapper, SLOT(map())); |
||||
connect(hundred, SIGNAL(clicked()), signalMapper, SLOT(map())); |
||||
connect(signalMapper, SIGNAL(mapped(int)), this, SLOT(setSetpoint(int))); |
||||
} |
||||
|
||||
CurveCalibrator::~CurveCalibrator() |
||||
{ |
||||
delete setpoints; |
||||
delete positions; |
||||
} |
||||
|
||||
void CurveCalibrator::setSetpoint(int setpoint) |
||||
{ |
||||
if (setpoint == 0 || setpoint == 4) { |
||||
setpoints->replace(setpoint,logExtrema()); |
||||
} else { |
||||
setpoints->replace(setpoint, logAverage()); |
||||
} |
||||
|
||||
QVector<double> pos(positions->size()); |
||||
QVector<double> set(setpoints->size()); |
||||
|
||||
for (int i=0; i<positions->size()&&i<setpoints->size(); i++) |
||||
{ |
||||
pos[i] = static_cast<double>((*positions)[i]); |
||||
set[i] = static_cast<double>((*setpoints)[i]); |
||||
} |
||||
|
||||
curve->setSamples(pos, set); |
||||
plot->replot(); |
||||
|
||||
emit setpointChanged(setpoint, setpoints->value(setpoint)); |
||||
} |
||||
|
||||
void CurveCalibrator::set(const QVector<uint16_t> &data) |
||||
{ |
||||
if (data.size() == 5) { |
||||
for (int i=0; i<data.size(); ++i) |
||||
setpoints->replace(i, data[i]); |
||||
QVector<double> pos(positions->size()); |
||||
QVector<double> set(setpoints->size()); |
||||
|
||||
for (int i=0; i<positions->size()&&i<setpoints->size(); i++) |
||||
{ |
||||
pos[i] = static_cast<double>((*positions)[i]); |
||||
set[i] = static_cast<double>((*setpoints)[i]); |
||||
} |
||||
curve->setSamples(pos, set); |
||||
plot->replot(); |
||||
} else { |
||||
qDebug() << __FILE__ << __LINE__ << ": wrong data vector size"; |
||||
} |
||||
} |
||||
@ -1,76 +0,0 @@
@@ -1,76 +0,0 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
||||
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
||||
You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/**
|
||||
* @file |
||||
* @brief Calibration widget for 5 point inerpolated curve |
||||
* @author Bryan Godbolt <godbolt@ualberta.ca> |
||||
*/ |
||||
|
||||
#ifndef CURVECALIBRATOR_H |
||||
#define CURVECALIBRATOR_H |
||||
|
||||
#include <QWidget> |
||||
#include <QVector> |
||||
#include <qwt_plot.h> |
||||
#include <qwt_plot_curve.h> |
||||
#include <QGridLayout> |
||||
#include <QHBoxLayout> |
||||
#include <QLabel> |
||||
#include <QPushButton> |
||||
#include <QPen> |
||||
#include <QColor> |
||||
#include <QString> |
||||
#include <QSignalMapper> |
||||
#include <QDebug> |
||||
|
||||
#include "AbstractCalibrator.h" |
||||
|
||||
/**
|
||||
@brief Calibration widget for 5 point inerpolated curve. |
||||
For the helicopter autopilot at UAlberta this is used for the throttle and pitch curves. |
||||
*/ |
||||
class CurveCalibrator : public AbstractCalibrator |
||||
{ |
||||
Q_OBJECT |
||||
public: |
||||
explicit CurveCalibrator(QString title = QString(), QWidget *parent = 0); |
||||
~CurveCalibrator(); |
||||
|
||||
void set(const QVector<uint16_t> &data); |
||||
|
||||
protected slots: |
||||
void setSetpoint(int setpoint); |
||||
|
||||
protected: |
||||
QVector<uint16_t> *setpoints; |
||||
QVector<uint16_t> *positions; |
||||
/** Plot to display calibration curve */ |
||||
QwtPlot *plot; |
||||
/** Curve object of calibration curve */ |
||||
QwtPlotCurve *curve; |
||||
|
||||
QSignalMapper *signalMapper; |
||||
}; |
||||
|
||||
#endif // CURVECALIBRATOR_H
|
||||
@ -1,66 +0,0 @@
@@ -1,66 +0,0 @@
|
||||
#include "RadioCalibrationData.h" |
||||
|
||||
RadioCalibrationData::RadioCalibrationData() |
||||
{ |
||||
data = new QVector<QVector<uint16_t> >(6); |
||||
(*data).insert(AILERON, QVector<uint16_t>(3)); |
||||
(*data).insert(ELEVATOR, QVector<uint16_t>(3)); |
||||
(*data).insert(RUDDER, QVector<uint16_t>(3)); |
||||
(*data).insert(GYRO, QVector<uint16_t>(2)); |
||||
(*data).insert(PITCH, QVector<uint16_t>(5)); |
||||
(*data).insert(THROTTLE, QVector<uint16_t>(5)); |
||||
} |
||||
|
||||
RadioCalibrationData::RadioCalibrationData(const QVector<uint16_t> &aileron, |
||||
const QVector<uint16_t> &elevator, |
||||
const QVector<uint16_t> &rudder, |
||||
const QVector<uint16_t> &gyro, |
||||
const QVector<uint16_t> &pitch, |
||||
const QVector<uint16_t> &throttle) |
||||
{ |
||||
data = new QVector<QVector<uint16_t> >(); |
||||
(*data) << aileron |
||||
<< elevator |
||||
<< rudder |
||||
<< gyro |
||||
<< pitch |
||||
<< throttle; |
||||
} |
||||
|
||||
RadioCalibrationData::RadioCalibrationData(const RadioCalibrationData &other) |
||||
:QObject() |
||||
{ |
||||
data = new QVector<QVector<uint16_t> >(*other.data); |
||||
} |
||||
|
||||
RadioCalibrationData::~RadioCalibrationData() |
||||
{ |
||||
delete data; |
||||
} |
||||
|
||||
const uint16_t* RadioCalibrationData::operator [](int i) const |
||||
{ |
||||
if (i < data->size()) { |
||||
return (*data)[i].constData(); |
||||
} |
||||
|
||||
return NULL; |
||||
} |
||||
|
||||
const QVector<uint16_t>& RadioCalibrationData::operator ()(const int i) const throw(std::out_of_range) |
||||
{ |
||||
if ((i < data->size()) && (i >=0)) { |
||||
return (*data)[i]; |
||||
} |
||||
|
||||
throw std::out_of_range("Invalid channel index"); |
||||
} |
||||
|
||||
QString RadioCalibrationData::toString(RadioElement element) const |
||||
{ |
||||
QString s; |
||||
foreach (float f, (*data)[element]) { |
||||
s += QString::number(f) + ", "; |
||||
} |
||||
return s.mid(0, s.length()-2); |
||||
} |
||||
@ -1,116 +0,0 @@
