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qgroundcontrol
Commit 089860de authored by Gus Grubba's avatar Gus Grubba
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Update UI 

Add gimbal to external control signal
parent 3f474fcc
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Showing with 1067 additions and 1136 deletions
qgcresources.qrc
View file @ 089860de
......@@ -56,7 +56,6 @@
<file alias="px4.png">resources/firmware/px4.png</file>
</qresource>
<qresource prefix="/res/calibration">
<file alias="joystick.svg">resources/calibration/joystick/joystick.svg</file>
<file alias="accel_back.png">resources/calibration/accel_back.png</file>
<file alias="accel_down.png">resources/calibration/accel_down.png</file>
<file alias="accel_front.png">resources/calibration/accel_front.png</file>
......@@ -99,48 +98,4 @@
<qresource prefix="/opengl">
<file>resources/opengl/buglist.json</file>
</qresource>
<qresource prefix="/qml/calibration/joystick/mode1">
<file alias="joystickCenter.png">resources/calibration/joystick/mode1/joystickCenter.png</file>
<file alias="joystickPitchDown.png">resources/calibration/joystick/mode1/joystickPitchDown.png</file>
<file alias="joystickPitchUp.png">resources/calibration/joystick/mode1/joystickPitchUp.png</file>
<file alias="joystickRollLeft.png">resources/calibration/joystick/mode1/joystickRollLeft.png</file>
<file alias="joystickRollRight.png">resources/calibration/joystick/mode1/joystickRollRight.png</file>
<file alias="joystickThrottleDown.png">resources/calibration/joystick/mode1/joystickThrottleDown.png</file>
<file alias="joystickThrottleUp.png">resources/calibration/joystick/mode1/joystickThrottleUp.png</file>
<file alias="joystickYawLeft.png">resources/calibration/joystick/mode1/joystickYawLeft.png</file>
<file alias="joystickYawRight.png">resources/calibration/joystick/mode1/joystickYawRight.png</file>
</qresource>
<qresource prefix="/qml/calibration/joystick/mode2">
<file alias="joystickCenter.png">resources/calibration/joystick/mode2/joystickCenter.png</file>
<file alias="joystickPitchDown.png">resources/calibration/joystick/mode2/joystickPitchDown.png</file>
<file alias="joystickPitchUp.png">resources/calibration/joystick/mode2/joystickPitchUp.png</file>
<file alias="joystickRollLeft.png">resources/calibration/joystick/mode2/joystickRollLeft.png</file>
<file alias="joystickRollRight.png">resources/calibration/joystick/mode2/joystickRollRight.png</file>
<file alias="joystickThrottleDown.png">resources/calibration/joystick/mode2/joystickThrottleDown.png</file>
<file alias="joystickThrottleUp.png">resources/calibration/joystick/mode2/joystickThrottleUp.png</file>
<file alias="joystickYawLeft.png">resources/calibration/joystick/mode2/joystickYawLeft.png</file>
<file alias="joystickYawRight.png">resources/calibration/joystick/mode2/joystickYawRight.png</file>
</qresource>
<qresource prefix="/qml/calibration/joystick/mode3">
<file alias="joystickCenter.png">resources/calibration/joystick/mode3/joystickCenter.png</file>
<file alias="joystickPitchDown.png">resources/calibration/joystick/mode3/joystickPitchDown.png</file>
<file alias="joystickPitchUp.png">resources/calibration/joystick/mode3/joystickPitchUp.png</file>
<file alias="joystickRollLeft.png">resources/calibration/joystick/mode3/joystickRollLeft.png</file>
<file alias="joystickRollRight.png">resources/calibration/joystick/mode3/joystickRollRight.png</file>
<file alias="joystickThrottleDown.png">resources/calibration/joystick/mode3/joystickThrottleDown.png</file>
<file alias="joystickThrottleUp.png">resources/calibration/joystick/mode3/joystickThrottleUp.png</file>
<file alias="joystickYawLeft.png">resources/calibration/joystick/mode3/joystickYawLeft.png</file>
<file alias="joystickYawRight.png">resources/calibration/joystick/mode3/joystickYawRight.png</file>
</qresource>
<qresource prefix="/qml/calibration/joystick/mode4">
<file alias="joystickCenter.png">resources/calibration/joystick/mode4/joystickCenter.png</file>
<file alias="joystickPitchDown.png">resources/calibration/joystick/mode4/joystickPitchDown.png</file>
<file alias="joystickPitchUp.png">resources/calibration/joystick/mode4/joystickPitchUp.png</file>
