Skip to content

Q
qgroundcontrol
Switch branch/tag
Find file
Normal viewHistoryPermalink
ArduCopterPidConfig.cc 8.57 KB
Newer Older
Michael Carpenter's avatar
UI for a bunch of software configuration pages
771d74b7
 
Michael Carpenter committed
1 2 
#include "ArduCopterPidConfig.h"
Michael Carpenter's avatar
ArduPlane pid screen visuals
f7ec7607
 
Michael Carpenter committed
3 
ArduCopterPidConfig::ArduCopterPidConfig(QWidget *parent) : AP2ConfigWidget(parent)
Michael Carpenter's avatar
UI for a bunch of software configuration pages
771d74b7
 
Michael Carpenter committed
4 
{
Michael Carpenter's avatar
ArduPlane pid screen visuals
f7ec7607
 
Michael Carpenter committed
5 
    ui.setupUi(this);
Michael Carpenter's avatar
Implementation of ArduCoptor configuration screen
1bf19f54
 
Michael Carpenter committed
6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 
    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()));
Michael Carpenter's avatar
Changes for AdvParameterList number display, and proper handling of CH6/7/8...
a1083c53
 
Michael Carpenter committed
52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 



    ch6ValueToTextList.append(QPair<int,QString>(0,"CH6_NONE"));
    ch6ValueToTextList.append(QPair<int,QString>(1,"CH6_STABILIZE_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(2,"CH6_STABILIZE_KI"));
    ch6ValueToTextList.append(QPair<int,QString>(3,"CH6_YAW_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(24,"CH6_YAW_KI"));
    ch6ValueToTextList.append(QPair<int,QString>(4,"CH6_RATE_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(5,"CH6_RATE_KI"));
    ch6ValueToTextList.append(QPair<int,QString>(6,"CH6_YAW_RATE_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(26,"CH6_YAW_RATE_KD"));
    ch6ValueToTextList.append(QPair<int,QString>(7,"CH6_THROTTLE_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(9,"CH6_RELAY"));
    ch6ValueToTextList.append(QPair<int,QString>(10,"CH6_WP_SPEED"));
    ch6ValueToTextList.append(QPair<int,QString>(12,"CH6_LOITER_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(13,"CH6_HELI_EXTERNAL_GYRO"));
    ch6ValueToTextList.append(QPair<int,QString>(14,"CH6_THR_HOLD_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(17,"CH6_OPTFLOW_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(18,"CH6_OPTFLOW_KI"));
    ch6ValueToTextList.append(QPair<int,QString>(19,"CH6_OPTFLOW_KD"));
    ch6ValueToTextList.append(QPair<int,QString>(21,"CH6_RATE_KD"));
    ch6ValueToTextList.append(QPair<int,QString>(22,"CH6_LOITER_RATE_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(23,"CH6_LOITER_RATE_KD"));
    ch6ValueToTextList.append(QPair<int,QString>(25,"CH6_ACRO_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(27,"CH6_LOITER_KI"));
    ch6ValueToTextList.append(QPair<int,QString>(28,"CH6_LOITER_RATE_KI"));
    ch6ValueToTextList.append(QPair<int,QString>(29,"CH6_STABILIZE_KD"));
    ch6ValueToTextList.append(QPair<int,QString>(30,"CH6_AHRS_YAW_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(31,"CH6_AHRS_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(32,"CH6_INAV_TC"));
    ch6ValueToTextList.append(QPair<int,QString>(33,"CH6_THROTTLE_KI"));
    ch6ValueToTextList.append(QPair<int,QString>(34,"CH6_THR_ACCEL_KP"));
    ch6ValueToTextList.append(QPair<int,QString>(35,"CH6_THR_ACCEL_KI"));
    ch6ValueToTextList.append(QPair<int,QString>(36,"CH6_THR_ACCEL_KD"));
    ch6ValueToTextList.append(QPair<int,QString>(38,"CH6_DECLINATION"));
    ch6ValueToTextList.append(QPair<int,QString>(39,"CH6_CIRCLE_RATE"));
    for (int i=0;i<ch6ValueToTextList.size();i++)
    {
        ui.ch6OptComboBox->addItem(ch6ValueToTextList[i].second);
    }

    ch7ValueToTextList.append(QPair<int,QString>(0,"Do nothing"));
    ch7ValueToTextList.append(QPair<int,QString>(2,"Flip"));
    ch7ValueToTextList.append(QPair<int,QString>(3,"Simple mode"));
    ch7ValueToTextList.append(QPair<int,QString>(4,"RTL"));
    ch7ValueToTextList.append(QPair<int,QString>(5,"Save Trim"));
    ch7ValueToTextList.append(QPair<int,QString>(7,"Save WP"));
    ch7ValueToTextList.append(QPair<int,QString>(8,"Multi Mode"));
    ch7ValueToTextList.append(QPair<int,QString>(9,"Camera Trigger"));
    ch7ValueToTextList.append(QPair<int,QString>(10,"Sonar"));
    ch7ValueToTextList.append(QPair<int,QString>(11,"Fence"));
    ch7ValueToTextList.append(QPair<int,QString>(12,"ResetToArmedYaw"));
    for (int i=0;i<ch7ValueToTextList.size();i++)
    {
        ui.ch7OptComboBox->addItem(ch7ValueToTextList[i].second);
    }