@@ -1,116 +0,0 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
||||
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
||||
You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/**
|
||||
* @file |
||||
* @brief Class to hold the calibration data |
||||
* @author Bryan Godbolt <godbolt@ualberta.ca> |
||||
*/ |
||||
|
||||
#ifndef RADIOCALIBRATIONDATA_H |
||||
#define RADIOCALIBRATIONDATA_H |
||||
|
||||
#include <QObject> |
||||
#include <QDebug> |
||||
#include <QVector> |
||||
#include <QString> |
||||
#include <stdexcept> |
||||
|
||||
#include <stdint.h> |
||||
|
||||
|
||||
/**
|
||||
@brief Class to hold the calibration data. |
||||
@author Bryan Godbolt <godbolt@ece.ualberta.ca> |
||||
*/ |
||||
class RadioCalibrationData : public QObject |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
explicit RadioCalibrationData(); |
||||
RadioCalibrationData(const RadioCalibrationData&); |
||||
RadioCalibrationData(const QVector<uint16_t>& aileron, |
||||
const QVector<uint16_t>& elevator, |
||||
const QVector<uint16_t>& rudder, |
||||
const QVector<uint16_t>& gyro, |
||||
const QVector<uint16_t>& pitch, |
||||
const QVector<uint16_t>& throttle); |
||||
~RadioCalibrationData(); |
||||
|
||||
enum RadioElement { |
||||
AILERON=0, |
||||
ELEVATOR, |
||||
RUDDER, |
||||
GYRO, |
||||
PITCH, |
||||
THROTTLE |
||||
}; |
||||
|
||||
const uint16_t* operator[](int i) const; |
||||
#ifdef _MSC_VER |
||||
const QVector<uint16_t>& operator()(int i) const; |
||||
#else |
||||
const QVector<uint16_t>& operator()(int i) const throw(std::out_of_range); |
||||
#endif |
||||
void set(int element, int index, float value) { |
||||
(*data)[element][index] = value; |
||||
} |
||||
|
||||
public slots: |
||||
void setAileron(int index, uint16_t value) { |
||||
set(AILERON, index, value); |
||||
} |
||||
void setElevator(int index, uint16_t value) { |
||||
set(ELEVATOR, index, value); |
||||
} |
||||
void setRudder(int index, uint16_t value) { |
||||
set(RUDDER, index, value); |
||||
} |
||||
void setGyro(int index, uint16_t value) { |
||||
set(GYRO, index, value); |
||||
} |
||||
void setPitch(int index, uint16_t value) { |
||||
set(PITCH, index, value); |
||||
} |
||||
void setThrottle(int index, uint16_t value) { |
||||
set(THROTTLE, index, value); |
||||
} |
||||
|
||||
public: |
||||
/// Creates a comma seperated list of the values for a particular element
|
||||
QString toString(const RadioElement element) const; |
||||
|
||||
protected: |
||||
QVector<QVector<uint16_t> > *data; |
||||
|
||||
void init(const QVector<float>& aileron, |
||||
const QVector<float>& elevator, |
||||
const QVector<float>& rudder, |
||||
const QVector<float>& gyro, |
||||
const QVector<float>& pitch, |
||||
const QVector<float>& throttle); |
||||
|
||||
}; |
||||
|
||||
#endif // RADIOCALIBRATIONDATA_H
|
||||
@ -1,298 +0,0 @@
@@ -1,298 +0,0 @@
|
||||
#include "RadioCalibrationWindow.h" |
||||
#include "QGCFileDialog.h" |
||||
|
||||
RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) : |
||||
QWidget(parent, Qt::Window), |
||||
radio(new RadioCalibrationData()) |
||||
{ |
||||
QGridLayout *grid = new QGridLayout(); |
||||
|
||||
aileron = new AirfoilServoCalibrator(AirfoilServoCalibrator::AILERON); |
||||
grid->addWidget(aileron, 0, 0, 1, 1, Qt::AlignTop); |
||||
|
||||
elevator = new AirfoilServoCalibrator(AirfoilServoCalibrator::ELEVATOR); |
||||
grid->addWidget(elevator, 0, 1, 1, 1, Qt::AlignTop); |
||||
|
||||
rudder = new AirfoilServoCalibrator(AirfoilServoCalibrator::RUDDER); |
||||
grid->addWidget(rudder, 0, 2, 1, 1, Qt::AlignTop); |
||||
|
||||
gyro = new SwitchCalibrator(tr("Gyro Mode/Gain")); |
||||
grid->addWidget(gyro, 0, 3, 1, 1, Qt::AlignTop); |
||||
|
||||
|
||||
pitch = new CurveCalibrator(tr("Collective Pitch")); |
||||
grid->addWidget(pitch, 1, 0, 1, 2); |
||||
|
||||
throttle = new CurveCalibrator(tr("Throttle")); |
||||
grid->addWidget(throttle, 1, 2, 1, 2); |
||||
|
||||
/* Buttons for loading/transmitting calibration data */ |
||||
QHBoxLayout *hbox = new QHBoxLayout(); |
||||
QPushButton *load = new QPushButton(tr("Load File")); |
||||
QPushButton *save = new QPushButton(tr("Save File")); |
||||
QPushButton *transmit = new QPushButton(tr("Transmit to UAV")); |
||||
QPushButton *get = new QPushButton(tr("Get from UAV")); |
||||
hbox->addWidget(load); |
||||
hbox->addWidget(save); |
||||
hbox->addWidget(transmit); |
||||
hbox->addWidget(get); |
||||
grid->addLayout(hbox, 2, 0, 1, 4); |
||||
this->setLayout(grid); |
||||
|
||||
connect(load, SIGNAL(clicked()), this, SLOT(loadFile())); |
||||
connect(save, SIGNAL(clicked()), this, SLOT(saveFile())); |
||||
connect(transmit, SIGNAL(clicked()), this, SLOT(send())); |
||||
connect(get, SIGNAL(clicked()), this, SLOT(request())); |
||||
|
||||
connect(aileron, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setAileron(int,uint16_t))); |
||||
connect(elevator, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setElevator(int,uint16_t))); |
||||
connect(rudder, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setRudder(int,uint16_t))); |
||||
connect(gyro, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setGyro(int,uint16_t))); |
||||
connect(pitch, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setPitch(int,uint16_t))); |
||||
connect(throttle, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setThrottle(int,uint16_t))); |
||||
setUASId(0); |
||||
} |
||||
