diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 80d0414c31208cf1a904c9f7e66db576725549cb..9663d2260b87115267d2a25c1eb3bba59120c61b 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -255,7 +255,12 @@ FORMS += src/ui/MainWindow.ui \ src/ui/configuration/GeoFenceConfig.ui \ src/ui/configuration/FailSafeConfig.ui \ src/ui/configuration/AdvancedParamConfig.ui \ - src/ui/configuration/ArduCopterPidConfig.ui + src/ui/configuration/ArduCopterPidConfig.ui \ + src/ui/configuration/ApmPlaneLevel.ui \ + src/ui/configuration/ParamWidget.ui \ + src/ui/configuration/ArduPlanePidConfig.ui \ + src/ui/configuration/AdvParameterList.ui \ + src/ui/configuration/ArduRoverPidConfig.ui INCLUDEPATH += src \ src/ui \ src/ui/linechart \ @@ -437,7 +442,12 @@ HEADERS += src/MG.h \ src/ui/configuration/FailSafeConfig.h \ src/ui/configuration/AdvancedParamConfig.h \ src/ui/configuration/ArduCopterPidConfig.h \ - src/ui/apmtoolbar.h + src/ui/apmtoolbar.h \ + src/ui/configuration/ApmPlaneLevel.h \ + src/ui/configuration/ParamWidget.h \ + src/ui/configuration/ArduPlanePidConfig.h \ + src/ui/configuration/AdvParameterList.h \ + src/ui/configuration/ArduRoverPidConfig.h # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h @@ -637,7 +647,12 @@ SOURCES += src/main.cc \ src/ui/configuration/FailSafeConfig.cc \ src/ui/configuration/AdvancedParamConfig.cc \ src/ui/configuration/ArduCopterPidConfig.cc \ - src/ui/apmtoolbar.cpp + src/ui/apmtoolbar.cpp \ + src/ui/configuration/ApmPlaneLevel.cc \ + src/ui/configuration/ParamWidget.cc \ + src/ui/configuration/ArduPlanePidConfig.cc \ + src/ui/configuration/AdvParameterList.cc \ + src/ui/configuration/ArduRoverPidConfig.cc # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc diff --git a/src/QGCCore.cc b/src/QGCCore.cc index c4a38bf0e3812c5db9f8224ac8a312ae04c6ee8d..d2379d63b5613ac1e24528cb86d5199cbd09a66b 100644 --- a/src/QGCCore.cc +++ b/src/QGCCore.cc @@ -72,7 +72,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv) this->setApplicationName(QGC_APPLICATION_NAME); this->setApplicationVersion(QGC_APPLICATION_VERSION); this->setOrganizationName(QLatin1String("diydrones")); - this->setOrganizationDomain("org.diydrones"); + this->setOrganizationDomain("com.diydrones"); // Set settings format QSettings::setDefaultFormat(QSettings::IniFormat); diff --git a/src/ui/configuration/AccelCalibrationConfig.ui b/src/ui/configuration/AccelCalibrationConfig.ui index a1b99045e6bb722490a4ceefb2eebec1e7b946f4..6555a572584b14a77a048a68d7d8cb0a2ccd2c13 100644 --- a/src/ui/configuration/AccelCalibrationConfig.ui +++ b/src/ui/configuration/AccelCalibrationConfig.ui @@ -34,8 +34,8 @@ 70 160 - 81 - 31 + 111 + 41 @@ -48,8 +48,8 @@ Accelerometer 20 50 - 211 - 91 + 311 + 101 diff --git a/src/ui/configuration/AdvParameterList.cc b/src/ui/configuration/AdvParameterList.cc new file mode 100644 index 0000000000000000000000000000000000000000..e1abae86eca3d16cd500550c75d3d29330d07088 --- /dev/null +++ b/src/ui/configuration/AdvParameterList.cc @@ -0,0 +1,55 @@ +#include "AdvParameterList.h" + + +AdvParameterList::AdvParameterList(QWidget *parent) : AP2ConfigWidget(parent) +{ + ui.setupUi(this); + ui.tableWidget->setColumnCount(4); + ui.tableWidget->horizontalHeader()->hide(); + ui.tableWidget->verticalHeader()->hide(); + //ui.tableWidget->setHorizontalHeader(0); + //ui.tableWidget->setVerticalHeader(0); + ui.tableWidget->setColumnWidth(0,200); + ui.tableWidget->setColumnWidth(1,100); + ui.tableWidget->setColumnWidth(2,200); + ui.tableWidget->setColumnWidth(3,800); + +} + +AdvParameterList::~AdvParameterList() +{ +} +void AdvParameterList::setParameterMetaData(QString name,QString humanname,QString description) +{ + paramToNameMap[name] = humanname; + paramToDescriptionMap[name] = description; +} + +void AdvParameterList::parameterChanged(int uas, int component, QString parameterName, QVariant value) +{ + + if (!paramValueMap.contains(parameterName)) + { + ui.tableWidget->setRowCount(ui.tableWidget->rowCount()+1); + if (paramToNameMap.contains(parameterName)) + { + ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,0,new QTableWidgetItem(paramToNameMap[parameterName])); + } + else + { + ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,0,new QTableWidgetItem("Unknown")); + } + ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,1,new QTableWidgetItem(QString::number(value.toFloat(),'f',2))); + ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,2,new QTableWidgetItem(parameterName)); + if (paramToDescriptionMap.contains(parameterName)) + { + ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,3,new QTableWidgetItem(paramToDescriptionMap[parameterName])); + } + else + { + ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,3,new QTableWidgetItem("Unknown")); + } + paramValueMap[parameterName] = ui.tableWidget->item(ui.tableWidget->rowCount()-1,1); + } + paramValueMap[parameterName]->setText(QString::number(value.toFloat(),'f',2)); +} diff --git a/src/ui/configuration/AdvParameterList.h b/src/ui/configuration/AdvParameterList.h new file mode 100644 index 0000000000000000000000000000000000000000..6a530f9f193c5448755301b496a5f64da00e65e7 --- /dev/null +++ b/src/ui/configuration/AdvParameterList.h @@ -0,0 +1,25 @@ +#ifndef ADVPARAMETERLIST_H +#define ADVPARAMETERLIST_H + +#include +#include "ui_AdvParameterList.h" +#include "AP2ConfigWidget.h" + +class AdvParameterList : public AP2ConfigWidget +{ + Q_OBJECT + +public: + explicit AdvParameterList(QWidget *parent = 0); + void setParameterMetaData(QString name,QString humanname,QString description); + ~AdvParameterList(); +private slots: + void parameterChanged(int uas, int component, QString parameterName, QVariant value); +private: + QMap paramValueMap; + QMap paramToNameMap; + QMap paramToDescriptionMap; + Ui::AdvParameterList ui; +}; + +#endif // ADVPARAMETERLIST_H diff --git a/src/ui/configuration/AdvParameterList.ui b/src/ui/configuration/AdvParameterList.ui new file mode 100644 index 0000000000000000000000000000000000000000..9b9d40849b5392d85b9da2e490ad3fe1a1f5ccdb --- /dev/null +++ b/src/ui/configuration/AdvParameterList.ui @@ -0,0 +1,31 @@ + + + AdvParameterList + + + + 0 + 0 + 666 + 497 + + + + Form + + + + + + <h2>Advanced Parameter List</h2> + + + + + + + + + + + diff --git a/src/ui/configuration/AdvancedParamConfig.cc b/src/ui/configuration/AdvancedParamConfig.cc index 4ab92e0b7583d15163b90081130216332aec02bb..5f4102c242e95bb9a217816adfc8484260811411 100644 --- a/src/ui/configuration/AdvancedParamConfig.cc +++ b/src/ui/configuration/AdvancedParamConfig.cc @@ -1,7 +1,7 @@ #include "AdvancedParamConfig.h" -AdvancedParamConfig::AdvancedParamConfig(QWidget *parent) : QWidget(parent) +AdvancedParamConfig::AdvancedParamConfig(QWidget *parent) : AP2ConfigWidget(parent) { ui.setupUi(this); } @@ -9,3 +9,27 @@ AdvancedParamConfig::AdvancedParamConfig(QWidget *parent) : QWidget(parent) AdvancedParamConfig::~AdvancedParamConfig() { } +void AdvancedParamConfig::addRange(QString title,QString description,QString param,double min,double max) +{ + ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents); + paramToWidgetMap[param] = widget; + widget->setupDouble(title + "(" + param + ")",description,0,min,max); + ui.verticalLayout->addWidget(widget); + widget->show(); +} + +void AdvancedParamConfig::addCombo(QString title,QString description,QString param,QList > valuelist) +{ + ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents); + paramToWidgetMap[param] = widget; + widget->setupCombo(title + "(" + param + ")",description,valuelist); + ui.verticalLayout->addWidget(widget); + widget->show(); +} +void AdvancedParamConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) +{ + if (paramToWidgetMap.contains(parameterName)) + { + paramToWidgetMap[parameterName]->setValue(value.toDouble()); + } +} diff --git a/src/ui/configuration/AdvancedParamConfig.h b/src/ui/configuration/AdvancedParamConfig.h index 5cf8b9fafbcb6f93d329d4073c50a299020e4af8..9c69156d89b6b0b231a10148e2343d194de4bf61 100644 --- a/src/ui/configuration/AdvancedParamConfig.h +++ b/src/ui/configuration/AdvancedParamConfig.h @@ -3,16 +3,21 @@ #include #include "ui_AdvancedParamConfig.h" - -class AdvancedParamConfig : public QWidget +#include "AP2ConfigWidget.h" +#include "ParamWidget.h" +class AdvancedParamConfig : public AP2ConfigWidget { Q_OBJECT public: explicit AdvancedParamConfig(QWidget *parent = 0); ~AdvancedParamConfig(); - + void addRange(QString title,QString description,QString param,double min,double max); + void addCombo(QString title,QString description,QString param,QList > valuelist); +private slots: + void parameterChanged(int uas, int component, QString parameterName, QVariant value); private: + QMap paramToWidgetMap; Ui::AdvancedParamConfig ui; }; diff --git a/src/ui/configuration/AdvancedParamConfig.ui b/src/ui/configuration/AdvancedParamConfig.ui index d49c182d9ee40ac0c53cb10e8a51472d81566983..596861a3a2aeb2ea2792cc74ea184cf89ee3dae1 100644 --- a/src/ui/configuration/AdvancedParamConfig.ui +++ b/src/ui/configuration/AdvancedParamConfig.ui @@ -6,26 +6,44 @@ 0 0 - 400 - 300 + 725 + 632 Form - - - - 10 - 10 - 181 - 31 - - - - <h2>Advanced Params</h2> - - + + + + + <h2>Advanced Params</h2> + + + + + + + true + + + + + 0 + 0 + 705 + 585 + + + + + + + + + + + diff --git a/src/ui/configuration/ApmHardwareConfig.cc b/src/ui/configuration/ApmHardwareConfig.cc index 07c28f12f09f03ac27d73976c75e3c50257a5c0e..0341ab345bef34fc6ef8e39017c16fe409af8103 100644 --- a/src/ui/configuration/ApmHardwareConfig.cc +++ b/src/ui/configuration/ApmHardwareConfig.cc @@ -30,35 +30,28 @@ This file is part of the QGROUNDCONTROL project */ #include "ApmHardwareConfig.h" - ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent) { ui.setupUi(this); - //ui.firmwareButton->setVisible(valse); + + ui.manditoryHardware->setVisible(false); ui.frameTypeButton->setVisible(false); ui.compassButton->setVisible(false); ui.accelCalibrateButton->setVisible(false); + ui.arduPlaneLevelButton->setVisible(false); ui.radioCalibrateButton->setVisible(false); ui.optionalHardwareButton->setVisible(false); - //ui.radio3DRButton->setVisible(false); ui.batteryMonitorButton->setVisible(false); ui.sonarButton->setVisible(false); ui.airspeedButton->setVisible(false); ui.opticalFlowButton->setVisible(false); ui.osdButton->setVisible(false); ui.cameraGimbalButton->setVisible(false); - //ui.antennaTrackerButton->setVisible(false); - - connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.frameTypeButton,SLOT(setShown(bool))); - connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.compassButton,SLOT(setShown(bool))); - connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.accelCalibrateButton,SLOT(setShown(bool))); - connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.radioCalibrateButton,SLOT(setShown(bool))); connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.radio3DRButton,SLOT(setShown(bool))); connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.batteryMonitorButton,SLOT(setShown(bool))); connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.sonarButton,SLOT(setShown(bool))); - connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.airspeedButton,SLOT(setShown(bool))); connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.opticalFlowButton,SLOT(setShown(bool))); connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.osdButton,SLOT(setShown(bool))); connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.cameraGimbalButton,SLOT(setShown(bool))); @@ -87,6 +80,11 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent) buttonToConfigWidgetMap[ui.accelCalibrateButton] = accelConfig; connect(ui.accelCalibrateButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); + planeLevel = new ApmPlaneLevel(this); + ui.stackedWidget->addWidget(planeLevel); + buttonToConfigWidgetMap[ui.arduPlaneLevelButton] = planeLevel; + connect(ui.arduPlaneLevelButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); + radioConfig = new RadioCalibrationConfig(this); ui.stackedWidget->addWidget(radioConfig); buttonToConfigWidgetMap[ui.radioCalibrateButton] = radioConfig; @@ -133,8 +131,6 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent) buttonToConfigWidgetMap[ui.antennaTrackerButton] = antennaTrackerConfig; connect(ui.antennaTrackerButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); - - connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*))); if (UASManager::instance()->getActiveUAS()) { @@ -159,11 +155,33 @@ void ApmHardwareConfig::activeUASSet(UASInterface *uas) { return; } + if (uas->getSystemType() == MAV_TYPE_FIXED_WING) + { + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.compassButton,SLOT(setShown(bool))); + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.arduPlaneLevelButton,SLOT(setShown(bool))); + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.radioCalibrateButton,SLOT(setShown(bool))); + connect(ui.optionalHardwareButton,SIGNAL(toggled(bool)),ui.airspeedButton,SLOT(setShown(bool))); + } + else if (uas->getSystemType() == MAV_TYPE_QUADROTOR) + { + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.frameTypeButton,SLOT(setShown(bool))); + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.compassButton,SLOT(setShown(bool))); + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.accelCalibrateButton,SLOT(setShown(bool))); + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.radioCalibrateButton,SLOT(setShown(bool))); + } + else if (uas->getSystemType() == MAV_TYPE_GROUND_ROVER) + { + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.compassButton,SLOT(setShown(bool))); + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.radioCalibrateButton,SLOT(setShown(bool))); + } + else + { + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.compassButton,SLOT(setShown(bool))); + connect(ui.manditoryHardware,SIGNAL(toggled(bool)),ui.radioCalibrateButton,SLOT(setShown(bool))); + } ui.firmwareButton->setVisible(true); ui.manditoryHardware->setVisible(true); - ui.manditoryHardware->setChecked(false); + ui.manditoryHardware->setChecked(true); ui.optionalHardwareButton->setVisible(true); - ui.optionalHardwareButton->setChecked(false); - ui.radio3DRButton->setVisible(false); - ui.antennaTrackerButton->setVisible(false); + ui.optionalHardwareButton->setChecked(true); } diff --git a/src/ui/configuration/ApmHardwareConfig.h b/src/ui/configuration/ApmHardwareConfig.h index e21fe05d70a850f02f95d73400b106f2bfb3f5c5..6d48bf95476f43bff38695a1b1141f1dfc0b292a 100644 --- a/src/ui/configuration/ApmHardwareConfig.h +++ b/src/ui/configuration/ApmHardwareConfig.h @@ -48,6 +48,7 @@ This file is part of the QGROUNDCONTROL project #include "OsdConfig.h" #include "CameraGimbalConfig.h" #include "AntennaTrackerConfig.h" +#include "ApmPlaneLevel.h" class ApmHardwareConfig : public QWidget { @@ -70,6 +71,7 @@ private: OsdConfig *osdConfig; CameraGimbalConfig *cameraGimbalConfig; AntennaTrackerConfig *antennaTrackerConfig; + ApmPlaneLevel *planeLevel; private slots: void activeUASSet(UASInterface *uas); void activateStackedWidget(); diff --git a/src/ui/configuration/ApmHardwareConfig.ui b/src/ui/configuration/ApmHardwareConfig.ui index 1a514ede9272239c6f72a2816f3b26c7924e401d..e4a711b060d08d3c1cb58b395d54e9341587cb41 100644 --- a/src/ui/configuration/ApmHardwareConfig.ui +++ b/src/ui/configuration/ApmHardwareConfig.ui @@ -43,7 +43,7 @@ 0 0 156 - 635 + 676 @@ -129,6 +129,25 @@ + + + + + 0 + 35 + + + + Qt::LeftToRight + + + false + + + ArduPlane Level + + + diff --git a/src/ui/configuration/ApmPlaneLevel.cc b/src/ui/configuration/ApmPlaneLevel.cc new file mode 100644 index 0000000000000000000000000000000000000000..7b00374834ebdadee6eaac9418b0310f09bc66ae --- /dev/null +++ b/src/ui/configuration/ApmPlaneLevel.cc @@ -0,0 +1,59 @@ +#include "ApmPlaneLevel.h" +#include + +ApmPlaneLevel::ApmPlaneLevel(QWidget *parent) : AP2ConfigWidget(parent) +{ + ui.setupUi(this); + connect(ui.levelPushButton,SIGNAL(clicked()),this,SLOT(levelClicked())); + connect(ui.manualLevelCheckBox,SIGNAL(toggled(bool)),this,SLOT(manualCheckBoxToggled(bool))); +} + +ApmPlaneLevel::~ApmPlaneLevel() +{ +} +void ApmPlaneLevel::levelClicked() +{ + QMessageBox::information(0,"Warning","Be sure the plane is completly level, then click ok"); + MAV_CMD command = MAV_CMD_PREFLIGHT_CALIBRATION; + int confirm = 0; + float param1 = 1; + float param2 = 0; + float param3 = 1; + float param4 = 0; + float param5 = 0; + float param6 = 0; + float param7 = 0; + int component = 1; + m_uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component); + QMessageBox::information(0,"Warning","Leveling completed"); +} + +void ApmPlaneLevel::manualCheckBoxToggled(bool checked) +{ + if (!m_uas) + { + return; + } + if (checked) + { + m_uas->getParamManager()->setParameter(1,"MANUAL_LEVEL",1); + } + else + { + m_uas->getParamManager()->setParameter(1,"MANUAL_LEVEL",0); + } +} +void ApmPlaneLevel::parameterChanged(int uas, int component, QString parameterName, QVariant value) +{ + if (parameterName == "MANUAL_LEVEL") + { + if (value.toInt() == 1) + { + ui.manualLevelCheckBox->setChecked(true); + } + else + { + ui.manualLevelCheckBox->setChecked(false); + } + } +} diff --git a/src/ui/configuration/ApmPlaneLevel.h b/src/ui/configuration/ApmPlaneLevel.h new file mode 100644 index 0000000000000000000000000000000000000000..a6a38078f3704b10a283126fc84a6aebfe8738bd --- /dev/null +++ b/src/ui/configuration/ApmPlaneLevel.h @@ -0,0 +1,23 @@ +#ifndef APMPLANELEVEL_H +#define APMPLANELEVEL_H + +#include +#include "ui_ApmPlaneLevel.h" +#include "AP2ConfigWidget.h" + +class ApmPlaneLevel : public AP2ConfigWidget +{ + Q_OBJECT + +public: + explicit ApmPlaneLevel(QWidget *parent = 0); + ~ApmPlaneLevel(); +private slots: + void parameterChanged(int uas, int component, QString parameterName, QVariant value); + void levelClicked(); + void manualCheckBoxToggled(bool checked); +private: + Ui::ApmPlaneLevel ui; +}; + +#endif // APMPLANELEVEL_H diff --git a/src/ui/configuration/ApmPlaneLevel.ui b/src/ui/configuration/ApmPlaneLevel.ui new file mode 100644 index 0000000000000000000000000000000000000000..ef22b19992f262acf776e84fbfca097e2074c997 --- /dev/null +++ b/src/ui/configuration/ApmPlaneLevel.ui @@ -0,0 +1,99 @@ + + + ApmPlaneLevel + + + + 0 + 0 + 400 + 300 + + + + Form + + + + + 10 + 10 + 141 + 31 + + + + <h2>ArduPlane Level</h2> + + + + + + 50 + 70 + 271 + 41 + + + + By Default your plane will autolevel on every boot. +To disable this action you need to turn on manual +level and perform a level to calibrate the accel offsets. + + + + + + 50 + 150 + 291 + 16 + + + + Level your plane and click Level to set default accel offsets + + + + + + 160 + 180 + 75 + 23 + + + + Level + + + + + + 120 + 230 + 151 + 51 + + + + For advanced users ONLY + + + + + 30 + 20 + 91 + 17 + + + + Manual Level + + + + + + + diff --git a/src/ui/configuration/ApmSoftwareConfig.cc b/src/ui/configuration/ApmSoftwareConfig.cc index cfecf5de17669b998d058ae653c7eea453748eeb..0412287222b5aa94171c5b9fba035793bdda3be9 100644 --- a/src/ui/configuration/ApmSoftwareConfig.cc +++ b/src/ui/configuration/ApmSoftwareConfig.cc @@ -1,23 +1,21 @@ #include "ApmSoftwareConfig.h" +#include +#include +#include ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent) { ui.setupUi(this); - ui.basicPidsButton->setVisible(false); ui.flightModesButton->setVisible(false); ui.standardParamButton->setVisible(false); - ui.geoFenceButton->setVisible(false); ui.failSafeButton->setVisible(false); ui.advancedParamButton->setVisible(false); ui.advParamListButton->setVisible(false); - ui.arduCoperPidButton->setVisible(false); - - basicPidConfig = new BasicPidConfig(this); - ui.stackedWidget->addWidget(basicPidConfig); - buttonToConfigWidgetMap[ui.basicPidsButton] = basicPidConfig; - connect(ui.basicPidsButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); + ui.arduCopterPidButton->setVisible(false); + ui.arduRoverPidButton->setVisible(false); + ui.arduPlanePidButton->setVisible(false); flightConfig = new FlightModeConfig(this); ui.stackedWidget->addWidget(flightConfig); @@ -29,11 +27,6 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent) buttonToConfigWidgetMap[ui.standardParamButton] = standardParamConfig; connect(ui.standardParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); - geoFenceConfig = new