<file alias="joystickRollLeft.png">resources/calibration/joystick/mode4/joystickRollLeft.png</file>
<file alias="joystickRollRight.png">resources/calibration/joystick/mode4/joystickRollRight.png</file>
<file alias="joystickThrottleDown.png">resources/calibration/joystick/mode4/joystickThrottleDown.png</file>
<file alias="joystickThrottleUp.png">resources/calibration/joystick/mode4/joystickThrottleUp.png</file>
<file alias="joystickYawLeft.png">resources/calibration/joystick/mode4/joystickYawLeft.png</file>
<file alias="joystickYawRight.png">resources/calibration/joystick/mode4/joystickYawRight.png</file>
</qresource>
</RCC>
qgroundcontrol.qrc
View file @ 089860de
......@@ -38,6 +38,10 @@
<file alias="HealthPageWidget.qml">src/FlightMap/Widgets/HealthPageWidget.qml</file>
<file alias="HelpSettings.qml">src/ui/preferences/HelpSettings.qml</file>
<file alias="JoystickConfig.qml">src/VehicleSetup/JoystickConfig.qml</file>
<file alias="JoystickConfigButtons.qml">src/VehicleSetup/JoystickConfigButtons.qml</file>
<file alias="JoystickConfigAdvanced.qml">src/VehicleSetup/JoystickConfigAdvanced.qml</file>
<file alias="JoystickConfigGeneral.qml">src/VehicleSetup/JoystickConfigGeneral.qml</file>
<file alias="JoystickConfigCalibration.qml">src/VehicleSetup/JoystickConfigCalibration.qml</file>
<file alias="LinkSettings.qml">src/ui/preferences/LinkSettings.qml</file>
<file alias="LogDownloadPage.qml">src/AnalyzeView/LogDownloadPage.qml</file>
<file alias="LogReplaySettings.qml">src/ui/preferences/LogReplaySettings.qml</file>
......@@ -60,6 +64,7 @@
<file alias="QGCViewDialogContainer.qml">src/QmlControls/QGCViewDialogContainer.qml</file>
<file alias="QGroundControl/Controls/AnalyzePage.qml">src/AnalyzeView/AnalyzePage.qml</file>
<file alias="QGroundControl/Controls/AppMessages.qml">src/QmlControls/AppMessages.qml</file>
<file alias="QGroundControl/Controls/AxisMonitor.qml">src/QmlControls/AxisMonitor.qml</file>
<file alias="QGroundControl/Controls/CameraCalc.qml">src/PlanView/CameraCalc.qml</file>
<file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
......
src/Joystick/Joystick.cc
View file @ 089860de
......@@ -684,11 +684,9 @@ QString Joystick::getButtonAction(int button)
QVariantList Joystick::buttonActions(void)
{
QVariantList list;
for (int button=0; button<_totalButtonCount; button++) {
list += QVariant::fromValue(_rgButtonActions[button]);
}
return list;
}
......@@ -703,13 +701,10 @@ void Joystick::setThrottleMode(int mode)
qCWarning(JoystickLog) << "Invalid throttle mode" << mode;
return;
}
_throttleMode = (ThrottleMode_t)mode;
_throttleMode = static_cast<ThrottleMode_t>(mode);
if (_throttleMode == ThrottleModeDownZero) {
setAccumulator(false);
}
_saveSettings();
emit throttleModeChanged(_throttleMode);
}
......@@ -725,7 +720,6 @@ void Joystick::setNegativeThrust(bool allowNegative)
return;
}
_negativeThrust = allowNegative;
_saveSettings();
emit negativeThrustChanged(_negativeThrust);
}
......@@ -738,7 +732,6 @@ float Joystick::exponential(void)
void Joystick::setExponential(float expo)
{
_exponential = expo;
_saveSettings();
emit exponentialChanged(_exponential);
}
......@@ -751,7 +744,6 @@ bool Joystick::accumulator(void)
void Joystick::setAccumulator(bool accu)
{
_accumulator = accu;
_saveSettings();
emit accumulatorChanged(_accumulator);
}
......@@ -764,7 +756,6 @@ bool Joystick::deadband(void)
void Joystick::setDeadband(bool deadband)
{
_deadband = deadband;
_saveSettings();
}
......@@ -776,7 +767,6 @@ bool Joystick::circleCorrection(void)
void Joystick::setCircleCorrection(bool circleCorrection)
{
_circleCorrection = circleCorrection;
_saveSettings();
emit circleCorrectionChanged(_circleCorrection);
}
......@@ -799,7 +789,6 @@ void Joystick::setFrequency(float val)
void Joystick::setCalibrationMode(bool calibrating)
{
_calibrationMode = calibrating;
if (calibrating && !isRunning()) {
_pollingStartedForCalibration = true;
startPolling(_multiVehicleManager->activeVehicle());
......@@ -815,7 +804,6 @@ void Joystick::_buttonAction(const QString& action)
if (!_activeVehicle || !_activeVehicle->joystickEnabled()) {
return;
}
if (action == _buttonActionArm) {
_activeVehicle->setArmed(true);
} else if (action == _buttonActionDisarm) {
......