|
||||
|
||||
|
||||
void RadioCalibrationWindow::setChannel(int ch, float raw) |
||||
{ |
||||
/** this expects a particular channel to function mapping
|
||||
\todo allow run-time channel mapping |
||||
*/ |
||||
switch (ch) { |
||||
case 0: |
||||
aileron->channelChanged(raw); |
||||
break; |
||||
case 1: |
||||
elevator->channelChanged(raw); |
||||
break; |
||||
case 2: |
||||
throttle->channelChanged(raw); |
||||
break; |
||||
case 3: |
||||
rudder->channelChanged(raw); |
||||
break; |
||||
case 4: |
||||
gyro->channelChanged(raw); |
||||
break; |
||||
case 5: |
||||
pitch->channelChanged(raw); |
||||
break; |
||||
|
||||
|
||||
} |
||||
} |
||||
|
||||
void RadioCalibrationWindow::saveFile() |
||||
{ |
||||
QString fileName(QGCFileDialog::getSaveFileName(this, |
||||
tr("Save RC Calibration"), |
||||
"settings/", |
||||
tr("XML Files (*.xml)"))); |
||||
if (fileName.isEmpty()) |
||||
return; |
||||
|
||||
QDomDocument *rcConfig = new QDomDocument(); |
||||
|
||||
QFile rcFile(fileName); |
||||
if (rcFile.exists()) { |
||||
rcFile.remove(); |
||||
} |
||||
if (!rcFile.open(QFile::WriteOnly | QFile::Text)) { |
||||
qDebug() << __FILE__ << __LINE__ << "could not open" << rcFile.fileName() << "for writing"; |
||||
return; |
||||
} |
||||
|
||||
QDomElement root; |
||||
rcConfig->appendChild(root=rcConfig->createElement("channels")); |
||||
QDomElement e; |
||||
QDomText t; |
||||
|
||||
// Aileron
|
||||
e = rcConfig->createElement("threeSetpoint"); |
||||
e.setAttribute("name", "Aileron"); |
||||
e.setAttribute("number", "1"); |
||||
t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::AILERON)); |
||||
e.appendChild(t); |
||||
root.appendChild(e); |
||||
// Elevator
|
||||
e = rcConfig->createElement("threeSetpoint"); |
||||
e.setAttribute("name", "Elevator"); |
||||
e.setAttribute("number", "2"); |
||||
t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::ELEVATOR)); |
||||
e.appendChild(t); |
||||
root.appendChild(e); |
||||
// Rudder
|
||||
e = rcConfig->createElement("threeSetpoint"); |
||||
e.setAttribute("name", "Rudder"); |
||||
e.setAttribute("number", "4"); |
||||
t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::RUDDER)); |
||||
e.appendChild(t); |
||||
root.appendChild(e); |
||||
// Gyro Mode/Gain
|
||||
e = rcConfig->createElement("twoSetpoint"); |
||||
e.setAttribute("name", "Gyro"); |
||||
e.setAttribute("number", "5"); |
||||
t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::GYRO)); |
||||
e.appendChild(t); |
||||
root.appendChild(e); |
||||
// Throttle
|
||||
e = rcConfig->createElement("fiveSetpoint"); |
||||
e.setAttribute("name", "Throttle"); |
||||
e.setAttribute("number", "3"); |
||||
t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::THROTTLE)); |
||||
e.appendChild(t); |
||||
root.appendChild(e); |
||||
// Pitch
|
||||
e = rcConfig->createElement("fiveSetpoint"); |
||||
e.setAttribute("name", "Pitch"); |
||||
e.setAttribute("number", "6"); |
||||
t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::PITCH)); |
||||
e.appendChild(t); |
||||
root.appendChild(e); |
||||
|
||||
|
||||
QTextStream out(&rcFile); |
||||
const int IndentSize = 4; |
||||
rcConfig->save(out, IndentSize); |
||||
rcFile.close(); |
||||
|
||||
} |
||||
|
||||
void RadioCalibrationWindow::loadFile() |
||||
{ |
||||
QString fileName(QGCFileDialog::getOpenFileName(this, |
||||
tr("Load RC Calibration"), |
||||
"settings/", |
||||
tr("XML Files (*.xml)"))); |
||||
|
||||
if (fileName.isEmpty()) |
||||
return; |
||||
|
||||
QFile rcFile(fileName); |
||||
if (!rcFile.exists()) { |
||||
return; |
||||
} |
||||
|
||||
if (!rcFile.open(QIODevice::ReadOnly)) { |
||||
return; |
||||
} |
||||
|
||||
QDomDocument *rcConfig = new QDomDocument(); |
||||
|
||||
QString errorStr; |
||||
int errorLine; |
||||
int errorColumn; |
||||
|
||||
if (!rcConfig->setContent(&rcFile, true, &errorStr, &errorLine, |
||||
&errorColumn)) { |
||||
qDebug() << "Error reading XML Parameter File on line: " << errorLine << errorStr; |
||||
return; |
||||
} |
||||
|
||||
rcFile.close(); |
||||
QDomElement root = rcConfig->documentElement(); |
||||
if (root.tagName() != "channels") { |
||||
qDebug() << __FILE__ << __LINE__ << "This is not a Radio Calibration xml file"; |
||||
return; |
||||
} |
||||
|
||||
|
||||
QPointer<RadioCalibrationData> newRadio = new RadioCalibrationData(); |
||||
QDomElement child = root.firstChildElement(); |
||||
while (!child.isNull()) { |
||||
parseSetpoint(child, newRadio); |
||||
child = child.nextSiblingElement(); |
||||
} |
||||
|
||||
receive(newRadio); |
||||
|
||||
delete newRadio; |
||||
delete rcConfig; |
||||
} |
||||
|
||||
void RadioCalibrationWindow::parseSetpoint(const QDomElement &setpoint, const QPointer<RadioCalibrationData>& newRadio) |
||||
{ |
||||
QVector<float> setpoints; |
||||
QStringList setpointList = setpoint.text().split(",", QString::SkipEmptyParts); |
||||
foreach (QString setpoint, setpointList) |
||||
setpoints << setpoint.trimmed().toFloat(); |
||||
|
||||
// qDebug() << __FILE__ << __LINE__ << ": " << setpoint.tagName() << ": " << setpoint.attribute("name") ;
|
||||
if (setpoint.tagName() == "threeSetpoint") { |
||||
if (setpoints.isEmpty()) |
||||
setpoints << 0 << 0 << 0; |
||||
for (int i=0; i<3; ++i) { |
||||
if (setpoint.attribute("name").toUpper() == "AILERON") |
||||
newRadio->setAileron(i, setpoints[i]); |
||||
else if(setpoint.attribute("name").toUpper() == "ELEVATOR") |