GeoFenceConfig(this); - ui.stackedWidget->addWidget(geoFenceConfig); - buttonToConfigWidgetMap[ui.geoFenceButton] = geoFenceConfig; - connect(ui.geoFenceButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); - failSafeConfig = new FailSafeConfig(this); ui.stackedWidget->addWidget(failSafeConfig); buttonToConfigWidgetMap[ui.failSafeButton] = failSafeConfig; @@ -44,10 +37,25 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent) buttonToConfigWidgetMap[ui.advancedParamButton] = advancedParamConfig; connect(ui.advancedParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); - arduCoperPidConfig = new ArduCopterPidConfig(this); - ui.stackedWidget->addWidget(arduCoperPidConfig); - buttonToConfigWidgetMap[ui.arduCoperPidButton] = arduCoperPidConfig; - connect(ui.arduCoperPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); + advParameterList = new AdvParameterList(this); + ui.stackedWidget->addWidget(advParameterList); + buttonToConfigWidgetMap[ui.advParamListButton] = advParameterList; + connect(ui.advParamListButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); + + arduCopterPidConfig = new ArduCopterPidConfig(this); + ui.stackedWidget->addWidget(arduCopterPidConfig); + buttonToConfigWidgetMap[ui.arduCopterPidButton] = arduCopterPidConfig; + connect(ui.arduCopterPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); + + arduPlanePidConfig = new ArduPlanePidConfig(this); + ui.stackedWidget->addWidget(arduPlanePidConfig); + buttonToConfigWidgetMap[ui.arduPlanePidButton] = arduPlanePidConfig; + connect(ui.arduPlanePidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); + + arduRoverPidConfig = new ArduRoverPidConfig(this); + ui.stackedWidget->addWidget(arduRoverPidConfig); + buttonToConfigWidgetMap[ui.arduRoverPidButton] = arduRoverPidConfig; + connect(ui.arduRoverPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*))); if (UASManager::instance()->getActiveUAS()) @@ -73,13 +81,383 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas) return; } - ui.basicPidsButton->setVisible(true); ui.flightModesButton->setVisible(true); ui.standardParamButton->setVisible(true); - ui.geoFenceButton->setVisible(true); ui.failSafeButton->setVisible(true); ui.advancedParamButton->setVisible(true); ui.advParamListButton->setVisible(true); - ui.arduCoperPidButton->setVisible(true); + if (uas->getSystemType() == MAV_TYPE_FIXED_WING) + { + ui.arduPlanePidButton->setVisible(true); + ui.arduCopterPidButton->setVisible(false); + ui.arduRoverPidButton->setVisible(false); + } + else if (uas->getSystemType() == MAV_TYPE_QUADROTOR) + { + ui.arduCopterPidButton->setVisible(true); + ui.arduPlanePidButton->setVisible(false); + ui.arduRoverPidButton->setVisible(false); + } + else if (uas->getSystemType() == MAV_TYPE_GROUND_ROVER) + { + ui.arduRoverPidButton->setVisible(true); + ui.arduCopterPidButton->setVisible(false); + ui.arduPlanePidButton->setVisible(false); + } + + + QDir autopilotdir(qApp->applicationDirPath() + "/files/" + uas->getAutopilotTypeName().toLower()); + QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml"); + if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly)) + { + return; + } + + QXmlStreamReader xml(xmlfile.readAll()); + xmlfile.close(); + + //TODO: Testing to ensure that incorrectly formated XML won't break this. + //Also, move this into the Param Manager, as it should handle all metadata. + while (!xml.atEnd()) + { + if (xml.isStartElement() && xml.name() == "paramfile") + { + xml.readNext(); + while ((xml.name() != "paramfile") && !xml.atEnd()) + { + QString valuetype = ""; + if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop + { + valuetype = xml.name().toString(); + xml.readNext(); + while ((xml.name() != valuetype) && !xml.atEnd()) + { + if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block + { + QString parametersname = ""; + if (xml.attributes().hasAttribute("name")) + { + parametersname = xml.attributes().value("name").toString(); + } + QVariantMap genset; + QVariantMap advset; + + QString setname = parametersname; + xml.readNext(); + int genarraycount = 0; + int advarraycount = 0; + while ((xml.name() != "parameters") && !xml.atEnd()) + { + if (xml.isStartElement() && xml.name() == "param") + { + QString humanname = xml.attributes().value("humanName").toString(); + QString name = xml.attributes().value("name").toString(); + QString tab= xml.attributes().value("user").toString(); + if (tab == "Advanced") + { + advset["title"] = parametersname; + } + else + { + genset["title"] = parametersname; + } + if (name.contains(":")) + { + name = name.split(":")[1]; + } + QString docs = xml.attributes().value("documentation").toString(); + //paramTooltips[name] = name + " - " + docs; + + int type = -1; //Type of item + QMap fieldmap; + QMap valuemap; + xml.readNext(); + while ((xml.name() != "param") && !xml.atEnd()) + { + if (xml.isStartElement() && xml.name() == "values") + { + type = 1; //1 is a combobox + if (tab == "Advanced") + { + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "COMBO"; + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname; + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name; + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1; + } + else + { + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "COMBO"; + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname; + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name; + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1; + } + int paramcount = 0; + xml.readNext(); + while ((xml.name() != "values") && !xml.atEnd()) + { + if (xml.isStartElement() && xml.name() == "value") + { + + QString code = xml.attributes().value("code").toString(); + QString arg = xml.readElementText(); + valuemap[code] = arg; + if (tab == "Advanced") + { + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg; + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt(); + } + else + { + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg; + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt(); + } + paramcount++; + } + xml.readNext(); + } + if (tab == "Advanced") + { + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount; + } + else + { + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount; + } + } + if (xml.isStartElement() && xml.name() == "field") + { + type = 2; //2 is a slider + QString fieldtype = xml.attributes().value("name").toString(); + QString text = xml.readElementText(); + fieldmap[fieldtype] = text; + } + xml.readNext(); + } + if (type == -1) + { + //Nothing inside! Assume it's a value, give it a default range. + type = 2; + QString fieldtype = "Range"; + QString text = "0 100"; //TODO: Determine a better way of figuring out default ranges. + fieldmap[fieldtype] = text; + } + if (type == 2) + { + if (tab == "Advanced") + { + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "SLIDER"; + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname; + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name; + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1; + } + else + { + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "SLIDER"; + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname; + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name; + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1; + } + if (fieldmap.contains("Range")) + { + float min = 0; + float max = 0; + //Some range fields list "0-10" and some list "0 10". Handle both. + if (fieldmap["Range"].split(" ").size() > 1) + { + min = fieldmap["Range"].split(" ")[0].trimmed().toFloat(); + max = fieldmap["Range"].split(" ")[1].trimmed().toFloat(); + } + else if (fieldmap["Range"].split("-").size() > 1) + { + min = fieldmap["Range"].split("-")[0].trimmed().toFloat(); + max = fieldmap["Range"].split("-")[1].trimmed().toFloat(); + } + if (tab == "Advanced") + { + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min; + advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max; + } + else + { + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min; + genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max; + } + } + } + if (tab == "Advanced") + { + advarraycount++; + advset["count"] = advarraycount; + } + else + { + genarraycount++; + genset["count"] = genarraycount; + } + //Right here we have a single param in memory + name; + docs; + valuemap; + fieldmap; + //standardParamConfig + if (valuemap.size() > 0) + { + QList > valuelist; + for (QMap::const_iterator i = valuemap.constBegin();i!=valuemap.constEnd();i++) + { + valuelist.append(QPair(i.key().toInt(),i.value())); + } + if (tab == "Standard") + { + standardParamConfig->addCombo(humanname,docs,name,valuelist); + } + else if (tab == "Advanced") + { + advancedParamConfig->addCombo(humanname,docs,name,valuelist); + } + advParameterList->setParameterMetaData(name,humanname,docs); + } + else if (fieldmap.size() > 0) + { + float min = 0; + float max = 100; + if (fieldmap.contains("Range")) + { + float min = 0; + float max = 0; + //Some range fields list "0-10" and some list "0 10". Handle both. + if (fieldmap["Range"].split(" ").size() > 1) + { + min = fieldmap["Range"].split(" ")[0].trimmed().toFloat(); + max = fieldmap["Range"].split(" ")[1].trimmed().toFloat(); + } + else if (fieldmap["Range"].split("-").size() > 1) + { + min = fieldmap["Range"].split("-")[0].trimmed().toFloat(); + max = fieldmap["Range"].split("-")[1].trimmed().toFloat(); + } + } + if (tab == "Standard") + { + standardParamConfig->addRange(humanname,docs,name,min,max); + } + else if (tab == "Advanced") + { + advancedParamConfig->addRange(humanname,docs,name,max,min); + } + advParameterList->setParameterMetaData(name,humanname,docs); + } + + } + xml.readNext(); + } + if (genarraycount > 0) + { + /* + tool = new QGCToolWidget("", this); + tool->addUAS(mav); + tool->setTitle(parametersname); + tool->setObjectName(parametersname); + tool->setSettings(genset); + QList paramlist = tool->getParamList(); + for (int i=0;iinsert(paramlist[i],tool); + } + else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR + { + systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool); + } + else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER + { + systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool); + } + else + { + libParamToWidgetMap->insert(paramlist[i],tool); + } + } + + toolWidgets.append(tool); + QGroupBox *box = new QGroupBox(this); + box->setTitle(tool->objectName()); + box->setLayout(new QVBoxLayout()); + box->layout()->addWidget(tool); + if (valuetype == "vehicles") + { + ui->leftGeneralLayout->addWidget(box); + } + else if (valuetype == "libraries") + { + ui->rightGeneralLayout->addWidget(box); + } + box->hide(); + toolToBoxMap[tool] = box;*/ + } + if (advarraycount > 0) + { + /* + tool = new QGCToolWidget("", this); + tool->addUAS(mav); + tool->setTitle(parametersname); + tool->setObjectName(parametersname); + tool->setSettings(advset); + QList paramlist = tool->getParamList(); + for (int i=0;iinsert(paramlist[i],tool); + } + else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR + { + systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool); + } + else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER + { + systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool); + } + else + { + libParamToWidgetMap->insert(paramlist[i],tool); + } + } + + toolWidgets.append(tool); + QGroupBox *box = new QGroupBox(this); + box->setTitle(tool->objectName()); + box->setLayout(new QVBoxLayout()); + box->layout()->addWidget(tool); + if (valuetype == "vehicles") + { + ui->leftAdvancedLayout->addWidget(box); + } + else if (valuetype == "libraries") + { + ui->rightAdvancedLayout->addWidget(box); + } + box->hide(); + toolToBoxMap[tool] = box;*/ + } + + + + + } + xml.readNext(); + } + + } + + xml.readNext(); + } + } + xml.readNext(); + } + } diff --git a/src/ui/configuration/ApmSoftwareConfig.h b/src/ui/configuration/ApmSoftwareConfig.h index c28d366b0ecaf9a90e9a8d2774995cb12eb3747c..7b0b5138e36705c361f3dc81c3098a5b36f3d96f 100644 --- a/src/ui/configuration/ApmSoftwareConfig.h +++ b/src/ui/configuration/ApmSoftwareConfig.h @@ -10,7 +10,9 @@ #include "FailSafeConfig.h" #include "AdvancedParamConfig.h" #include "ArduCopterPidConfig.h" - +#include "ArduPlanePidConfig.h" +#include "ArduRoverPidConfig.h" +#include "AdvParameterList.h" #include "UASInterface.h" #include "UASManager.h" @@ -32,7 +34,10 @@ private: GeoFenceConfig *geoFenceConfig; FailSafeConfig *failSafeConfig; AdvancedParamConfig *advancedParamConfig; - ArduCopterPidConfig *arduCoperPidConfig; + ArduCopterPidConfig *arduCopterPidConfig; + ArduPlanePidConfig *arduPlanePidConfig; + ArduRoverPidConfig *arduRoverPidConfig; + AdvParameterList *advParameterList; QMap buttonToConfigWidgetMap; }; diff --git a/src/ui/configuration/ApmSoftwareConfig.ui b/src/ui/configuration/ApmSoftwareConfig.ui index ab26e10fbeb7300b9df4d0b5953647efd832a459..c29e3b6ff7e9e85f421d04ab5471ac08e41d67ee 100644 --- a/src/ui/configuration/ApmSoftwareConfig.ui +++ b/src/ui/configuration/ApmSoftwareConfig.ui @@ -6,221 +6,204 @@ 0 0 - 718 - 531 + 853 + 619 Form - - - - 20 - 10 - 175 - 531 - - - - - 175 - 0 - - - - - 175 - 16777215 - - - - true - - - - - 0 - 0 - 173 - 529 - - - - - - - QLayout::SetMinAndMaxSize - + + + + + + 175 + 0 + + + + + 175 + 16777215 + + + + true + + + + + 0 + 0 + 173 + 599 + + + - - - - 100 - 35 - - - - APM Planner 2.0 Config - - - - - - - - 0 - 35 - - - - Basic Pids - - - false - - - - - - - - 0 - 35 - - - - Flight Modes - - - false - - - - - - - - 0 - 35 - - - - Standard Params - - - false - - - - - - - - 0 - 35 - - - - GeoFence - - - false - - - - - - - - 0 - 35 - - - - FailSafe - - - false - - - - - - - - 0 - 35 - - - - Advanced Params - - - false - - - - - - - - 0 - 35 - - - - Adv Parameter List - - - false - - - - - - - - 0 - 35 - - - - ArduCoper Pids - - - false - - - - - - - Qt::Vertical - - - - 20 - 40 - - - + + + QLayout::SetMinAndMaxSize + + + + + + 100 + 35 + + + + APM Planner 2.0 Config + + + + + + + + 0 + 35 + + + + Flight Modes + + + false + + + + + + + + 0 + 35 + + + + Standard Params + + + false + + + + + + + + 0 + 35 + + + + FailSafe + + + false + + + + + + + + 0 + 35 + + + + Advanced Params + + + false + + + + + + + + 0 + 35 + + + + Adv Parameter List + + + false + + + + + + + + 0 + 35 + + + + ArduCopter Pids + + + false + + + + + + + + 0 + 35 + + + + ArduPlane Pids + + + + + + + + 0 + 35 + + + + ArduRover Pids + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + - - - - - - - - 220 - 20 - 471 - 491 - - - + + + + + + + diff --git a/src/ui/configuration/ArduCopterPidConfig.cc b/src/ui/configuration/ArduCopterPidConfig.cc index 1674ae23623fa0cec3ae2ac860b07215f4e71479..f64dec4c2b628b331a764f63b98fc0c821056736 100644 --- a/src/ui/configuration/ArduCopterPidConfig.cc +++ b/src/ui/configuration/ArduCopterPidConfig.cc @@ -1,14 +1,196 @@ #include "ArduCopterPidConfig.h" -#include "ui_ArduCopterPidConfig.h" -ArduCopterPidConfig::ArduCopterPidConfig(QWidget *parent) : - QWidget(parent), - ui(new Ui::ArduCopterPidConfig) +ArduCopterPidConfig::ArduCopterPidConfig(QWidget *parent) : AP2ConfigWidget(parent) { - ui->setupUi(this); + ui.setupUi(this); + nameToBoxMap["STB_RLL_P"] = ui.stabilPitchPSpinBox; + nameToBoxMap["STB_PIT_P"] = ui.stabilRollPSpinBox; + nameToBoxMap["STB_YAW_P"] = ui.stabilYawPSpinBox; + nameToBoxMap["HLD_LAT_P"] = ui.loiterPidPSpinBox; + + nameToBoxMap["RATE_RLL_P"] = ui.rateRollPSpinBox; + nameToBoxMap["RATE_RLL_I"] = ui.rateRollISpinBox; + nameToBoxMap["RATE_RLL_D"] = ui.rateRollDSpinBox; + nameToBoxMap["RATE_RLL_IMAX"] = ui.rateRollIMAXSpinBox; + + nameToBoxMap["RATE_PIT_P"] = ui.ratePitchPSpinBox; + nameToBoxMap["RATE_PIT_I"] = ui.ratePitchISpinBox; + nameToBoxMap["RATE_PIT_D"] = ui.ratePitchDSpinBox; + nameToBoxMap["RATE_PIT_IMAX"] = ui.ratePitchIMAXSpinBox; + + nameToBoxMap["RATE_YAW_P"] = ui.rateYawPSpinBox; + nameToBoxMap["RATE_YAW_I"] = ui.rateYawISpinBox; + nameToBoxMap["RATE_YAW_D"] = ui.rateYawDSpinBox; + nameToBoxMap["RATE_YAW_IMAX"] = ui.rateYawIMAXSpinBox; + + nameToBoxMap["LOITER_LAT_P"] = ui.rateLoiterPSpinBox; + nameToBoxMap["LOITER_LAT_I"] = ui.rateLoiterISpinBox; + nameToBoxMap["LOITER_LAT_D"] = ui.rateLoiterDSpinBox; + nameToBoxMap["LOITER_LAT_IMAX"] = ui.rateLoiterIMAXSpinBox; + + nameToBoxMap["THR_ACCEL_P"] = ui.throttleAccelPSpinBox; + nameToBoxMap["THR_ACCEL_I"] = ui.throttleAccelISpinBox; + nameToBoxMap["THR_ACCEL_D"] = ui.throttleAccelDSpinBox; + nameToBoxMap["THR_ACCEL_IMAX"] = ui.throttleAccelIMAXSpinBox; + + nameToBoxMap["THR_RATE_P"] = ui.throttleRatePSpinBox; + nameToBoxMap["THR_RATE_D"] = ui.throttleDateDSpinBox; + + nameToBoxMap["THR_ALT_P"] = ui.altitudeHoldPSpinBox; + + nameToBoxMap["WPNAV_SPEED"] = ui.wpNavLoiterSpeedSpinBox; + nameToBoxMap["WPNAV_RADIUS"] = ui.wpNavRadiusSpinBox; + nameToBoxMap["WPNAV_SPEED_DN"] = ui.wpNavSpeedDownSpinBox; + nameToBoxMap["WPNAV_LOIT_SPEED"] = ui.wpNavSpeedSpinBox; + nameToBoxMap["WPNAV_SPEED_UP"] = ui.wpNavSpeedUpSpinBox; + + nameToBoxMap["TUNE_HIGH"] = ui.ch6MaxSpinBox; + nameToBoxMap["TUNE_LOW"] = ui.ch6MinSpinBox; + + connect(ui.writePushButton,SIGNAL(clicked()),this,SLOT(writeButtonClicked())); + connect(ui.refreshPushButton,SIGNAL(clicked()),this,SLOT(refreshButtonClicked())); + + + + ch6ValueToTextList.append(QPair(0,"CH6_NONE")); + ch6ValueToTextList.append(QPair(1,"CH6_STABILIZE_KP")); + ch6ValueToTextList.append(QPair(2,"CH6_STABILIZE_KI")); + ch6ValueToTextList.append(QPair(3,"CH6_YAW_KP")); + ch6ValueToTextList.append(QPair(24,"CH6_YAW_KI")); + ch6ValueToTextList.append(QPair(4,"CH6_RATE_KP")); + ch6ValueToTextList.append(QPair(5,"CH6_RATE_KI")); + ch6ValueToTextList.append(QPair(6,"CH6_YAW_RATE_KP")); + ch6ValueToTextList.append(QPair(26,"CH6_YAW_RATE_KD")); + ch6ValueToTextList.append(QPair(7,"CH6_THROTTLE_KP")); + ch6ValueToTextList.append(QPair(9,"CH6_RELAY")); + ch6ValueToTextList.append(QPair(10,"CH6_WP_SPEED")); + ch6ValueToTextList.append(QPair(12,"CH6_LOITER_KP")); + ch6ValueToTextList.append(QPair(13,"CH6_HELI_EXTERNAL_GYRO")); + ch6ValueToTextList.append(QPair(14,"CH6_THR_HOLD_KP")); + ch6ValueToTextList.append(QPair(17,"CH6_OPTFLOW_KP")); + ch6ValueToTextList.append(QPair(18,"CH6_OPTFLOW_KI")); + ch6ValueToTextList.append(QPair(19,"CH6_OPTFLOW_KD")); + ch6ValueToTextList.append(QPair(21,"CH6_RATE_KD")); + ch6ValueToTextList.append(QPair(22,"CH6_LOITER_RATE_KP")); + ch6ValueToTextList.append(QPair(23,"CH6_LOITER_RATE_KD")); + ch6ValueToTextList.append(QPair(25,"CH6_ACRO_KP")); + ch6ValueToTextList.append(QPair(27,"CH6_LOITER_KI")); + ch6ValueToTextList.append(QPair(28,"CH6_LOITER_RATE_KI")); + ch6ValueToTextList.append(QPair(29,"CH6_STABILIZE_KD")); + ch6ValueToTextList.append(QPair(30,"CH6_AHRS_YAW_KP")); + ch6ValueToTextList.append(QPair(31,"CH6_AHRS_KP")); + ch6ValueToTextList.append(QPair(32,"CH6_INAV_TC")); + ch6ValueToTextList.append(QPair(33,"CH6_THROTTLE_KI")); + ch6ValueToTextList.append(QPair(34,"CH6_THR_ACCEL_KP")); + ch6ValueToTextList.append(QPair(35,"CH6_THR_ACCEL_KI")); + ch6ValueToTextList.append(QPair(36,"CH6_THR_ACCEL_KD")); + ch6ValueToTextList.append(QPair(38,"CH6_DECLINATION")); + ch6ValueToTextList.append(QPair(39,"CH6_CIRCLE_RATE")); + for (int i=0;iaddItem(ch6ValueToTextList[i].second); + } + + ch7ValueToTextList.append(QPair(0,"Do nothing")); + ch7ValueToTextList.append(QPair(2,"Flip")); + ch7ValueToTextList.append(QPair(3,"Simple mode")); + ch7ValueToTextList.append(QPair(4,"RTL")); + ch7ValueToTextList.append(QPair(5,"Save Trim")); + ch7ValueToTextList.append(QPair(7,"Save WP")); + ch7ValueToTextList.append(QPair(8,"Multi Mode")); + ch7ValueToTextList.append(QPair(9,"Camera Trigger")); + ch7ValueToTextList.append(QPair(10,"Sonar")); + ch7ValueToTextList.append(QPair(11,"Fence")); + ch7ValueToTextList.append(QPair(12,"ResetToArmedYaw")); + for (int i=0;iaddItem(ch7ValueToTextList[i].second); + } + + ch8ValueToTextList.append(QPair(0,"Do nothing")); + ch8ValueToTextList.append(QPair(2,"Flip")); + ch8ValueToTextList.append(QPair(3,"Simple mode")); + ch8ValueToTextList.append(QPair(4,"RTL")); + ch8ValueToTextList.append(QPair(5,"Save Trim")); + ch8ValueToTextList.append(QPair(7,"Save WP")); + ch8ValueToTextList.append(QPair(8,"Multi Mode")); + ch8ValueToTextList.append(QPair(9,"Camera Trigger")); + ch8ValueToTextList.append(QPair(10,"Sonar")); + ch8ValueToTextList.append(QPair(11,"Fence")); + ch8ValueToTextList.append(QPair(12,"ResetToArmedYaw")); + for (int i=0;iaddItem(ch8ValueToTextList[i].second); + } + } ArduCopterPidConfig::~ArduCopterPidConfig() { - delete ui; +} +void ArduCopterPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) +{ + if (nameToBoxMap.contains(parameterName)) + { + nameToBoxMap[parameterName]->setValue(value.toDouble()); + } + else if (parameterName == "TUNE") + { + for (int i=0;isetCurrentIndex(i); + } + } + } + else if (parameterName == "CH7_OPT") + { + for (int i=0;isetCurrentIndex(i); + } + } + } + else if (parameterName == "CH8_OPT") + { + for (int i=0;isetCurrentIndex(i); + } + } + } +} +void ArduCopterPidConfig::writeButtonClicked() +{ + if (!m_uas) + { + return; + } + for (QMap::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++) + { + m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value()); + } + m_uas->getParamManager()->setParameter(1,"TUNE",ch8ValueToTextList[ui.ch6OptComboBox->currentIndex()].first); + m_uas->getParamManager()->setParameter(1,"CH7_OPT",ch7ValueToTextList[ui.ch7OptComboBox->currentIndex()].first); + m_uas->getParamManager()->setParameter(1,"CH8_OPT",ch8ValueToTextList[ui.ch8OptComboBox->currentIndex()].first); +} + +void ArduCopterPidConfig::refreshButtonClicked() +{ + if (!m_uas) + { + return; + } + for (QMap::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++) + { + m_uas->getParamManager()->requestParameterUpdate(1,i.key()); + } + m_uas->getParamManager()->requestParameterUpdate(1,"TUNE"); + m_uas->getParamManager()->requestParameterUpdate(1,"CH7_OPT"); + m_uas->getParamManager()->requestParameterUpdate(1,"CH8_OPT"); } diff --git a/src/ui/configuration/ArduCopterPidConfig.h b/src/ui/configuration/ArduCopterPidConfig.h index 6f7eae7e8545235a9f05887b4d1cb152d1f6059c..dff3bb5a55465a9b7b943038786aca5d6705afb2 100644 --- a/src/ui/configuration/ArduCopterPidConfig.h +++ b/src/ui/configuration/ArduCopterPidConfig.h @@ -2,21 +2,27 @@ #define ARDUCOPTERPIDCONFIG_H #include +#include "ui_ArduCopterPidConfig.h" -namespace Ui { -class ArduCopterPidConfig; -} +#include "AP2ConfigWidget.h" -class ArduCopterPidConfig : public QWidget +class ArduCopterPidConfig : public AP2ConfigWidget { Q_OBJECT public: explicit ArduCopterPidConfig(QWidget *parent = 0); ~ArduCopterPidConfig(); - +private slots: + void writeButtonClicked(); + void refreshButtonClicked(); + void parameterChanged(int uas, int component, QString parameterName, QVariant value); private: - Ui::ArduCopterPidConfig *ui; + QList > ch6ValueToTextList; + QList > ch7ValueToTextList; + QList > ch8ValueToTextList; + QMap nameToBoxMap; + Ui::ArduCopterPidConfig ui; }; #endif // ARDUCOPTERPIDCONFIG_H diff --git a/src/ui/configuration/ArduCopterPidConfig.ui b/src/ui/configuration/ArduCopterPidConfig.ui index a472f6a8f75c96e1f40aded60bcbdfa5085f61dd..351ce51ed24e4463b9c9ac508fe2bea5c50730df 100644 --- a/src/ui/configuration/ArduCopterPidConfig.ui +++ b/src/ui/configuration/ArduCopterPidConfig.ui @@ -6,8 +6,8 @@ 0 0 - 400 - 300 + 750 + 596 @@ -26,6 +26,1035 @@ <h2>ArduCopter Pids</h2> + + + + 120 + 540 + 75 + 23 + + + + Write Params + + + + + + 220 + 540 + 91 + 23 + + + + Refresh Params + + + + + + 10 + 70 + 695 + 401 + + + + + + + Rate Yaw + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Loiter PID + + + + + + + + + + P + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Rate Pitch + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Stabilize Roll + + + + + + + + + + P + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Stabilize Pitch + + + + + + + + + + P + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + + + + + + + + Rate Roll + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Altitude Hold + + + + + + + + + + P + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Stabilize Yaw + + + + + + + + + + P + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Rate Loiter + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Lock Pitch and Roll Values + + + + + + + + + + + Ch6 Opt + + + + + + + + + + + + + + Min + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + Max + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + Ch7 Opt + + + + + + + + + + + + + + Ch8 Opt + + + + + + + + + + + + + + Throttle Accel + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + Throttle Rate + + + + + + + + + + P + + + + + + + D + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + WPNav (cm's) + + + + + + + + + + Speed + + + + + + + Radius + + + + + + + Speed Up + + + + + + + speed Down + + + + + + + Loiter Speed + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + diff --git a/src/ui/configuration/ArduPlanePidConfig.cc b/src/ui/configuration/ArduPlanePidConfig.cc new file mode 100644 index 0000000000000000000000000000000000000000..f97e6af607edc98d3cd67004b97367b7ba4bce6b --- /dev/null +++ b/src/ui/configuration/ArduPlanePidConfig.cc @@ -0,0 +1,97 @@ +#include "ArduPlanePidConfig.h" + + +ArduPlanePidConfig::ArduPlanePidConfig(QWidget *parent) : AP2ConfigWidget(parent) +{ + ui.setupUi(this); + + nameToBoxMap["RLL2SRV_P"] = ui.servoRollPSpinBox; + nameToBoxMap["RLL2SRV_I"] = ui.servoRollISpinBox; + nameToBoxMap["RLL2SRV_D"] = ui.servoRollDSpinBox; + nameToBoxMap["RLL2SRV_IMAX"] = ui.servoRollIMAXSpinBox; + + nameToBoxMap["PTCH2SRV_P"] = ui.servoPitchPSpinBox; + nameToBoxMap["PTCH2SRV_I"] = ui.servoPitchISpinBox; + nameToBoxMap["PTCH2SRV_D"] = ui.servoPitchDSpinBox; + nameToBoxMap["PTCH2SRV_IMAX"] = ui.servoPitchIMAXSpinBox; + + nameToBoxMap["YW2SRV_P"] = ui.servoYawPSpinBox; + nameToBoxMap["YW2SRV_I"] = ui.servoYawISpinBox; + nameToBoxMap["YW2SRV_D"] = ui.servoYawDSpinBox; + nameToBoxMap["YW2SRV_IMAX"] = ui.servoYawIMAXSpinBox; + + nameToBoxMap["ALT2PTCH_P"] = ui.navAltPSpinBox; + nameToBoxMap["ALT2PTCH_I"] = ui.navAltISpinBox; + nameToBoxMap["ALT2PTCH_D"] = ui.navAltDSpinBox; + nameToBoxMap["ALT2PTCH_IMAX"] = ui.navAltIMAXSpinBox; + + nameToBoxMap["ARSP2PTCH_P"] = ui.navASPSpinBox; + nameToBoxMap["ARSP2PTCH_I"] = ui.navASISpinBox; + nameToBoxMap["ARSP2PTCH_D"] = ui.navASDSpinBox; + nameToBoxMap["ARSP2PTCH_IMAX"] = ui.navASIMAXSpinBox; + + nameToBoxMap["ENRGY2THR_P"] = ui.energyPSpinBox; + nameToBoxMap["ENRGY2THR_I"] = ui.energyISpinBox; + nameToBoxMap["ENRGY2THR_D"] = ui.energyDSpinBox; + nameToBoxMap["ENRGY2THR_IMAX"] = ui.energyIMAXSpinBox; + + nameToBoxMap["KFF_PTCH2THR"] = ui.otherPitchCompSpinBox; + nameToBoxMap["KFF_PTCHCOMP"] = ui.otherPtTSpinBox; + nameToBoxMap["KFF_RDDRMIX"] = ui.otherRudderMixSpinBox; + + nameToBoxMap["TRIM_THROTTLE"] = ui.throttleCruiseSpinBox; + nameToBoxMap["THR_FS_VALUE"] = ui.throttleFSSpinBox; + nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox; + nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox; + + nameToBoxMap["TRIM_ARSPD_CM"] = ui.airspeedCruiseSpinBox; + nameToBoxMap["ARSPD_FBW_MAX"] = ui.airspeedFBWMaxSpinBox; + nameToBoxMap["ARSPD_FBW_MIN"] = ui.airspeedFBWMinSpinBox; + nameToBoxMap["ARSPD_RATIO"] = ui.airspeedRatioSpinBox; + + nameToBoxMap["NAVL1_DAMPING"] = ui.l1DampingSpinBox; + nameToBoxMap["NAVL1_PERIOD"] = ui.l1PeriodSpinBox; + + nameToBoxMap["LIM_ROLL_CD"] = ui.navBankMaxSpinBox; + nameToBoxMap["LIM_PITCH_MAX"] = ui.navPitchMaxSpinBox; + nameToBoxMap["LIM_PITCH_MIN"] = ui.navPitchMinSpinBox; + + connect(ui.writePushButton,SIGNAL(clicked()),this,SLOT(writeButtonClicked())); + connect(ui.refreshPushButton,SIGNAL(clicked()),this,SLOT(refreshButtonClicked())); + +} + +ArduPlanePidConfig::~ArduPlanePidConfig() +{ +} +void ArduPlanePidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) +{ + if (nameToBoxMap.contains(parameterName)) + { + nameToBoxMap[parameterName]->setValue(value.toDouble()); + } +} +void ArduPlanePidConfig::writeButtonClicked() +{ + if (!m_uas) + { + return; + } + for (QMap::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++) + { + m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value()); + } +} + +void ArduPlanePidConfig::refreshButtonClicked() +{ + if (!m_uas) + { + return; + } + for (QMap::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++) + { + m_uas->getParamManager()->requestParameterUpdate(1,i.key()); + } + +} diff --git a/src/ui/configuration/ArduPlanePidConfig.h b/src/ui/configuration/ArduPlanePidConfig.h new file mode 100644 index 0000000000000000000000000000000000000000..b0f12c4b8d1623eebcfaba037663622a7e27302c --- /dev/null +++ b/src/ui/configuration/ArduPlanePidConfig.h @@ -0,0 +1,24 @@ +#ifndef ARDUPLANEPIDCONFIG_H +#define ARDUPLANEPIDCONFIG_H + +#include +#include "ui_ArduPlanePidConfig.h" +#include "AP2ConfigWidget.h" + +class ArduPlanePidConfig : public AP2ConfigWidget +{ + Q_OBJECT + +public: + explicit ArduPlanePidConfig(QWidget *parent = 0); + ~ArduPlanePidConfig(); +private slots: + void parameterChanged(int uas, int component, QString parameterName, QVariant value); + void writeButtonClicked(); + void refreshButtonClicked(); +private: + QMap nameToBoxMap; + Ui::ArduPlanePidConfig ui; +}; + +#endif // ARDUPLANEPIDCONFIG_H diff --git a/src/ui/configuration/ArduPlanePidConfig.ui b/src/ui/configuration/ArduPlanePidConfig.ui new file mode 100644 index 0000000000000000000000000000000000000000..4ee4c406b15f97f025969bdefc401c22fe9a3fd6 --- /dev/null +++ b/src/ui/configuration/ArduPlanePidConfig.ui @@ -0,0 +1,963 @@ + + + ArduPlanePidConfig + + + + 0 + 0 + 733 + 641 + + + + Form + + + + + 20 + 10 + 681 + 581 + + + + + + + L1 Control - Turn Control + + + + + + + + + + Period + + + + + + + Damping + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + Servo Roll Pid + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 10000.000000000000000 + + + + + + + + + + + + + + Nav Pitch Alt Pid + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 10000.000000000000000 + + + + + + + + + + + + + + Nav Pitch AS Pid + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 10000.000000000000000 + + + + + + + + + + + + + + Servo Yaw Pid + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 10000.000000000000000 + + + + + + + + + + + + + + Throttle 0-100% + + + + + + + + + + Cruise + + + + + + + Min + + + + + + + Max + + + + + + + FS Value + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 10000.000000000000000 + + + + + + + + + + + + + + Servo Pitch Pid + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 10000.000000000000000 + + + + + + + + + + + + + + Aiespeed m/s + + + + + + + + + + Cruise + + + + + + + FBW min + + + + + + + FBW max + + + + + + + Ratio + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 100.000000000000000 + + + + + + + + + + + + + + Other Mix's + + + + + + + + + + P to T + + + + + + + Pitch Comp + + + + + + + Rudder Mix + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + + + + + + + + Navigation Angles + + + + + + + + + + Bank Max + + + + + + + Pitch Max + + + + + + + Pitch Min + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + 10000.000000000000000 + + + 0.000000000000000 + + + + + + + + + + + + + + Energy/Alt Pid + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 3 + + + 100.000000000000000 + + + + + + + 100.000000000000000 + + + + + + + + + + + + + + + + 260 + 600 + 75 + 23 + + + + Write Params + + + + + + 350 + 600 + 75 + 23 + + + + Refresh Params + + + + + + diff --git a/src/ui/configuration/ArduRoverPidConfig.cc b/src/ui/configuration/ArduRoverPidConfig.cc new file mode 100644 index 0000000000000000000000000000000000000000..60f2f28f97a4325e3b46ad06df9683d8ef440c99 --- /dev/null +++ b/src/ui/configuration/ArduRoverPidConfig.cc @@ -0,0 +1,78 @@ +#include "ArduRoverPidConfig.h" + + +ArduRoverPidConfig::ArduRoverPidConfig(QWidget *parent) : AP2ConfigWidget(parent) +{ + ui.setupUi(this); + nameToBoxMap["STEER2SRV_P"] = ui.steer2ServoPSpinBox; + nameToBoxMap["STEER2SRV_I"] = ui.steer2ServoISpinBox; + nameToBoxMap["STEER2SRV_D"] = ui.steer2ServoDSpinBox; + nameToBoxMap["STEER2SRV_IMAX"] = ui.steer2ServoIMAXSpinBox; + + nameToBoxMap["XTRK_ANGLE_CD"] = ui.xtrackEntryAngleSpinBox; + nameToBoxMap["XTRK_GAIN_SC"] = ui.xtrackGainSpinBox; + + nameToBoxMap["CRUISE_THROTTLE"] = ui.throttleCruiseSpinBox; + nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox; + nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox; + nameToBoxMap["FS_THR_VALUE"] = ui.throttleFSSpinBox; + + nameToBoxMap["HDNG2STEER_P"] = ui.heading2SteerPSpinBox; + nameToBoxMap["HDNG2STEER_I"] = ui.heading2SteerISpinBox; + nameToBoxMap["HDNG2STEER_D"] = ui.heading2SteerDSpinBox; + nameToBoxMap["HDNG2STEER_IMAX"] = ui.heading2SteerIMAXSpinBox; + + nameToBoxMap["SPEED2THR_P"] = ui.speed2ThrottlePSpinBox; + nameToBoxMap["SPEED2THR_I"] = ui.speed2ThrottleISpinBox; + nameToBoxMap["SPEED2THR_D"] = ui.speed2ThrottleDSpinBox; + nameToBoxMap["SPEED2THR_IMAX"] = ui.speed2ThrottleIMAXSpinBox; + + nameToBoxMap["CRUISE_SPEED"] = ui.roverCruiseSpinBox; + nameToBoxMap["SPEED_TURN_GAIN"] = ui.roverTurnSpeedSpinBox; + nameToBoxMap["SPEED_TURN_DIST"] = ui.roverTurnDistSpinBox; + nameToBoxMap["WP_RADIUS"] = ui.roverWPRadiusSpinBox; + + nameToBoxMap["SONAR_TRIGGER_CM"] = ui.sonarTriggerSpinBox; + nameToBoxMap["SONAR_TURN_ANGLE"] = ui.sonarTurnAngleSpinBox; + nameToBoxMap["SONAR_TURN_TIME"] = ui.sonarTurnTimeSpinBox; + nameToBoxMap["SONAR_DEBOUNCE"] = ui.sonaeDebounceSpinBox; + + connect(ui.writePushButton,SIGNAL(clicked()),this,SLOT(writeButtonClicked())); + connect(ui.refreshPushButton,SIGNAL(clicked()),this,SLOT(refreshButtonClicked())); + +} + +ArduRoverPidConfig::~ArduRoverPidConfig() +{ +} +void ArduRoverPidConfig::writeButtonClicked() +{ + if (!m_uas) + { + return; + } + for (QMap::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++) + { + m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value()); + } +} + +void ArduRoverPidConfig::refreshButtonClicked() +{ + if (!m_uas) + { + return; + } + for (QMap::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++) + { + m_uas->getParamManager()->requestParameterUpdate(1,i.key()); + } +} + +void ArduRoverPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) +{ + if (nameToBoxMap.contains(parameterName)) + { + nameToBoxMap[parameterName]->setValue(value.toFloat()); + } +} diff --git a/src/ui/configuration/ArduRoverPidConfig.h b/src/ui/configuration/ArduRoverPidConfig.h new file mode 100644 index 0000000000000000000000000000000000000000..214658bdccf2f45dc8e450a2da29e81f60876e49 --- /dev/null +++ b/src/ui/configuration/ArduRoverPidConfig.h @@ -0,0 +1,23 @@ +#ifndef ARDUROVERPIDCONFIG_H +#define ARDUROVERPIDCONFIG_H + +#include +#include "ui_ArduRoverPidConfig.h" +#include "AP2ConfigWidget.h" +class ArduRoverPidConfig : public AP2ConfigWidget +{ + Q_OBJECT + +public: + explicit ArduRoverPidConfig(QWidget *parent = 0); + ~ArduRoverPidConfig(); +private slots: + void writeButtonClicked(); + void refreshButtonClicked(); + void parameterChanged(int uas, int component, QString parameterName, QVariant value); +private: + QMap nameToBoxMap; + Ui::ArduRoverPidConfig ui; +}; + +#endif // ARDUROVERPIDCONFIG_H diff --git a/src/ui/configuration/ArduRoverPidConfig.ui b/src/ui/configuration/ArduRoverPidConfig.ui new file mode 100644 index 0000000000000000000000000000000000000000..47831616e0adbd2578e60934c450c831c1ea7ce3 --- /dev/null +++ b/src/ui/configuration/ArduRoverPidConfig.ui @@ -0,0 +1,732 @@ + + + ArduRoverPidConfig + + + + 0 + 0 + 626 + 607 + + + + Form + + + + + 10 + 10 + 151 + 21 + + + + <h2>ArduRover Pids</h2> + + + + + + 60 + 90 + 504 + 419 + + + + + + + Steer 2 Servo + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Speed 2 Throttle + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Heading 2 Steer + + + + + + + + + + P + + + + + + + I + + + + + + + D + + + + + + + INT_MAX + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Throttle 0-100% + + + + + + + + + + Cruise + + + + + + + Min + + + + + + + Max + + + + + + + FS Value + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Xtrack Pids + + + + + + + + + + Gain (cm) + + + + + + + Entry Angle + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + Sonar + + + + + + + + + + Trigger cm + + + + + + + Turn Angle + + + + + + + Turn Time + + + + + + + Debounce + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + Rover + + + + + + + + + + Cruise Speed + + + + + + + Turn Speed + + + + + + + Turn Dist + + + + + + + WP Radius + + + + + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + 3 + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + + + + + + + + + 300 + 540 + 91 + 23 + + + + Refresh Params + + + + + + 200 + 540 + 75 + 23 + + + + Write Params + + + + + + diff --git a/src/ui/configuration/BatteryMonitorConfig.cc b/src/ui/configuration/BatteryMonitorConfig.cc index 5e74cedde21a4a1a71b0869b713dc93e816cadf9..05b6dc2343e896aa4ade956f4a51163f9fc5d6ec 100644 --- a/src/ui/configuration/BatteryMonitorConfig.cc +++ b/src/ui/configuration/BatteryMonitorConfig.cc @@ -32,6 +32,16 @@ BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : AP2ConfigWidget(pa } +void BatteryMonitorConfig::activeUASSet(UASInterface *uas) +{ + if (!uas) + { + return; + } + connect(uas,SIGNAL(batteryChanged(UASInterface*,double,double,double,int)),this,SLOT(batteryChanged(UASInterface*,double,double,double,int))); + AP2ConfigWidget::activeUASSet(uas); +} + void BatteryMonitorConfig::calcDividerSet() { if (!m_uas) @@ -222,6 +232,14 @@ void BatteryMonitorConfig::apmVerCurrentIndexChanged(int index) BatteryMonitorConfig::~BatteryMonitorConfig() { } +void BatteryMonitorConfig::batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds) +{ + ui.calcVoltsLineEdit->setText(QString::number(voltage,'f',2)); + if (ui.measuredVoltsLineEdit->text() == "") + { + ui.measuredVoltsLineEdit->setText(ui.calcVoltsLineEdit->text()); + } +} void BatteryMonitorConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) { diff --git a/src/ui/configuration/BatteryMonitorConfig.h b/src/ui/configuration/BatteryMonitorConfig.h index 183d782d236ab30fad476f0d6fcee5bc7a146421..2bbdb56f2ed7aa443802c2d98d532b1310b390e6 100644 --- a/src/ui/configuration/BatteryMonitorConfig.h +++ b/src/ui/configuration/BatteryMonitorConfig.h @@ -20,6 +20,8 @@ private slots: void calcDividerSet(); void ampsPerVoltSet(); void batteryCapacitySet(); + void activeUASSet(UASInterface *uas); + void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds); private: Ui::BatteryMonitorConfig ui; }; diff --git a/src/ui/configuration/CompassConfig.cc b/src/ui/configuration/CompassConfig.cc index 5c37b0cbf6a0ca5ad7900d35aace8e5f219f8d73..43da906fd809e3115c260055a9d088c776b9da9c 100644 --- a/src/ui/configuration/CompassConfig.cc +++ b/src/ui/configuration/CompassConfig.cc @@ -16,6 +16,33 @@ CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent) connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*))); activeUASSet(UASManager::instance()->getActiveUAS()); + ui.orientationComboBox->addItem("ROTATION_NONE"); + ui.orientationComboBox->addItem("ROTATION_YAW_45"); + ui.orientationComboBox->addItem("ROTATION_YAW_90"); + ui.orientationComboBox->addItem("ROTATION_YAW_135"); + ui.orientationComboBox->addItem("ROTATION_YAW_180"); + ui.orientationComboBox->addItem("ROTATION_YAW_225"); + ui.orientationComboBox->addItem("ROTATION_YAW_270"); + ui.orientationComboBox->addItem("ROTATION_YAW_315"); + ui.orientationComboBox->addItem("ROTATION_ROLL_180"); + ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_45"); + ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_90"); + ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_135"); + ui.orientationComboBox->addItem("ROTATION_PITCH_180"); + ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_225"); + ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_270"); + ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_315"); + ui.orientationComboBox->addItem("ROTATION_ROLL_90"); + ui.orientationComboBox->addItem("ROTATION_ROLL_90_YAW_45"); + ui.orientationComboBox->addItem("ROTATION_ROLL_90_YAW_90"); + ui.orientationComboBox->addItem("ROTATION_ROLL_90_YAW_135"); + ui.orientationComboBox->addItem("ROTATION_ROLL_270"); + ui.orientationComboBox->addItem("ROTATION_ROLL_270_YAW_45"); + ui.orientationComboBox->addItem("ROTATION_ROLL_270_YAW_90"); + ui.orientationComboBox->addItem("ROTATION_ROLL_270_YAW_135"); + ui.orientationComboBox->addItem("ROTATION_PITCH_90"); + ui.orientationComboBox->addItem("ROTATION_PITCH_270"); + ui.orientationComboBox->addItem("ROTATION_MAX"); } CompassConfig::~CompassConfig() { @@ -39,12 +66,14 @@ void CompassConfig::parameterChanged(int uas, int component, QString parameterNa ui.enableCheckBox->setChecked(false); ui.autoDecCheckBox->setEnabled(false); ui.declinationLineEdit->setEnabled(false); + ui.orientationComboBox->setEnabled(false); } else { ui.enableCheckBox->setChecked(true); ui.autoDecCheckBox->setEnabled(true); ui.declinationLineEdit->setEnabled(true); + ui.orientationComboBox->setEnabled(true); } ui.enableCheckBox->setEnabled(true); } @@ -63,6 +92,12 @@ void CompassConfig::parameterChanged(int uas, int component, QString parameterNa { ui.declinationLineEdit->setText(QString::number(value.toDouble())); } + else if (parameterName == "COMPASS_ORIENT") + { + disconnect(ui.orientationComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(orientationComboChanged(int))); + ui.orientationComboBox->setCurrentIndex(value.toInt()); + connect(ui.orientationComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(orientationComboChanged(int))); + } } void CompassConfig::enableClicked(bool enabled) @@ -104,5 +139,11 @@ void CompassConfig::autoDecClicked(bool enabled) void CompassConfig::orientationComboChanged(int index) { + //COMPASS_ORIENT + if (!m_uas) + { + return; + } + m_uas->getParamManager()->setParameter(1,"COMPASS_ORIENT",index); } diff --git a/src/ui/configuration/CompassConfig.ui b/src/ui/configuration/CompassConfig.ui index 7ac1ede4fa0c325327b60794af9f79e8e3b4b875..95b9362b441dc7279f45a2c26adf80606b89d7ea 100644 --- a/src/ui/configuration/CompassConfig.ui +++ b/src/ui/configuration/CompassConfig.ui @@ -55,9 +55,9 @@ - 300 + 290 180 - 91 + 101 23 @@ -70,7 +70,7 @@ 390 180 - 91 + 101 23 @@ -118,7 +118,7 @@ 10 70 - 201 + 211 111 diff --git a/src/ui/configuration/FailSafeConfig.cc b/src/ui/configuration/FailSafeConfig.cc index 5f7ff81b06b9dc288654df17dfaed9e2ed6317bd..2517a322ca129f2fa9ae10f85842b30c2b1e0635 100644 --- a/src/ui/configuration/FailSafeConfig.cc +++ b/src/ui/configuration/FailSafeConfig.cc @@ -1,11 +1,400 @@ #include "FailSafeConfig.h" -FailSafeConfig::FailSafeConfig(QWidget *parent) : QWidget(parent) +FailSafeConfig::FailSafeConfig(QWidget *parent) : AP2ConfigWidget(parent) { ui.setupUi(this); + ui.radio1In->setName("Radio 1"); + ui.radio1In->setMin(800); + ui.radio1In->setMax(2200); + ui.radio1In->setOrientation(Qt::Horizontal); + ui.radio2In->setName("Radio 2"); + ui.radio2In->setMin(800); + ui.radio2In->setMax(2200); + ui.radio2In->setOrientation(Qt::Horizontal); + ui.radio3In->setName("Radio 3"); + ui.radio3In->setMin(800); + ui.radio3In->setMax(2200); + ui.radio3In->setOrientation(Qt::Horizontal); + ui.radio4In->setName("Radio 4"); + ui.radio4In->setMin(800); + ui.radio4In->setMax(2200); + ui.radio4In->setOrientation(Qt::Horizontal); + ui.radio5In->setName("Radio 5"); + ui.radio5In->setMin(800); + ui.radio5In->setMax(2200); + ui.radio5In->setOrientation(Qt::Horizontal); + ui.radio6In->setName("Radio 6"); + ui.radio6In->setMin(800); + ui.radio6In->setMax(2200); + ui.radio6In->setOrientation(Qt::Horizontal); + ui.radio7In->setName("Radio 7"); + ui.radio7In->setMin(800); + ui.radio7In->setMax(2200); + ui.radio7In->setOrientation(Qt::Horizontal); + ui.radio8In->setName("Radio 8"); + ui.radio8In->setMin(800); + ui.radio8In->setMax(2200); + ui.radio8In->setOrientation(Qt::Horizontal); + + ui.radio1Out->setName("Radio 1"); + ui.radio1Out->setMin(800); + ui.radio1Out->setMax(2200); + ui.radio1Out->setOrientation(Qt::Horizontal); + ui.radio2Out->setName("Radio 2"); + ui.radio2Out->setMin(800); + ui.radio2Out->setMax(2200); + ui.radio2Out->setOrientation(Qt::Horizontal); + ui.radio3Out->setName("Radio 3"); + ui.radio3Out->setMin(800); + ui.radio3Out->setMax(2200); + ui.radio3Out->setOrientation(Qt::Horizontal); + ui.radio4Out->setName("Radio 4"); + ui.radio4Out->setMin(800); + ui.radio4Out->setMax(2200); + ui.radio4Out->setOrientation(Qt::Horizontal); + ui.radio5Out->setName("Radio 5"); + ui.radio5Out->setMin(800); + ui.radio5Out->setMax(2200); + ui.radio5Out->setOrientation(Qt::Horizontal); + ui.radio6Out->setName("Radio 6"); + ui.radio6Out->setMin(800); + ui.radio6Out->setMax(2200); + ui.radio6Out->setOrientation(Qt::Horizontal); + ui.radio7Out->setName("Radio 7"); + ui.radio7Out->setMin(800); + ui.radio7Out->setMax(2200); + ui.radio7Out->setOrientation(Qt::Horizontal); + ui.radio8Out->setName("Radio 8"); + ui.radio8Out->setMin(800); + ui.radio8Out->setMax(2200); + ui.radio8Out->setOrientation(Qt::Horizontal); + + ui.throttleFailSafeComboBox->addItem("Disable"); + ui.throttleFailSafeComboBox->addItem("Enabled - Always TRL"); + ui.throttleFailSafeComboBox->addItem("Enabled - Continue in auto"); + + connect(ui.batteryFailCheckBox,SIGNAL(clicked(bool)),this,SLOT(batteryFailChecked(bool))); + connect(ui.fsLongCheckBox,SIGNAL(clicked(bool)),this,SLOT(fsLongClicked(bool))); + connect(ui.fsShortCheckBox,SIGNAL(clicked(bool)),this,SLOT(fsShortClicked(bool))); + connect(ui.gcsCheckBox,SIGNAL(clicked(bool)),this,SLOT(gcsChecked(bool))); + connect(ui.throttleActionCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleActionChecked(bool))); + connect(ui.throttleCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleChecked(bool))); + connect(ui.throttlePwmSpinBox,SIGNAL(editingFinished()),this,SLOT(throttlePwmChanged())); + connect(ui.throttleFailSafeComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(throttleFailSafeChanged(int))); +} +void FailSafeConfig::gcsChecked(bool checked) +{ + if (!m_uas) + { + return; + } + if (checked) + { + m_uas->setParameter(1,"FS_GCS_ENABL",1); + } + else + { + m_uas->setParameter(1,"FS_GCS_ENABL",0); + } +} + +void FailSafeConfig::throttleActionChecked(bool checked) +{ + if (!m_uas) + { + return; + } + if (checked) + { + m_uas->setParameter(1,"THR_FS_ACTION",1); + } + else + { + m_uas->setParameter(1,"THR_FS_ACTION",0); + } +} + +void FailSafeConfig::throttleChecked(bool checked) +{ + if (!m_uas) + { + return; + } + if (checked) + { + m_uas->setParameter(1,"THR_FAILSAFE",1); + } + else + { + m_uas->setParameter(1,"THR_FAILSAFE",0); + } +} + +void FailSafeConfig::throttlePwmChanged() +{ + if (!m_uas) + { + return; + } + m_uas->setParameter(1,"THR_FS_VALUE",ui.throttlePwmSpinBox->value()); +} + +void FailSafeConfig::throttleFailSafeChanged(int index) +{ + if (!m_uas) + { + return; + } + m_uas->setParameter(1,"FS_THR_ENABLE",index); +} + +void FailSafeConfig::fsLongClicked(bool checked) +{ + if (!m_uas) + { + return; + } + if (checked) + { + m_uas->setParameter(1,"FS_LONG_ACTN",1); + } + else + { + m_uas->setParameter(1,"FS_LONG_ACTN",0); + } +} + +void FailSafeConfig::fsShortClicked(bool checked) +{ + if (!m_uas) + { + return; + } + if (checked) + { + m_uas->setParameter(1,"FS_SHORT_ACTN",1); + } + else + { + m_uas->setParameter(1,"FS_SHORT_ACTN",0); + } +} + +void FailSafeConfig::batteryFailChecked(bool checked) +{ + if (!m_uas) + { + return; + } + if (checked) + { + m_uas->setParameter(1,"FS_BATT_ENABLE",1); + } + else + { + m_uas->setParameter(1,"FS_BATT_ENABLE",0); + } } FailSafeConfig::~FailSafeConfig() { } +void FailSafeConfig::activeUASSet(UASInterface *uas) +{ + AP2ConfigWidget::activeUASSet(uas); + connect(uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float))); + connect(uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float))); + connect(uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool))); + if (uas->getSystemType() == MAV_TYPE_FIXED_WING) + { + ui.batteryFailCheckBox->setVisible(false); + ui.throttleFailSafeComboBox->setVisible(false); + ui.batteryVoltSpinBox->setVisible(false); + ui.label_6->setVisible(false); + + ui.throttlePwmSpinBox->setVisible(true); //Both + + ui.throttleCheckBox->setVisible(true); + ui.throttleActionCheckBox->setVisible(true); + ui.gcsCheckBox->setVisible(true); + ui.fsLongCheckBox->setVisible(true); + ui.fsShortCheckBox->setVisible(true); + } + else if (uas->getSystemType() == MAV_TYPE_QUADROTOR) + { + ui.batteryFailCheckBox->setVisible(true); + ui.throttleFailSafeComboBox->setVisible(true); + ui.batteryVoltSpinBox->setVisible(true); + ui.label_6->setVisible(true); + + ui.throttlePwmSpinBox->setVisible(true); //Both + + ui.throttleCheckBox->setVisible(false); + ui.throttleActionCheckBox->setVisible(false); + ui.gcsCheckBox->setVisible(false); + ui.fsLongCheckBox->setVisible(false); + ui.fsShortCheckBox->setVisible(false); + } + else + { + //Show all, just in case + ui.batteryFailCheckBox->setVisible(true); + ui.throttleFailSafeComboBox->setVisible(true); + ui.batteryVoltSpinBox->setVisible(true); + ui.throttlePwmSpinBox->setVisible(true); //Both + ui.throttleCheckBox->setVisible(true); + ui.throttleActionCheckBox->setVisible(true); + ui.gcsCheckBox->setVisible(true); + ui.fsLongCheckBox->setVisible(true); + ui.fsShortCheckBox->setVisible(true); + } + +} +void FailSafeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) +{ + //Arducopter + if (parameterName == "FS_THR_ENABLE") + { + ui.throttleFailSafeComboBox->setCurrentIndex(value.toInt()); + } + else if (parameterName == "FS_THR_VALUE") + { + ui.throttlePwmSpinBox->setValue(value.toFloat()); + } + else if (parameterName == "FS_BATT_ENABLE") + { + if (value.toInt() == 0) + { + ui.batteryFailCheckBox->setChecked(false); + } + else + { + ui.batteryFailCheckBox->setChecked(true); + } + } + else if (parameterName == "LOW_VOLT") + { + ui.batteryVoltSpinBox->setValue(value.toFloat()); + } + //Arduplane + else if (parameterName == "THR_FAILSAFE") + { + if (value.toInt() == 0) + { + ui.throttleCheckBox->setChecked(false); + } + else + { + ui.throttleCheckBox->setChecked(true); + } + } + else if (parameterName == "THR_FS_VALUE") + { + ui.throttlePwmSpinBox->setValue(value.toFloat()); + } + else if (parameterName == "THR_FS_ACTION") + { + if (value.toInt() == 0) + { + ui.throttleActionCheckBox->setChecked(false); + } + else + { + ui.throttleActionCheckBox->setChecked(true); + } + } + else if (parameterName == "FS_GCS_ENABL") + { + if (value.toInt() == 0) + { + ui.gcsCheckBox->setChecked(false); + } + else + { + ui.gcsCheckBox->setChecked(true); + } + } + else if (parameterName == "FS_SHORT_ACTN") + { + if (value.toInt() == 0) + { + ui.fsShortCheckBox->setChecked(false); + } + else + { + ui.fsShortCheckBox->setChecked(true); + } + } + else if (parameterName == "FS_LONG_ACTN") + { + if (value.toInt() == 0) + { + ui.fsLongCheckBox->setChecked(false); + } + else + { + ui.fsLongCheckBox->setChecked(true); + } + } + +} + +void FailSafeConfig::armingChanged(bool armed) +{ + if (armed) + { + ui.armedLabel->setText("

ARMED

