AirspeedConfig.cc 2.65 KB
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#include "AirspeedConfig.h"
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#include <QMessageBox>
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AirspeedConfig::AirspeedConfig(QWidget *parent) : AP2ConfigWidget(parent)
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{
    ui.setupUi(this);
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    connect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(enableCheckBoxClicked(bool)));
    connect(ui.useAirspeedCheckBox,SIGNAL(toggled(bool)),this,SLOT(useCheckBoxClicked(bool)));
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}

AirspeedConfig::~AirspeedConfig()
{
}
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void AirspeedConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
    if (parameterName == "ARSPD_ENABLE")
    {
        if (value.toInt() == 0)
        {
            disconnect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(enableCheckBoxClicked(bool)));
            ui.enableCheckBox->setChecked(false);
            connect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(enableCheckBoxClicked(bool)));
            ui.useAirspeedCheckBox->setEnabled(false);
        }
        else
        {
            disconnect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(enableCheckBoxClicked(bool)));
            ui.enableCheckBox->setChecked(true);
            connect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(enableCheckBoxClicked(bool)));
            ui.useAirspeedCheckBox->setEnabled(true);
        }
    }
    else if (parameterName == "ARSPD_USE")
    {
        if (value.toInt() == 0)
        {
            disconnect(ui.useAirspeedCheckBox,SIGNAL(toggled(bool)),this,SLOT(useCheckBoxClicked(bool)));
            ui.useAirspeedCheckBox->setChecked(false);
            connect(ui.useAirspeedCheckBox,SIGNAL(toggled(bool)),this,SLOT(useCheckBoxClicked(bool)));
        }
        else
        {
            disconnect(ui.useAirspeedCheckBox,SIGNAL(toggled(bool)),this,SLOT(useCheckBoxClicked(bool)));
            ui.useAirspeedCheckBox->setChecked(true);
            connect(ui.useAirspeedCheckBox,SIGNAL(toggled(bool)),this,SLOT(useCheckBoxClicked(bool)));
        }
    }
}

void AirspeedConfig::useCheckBoxClicked(bool checked)
{
    if (!m_uas)
    {
        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
        return;
    }
    if (checked)
    {
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        m_uas->getParamManager()->setParameter(1,"ARSPD_USE",1);
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    }
    else
    {
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        m_uas->getParamManager()->setParameter(1,"ARSPD_USE",0);
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    }
}

void AirspeedConfig::enableCheckBoxClicked(bool checked)
{
    if (!m_uas)
    {
        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
        return;
    }
    if (checked)
    {
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        m_uas->getParamManager()->setParameter(1,"ARSPD_ENABLE",1);
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    }
    else
    {
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        m_uas->getParamManager()->setParameter(1,"ARSPD_ENABLE",0);
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    }
}