||||
newRadio->setElevator(i, setpoints[i]); |
||||
else if(setpoint.attribute("name").toUpper() == "RUDDER") |
||||
newRadio->setRudder(i, setpoints[i]); |
||||
} |
||||
} else if (setpoint.tagName() == "twoSetpoint") { |
||||
if (setpoints.isEmpty()) |
||||
setpoints << 0 << 0; |
||||
for (int i=0; i<2; ++i) { |
||||
if (setpoint.attribute("name").toUpper() == "GYRO") |
||||
newRadio->setGyro(i, setpoints[i]); |
||||
} |
||||
} else if (setpoint.tagName() == "fiveSetpoint") { |
||||
if (setpoints.isEmpty()) |
||||
setpoints << 0 << 0 << 0 << 0 << 0; |
||||
for (int i=0; i<5; ++i) { |
||||
if (setpoint.attribute("name").toUpper() == "PITCH") |
||||
newRadio->setPitch(i, setpoints[i]); |
||||
else if (setpoint.attribute("name").toUpper() == "THROTTLE") |
||||
newRadio->setThrottle(i, setpoints[i]); |
||||
} |
||||
} |
||||
} |
||||
|
||||
void RadioCalibrationWindow::send() |
||||
{ |
||||
qDebug() << __FILE__ << __LINE__ << "uasId = " << uasId; |
||||
#ifdef MAVLINK_ENABLED_UALBERTA |
||||
UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId)); |
||||
if (uas) { |
||||
mavlink_message_t msg; |
||||
mavlink_msg_radio_calibration_pack(uasId, 0, &msg, |
||||
(*radio)[RadioCalibrationData::AILERON], |
||||
(*radio)[RadioCalibrationData::ELEVATOR], |
||||
(*radio)[RadioCalibrationData::RUDDER], |
||||
(*radio)[RadioCalibrationData::GYRO], |
||||
(*radio)[RadioCalibrationData::PITCH], |
||||
(*radio)[RadioCalibrationData::THROTTLE]); |
||||
uas->sendMessage(msg); |
||||
} |
||||
#endif |
||||
} |
||||
|
||||
void RadioCalibrationWindow::request() |
||||
{ |
||||
// FIXME MAVLINKV10PORTINGNEEDED
|
||||
// qDebug() << __FILE__ << __LINE__ << "READ FROM UAV";
|
||||
// UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
|
||||
// if (uas) {
|
||||
// mavlink_message_t msg;
|
||||
// mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC);
|
||||
// uas->sendMessage(msg);
|
||||
// }
|
||||
} |
||||
|
||||
void RadioCalibrationWindow::receive(const QPointer<RadioCalibrationData>& radio) |
||||
{ |
||||
if (radio) { |
||||
if (this->radio) |
||||
delete this->radio; |
||||
this->radio = new RadioCalibrationData(*radio); |
||||
|
||||
aileron->set((*radio)(RadioCalibrationData::AILERON)); |
||||
elevator->set((*radio)(RadioCalibrationData::ELEVATOR)); |
||||
rudder->set((*radio)(RadioCalibrationData::RUDDER)); |
||||
gyro->set((*radio)(RadioCalibrationData::GYRO)); |
||||
pitch->set((*radio)(RadioCalibrationData::PITCH)); |
||||
throttle->set((*radio)(RadioCalibrationData::THROTTLE)); |
||||
} |
||||
} |
||||
@ -1,93 +0,0 @@
@@ -1,93 +0,0 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
||||
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
||||
You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/**
|
||||
* @file |
||||
* @brief Main window for radio calibration |
||||
* @author Bryan Godbolt <godbolt@ualberta.ca> |
||||
*/ |
||||
|
||||
#ifndef RADIOCALIBRATIONWINDOW_H |
||||
#define RADIOCALIBRATIONWINDOW_H |
||||
|
||||
#include <QWidget> |
||||
#include <QLabel> |
||||
#include <QGroupBox> |
||||
#include <QPushButton> |
||||
#include <QVector> |
||||
#include <QGridLayout> |
||||
#include <QHBoxLayout> |
||||
#include <QDebug> |
||||
#include <QPointer> |
||||
#include <QFile> |
||||
#include <QtXml> |
||||
#include <QTextStream> |
||||
|
||||
#include <stdint.h> |
||||
|
||||
#include "AirfoilServoCalibrator.h" |
||||
#include "SwitchCalibrator.h" |
||||
#include "CurveCalibrator.h" |
||||
|
||||
#include "UAS.h" |
||||
#include "UASManager.h" |
||||
#include "RadioCalibrationData.h" |
||||
|
||||
/**
|
||||
@brief Main window for radio calibration |
||||
@author Bryan Godbolt <godbolt@ece.ualberta.ca> |
||||
*/ |
||||
class RadioCalibrationWindow : public QWidget |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
explicit RadioCalibrationWindow(QWidget *parent = 0); |
||||
|
||||
public slots: |
||||
void setChannel(int ch, float raw); |
||||
void loadFile(); |
||||
void saveFile(); |
||||
void send(); |
||||
void request(); |
||||
void receive(const QPointer<RadioCalibrationData>& radio); |
||||
void setUASId(int id) { |
||||
this->uasId = id; |
||||
} |
||||
|
||||
|
||||
protected: |
||||
AirfoilServoCalibrator *aileron; |
||||
AirfoilServoCalibrator *elevator; |
||||
AirfoilServoCalibrator *rudder; |
||||
SwitchCalibrator *gyro; |
||||
CurveCalibrator *pitch; |
||||
CurveCalibrator *throttle; |
||||
int uasId; |
||||
QPointer<RadioCalibrationData> radio; |
||||
QSignalMapper mapper; |
||||
|
||||
void parseSetpoint(const QDomElement& setpoint, const QPointer<RadioCalibrationData>& radio); |
||||
}; |
||||
|
||||
#endif // RADIOCALIBRATIONWINDOW_H
|
||||
@ -1,57 +0,0 @@
@@ -1,57 +0,0 @@
|
||||
#include "SwitchCalibrator.h" |
||||
|
||||
SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) : |
||||
AbstractCalibrator(parent), |
||||
defaultPulseWidth(new QLabel()), |
||||
toggledPulseWidth(new QLabel()) |
||||
{ |
||||
/* Add title label*/ |
||||
QLabel *title = new QLabel(titleString); |
||||
QGridLayout *grid = new QGridLayout(); |
||||
grid->addWidget(title, 0, 0, 1, 3); |
||||
|
||||
/* Add current Pulse Width Display */ |
||||
QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)")); |
||||
QHBoxLayout *pulseLayout = new QHBoxLayout(); |
||||
pulseLayout->addWidget(pulseWidthTitle); |
||||
pulseLayout->addWidget(pulseWidth); |
||||