src/QmlControls/AxisMonitor.qml 0 → 100644
View file @ 089860de
import QtQuick 2.11
import QtQuick.Controls 2.4
import QGroundControl 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
Item {
property int axisValue: 0
property int deadbandValue: 0
property bool narrowIndicator: false
property color deadbandColor: "#8c161a"
property bool mapped: false
property bool reversed: false
property color __barColor: qgcPal.windowShade
// Bar
Rectangle {
id: bar
anchors.verticalCenter: parent.verticalCenter
width: parent.width
height: parent.height / 2
color: __barColor
}
// Deadband
Rectangle {
id: deadbandBar
anchors.verticalCenter: parent.verticalCenter
x: _deadbandPosition
width: _deadbandWidth
height: parent.height / 2
color: deadbandColor
visible: controller.deadbandToggle
property real _percentDeadband: ((2 * deadbandValue) / (32768.0 * 2))
property real _deadbandWidth: parent.width * _percentDeadband
property real _deadbandPosition: (parent.width - _deadbandWidth) / 2
}
// Center point
Rectangle {
anchors.horizontalCenter: parent.horizontalCenter
width: ScreenTools.defaultFontPixelWidth / 2
height: parent.height
color: qgcPal.window
}
// Indicator
Rectangle {
anchors.verticalCenter: parent.verticalCenter
width: parent.narrowIndicator ? height/6 : height
height: parent.height * 0.75
x: (reversed ? (parent.width - _indicatorPosition) : _indicatorPosition) - (width / 2)
radius: width / 2
color: qgcPal.text
visible: mapped
property real _percentAxisValue: ((axisValue + 32768.0) / (32768.0 * 2))
property real _indicatorPosition: parent.width * _percentAxisValue
}
QGCLabel {
anchors.fill: parent
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: qsTr("Not Mapped")
visible: !mapped
}
ColorAnimation {
id: barAnimation
target: bar
property: "color"
from: "yellow"
to: __barColor
duration: 1500
}
// Axis value debugger
/*
QGCLabel {
anchors.fill: parent
text: axisValue
}
*/
}
src/QmlControls/QGroundControl/Controls/qmldir
View file @ 089860de
......@@ -2,6 +2,7 @@ Module QGroundControl.Controls
AnalyzePage 1.0 AnalyzePage.qml
AppMessages 1.0 AppMessages.qml
AxisMonitor 1.0 AxisMonitor.qml
CameraCalc 1.0 CameraCalc.qml
APMSubMotorDisplay 1.0 APMSubMotorDisplay.qml
CameraSection 1.0 CameraSection.qml
......
src/Vehicle/Vehicle.cc
View file @ 089860de
......@@ -2741,11 +2741,18 @@ void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
}
}
void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust, double gimbalPitch, double gimbalYaw)
{
// The following if statement prevents the virtualTabletJoystick from sending values if the standard joystick is enabled
if ( !_joystickEnabled && !_highLatencyLink) {
_uas->setExternalControlSetpoint(roll, pitch, yaw, thrust, 0, JoystickModeRC);
_uas->setExternalControlSetpoint(
static_cast<float>(roll),
static_cast<float>(pitch),
static_cast<float>(yaw),
static_cast<float>(thrust),
static_cast<float>(gimbalPitch),
static_cast<float>(gimbalYaw),
0, JoystickModeRC);
}
}
......
