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@ -5,12 +5,22 @@
@@ -5,12 +5,22 @@
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#include "QGCVehicleConfig.h" |
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#include "UASManager.h" |
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#include "QGC.h" |
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#include "QGCToolWidget.h" |
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#include "ui_QGCVehicleConfig.h" |
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QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) : |
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QWidget(parent), |
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mav(NULL), |
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changed(true), |
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rc_mode(RC_MODE_2), |
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rcRoll(0.0f), |
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rcPitch(0.0f), |
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rcYaw(0.0f), |
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rcThrottle(0.0f), |
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rcMode(0.0f), |
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rcAux1(0.0f), |
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rcAux2(0.0f), |
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rcAux3(0.0f), |
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ui(new Ui::QGCVehicleConfig) |
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{ |
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setObjectName("QGC_VEHICLECONFIG"); |
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@ -19,8 +29,11 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
@@ -19,8 +29,11 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
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requestCalibrationRC(); |
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if (mav) mav->requestParameter(0, "RC_TYPE"); |
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ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1); |
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connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool))); |
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connect(ui->storeButton, SIGNAL(clicked()), this, SLOT(writeParameters())); |
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connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int))); |
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connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); |
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@ -41,6 +54,14 @@ QGCVehicleConfig::~QGCVehicleConfig()
@@ -41,6 +54,14 @@ QGCVehicleConfig::~QGCVehicleConfig()
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delete ui; |
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} |
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void QGCVehicleConfig::setRCModeIndex(int newRcMode) |
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{ |
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if (newRcMode > 0 && newRcMode < 5) |
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{ |
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rc_mode = (enum RC_MODE) (newRcMode+1); |
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changed = true; |
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} |
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} |
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void QGCVehicleConfig::toggleCalibrationRC(bool enabled) |
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{ |
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@ -57,12 +78,14 @@ void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
@@ -57,12 +78,14 @@ void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
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void QGCVehicleConfig::startCalibrationRC() |
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{ |
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ui->rcTypeComboBox->setEnabled(false); |
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ui->rcCalibrationButton->setText(tr("Stop RC Calibration")); |
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resetCalibrationRC(); |
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} |
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void QGCVehicleConfig::stopCalibrationRC() |
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{ |
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ui->rcTypeComboBox->setEnabled(true); |
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ui->rcCalibrationButton->setText(tr("Start RC Calibration")); |
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} |
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void QGCVehicleConfig::setActiveUAS(UASInterface* active) |
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@ -77,15 +100,69 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
@@ -77,15 +100,69 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
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SLOT(remoteControlChannelRawChanged(int,float))); |
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disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, |
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SLOT(parameterChanged(int,int,QString,QVariant))); |
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resetCalibrationRC(); |
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foreach (QGCToolWidget* tool, toolWidgets) |
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{ |
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delete tool; |
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} |
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} |
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// Reset current state
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resetCalibrationRC(); |
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// Connect new system
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mav = active; |
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connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this, |
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SLOT(remoteControlChannelRawChanged(int,float))); |
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connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, |
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SLOT(parameterChanged(int,int,QString,QVariant))); |
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mav->requestParameters(); |
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QString defaultsDir = qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower() + "/widgets/"; |
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QGCToolWidget* tool; |
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// Load calibration
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tool = new QGCToolWidget("", this); |
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if (tool->loadSettings(defaultsDir + "px4_calibration.qgw", false)) |
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{ |
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toolWidgets.append(tool); |
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ui->sensorLayout->addWidget(tool); |
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} |
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// Load multirotor attitude pid
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tool = new QGCToolWidget("", this); |
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if (tool->loadSettings(defaultsDir + "px4_mc_attitude_pid_params.qgw", false)) |
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{ |
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toolWidgets.append(tool); |
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ui->multiRotorAttitudeLayout->addWidget(tool); |
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} |
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// Load multirotor position pid
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tool = new QGCToolWidget("", this); |
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if (tool->loadSettings(defaultsDir + "px4_mc_position_pid_params.qgw", false)) |
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{ |
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toolWidgets.append(tool); |
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ui->multiRotorPositionLayout->addWidget(tool); |
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} |
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// Load fixed wing attitude pid
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tool = new QGCToolWidget("", this); |
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if (tool->loadSettings(defaultsDir + "px4_fw_attitude_pid_params.qgw", false)) |
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{ |
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toolWidgets.append(tool); |
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ui->fixedWingAttitudeLayout->addWidget(tool); |
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} |
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// Load fixed wing position pid
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tool = new QGCToolWidget("", this); |
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if (tool->loadSettings(defaultsDir + "px4_fw_position_pid_params.qgw", false)) |
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{ |
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toolWidgets.append(tool); |
