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Valentin Platzgummer
qgroundcontrol
Commits
c4874a48
Commit
c4874a48
authored
Oct 06, 2010
by
Bryan Godbolt
Browse files
ready to test load save and transmit for rc calibration
parent
da1a7153
Changes
7
Hide whitespace changes
Inline
Side-by-side
settings/RadioCalibration.xml
View file @
c4874a48
<!-- Values are ordered low center high -->
<channels>
<threeSetpoint
name=
"Aileron"
number=
"1"
>
1.0, 1.5, 2.0
</threeSetpoint>
<twoSetpoint
name=
"Gyro"
number=
"3"
>
2.0, 1.0
</twoSetpoint>
<fiveSetpoint
name=
"Pitch"
number=
"5"
>
1.0, 1.25, 1.5, 1.75, 2.0
</fiveSetpoint>
<threeSetpoint
name=
"Aileron"
number=
"1"
>
1000.0, 1500.0, 2000.0
</threeSetpoint>
<threeSetpoint
name=
"Elevator"
number=
"2"
>
1000.0, 1500.0, 2000.0
</threeSetpoint>
<threeSetpoint
name=
"Rudder"
number=
"4"
>
1000.0, 1500.0, 2000.0
</threeSetpoint>
<twoSetpoint
name=
"Gyro"
number=
"5"
>
2000.0, 1000.0
</twoSetpoint>
<fiveSetpoint
name=
"Pitch"
number=
"6"
>
1000.0, 1250.0, 1500.0, 1750.0, 2000.0
</fiveSetpoint>
<fiveSetpoint
name=
"Throttle"
number=
"3"
>
1000.0, 1250.0, 1500.0, 1750.0, 2000.0
</fiveSetpoint>
</channels>
src/comm/OpalLink.cc
View file @
c4874a48
...
...
@@ -149,6 +149,11 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
mavlink_msg_radio_calibration_decode
(
&
msg
,
&
radio
);
qDebug
()
<<
"RADIO CALIBRATION RECEIVED"
;
qDebug
()
<<
"AILERON: "
<<
radio
.
aileron
[
0
]
<<
" "
<<
radio
.
aileron
[
1
]
<<
" "
<<
radio
.
aileron
[
2
];
qDebug
()
<<
"ELEVATOR: "
<<
radio
.
elevator
[
0
]
<<
" "
<<
radio
.
elevator
[
1
]
<<
" "
<<
radio
.
elevator
[
2
];
qDebug
()
<<
"RUDDER: "
<<
radio
.
rudder
[
0
]
<<
" "
<<
radio
.
rudder
[
1
]
<<
" "
<<
radio
.
rudder
[
2
];
qDebug
()
<<
"GYRO: "
<<
radio
.
gyro
[
0
]
<<
" "
<<
radio
.
gyro
[
1
];
qDebug
()
<<
"PITCH: "
<<
radio
.
pitch
[
0
]
<<
radio
.
pitch
[
1
]
<<
radio
.
pitch
[
2
]
<<
radio
.
pitch
[
3
]
<<
radio
.
pitch
[
4
];
qDebug
()
<<
"THROTTLE: "
<<
radio
.
throttle
[
0
]
<<
radio
.
throttle
[
1
]
<<
radio
.
throttle
[
2
]
<<
radio
.
throttle
[
3
]
<<
radio
.
throttle
[
4
];
}
break
;
#endif
...
...
src/ui/RadioCalibration/CurveCalibrator.cc
View file @
c4874a48
...
...
@@ -92,16 +92,9 @@ void CurveCalibrator::set(const QVector<float> &data)
{
if
(
data
.
size
()
==
5
)
{
// delete setpoints;
// QVector<double> dataDouble;
for
(
int
i
=
0
;
i
<
data
.
size
();
++
i
)
setpoints
->
replace
(
i
,
static_cast
<
double
>
(
data
[
i
]));
// setpoints = new QVector<double>(dataDouble);
curve
->
setPen
(
QPen
(
QColor
(
QString
(
"lime"
))));
curve
->
setData
(
*
positions
,
*
setpoints
);
curve
->
attach
(
plot
);
plot
->
replot
();
}
else
...
...
src/ui/RadioCalibration/RadioCalibrationData.cc
View file @
c4874a48
...
...
@@ -58,3 +58,13 @@ const QVector<float>& RadioCalibrationData::operator ()(int i) const
// This is not good. If it is ever used after being returned it will cause a crash
// return QVector<float>();
}
QString
RadioCalibrationData
::
toString
(
RadioElement
element
)
const
{
QString
s
;
foreach
(
float
f
,
(
*
data
)[
element
])
{
s
+=
QString
::
number
(
f
)
+
", "
;
}
return
s
.
mid
(
0
,
s
.
length
()
-
2
);
}
src/ui/RadioCalibration/RadioCalibrationData.h
View file @
c4874a48
...
...
@@ -4,6 +4,7 @@
#include
<QObject>
#include
<QDebug>
#include
<QVector>
#include
<QString>
class
RadioCalibrationData
:
public
QObject
...
...