grid->addLayout(pulseLayout, 1, 0, 1, 3); |
||||
|
||||
QLabel *defaultPulseString = new QLabel(tr("Default Position")); |
||||
QPushButton *defaultButton = new QPushButton(tr("Set")); |
||||
grid->addWidget(defaultPulseString, 2, 0); |
||||
grid->addWidget(defaultPulseWidth, 2, 1); |
||||
grid->addWidget(defaultButton, 2, 2); |
||||
|
||||
QLabel *toggledPulseString = new QLabel(tr("Toggled Position")); |
||||
QPushButton *toggledButton = new QPushButton(tr("Set")); |
||||
grid->addWidget(toggledPulseString, 3, 0); |
||||
grid->addWidget(toggledPulseWidth, 3, 1); |
||||
grid->addWidget(toggledButton, 3, 2); |
||||
|
||||
this->setLayout(grid); |
||||
|
||||
connect(defaultButton, SIGNAL(clicked()), this, SLOT(setDefault())); |
||||
connect(toggledButton, SIGNAL(clicked()), this, SLOT(setToggled())); |
||||
} |
||||
|
||||
|
||||
void SwitchCalibrator::setDefault() |
||||
{ |
||||
defaultPulseWidth->setText(QString::number(logExtrema())); |
||||
emit setpointChanged(0, logExtrema()); |
||||
} |
||||
|
||||
void SwitchCalibrator::setToggled() |
||||
{ |
||||
toggledPulseWidth->setText(QString::number(logExtrema())); |
||||
emit setpointChanged(1, logExtrema()); |
||||
} |
||||
|
||||
void SwitchCalibrator::set(const QVector<uint16_t> &data) |
||||
{ |
||||
if (data.size() == 2) { |
||||
defaultPulseWidth->setText(QString::number(data[0])); |
||||
toggledPulseWidth->setText(QString::number(data[1])); |
||||
} |
||||
} |
||||
@ -1,64 +0,0 @@
@@ -1,64 +0,0 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
||||
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
||||
You should have received a copy of the GNU General Public License |
||||
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/**
|
||||
* @file |
||||
* @brief Calibration widget for 2 setpoint switch |
||||
* @author Bryan Godbolt <godbolt@ualberta.ca> |
||||
*/ |
||||
|
||||
#ifndef SWITCHCALIBRATOR_H |
||||
#define SWITCHCALIBRATOR_H |
||||
|
||||
#include <QWidget> |
||||
#include <QLabel> |
||||
#include <QPushButton> |
||||
#include <QVector> |
||||
#include <QGridLayout> |
||||
#include <QHBoxLayout> |
||||
|
||||
#include "AbstractCalibrator.h" |
||||
|
||||
/**
|
||||
@brief Calibration widget for 2 setpoint switch |
||||
@author Bryan Godbolt <godbolt@ece.ualberta.ca> |
||||
*/ |
||||
class SwitchCalibrator : public AbstractCalibrator |
||||
{ |
||||
Q_OBJECT |
||||
public: |
||||
explicit SwitchCalibrator(QString title=QString(), QWidget *parent = 0); |
||||
|
||||
void set(const QVector<uint16_t> &data); |
||||
|
||||
protected slots: |
||||
void setDefault(); |
||||
void setToggled(); |
||||
|
||||
protected: |
||||
QLabel *defaultPulseWidth; |
||||
QLabel *toggledPulseWidth; |
||||
|
||||
}; |
||||
|
||||
#endif // SWITCHCALIBRATOR_H
|
||||
@ -1,246 +0,0 @@
@@ -1,246 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?> |
||||
<ui version="4.0"> |
||||
<class>UASControlParameters</class> |
||||
<widget class="QWidget" name="UASControlParameters"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>0</x> |
||||
<y>0</y> |
||||
<width>204</width> |
||||
<height>246</height> |
||||
</rect> |
||||
</property> |
||||
<property name="minimumSize"> |
||||
<size> |
||||
<width>200</width> |
||||
<height>150</height> |
||||
</size> |
||||
</property> |
||||
<property name="maximumSize"> |
||||
<size> |
||||
<width>267</width> |
||||
<height>16777215</height> |
||||
</size> |
||||
</property> |
||||
<property name="windowTitle"> |
||||
<string>Form</string> |
||||
</property> |
||||
<layout class="QGridLayout" name="gridLayout"> |
||||
<item row="0" column="0"> |
||||
<layout class="QHBoxLayout" name="horizontalLayout_5"> |
||||
<item> |
||||
<spacer name="horizontalSpacer_2"> |
||||
<property name="orientation"> |
||||
<enum>Qt::Horizontal</enum> |
||||
</property> |
||||
<property name="sizeHint" stdset="0"> |
||||
<size> |
||||
<width>40</width> |
||||
<height>20</height> |
||||
</size> |
||||
</property> |
||||
</spacer> |
||||
</item> |
||||
<item> |
||||
<widget class="QLabel" name="lbMode"> |
||||
<property name="minimumSize"> |
||||
<size> |
||||
<width>100</width> |
||||
<height>0</height> |
||||
</size> |
||||
</property> |
||||
<property name="maximumSize"> |
||||
<size> |
||||
<width>16777215</width> |
||||
<height>16777215</height> |
||||
</size> |
||||
</property> |
||||
<property name="text"> |
||||
<string>----</string> |
||||
</property> |
||||
<property name="alignment"> |
||||
<set>Qt::AlignCenter</set> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<spacer name="horizontalSpacer"> |
||||
<property name="orientation"> |
||||
<enum>Qt::Horizontal</enum> |
||||
</property> |
||||
<property name="sizeHint" stdset="0"> |
||||
<size> |
||||
<width>40</width> |
||||
<height>20</height> |
||||
</size> |
||||
</property> |
||||
</spacer> |
||||
</item> |
||||
</layout> |
||||
</item> |
||||
<item row="1" column="0"> |
||||
<widget class="QTabWidget" name="tabWidget"> |
||||
<property name="styleSheet"> |
||||
<string notr="true"/> |
||||
</property> |
||||
<property name="currentIndex"> |
||||
<number>0</number> |
||||
</property> |
||||
<widget class="QWidget" name="tab"> |
||||
<attribute name="title"> |
||||
<string>Commands</string> |
||||
</attribute> |
||||
<layout class="QGridLayout" name="gridLayout_2"> |
||||
<item row="1" column="0"> |
||||
<layout class="QHBoxLayout" name="horizontalLayout"> |
||||
<item> |
