diff --git a/src/ui/configuration/FlightModeConfig.cc b/src/ui/configuration/FlightModeConfig.cc
index cff7772..9e10175 100644
--- a/src/ui/configuration/FlightModeConfig.cc
+++ b/src/ui/configuration/FlightModeConfig.cc
@@ -4,9 +4,8 @@
FlightModeConfig::FlightModeConfig(QWidget *parent) : QWidget(parent)
{
ui.setupUi(this);
+ connect(ui.savePushButton,SIGNAL(clicked()),this,SLOT(saveButtonClicked()));
connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(setActiveUAS(UASInterface*)));
-
-
}
FlightModeConfig::~FlightModeConfig()
@@ -37,15 +36,35 @@ void FlightModeConfig::setActiveUAS(UASInterface *uas)
itemlist << "Guided";
planeModeIndexToUiIndex[0] = 0;
+ planeModeUiIndexToIndex[0] = 0;
+
planeModeIndexToUiIndex[1] = 1;
+ planeModeUiIndexToIndex[1] = 1;
+
planeModeIndexToUiIndex[2] = 2;
+ planeModeUiIndexToIndex[2] = 2;
+
planeModeIndexToUiIndex[3] = 3;
+ planeModeUiIndexToIndex[3] = 3;
+
planeModeIndexToUiIndex[5] = 4;
+ planeModeUiIndexToIndex[4] = 5;
+
planeModeIndexToUiIndex[6] = 5;
+ planeModeUiIndexToIndex[5] = 6;
+
planeModeIndexToUiIndex[10] = 6;
+ planeModeUiIndexToIndex[6] = 10;
+
planeModeIndexToUiIndex[11] = 7;
+ planeModeUiIndexToIndex[7] = 11;
+
planeModeIndexToUiIndex[12] = 8;
+ planeModeUiIndexToIndex[8] = 12;
+
planeModeIndexToUiIndex[15] = 9;
+ planeModeUiIndexToIndex[9] = 15;
+
ui.mode6ComboBox->setEnabled(true);
}
else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
@@ -60,13 +79,29 @@ void FlightModeConfig::setActiveUAS(UASInterface *uas)
itemlist << "Initialising";
ui.mode6ComboBox->setEnabled(false);
roverModeIndexToUiIndex[0] = 0;
+ roverModeUiIndexToIndex[0] = 0;
+
roverModeIndexToUiIndex[2] = 1;
+ roverModeUiIndexToIndex[1] = 2;
+
roverModeIndexToUiIndex[3] = 2;
+ roverModeUiIndexToIndex[2] = 3;
+
roverModeIndexToUiIndex[4] = 3;
+ roverModeUiIndexToIndex[3] = 4;
+
roverModeIndexToUiIndex[10] = 5;
+ roverModeUiIndexToIndex[5] = 10;
+
roverModeIndexToUiIndex[11] = 6;
+ roverModeUiIndexToIndex[6] = 11;
+
roverModeIndexToUiIndex[15] = 7;
+ roverModeUiIndexToIndex[7] = 15;
+
roverModeIndexToUiIndex[16] = 8;
+ roverModeUiIndexToIndex[8] = 16;
+
}
else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
@@ -96,65 +131,95 @@ void FlightModeConfig::modeChanged(int sysId, QString status, QString descriptio
{
//Unused?
}
+void FlightModeConfig::saveButtonClicked()
+{
+ if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
+ {
+ m_uas->setParameter(0,"FLTMODE1",(char)planeModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"FLTMODE2",(char)planeModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"FLTMODE3",(char)planeModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"FLTMODE4",(char)planeModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"FLTMODE5",(char)planeModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"FLTMODE6",(char)planeModeUiIndexToIndex[ui.mode6ComboBox->currentIndex()]);
+ }
+ else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
+ {
+ m_uas->setParameter(0,"MODE1",(char)roverModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"MODE2",(char)roverModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"MODE3",(char)roverModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"MODE4",(char)roverModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
+ m_uas->setParameter(0,"MODE5",(char)roverModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
+ }
+ else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
+ {
+ m_uas->setParameter(0,"FLTMODE1",(char)ui.mode1ComboBox->currentIndex()+1);
+ m_uas->setParameter(0,"FLTMODE2",(char)ui.mode2ComboBox->currentIndex()+1);
+ m_uas->setParameter(0,"FLTMODE3",(char)ui.mode3ComboBox->currentIndex()+1);
+ m_uas->setParameter(0,"FLTMODE4",(char)ui.mode4ComboBox->currentIndex()+1);
+ m_uas->setParameter(0,"FLTMODE5",(char)ui.mode5ComboBox->currentIndex()+1);
+ m_uas->setParameter(0,"FLTMODE6",(char)ui.mode6ComboBox->currentIndex()+1);
+ }
+}
+
void FlightModeConfig::remoteControlChannelRawChanged(int chan,float val)
{
- if (chan == 5)
+ if (chan == 4)
{
- //Channel 5 is the mode switch.
+ //Channel 5 (0 array) is the mode switch.