"); + } + else + { + ui.armedLabel->setText("

DISARMED

"); + } +} + +void FailSafeConfig::remoteControlChannelRawChanges(int chan,float value) +{ + if (chan == 0) + { + ui.radio1In->setValue(value); + } + else if (chan == 1) + { + ui.radio2In->setValue(value); + } + else if (chan == 2) + { + ui.radio3In->setValue(value); + } + else if (chan == 3) + { + ui.radio4In->setValue(value); + } + else if (chan == 4) + { + ui.radio5In->setValue(value); + } + else if (chan == 5) + { + ui.radio6In->setValue(value); + } + else if (chan == 6) + { + ui.radio7In->setValue(value); + } + else if (chan == 7) + { + ui.radio8In->setValue(value); + } +} +void FailSafeConfig::hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8) +{ + ui.radio1Out->setValue(act1); + ui.radio2Out->setValue(act2); + ui.radio3Out->setValue(act3); + ui.radio4Out->setValue(act4); + ui.radio5Out->setValue(act5); + ui.radio6Out->setValue(act6); + ui.radio7Out->setValue(act7); + ui.radio8Out->setValue(act8); +} diff --git a/src/ui/configuration/FailSafeConfig.h b/src/ui/configuration/FailSafeConfig.h index a22e96493e763f795f55ccdc9751aaa1fe27dfc6..162246e899861f560891d8336eaddc631039ea79 100644 --- a/src/ui/configuration/FailSafeConfig.h +++ b/src/ui/configuration/FailSafeConfig.h @@ -3,15 +3,28 @@ #include #include "ui_FailSafeConfig.h" - -class FailSafeConfig : public QWidget +#include "AP2ConfigWidget.h" +class FailSafeConfig : public AP2ConfigWidget { Q_OBJECT public: explicit FailSafeConfig(QWidget *parent = 0); ~FailSafeConfig(); - +private slots: + void activeUASSet(UASInterface *uas); + void remoteControlChannelRawChanges(int chan,float value); + void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8); + void armingChanged(bool armed); + void parameterChanged(int uas, int component, QString parameterName, QVariant value); + void batteryFailChecked(bool checked); + void fsLongClicked(bool checked); + void fsShortClicked(bool checked); + void gcsChecked(bool checked); + void throttleActionChecked(bool checked); + void throttleChecked(bool checked); + void throttlePwmChanged(); + void throttleFailSafeChanged(int index); private: Ui::FailSafeConfig ui; }; diff --git a/src/ui/configuration/FailSafeConfig.ui b/src/ui/configuration/FailSafeConfig.ui index fe4eef1cb8987c9d1a0798030a9330080dc72593..69375dd53599967a7c06b48b2aeb1f2f3213397c 100644 --- a/src/ui/configuration/FailSafeConfig.ui +++ b/src/ui/configuration/FailSafeConfig.ui @@ -6,8 +6,8 @@ 0 0 - 400 - 300 + 822 + 536 @@ -26,7 +26,427 @@ <h2>Fail Safe</h2> + + + + 20 + 70 + 252 + 441 + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + + 300 + 70 + 252 + 441 + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + 250 + 40 + + + + + 250 + 40 + + + + + + + + + + 570 + 60 + 181 + 181 + + + + Status + + + + + + TextLabel + + + + + + + TextLabel + + + + + + + TextLabel + + + + + + + + + 570 + 250 + 161 + 261 + + + + Failsafe Options + + + + + + Throttle FailSafe + + + + + + + + + + + + FS Pwm + + + + + + + 3000 + + + + + + + + + Throttle FailSafe Action + + + + + + + GCS FailSafe + + + + + + + FailSafe Short (1 sec) + + + + + + + FailSafe Long (20 sec) + + + + + + + Battery Failsafe + + + + + + + + + Low Battery + + + + + + + 100.000000000000000 + + + + + + + + + + QGCRadioChannelDisplay + QWidget +
ui/designer/QGCRadioChannelDisplay.h
+ 1 + + diff --git a/src/ui/configuration/ParamWidget.cc b/src/ui/configuration/ParamWidget.cc new file mode 100644 index 0000000000000000000000000000000000000000..93b3bfd26455959198253a45956f129a8af155f8 --- /dev/null +++ b/src/ui/configuration/ParamWidget.cc @@ -0,0 +1,79 @@ +#include "ParamWidget.h" + + +ParamWidget::ParamWidget(QWidget *parent) : QWidget(parent) +{ + ui.setupUi(this); +} + +ParamWidget::~ParamWidget() +{ +} + +void ParamWidget::setupInt(QString title,QString description,int value,int min,int max) +{ + type = INT; + ui.titleLabel->setText("

" + title + "

"); + ui.descriptionLabel->setText(description); + ui.valueComboBox->hide(); + ui.valueSlider->show(); + ui.intSpinBox->show(); + ui.doubleSpinBox->hide(); + m_min = min; + m_max = max; +} + +void ParamWidget::setupDouble(QString title,QString description,double value,double min,double max) +{ + type = DOUBLE; + ui.titleLabel->setText("

" + title + "

"); + ui.descriptionLabel->setText(description); + ui.valueComboBox->hide(); + ui.valueSlider->show(); + ui.intSpinBox->hide(); + ui.doubleSpinBox->show(); + m_min = min; + m_max = max; +} + +void ParamWidget::setupCombo(QString title,QString description,QList > list) +{ + type = COMBO; + ui.titleLabel->setText("

" + title + "

"); + ui.descriptionLabel->setText(description); + ui.valueComboBox->show(); + ui.valueSlider->hide(); + ui.intSpinBox->hide(); + ui.doubleSpinBox->hide(); + m_valueList = list; + ui.valueComboBox->clear(); + for (int i=0;iaddItem(m_valueList[i].second); + } +} + +void ParamWidget::setValue(double value) +{ + if (type == INT) + { + ui.intSpinBox->setValue(value); + ui.valueSlider->setValue(((value + m_min) / (m_max + m_min)) * 100.0); + } + else if (type == DOUBLE) + { + ui.doubleSpinBox->setValue(value); + ui.valueSlider->setValue(((value + m_min) / (m_max + m_min)) * 100.0); + } + else if (type == COMBO) + { + for (int i=0;isetCurrentIndex(i); + return; + } + } + } +} diff --git a/src/ui/configuration/ParamWidget.h b/src/ui/configuration/ParamWidget.h new file mode 100644 index 0000000000000000000000000000000000000000..aa375d296752f2d2cc9c052d8b5d60a3b9ec2c35 --- /dev/null +++ b/src/ui/configuration/ParamWidget.h @@ -0,0 +1,34 @@ +#ifndef PARAMWIDGET_H +#define PARAMWIDGET_H + +#include +#include "ui_ParamWidget.h" + +class ParamWidget : public QWidget +{ + Q_OBJECT + +public: + explicit ParamWidget(QWidget *parent = 0); + ~ParamWidget(); + void setupInt(QString title,QString description,int value,int min,int max); + void setupDouble(QString title,QString description,double value,double min,double max); + void setupCombo(QString title,QString description,QList > list); + void setValue(double value); +private: + enum VIEWTYPE + { + INT, + DOUBLE, + COMBO + }; + double m_min; + double m_max; + double m_dvalue; + int m_ivalue; + VIEWTYPE type; + QList > m_valueList; + Ui::ParamWidget ui; +}; + +#endif // PARAMWIDGET_H diff --git a/src/ui/configuration/ParamWidget.ui b/src/ui/configuration/ParamWidget.ui new file mode 100644 index 0000000000000000000000000000000000000000..ddf4653b8f09169cdc55b6e2edad622e647743c7 --- /dev/null +++ b/src/ui/configuration/ParamWidget.ui @@ -0,0 +1,78 @@ + + + ParamWidget + + + + 0 + 0 + 619 + 207 + + + + Form + + + + + + + + TextLabel + + + + + + + TextLabel + + + true + + + + + + + + + + + + + + + 100 + + + Qt::Horizontal + + + + + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + diff --git a/src/ui/configuration/SonarConfig.ui b/src/ui/configuration/SonarConfig.ui index 6bce3475ae776af46200c947cb29004b44b9e676..7c40d028ce6c772db234b8972473c3ed906b7019 100644 --- a/src/ui/configuration/SonarConfig.ui +++ b/src/ui/configuration/SonarConfig.ui @@ -58,7 +58,7 @@ - CheckBox + Enable diff --git a/src/ui/configuration/StandardParamConfig.cc b/src/ui/configuration/StandardParamConfig.cc index d67891bbfb94e65133b36df0d59b237e0e2951e8..0be1d02f225d64f954a4e0f23805c2fa7cdfd7fe 100644 --- a/src/ui/configuration/StandardParamConfig.cc +++ b/src/ui/configuration/StandardParamConfig.cc @@ -1,11 +1,40 @@ #include "StandardParamConfig.h" +#include "ParamWidget.h" +StandardParamConfig::StandardParamConfig(QWidget *parent) : AP2ConfigWidget(parent) +{ + ui.setupUi(this); +} +StandardParamConfig::~StandardParamConfig() +{ +} -StandardParamConfig::StandardParamConfig(QWidget *parent) : QWidget(parent) +void StandardParamConfig::activeUASSet(UASInterface *uas) { - ui.setupUi(this); + + AP2ConfigWidget::activeUASSet(uas); +} +void StandardParamConfig::addRange(QString title,QString description,QString param,double min,double max) +{ + ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents); + paramToWidgetMap[param] = widget; + widget->setupDouble(title + "(" + param + ")",description,0,min,max); + ui.verticalLayout->addWidget(widget); + widget->show(); } -StandardParamConfig::~StandardParamConfig() +void StandardParamConfig::addCombo(QString title,QString description,QString param,QList > valuelist) +{ + ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents); + paramToWidgetMap[param] = widget; + widget->setupCombo(title + "(" + param + ")",description,valuelist); + ui.verticalLayout->addWidget(widget); + widget->show(); +} +void StandardParamConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) { + if (paramToWidgetMap.contains(parameterName)) + { + paramToWidgetMap[parameterName]->setValue(value.toDouble()); + } } diff --git a/src/ui/configuration/StandardParamConfig.h b/src/ui/configuration/StandardParamConfig.h index 9e43a9bd99ffa222f3c27100871bb290b4dcb787..d337b9b4f226c5a5a18d694dc3fe3b16ce916fd1 100644 --- a/src/ui/configuration/StandardParamConfig.h +++ b/src/ui/configuration/StandardParamConfig.h @@ -3,16 +3,22 @@ #include #include "ui_StandardParamConfig.h" - -class StandardParamConfig : public QWidget +#include "AP2ConfigWidget.h" +#include "ParamWidget.h" +class StandardParamConfig : public AP2ConfigWidget { Q_OBJECT public: explicit StandardParamConfig(QWidget *parent = 0); ~StandardParamConfig(); - + void addRange(QString title,QString description,QString param,double min,double max); + void addCombo(QString title,QString description,QString param,QList > valuelist); +private slots: + void parameterChanged(int uas, int component, QString parameterName, QVariant value); private: + QMap paramToWidgetMap; + void activeUASSet(UASInterface *uas); Ui::StandardParamConfig ui; }; diff --git a/src/ui/configuration/StandardParamConfig.ui b/src/ui/configuration/StandardParamConfig.ui index cdbb320c0e634be0615dfc81d06172c2e813840e..53a96d984792d7aa6198efe9bfb7f3864b57c523 100644 --- a/src/ui/configuration/StandardParamConfig.ui +++ b/src/ui/configuration/StandardParamConfig.ui @@ -6,26 +6,44 @@ 0 0 - 400 - 300 + 651 + 552 Form - - - - 20 - 20 - 201 - 41 - - - - <h2>Standard Params</h2> - - + + + + + <h2>Standard Params</h2> + + + + + + + true + + + + + 0 + 0 + 631 + 505 + + + + + + + + + + +