||||
<widget class="QLabel" name="label_2"> |
||||
<property name="text"> |
||||
<string>Height (m)</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<widget class="QDoubleSpinBox" name="sbHeight"> |
||||
<property name="maximum"> |
||||
<double>1500.000000000000000</double> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</item> |
||||
<item row="2" column="0"> |
||||
<layout class="QHBoxLayout" name="horizontalLayout_3"> |
||||
<item> |
||||
<widget class="QLabel" name="label_3"> |
||||
<property name="text"> |
||||
<string>Airspeed (m/s)</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<widget class="QDoubleSpinBox" name="sbAirSpeed"> |
||||
<property name="maximum"> |
||||
<double>500.000000000000000</double> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</item> |
||||
<item row="3" column="0"> |
||||
<layout class="QHBoxLayout" name="horizontalLayout_2"> |
||||
<item> |
||||
<widget class="QLabel" name="label_4"> |
||||
<property name="text"> |
||||
<string>Turn Rate (rad/s)</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<widget class="QDoubleSpinBox" name="sbTurnRate"> |
||||
<property name="maximum"> |
||||
<double>180.000000000000000</double> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</item> |
||||
<item row="4" column="0"> |
||||
<layout class="QHBoxLayout" name="horizontalLayout_4"> |
||||
<item> |
||||
<widget class="QPushButton" name="btSetCommands"> |
||||
<property name="text"> |
||||
<string>Set</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<widget class="QPushButton" name="btGetCommands"> |
||||
<property name="text"> |
||||
<string>Get</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</item> |
||||
<item row="5" column="0"> |
||||
<spacer name="verticalSpacer"> |
||||
<property name="orientation"> |
||||
<enum>Qt::Vertical</enum> |
||||
</property> |
||||
<property name="sizeHint" stdset="0"> |
||||
<size> |
||||
<width>20</width> |
||||
<height>27</height> |
||||
</size> |
||||
</property> |
||||
</spacer> |
||||
</item> |
||||
</layout> |
||||
</widget> |
||||
<widget class="QWidget" name="tab_2"> |
||||
<attribute name="title"> |
||||
<string>Passthrough</string> |
||||
</attribute> |
||||
<layout class="QGridLayout" name="gridLayout_3"> |
||||
<item row="0" column="0"> |
||||
<layout class="QVBoxLayout" name="verticalLayout"> |
||||
<item> |
||||
<widget class="QCheckBox" name="cxdle_c"> |
||||
<property name="text"> |
||||
<string>Elevator</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<widget class="QCheckBox" name="cxdr_c"> |
||||
<property name="text"> |
||||
<string>Rudder</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<widget class="QCheckBox" name="cxdt_c"> |
||||
<property name="text"> |
||||
<string>Throttle</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<widget class="QCheckBox" name="cxdla_c"> |
||||
<property name="text"> |
||||
<string>Ailerons</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</item> |
||||
<item row="1" column="0"> |
||||
<widget class="QPushButton" name="btSetCtrl"> |
||||
<property name="text"> |
||||
<string>Set</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="2" column="0"> |
||||
<spacer name="verticalSpacer_2"> |
||||
<property name="orientation"> |
||||
<enum>Qt::Vertical</enum> |
||||
</property> |
||||
<property name="sizeHint" stdset="0"> |
||||
<size> |
||||
<width>20</width> |
||||
<height>26</height> |
||||
</size> |
||||
</property> |
||||
</spacer> |
||||
</item> |
||||
</layout> |
||||
</widget> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</widget> |
||||
<resources/> |
||||
<connections/> |
||||
</ui> |
||||
@ -1,120 +0,0 @@
@@ -1,120 +0,0 @@
|
||||
#include "UASActionsWidget.h" |
||||
#include <QMessageBox> |
||||
#include <UAS.h> |
||||
UASActionsWidget::UASActionsWidget(QWidget *parent) : QWidget(parent) |
||||
{ |
||||
m_uas = 0; |
||||
ui.setupUi(this); |
||||
connect(ui.changeAltitudeButton,SIGNAL(clicked()),this,SLOT(changeAltitudeClicked())); |
||||
connect(ui.changeSpeedButton,SIGNAL(clicked()),this,SLOT(changeSpeedClicked())); |
||||
connect(ui.goToWaypointButton,SIGNAL(clicked()),this,SLOT(goToWaypointClicked())); |
||||
connect(ui.armDisarmButton,SIGNAL(clicked()),this,SLOT(armButtonClicked())); |
||||
connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*))); |
||||
if (UASManager::instance()->getActiveUAS()) |
||||
{ |
||||
activeUASSet(UASManager::instance()->getActiveUAS()); |
||||
} |
||||
} |
||||
|
||||
void UASActionsWidget::activeUASSet(UASInterface *uas) |
||||
{ |
||||
m_uas = uas; |
||||
if (uas) |
||||
{ |
||||
connect(m_uas->getWaypointManager(),SIGNAL(waypointEditableListChanged()),this,SLOT(updateWaypointList())); |
||||
connect(m_uas->getWaypointManager(),SIGNAL(currentWaypointChanged(quint16)),this,SLOT(currentWaypointChanged(quint16))); |
||||
connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool))); |
||||
armingChanged(m_uas->isArmed()); |
||||
} |
||||
updateWaypointList(); |
||||
} |
||||
void UASActionsWidget::armButtonClicked() |
||||
{ |
||||
if (m_uas) |
||||
{ |
||||
if (m_uas->isArmed()) |
||||
{ |
||||
((UAS*)m_uas)->disarmSystem(); |
||||
} |
||||
else |
||||
{ |
||||
((UAS*)m_uas)->armSystem(); |
||||
} |
||||
} |
||||
} |
||||
|
||||
void UASActionsWidget::armingChanged(bool state) |
||||
{ |
||||
//TODO:
|
||||
//Figure out why arm/disarm is in UAS.h and not part of the interface, and fix.
|
||||
if (state) |
||||
{ |
||||
ui.armDisarmButton->setText("DISARM\nCurrently Armed"); |
||||
} |
||||
else |
||||
{ |
||||
ui.armDisarmButton->setText("ARM\nCurrently Disarmed"); |
||||
} |
||||
|
||||
} |
||||
|
||||
void UASActionsWidget::currentWaypointChanged(quint16 wpid) |
||||
{ |
||||
ui.currentWaypointLabel->setText("Current: " + QString::number(wpid)); |
||||
} |
||||
|
||||
void UASActionsWidget::updateWaypointList() |
||||
{ |
||||
ui.waypointComboBox->clear(); |
||||
if (m_uas) |
||||
{ |
||||
for (int i=0;i<m_uas->getWaypointManager()->getWaypointEditableList().size();i++) |
||||
{ |
||||
ui.waypointComboBox->addItem(QString::number(i)); |
||||
} |
||||
} |
||||
} |
||||
|
||||
UASActionsWidget::~UASActionsWidget() |
||||
{ |
||||
} |
||||
void UASActionsWidget::goToWaypointClicked() |
||||
{ |
||||
if (!m_uas) |
||||
{ |
||||
return; |
||||
} |
||||
m_uas->getWaypointManager()->setCurrentWaypoint(ui.waypointComboBox->currentIndex()); |
||||
} |
||||
|
||||
void UASActionsWidget::changeAltitudeClicked() |
||||
{ |
||||
QMessageBox::information(0,"Error","No implemented yet."); |
||||
} |
||||
|
||||
void UASActionsWidget::changeSpeedClicked() |
||||
{ |
||||
if (!m_uas) |
||||
{ |
||||
return; |
||||
} |
||||
if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR) |
||||
{ |
||||
m_uas->setParameter(1,"WP_SPEED_MAX",QVariant(((float)ui.altitudeSpinBox->value() * 100))); |
||||
return; |
||||
} |
||||
else if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING) |
||||
{ |
||||
QVariant variant; |
||||
if (m_uas->getParamManager()->getParameterValue(1,"ARSPD_ENABLE",variant)) |
||||
{ |
||||
if (variant.toInt() == 1) |
||||
{ |
||||
m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100))); |
||||
return; |
||||
} |
||||
|
||||
} |
||||
m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100))); |
||||
} |
||||
} |
||||
@ -1,29 +0,0 @@
@@ -1,29 +0,0 @@
|
||||
#ifndef UASACTIONSWIDGET_H |
||||
#define UASACTIONSWIDGET_H |
||||
|
||||
#include <QWidget> |
||||
#include "ui_UASActionsWidget.h" |
||||
#include <UASManager.h> |
||||
#include <UASInterface.h> |
||||
class UASActionsWidget : public QWidget |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
explicit UASActionsWidget(QWidget *parent = 0); |
||||
~UASActionsWidget(); |
||||
private: |
||||
Ui::UASActionsWidget ui; |
||||
UASInterface *m_uas; |
||||
private slots: |
||||
void armButtonClicked(); |
||||
void armingChanged(bool state); |
||||
void currentWaypointChanged(quint16 wpid); |
||||
void updateWaypointList(); |
||||
void activeUASSet(UASInterface *uas); |
||||
void goToWaypointClicked(); |
||||
void changeAltitudeClicked(); |
||||
void changeSpeedClicked(); |
||||
}; |
||||
|
||||
#endif // UASACTIONSWIDGET_H
|
||||
@ -1,154 +0,0 @@
@@ -1,154 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?> |
||||
<ui version="4.0"> |
||||
<class>UASActionsWidget</class> |
||||
<widget class="QWidget" name="UASActionsWidget"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>0</x> |
||||
<y>0</y> |
||||
<width>321</width> |
||||
<height>363</height> |
||||
</rect> |
||||
</property> |
||||
<property name="windowTitle"> |
||||
<string>Form</string> |
||||
</property> |
||||
<layout class="QVBoxLayout" name="verticalLayout"> |
||||
<property name="margin"> |
||||
<number>6</number> |
||||
</property> |
||||
<item> |
||||
<widget class="QGroupBox" name="groupBox"> |
||||
<property name="title"> |
||||
<string>Mission Controls</string> |
||||
</property> |
||||
<layout class="QGridLayout" name="gridLayout"> |
||||
<property name="margin"> |
||||
<number>6</number> |
||||
</property> |
||||
<property name="spacing"> |
||||
<number>6</number> |
||||
</property> |
||||
<item row="0" column="0"> |
||||
<widget class="QComboBox" name="waypointComboBox"/> |
||||
</item> |
||||
<item row="0" column="1"> |
||||
<widget class="QLabel" name="currentWaypointLabel"> |
||||
<property name="text"> |
||||
<string>Current:</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="1" column="0"> |
||||
<widget class="QPushButton" name="goToWaypointButton"> |
||||
<property name="text"> |
||||
<string>Go To Waypoint</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="1" column="1"> |
||||
<widget class="QPushButton" name="pushButton_6"> |
||||
<property name="text"> |
||||
<string>Restart Mission</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="2" column="0" colspan="2"> |
||||
<layout class="QHBoxLayout" name="horizontalLayout_2"> |
||||
<item> |
||||
<widget class="QSpinBox" name="altitudeSpinBox"/> |
||||
</item> |
||||
<item> |
||||
<widget class="QPushButton" name="changeAltitudeButton"> |
||||
<property name="text"> |
||||
<string>Change Altitude</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</item> |
||||
<item row="3" column="0" colspan="2"> |
||||
<layout class="QHBoxLayout" name="horizontalLayout"> |
||||
<item> |
||||
<widget class="QSpinBox" name="speedSpinBox"/> |
||||
</item> |
||||
<item> |
||||
<widget class="QPushButton" name="changeSpeedButton"> |
||||
<property name="text"> |
||||
<string>Change Speed</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</item> |
||||
</layout> |
||||
</widget> |
||||
</item> |
||||
<item> |
||||
<widget class="QGroupBox" name="groupBox_2"> |
||||
<property name="title"> |
||||
<string>Auto Actions</string> |
||||
</property> |
||||
<layout class="QGridLayout" name="gridLayout_2"> |
||||
<property name="margin"> |
||||
<number>6</number> |
||||
</property> |
||||
<property name="spacing"> |
||||
<number>6</number> |
||||
</property> |
||||
<item row="0" column="0" colspan="2"> |
||||
<widget class="QComboBox" name="comboBox"/> |
||||
</item> |
||||
<item row="0" column="2" colspan="2"> |
||||
<widget class="QComboBox" name="comboBox_3"/> |
||||
</item> |
||||
<item row="1" column="0" colspan="2"> |
||||
<widget class="QPushButton" name="pushButton_8"> |
||||
<property name="text"> |
||||
<string>Execute Action</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="1" column="2" colspan="2"> |
||||
<widget class="QPushButton" name="pushButton_5"> |
||||
<property name="text"> |
||||
<string>Set Mode</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="2" column="0"> |
||||
<widget class="QPushButton" name="pushButton"> |
||||
<property name="text"> |
||||