@@ -43,6 +44,10 @@ public slots:
void
setPitch
(
int
index
,
float
value
)
{
set
(
PITCH
,
index
,
value
);}
void
setThrottle
(
int
index
,
float
value
)
{
set
(
THROTTLE
,
index
,
value
);}
public:
/// Creates a comman seperated list of the values for a particular element
QString
toString
(
const
RadioElement
element
)
const
;
protected:
QVector
<
QVector
<
float
>
>
*
data
;
...
...
src/ui/RadioCalibration/RadioCalibrationWindow.cc
View file @
c4874a48
...
...
@@ -84,7 +84,80 @@ void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
void
RadioCalibrationWindow
::
saveFile
()
{
qDebug
()
<<
__FILE__
<<
__LINE__
<<
"SAVE TO FILE"
;
QString
fileName
(
QFileDialog
::
getSaveFileName
(
this
,
tr
(
"Save RC Calibration"
),
"settings/"
,
tr
(
"XML Files (*.xml)"
)));
if
(
fileName
.
isEmpty
())
return
;
QDomDocument
*
rcConfig
=
new
QDomDocument
();
QFile
rcFile
(
fileName
);
if
(
rcFile
.
exists
())
{
rcFile
.
remove
();
}
if
(
!
rcFile
.
open
(
QFile
::
WriteOnly
|
QFile
::
Text
))
{
qDebug
()
<<
__FILE__
<<
__LINE__
<<
"could not open"
<<
rcFile
.
fileName
()
<<
"for writing"
;
return
;
}
QDomElement
root
;
rcConfig
->
appendChild
(
root
=
rcConfig
->
createElement
(
"channels"
));
QDomElement
e
;
QDomText
t
;
// Aileron
e
=
rcConfig
->
createElement
(
"threeSetpoint"
);
e
.
setAttribute
(
"name"
,
"Aileron"
);
e
.
setAttribute
(
"number"
,
"1"
);
t
=
rcConfig
->
createTextNode
(
radio
->
toString
(
RadioCalibrationData
::
AILERON
));
e
.
appendChild
(
t
);
root
.
appendChild
(
e
);
// Elevator
e
=
rcConfig
->
createElement
(
"threeSetpoint"
);
e
.
setAttribute
(
"name"
,
"Elevator"
);
e
.
setAttribute
(
"number"
,
"2"
);
t
=
rcConfig
->
createTextNode
(
radio
->
toString
(
RadioCalibrationData
::
ELEVATOR
));
e
.
appendChild
(
t
);
root
.
appendChild
(
e
);
// Rudder
e
=
rcConfig
->
createElement
(
"threeSetpoint"
);
e
.
setAttribute
(
"name"
,
"Rudder"
);
e
.
setAttribute
(
"number"
,
"4"
);
t
=
rcConfig
->
createTextNode
(
radio
->
toString
(
RadioCalibrationData
::
RUDDER
));
e
.
appendChild
(
t
);
root
.
appendChild
(
e
);
// Gyro Mode/Gain
e
=
rcConfig
->
createElement
(
"twoSetpoint"
);
e
.
setAttribute
(
"name"
,
"Gyro"
);
e
.
setAttribute
(
"number"
,
"5"
);
t
=
rcConfig
->
createTextNode
(
radio
->
toString
(
RadioCalibrationData
::
GYRO
));
e
.
appendChild
(
t
);
root
.
appendChild
(
e
);
// Throttle
e
=
rcConfig
->
createElement
(
"fiveSetpoint"
);
e
.
setAttribute
(
"name"
,
"Throttle"
);
e
.
setAttribute
(
"number"
,
"3"
);
t
=
rcConfig
->
createTextNode
(
radio
->
toString
(
RadioCalibrationData
::
THROTTLE
));
e
.
appendChild
(
t
);
root
.
appendChild
(
e
);
// Pitch
e
=
rcConfig
->
createElement
(
"fiveSetpoint"
);
e
.
setAttribute
(
"name"
,
"Pitch"
);
e
.
setAttribute
(
"number"
,
"6"
);
t
=
rcConfig
->
createTextNode
(
radio
->
toString
(
RadioCalibrationData
::
PITCH
));
e
.
appendChild
(
t
);
root
.
appendChild
(
e
);
QTextStream
out
(
&
rcFile
);
const
int
IndentSize
=
4
;
rcConfig
->
save
(
out
,
IndentSize
);
rcFile
.
close
();
}
void
RadioCalibrationWindow
::
loadFile
()
...
...
@@ -121,6 +194,7 @@ void RadioCalibrationWindow::loadFile()
return
;
}
rcFile
.
close
();
QDomElement
root
=
rcConfig
->
documentElement
();
if
(
root
.
tagName
()
!=
"channels"
)
{
qDebug
()
<<
__FILE__
<<
__LINE__
<<
"This is not a Radio Calibration xml file"
;
...
...
src/ui/RadioCalibration/RadioCalibrationWindow.h
View file @
c4874a48
...
...
@@ -13,6 +13,7 @@
#include
<QFileDialog>
#include
<QFile>
#include
<QtXml>
#include
<QTextStream>
#include
"AirfoilServoCalibrator.h"
#include
"SwitchCalibrator.h"
...
...
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