    ch8ValueToTextList.append(QPair<int,QString>(0,"Do nothing"));
    ch8ValueToTextList.append(QPair<int,QString>(2,"Flip"));
    ch8ValueToTextList.append(QPair<int,QString>(3,"Simple mode"));
    ch8ValueToTextList.append(QPair<int,QString>(4,"RTL"));
    ch8ValueToTextList.append(QPair<int,QString>(5,"Save Trim"));
    ch8ValueToTextList.append(QPair<int,QString>(7,"Save WP"));
    ch8ValueToTextList.append(QPair<int,QString>(8,"Multi Mode"));
    ch8ValueToTextList.append(QPair<int,QString>(9,"Camera Trigger"));
    ch8ValueToTextList.append(QPair<int,QString>(10,"Sonar"));
    ch8ValueToTextList.append(QPair<int,QString>(11,"Fence"));
    ch8ValueToTextList.append(QPair<int,QString>(12,"ResetToArmedYaw"));
    for (int i=0;i<ch8ValueToTextList.size();i++)
    {
        ui.ch8OptComboBox->addItem(ch8ValueToTextList[i].second);
    }
Michael Carpenter's avatar
UI for a bunch of software configuration pages
771d74b7
 
Michael Carpenter committed
126 127 128 129 130 
}

ArduCopterPidConfig::~ArduCopterPidConfig()
{
}
Michael Carpenter's avatar
Implementation of ArduCoptor configuration screen
1bf19f54
 
Michael Carpenter committed
131 132 133 134 135 136 
void ArduCopterPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
    if (nameToBoxMap.contains(parameterName))
    {
        nameToBoxMap[parameterName]->setValue(value.toDouble());
    }
Michael Carpenter's avatar
Changes for AdvParameterList number display, and proper handling of CH6/7/8...
a1083c53
 
Michael Carpenter committed
137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 
    else if (parameterName == "TUNE")
    {
        for (int i=0;i<ch6ValueToTextList.size();i++)
        {
            if (ch6ValueToTextList[i].first == value.toInt())
            {
                ui.ch6OptComboBox->setCurrentIndex(i);
            }
        }
    }
    else if (parameterName == "CH7_OPT")
    {
        for (int i=0;i<ch7ValueToTextList.size();i++)
        {
            if (ch7ValueToTextList[i].first == value.toInt())
            {
                ui.ch7OptComboBox->setCurrentIndex(i);
            }
        }
    }
    else if (parameterName == "CH8_OPT")
    {
        for (int i=0;i<ch8ValueToTextList.size();i++)
        {
            if (ch8ValueToTextList[i].first == value.toInt())
            {
                ui.ch8OptComboBox->setCurrentIndex(i);
Michael Carpenter's avatar
Typo fix, missed a bracket
98dc9dfc
 
Michael Carpenter committed
164 
            }
Michael Carpenter's avatar
Changes for AdvParameterList number display, and proper handling of CH6/7/8...
a1083c53
 
Michael Carpenter committed
165 166 
        }
    }
Michael Carpenter's avatar
Implementation of ArduCoptor configuration screen
1bf19f54
 
Michael Carpenter committed
167 168 169 170 171 172 173 174 175 176 177 
}
void ArduCopterPidConfig::writeButtonClicked()
{
    if (!m_uas)
    {
        return;
    }
    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
    {
        m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
    }
Michael Carpenter's avatar
Changes for AdvParameterList number display, and proper handling of CH6/7/8...
a1083c53
 
Michael Carpenter committed
178 179 180 
    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);
Michael Carpenter's avatar
Implementation of ArduCoptor configuration screen
1bf19f54
 
Michael Carpenter committed
181 182 183 184 185 186 187 188 189 190 191 192 
}

void ArduCopterPidConfig::refreshButtonClicked()
{
    if (!m_uas)
    {
        return;
    }
    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
    {
        m_uas->getParamManager()->requestParameterUpdate(1,i.key());
    }
Michael Carpenter's avatar
Changes for AdvParameterList number display, and proper handling of CH6/7/8...
a1083c53
 
Michael Carpenter committed
193 194 195 
    m_uas->getParamManager()->requestParameterUpdate(1,"TUNE");
    m_uas->getParamManager()->requestParameterUpdate(1,"CH7_OPT");
    m_uas->getParamManager()->requestParameterUpdate(1,"CH8_OPT");
Michael Carpenter's avatar
Implementation of ArduCoptor configuration screen
1bf19f54
 
Michael Carpenter committed
196 
}