<string>Auto</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="2" column="1" colspan="2"> |
||||
<widget class="QPushButton" name="pushButton_2"> |
||||
<property name="text"> |
||||
<string>Manual</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="2" column="3"> |
||||
<widget class="QPushButton" name="pushButton_4"> |
||||
<property name="text"> |
||||
<string>RTL</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
<item row="3" column="0" colspan="4"> |
||||
<widget class="QPushButton" name="armDisarmButton"> |
||||
<property name="text"> |
||||
<string>ARM</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</widget> |
||||
<resources/> |
||||
<connections/> |
||||
</ui> |
||||
@ -1,134 +0,0 @@
@@ -1,134 +0,0 @@
|
||||
#include "UASControlParameters.h" |
||||
#include "ui_UASControlParameters.h" |
||||
|
||||
#define CONTROL_MODE_LOCKED "MODE LOCKED" |
||||
#define CONTROL_MODE_MANUAL "MODE MANUAL" |
||||
|
||||
#define CONTROL_MODE_READY "MODE TEST3" |
||||
#define CONTROL_MODE_RC_TRAINING "RC SIMULATION" |
||||
|
||||
#define CONTROL_MODE_LOCKED_INDEX 1 |
||||
#define CONTROL_MODE_MANUAL_INDEX 2 |
||||
#define CONTROL_MODE_GUIDED_INDEX 3 |
||||
#define CONTROL_MODE_AUTO_INDEX 4 |
||||
#define CONTROL_MODE_TEST1_INDEX 5 |
||||
#define CONTROL_MODE_TEST2_INDEX 6 |
||||
#define CONTROL_MODE_TEST3_INDEX 7 |
||||
#define CONTROL_MODE_READY_INDEX 8 |
||||
#define CONTROL_MODE_RC_TRAINING_INDEX 9 |
||||
|
||||
UASControlParameters::UASControlParameters(QWidget *parent) : |
||||
QWidget(parent), |
||||
ui(new Ui::UASControlParameters) |
||||
{ |
||||
ui->setupUi(this); |
||||
|
||||
ui->btSetCtrl->setStatusTip(tr("Set Passthrough")); |
||||
|
||||
connect(ui->btGetCommands, SIGNAL(clicked()), this, SLOT(getCommands())); |
||||
|
||||
connect(ui->btSetCtrl, SIGNAL(clicked()), this, SLOT(setPassthrough())); |
||||
} |
||||
|
||||
UASControlParameters::~UASControlParameters() |
||||
{ |
||||
delete ui; |
||||
} |
||||
|
||||
void UASControlParameters::changedMode(int mode) |
||||
{ |
||||
QString modeTemp; |
||||
|
||||
switch (mode) { |
||||
case (uint8_t)MAV_MODE_PREFLIGHT: |
||||
modeTemp = "LOCKED MODE"; |
||||
break; |
||||
case (uint8_t)MAV_MODE_MANUAL_ARMED: |
||||
modeTemp = "A/MANUAL MODE"; |
||||
break; |
||||
case (uint8_t)MAV_MODE_MANUAL_DISARMED: |
||||
modeTemp = "D/MANUAL MODE"; |
||||
break; |
||||
default: |
||||
modeTemp = "UNKNOWN MODE"; |
||||
break; |
||||
} |
||||
|
||||
|
||||
if(modeTemp != this->mode) { |
||||
ui->lbMode->setStyleSheet("background-color: rgb(165, 42, 42)"); |
||||
} else { |
||||
ui->lbMode->setStyleSheet("background-color: rgb(85, 107, 47)"); |
||||
} |
||||
} |
||||
|
||||
void UASControlParameters::activeUasSet(UASInterface *uas) |
||||
{ |
||||
if(uas) { |
||||
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64))); |
||||
connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64))); |
||||
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64))); |
||||
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString))); |
||||
connect(uas, SIGNAL(thrustChanged(UASInterface*,double)), this, SLOT(thrustChanged(UASInterface*,double)) ); |
||||
|
||||
activeUAS= uas; |
||||
} |
||||
} |
||||
|
||||
void UASControlParameters::updateGlobalPosition(UASInterface * a, double b, double c, double aa, quint64 ab) |
||||
{ |
||||
Q_UNUSED(a); |
||||
Q_UNUSED(b); |
||||
Q_UNUSED(c); |
||||
Q_UNUSED(ab); |
||||
this->altitude=aa; |
||||
} |
||||
|
||||
void UASControlParameters::speedChanged(UASInterface* uas, double vx, double vy, double vz, quint64 time) |
||||
{ |
||||
Q_UNUSED(time); |
||||
Q_UNUSED(uas); |
||||
this->speed = sqrt(pow(vx, 2.0) + pow(vy, 2.0) + pow(vz, 2.0)); |
||||
//ui->sbAirSpeed->setValue(speed);
|
||||
} |
||||
|
||||
void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double pitch, double yaw, quint64 time) |
||||
{ |
||||
Q_UNUSED(uas); |
||||
Q_UNUSED(pitch); |
||||
Q_UNUSED(yaw); |
||||
Q_UNUSED(time); |
||||
//ui->sbTurnRate->setValue(roll);
|
||||
this->roll = roll; |
||||
} |
||||
|
||||
void UASControlParameters::setCommands() |
||||
{ |
||||
} |
||||
|
||||
void UASControlParameters::getCommands() |
||||
{ |
||||
ui->sbAirSpeed->setValue(this->speed); |
||||
ui->sbHeight->setValue(this->altitude); |
||||
ui->sbTurnRate->setValue(this->roll); |
||||
} |
||||
|
||||
void UASControlParameters::setPassthrough() |
||||
{ |
||||
} |
||||
|
||||
void UASControlParameters::updateMode(int uas,QString mode,QString description) |
||||
{ |
||||
Q_UNUSED(uas); |
||||
Q_UNUSED(description); |
||||
this->mode = mode; |
||||
ui->lbMode->setText(this->mode); |
||||
|
||||
ui->lbMode->setStyleSheet("background-color: rgb(85, 107, 47)"); |
||||
} |
||||
|
||||
void UASControlParameters::thrustChanged(UASInterface *uas, double throttle) |
||||
{ |
||||
Q_UNUSED(uas); |
||||
this->throttle= throttle; |
||||
} |
||||
@ -1,49 +0,0 @@
@@ -1,49 +0,0 @@
|
||||
#ifndef UASCONTROLPARAMETERS_H |
||||
#define UASCONTROLPARAMETERS_H |
||||
|
||||
#include <QWidget> |
||||
#include "UASManager.h" |
||||
#include <QTimer> |
||||
#include <QTabWidget> |
||||
|
||||
namespace Ui |
||||
{ |
||||
class UASControlParameters; |
||||
} |
||||
|
||||
class UASControlParameters : public QWidget |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
explicit UASControlParameters(QWidget *parent = 0); |
||||
~UASControlParameters(); |
||||
|
||||
public slots: |
||||
void changedMode(int mode); |
||||
void activeUasSet(UASInterface* uas); |
||||
void updateGlobalPosition(UASInterface*,double,double,double,quint64); |
||||
void speedChanged(UASInterface*,double,double,double,quint64); |
||||
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time); |
||||
void setCommands(); |
||||
void getCommands(); |
||||
|
||||
void setPassthrough(); |
||||
void updateMode(int uas,QString mode,QString description); |
||||
void thrustChanged(UASInterface* uas,double throttle); |
||||
|
||||
private: |
||||
Ui::UASControlParameters *ui; |
||||
QTimer* refreshTimerGet; |
||||
UASInterface* activeUAS; |
||||
double speed; |
||||
double roll; |
||||
double altitude; |
||||
double throttle; |
||||
QString mode; |
||||
QString REDcolorStyle; |
||||
QPointer<RadioCalibrationData> radio; |
||||
LinkInterface* hilLink; |
||||
}; |
||||
|
||||
#endif // UASCONTROLPARAMETERS_H
|
||||
Loading…
Reference in new issue