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ui->fixedWingPositionLayout->addWidget(tool); |
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} |
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updateStatus(QString("Reading from system %1").arg(mav->getUASName())); |
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} |
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void QGCVehicleConfig::resetCalibrationRC() |
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@ -177,6 +254,16 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
@@ -177,6 +254,16 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
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if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax) |
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return; |
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if (val < rcMin[chan]) |
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{ |
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rcMin[chan] = val; |
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} |
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if (val > rcMax[chan]) |
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{ |
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rcMax[chan] = val; |
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} |
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if (chan == rcMapping[0]) |
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{ |
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// ROLL
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@ -252,16 +339,19 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
@@ -252,16 +339,19 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
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{ |
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// AUX1
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rcAux1 = val; |
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rcValue[5] = val; |
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} |
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else if (chan == rcMapping[6]) |
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{ |
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// AUX2
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rcAux2 = val; |
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rcValue[6] = val; |
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} |
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else if (chan == rcMapping[7]) |
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{ |
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// AUX3
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rcAux3 = val; |
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rcValue[7] = val; |
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} |
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changed = true; |
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@ -273,6 +363,91 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
@@ -273,6 +363,91 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
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{ |
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Q_UNUSED(uas); |
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Q_UNUSED(component); |
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// Channel calibration values
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QRegExp minTpl("RC?_MIN"); |
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minTpl.setPatternSyntax(QRegExp::Wildcard); |
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QRegExp maxTpl("RC?_MAX"); |
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maxTpl.setPatternSyntax(QRegExp::Wildcard); |
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QRegExp trimTpl("RC?_TRIM"); |
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trimTpl.setPatternSyntax(QRegExp::Wildcard); |
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QRegExp revTpl("RC?_REV"); |
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revTpl.setPatternSyntax(QRegExp::Wildcard); |
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// Do not write the RC type, as these values depend on this
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// active onboard parameter
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if (minTpl.exactMatch(parameterName)) { |
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bool ok; |
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unsigned int index = parameterName.mid(2, 1).toInt(&ok); |
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if (ok && (index > 0) && (index < chanMax)) |
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{ |
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rcMin[index] = value.toInt(); |
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} |
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} |
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if (maxTpl.exactMatch(parameterName)) { |
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bool ok; |
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unsigned int index = parameterName.mid(2, 1).toInt(&ok); |
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if (ok && (index > 0) && (index < chanMax)) |
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{ |
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rcMax[index] = value.toInt(); |
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} |
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} |
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if (trimTpl.exactMatch(parameterName)) { |
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bool ok; |
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unsigned int index = parameterName.mid(2, 1).toInt(&ok); |
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if (ok && (index > 0) && (index < chanMax)) |
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{ |
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rcTrim[index] = value.toInt(); |
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} |
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} |
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if (revTpl.exactMatch(parameterName)) { |
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bool ok; |
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unsigned int index = parameterName.mid(2, 1).toInt(&ok); |
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if (ok && (index > 0) && (index < chanMax)) |
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{ |
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rcRev[index] = (value.toInt() == -1) ? true : false; |
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unsigned int mapindex = rcMapping[index]; |
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switch (mapindex) |
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{ |
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case 0: |
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ui->invertCheckBox->setChecked(rcRev[index]); |
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break; |
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case 1: |
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ui->invertCheckBox_2->setChecked(rcRev[index]); |
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break; |
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case 2: |
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ui->invertCheckBox_3->setChecked(rcRev[index]); |
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break; |
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case 3: |
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ui->invertCheckBox_4->setChecked(rcRev[index]); |
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break; |
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case 4: |
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ui->invertCheckBox_5->setChecked(rcRev[index]); |
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break; |
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case 5: |
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ui->invertCheckBox_6->setChecked(rcRev[index]); |
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break; |
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case 6: |
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ui->invertCheckBox_7->setChecked(rcRev[index]); |
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break; |
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case 7: |
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ui->invertCheckBox_8->setChecked(rcRev[index]); |
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break; |
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} |
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} |
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} |
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// mav->setParameter(0, trimTpl.arg(i), rcTrim[i]);
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// mav->setParameter(0, maxTpl.arg(i), rcMax[i]);
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// mav->setParameter(0, revTpl.arg(i), (rcRev[i]) ? -1 : 1);
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// }
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if (rcTypeUpdateRequested > 0 && parameterName == QString("RC_TYPE")) |
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{ |
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rcTypeUpdateRequested = 0; |
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@ -281,6 +456,82 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
@@ -281,6 +456,82 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
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// Request all other parameters as well