///TODO: Make this configurable
if (val <= 1230)
{
- ui.mode1ComboBox->setBackgroundRole(QPalette::Highlight);
- ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+ ui.mode1Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
+ ui.mode2Label->setStyleSheet("");
+ ui.mode3Label->setStyleSheet("");
+ ui.mode4Label->setStyleSheet("");
+ ui.mode5Label->setStyleSheet("");
+ ui.mode6Label->setStyleSheet("");
}
else if (val <= 1360)
{
- ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode2ComboBox->setBackgroundRole(QPalette::Highlight);
- ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+ ui.mode1Label->setStyleSheet("");
+ ui.mode2Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
+ ui.mode3Label->setStyleSheet("");
+ ui.mode4Label->setStyleSheet("");
+ ui.mode5Label->setStyleSheet("");
+ ui.mode6Label->setStyleSheet("");
}
else if (val <= 1490)
{
- ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode3ComboBox->setBackgroundRole(QPalette::Highlight);
- ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+ ui.mode1Label->setStyleSheet("");
+ ui.mode2Label->setStyleSheet("");
+ ui.mode3Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
+ ui.mode4Label->setStyleSheet("");
+ ui.mode5Label->setStyleSheet("");
+ ui.mode6Label->setStyleSheet("");
}
else if (val <=1620)
{
- ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode4ComboBox->setBackgroundRole(QPalette::Highlight);
- ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+ ui.mode1Label->setStyleSheet("");
+ ui.mode2Label->setStyleSheet("");
+ ui.mode3Label->setStyleSheet("");
+ ui.mode4Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
+ ui.mode5Label->setStyleSheet("");
+ ui.mode6Label->setStyleSheet("");
}
else if (val <=1749)
{
- ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode5ComboBox->setBackgroundRole(QPalette::Highlight);
- ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
+ ui.mode1Label->setStyleSheet("");
+ ui.mode2Label->setStyleSheet("");
+ ui.mode3Label->setStyleSheet("");
+ ui.mode4Label->setStyleSheet("");
+ ui.mode5Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
+ ui.mode6Label->setStyleSheet("");
}
else
{
- ui.mode1ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
- ui.mode6ComboBox->setBackgroundRole(QPalette::Highlight);
+ ui.mode1Label->setStyleSheet("");
+ ui.mode2Label->setStyleSheet("");
+ ui.mode3Label->setStyleSheet("");
+ ui.mode4Label->setStyleSheet("");
+ ui.mode5Label->setStyleSheet("");
+ ui.mode6Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
}
}
}
diff --git a/src/ui/configuration/FlightModeConfig.h b/src/ui/configuration/FlightModeConfig.h
index b9130bd..fa3ded3 100644
--- a/src/ui/configuration/FlightModeConfig.h
+++ b/src/ui/configuration/FlightModeConfig.h
@@ -15,12 +15,15 @@ public:
~FlightModeConfig();
private slots:
void setActiveUAS(UASInterface *uas);
+ void saveButtonClicked();
void modeChanged(int sysId, QString status, QString description);
void remoteControlChannelRawChanged(int chan,float val);
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
private:
QMap<int,int> roverModeIndexToUiIndex;
QMap<int,int> planeModeIndexToUiIndex;
+ QMap<int,int> roverModeUiIndexToIndex;
+ QMap<int,int> planeModeUiIndexToIndex;
Ui::FlightModeConfig ui;
UASInterface *m_uas;
};
diff --git a/src/ui/configuration/FlightModeConfig.ui b/src/ui/configuration/FlightModeConfig.ui
index bf5c1b7..2cb8585 100644
--- a/src/ui/configuration/FlightModeConfig.ui
+++ b/src/ui/configuration/FlightModeConfig.ui
@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>608</width>
+ <width>818</width>
<height>359</height>
</rect>
</property>
@@ -119,7 +119,11 @@
</widget>
</item>
<item>
- <widget class="QComboBox" name="mode2ComboBox"/>
+ <widget class="QComboBox" name="mode2ComboBox">
+ <property name="styleSheet">
+ <string notr="true"/>
+ </property>
+ </widget>
</item>
<item>
<widget class="QComboBox" name="mode3ComboBox"/>
@@ -190,42 +194,48 @@
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
- <widget class="QLabel" name="label_6">
+ <widget class="QLabel" name="mode1Label">
+ <property name="styleSheet">
+ <string notr="true"/>
+ </property>
<property name="text">
<string>PWM 0 - 1230</string>
</property>
</widget>
</item>
<item>
- <widget class="QLabel" name="label_4">
+ <widget class="QLabel" name="mode2Label">
<property name="text">
<string>PWM 1231 - 1360</string>
</property>
</widget>
</item>
<item>
- <widget class="QLabel" name="label_3">
+ <widget class="QLabel" name="mode3Label">
<property name="text">
<string>PWM 1361 - 1490</string>
</property>
</widget>
</item>
<item>
- <widget class="QLabel" name="label_10">
+ <widget class="QLabel" name="mode4Label">
<property name="text">
<string>PWM 1491 - 1620</string>
</property>
</widget>
</item>
<item>
- <widget class="QLabel" name="label_8">
+ <widget class="QLabel" name="mode5Label">
<property name="text">
<string>PWM 1621 - 1749</string>
</property>
</widget>
</item>
<item>
- <widget class="QLabel" name="label_12">
+ <widget class="QLabel" name="mode6Label">
+ <property name="styleSheet">
+ <string notr="true"/>
+ </property>
<property name="text">
<string>PWM 1750 +</string>
</property>
@@ -235,6 +245,19 @@
</item>
</layout>
</widget>
+ <widget class="QPushButton" name="savePushButton">
+ <property name="geometry">
+ <rect>
+ <x>50</x>
+ <y>290</y>
+ <width>75</width>
+ <height>23</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Save</string>
+ </property>
+ </widget>
</widget>
<resources/>
<connections/>