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requestCalibrationRC(); |
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} |
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// Order is: roll, pitch, yaw, throttle, mode sw, aux 1-3
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if (parameterName.contains("RC_MAP_ROLL")) { |
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rcMapping[0] = value.toInt(); |
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ui->rollSpinBox->setValue(rcMapping[0]); |
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} |
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if (parameterName.contains("RC_MAP_PITCH")) { |
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rcMapping[1] = value.toInt(); |
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ui->pitchSpinBox->setValue(rcMapping[1]); |
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} |
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if (parameterName.contains("RC_MAP_YAW")) { |
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rcMapping[2] = value.toInt(); |
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ui->yawSpinBox->setValue(rcMapping[2]); |
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} |
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if (parameterName.contains("RC_MAP_THROTTLE")) { |
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rcMapping[3] = value.toInt(); |
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ui->throttleSpinBox->setValue(rcMapping[3]); |
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} |
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if (parameterName.contains("RC_MAP_MODE_SW")) { |
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rcMapping[4] = value.toInt(); |
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ui->modeSpinBox->setValue(rcMapping[4]); |
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} |
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if (parameterName.contains("RC_MAP_AUX1")) { |
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rcMapping[5] = value.toInt(); |
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ui->aux1SpinBox->setValue(rcMapping[5]); |
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} |
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if (parameterName.contains("RC_MAP_AUX2")) { |
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rcMapping[6] = value.toInt(); |
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ui->aux1SpinBox->setValue(rcMapping[6]); |
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} |
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if (parameterName.contains("RC_MAP_AUX3")) { |
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rcMapping[7] = value.toInt(); |
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ui->aux1SpinBox->setValue(rcMapping[7]); |
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} |
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// Scaling
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if (parameterName.contains("RC_SCALE_ROLL")) { |
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rcScaling[0] = value.toInt(); |
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} |
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if (parameterName.contains("RC_SCALE_PITCH")) { |
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rcScaling[1] = value.toInt(); |
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} |
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if (parameterName.contains("RC_SCALE_YAW")) { |
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rcScaling[2] = value.toInt(); |
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} |
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if (parameterName.contains("RC_SCALE_THROTTLE")) { |
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rcScaling[3] = value.toInt(); |
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} |
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if (parameterName.contains("RC_SCALE_MODE_SW")) { |
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rcScaling[4] = value.toInt(); |
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} |
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if (parameterName.contains("RC_SCALE_AUX1")) { |
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rcScaling[5] = value.toInt(); |
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} |
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if (parameterName.contains("RC_SCALE_AUX2")) { |
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rcScaling[6] = value.toInt(); |
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} |
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if (parameterName.contains("RC_SCALE_AUX3")) { |
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rcScaling[7] = value.toInt(); |
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} |
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} |
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void QGCVehicleConfig::updateStatus(const QString& str) |
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@ -321,10 +572,47 @@ void QGCVehicleConfig::updateView()
@@ -321,10 +572,47 @@ void QGCVehicleConfig::updateView()
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{ |
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if (changed) |
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{ |
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ui->rollSlider->setValue(rcValue[0]); |
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ui->pitchSlider->setValue(rcValue[1]); |
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ui->yawSlider->setValue(rcValue[2]); |
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ui->throttleSlider->setValue(rcValue[3]); |
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if (rc_mode == RC_MODE_1) |
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{ |
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ui->rollSlider->setValue(rcRoll); |
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ui->pitchSlider->setValue(rcThrottle); |
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ui->yawSlider->setValue(rcYaw); |
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ui->throttleSlider->setValue(rcPitch); |
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} |
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else if (rc_mode == RC_MODE_2) |
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{ |
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ui->rollSlider->setValue(rcRoll); |
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ui->pitchSlider->setValue(rcPitch); |
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ui->yawSlider->setValue(rcYaw); |
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ui->throttleSlider->setValue(rcThrottle); |
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} |
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else if (rc_mode == RC_MODE_3) |
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{ |
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ui->rollSlider->setValue(rcYaw); |
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ui->pitchSlider->setValue(rcThrottle); |
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ui->yawSlider->setValue(rcRoll); |
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ui->throttleSlider->setValue(rcPitch); |
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} |
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else if (rc_mode == RC_MODE_4) |
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{ |
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ui->rollSlider->setValue(rcYaw); |
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ui->pitchSlider->setValue(rcPitch); |
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ui->yawSlider->setValue(rcRoll); |
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ui->throttleSlider->setValue(rcThrottle); |
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} |
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ui->chanLabel->setText(QString("%1/%2").arg(rcValue[0]).arg(rcRoll)); |
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ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[1]).arg(rcPitch)); |
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ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[2]).arg(rcYaw)); |
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ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[3]).arg(rcThrottle)); |
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ui->modeSwitchSlider->setValue(rcMode); |
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ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[4]).arg(rcMode)); |
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ui->aux1Slider->setValue(rcAux1); |
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ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[5]).arg(rcAux1)); |
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ui->aux2Slider->setValue(rcAux2); |
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ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[6]).arg(rcAux2)); |
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ui->aux3Slider->setValue(rcAux3); |
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ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[7]).arg(rcAux3)); |
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changed = false; |
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} |
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} |
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Lorenz Meier
13 years ago