src/Vehicle/Vehicle.h
View file @ 089860de
......@@ -697,7 +697,7 @@ public:
// Called when the message drop-down is invoked to clear current count
Q_INVOKABLE void resetMessages();
Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust, double gimbalPitch = 0, double gimbalYaw = 0);
Q_INVOKABLE void disconnectInactiveVehicle(void);
/// Command vehicle to return to launch
......
src/VehicleSetup/JoystickConfig.qml
View file @ 089860de
......@@ -8,9 +8,10 @@
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Dialogs 1.2
import QtQuick 2.11
import QtQuick.Controls 2.4
import QtQuick.Dialogs 1.3
import QtQuick.Layouts 1.11
import QGroundControl 1.0
import QGroundControl.Palette 1.0
......@@ -25,7 +26,7 @@ SetupPage {
id: joystickPage
pageComponent: pageComponent
pageName: qsTr("Joystick")
pageDescription: qsTr("Joystick Setup is used to configure a calibrate joysticks.")
pageDescription: "" // qsTr("Joystick Setup is used to configure and calibrate joysticks.")
readonly property real _maxButtons: 64
readonly property real _attitudeLabelWidth: ScreenTools.defaultFontPixelWidth * 12
......@@ -43,8 +44,8 @@ SetupPage {
Component {
id: pageComponent
Item {
width: availableWidth
height: mainColumn.height
width: availableWidth
height: bar.height + joyLoader.height
readonly property real labelToMonitorMargin: ScreenTools.defaultFontPixelWidth * 3
property var _activeJoystick: joystickManager.activeJoystick
......@@ -55,996 +56,36 @@ SetupPage {
JoystickConfigController {
id: controller
cancelButton: cancelButton
nextButton: nextButton
skipButton: skipButton
}
// Main view
Column {
id: mainColumn
spacing: ScreenTools.defaultFontPixelHeight
anchors.right: parent.right
anchors.left: parent.left
anchors.margins: ScreenTools.defaultFontPixelWidth
Row {
spacing: ScreenTools.defaultFontPixelWidth * 2
QGCCheckBox {
id: enabledCheckBox
enabled: _activeJoystick ? _activeJoystick.calibrated : false
text: _activeJoystick ? _activeJoystick.calibrated ? qsTr("Enable joystick input") : qsTr("Enable not allowed (Calibrate First)") : ""
anchors.verticalCenter: parent.verticalCenter
onClicked: activeVehicle.joystickEnabled = checked
Component.onCompleted: {
checked = activeVehicle.joystickEnabled
}
Connections {
target: activeVehicle
onJoystickEnabledChanged: {
enabledCheckBox.checked = activeVehicle.joystickEnabled
}
}
Connections {
target: joystickManager
onActiveJoystickChanged: {
if(_activeJoystick) {
enabledCheckBox.checked = Qt.binding(function() { return _activeJoystick.calibrated && activeVehicle.joystickEnabled })
}
}
}
}
QGCLabel {
text: qsTr("Active joystick:")
anchors.verticalCenter: parent.verticalCenter
}
QGCComboBox {
id: joystickCombo
width: ScreenTools.defaultFontPixelWidth * 40
anchors.verticalCenter: parent.verticalCenter
model: joystickManager.joystickNames
onActivated: joystickManager.activeJoystickName = textAt(index)
Component.onCompleted: {
var index = joystickCombo.find(joystickManager.activeJoystickName)
if (index === -1) {
console.warn(qsTr("Active joystick name not in combo"), joystickManager.activeJoystickName)
} else {
joystickCombo.currentIndex = index
}
}
Connections {
target: joystickManager
onAvailableJoysticksChanged: {
var index = joystickCombo.find(joystickManager.activeJoystickName)
if (index >= 0) {
joystickCombo.currentIndex = index
}
}
}
}
TabBar {
id: bar
width: parent.width
anchors.top: parent.top
TabButton {
text: qsTr("General")
}
//-- Separator
Rectangle {
width: parent.width
height: 1
border.color: qgcPal.text
border.width: 1
TabButton {
text: qsTr("Button Assigment")
}
//-- Main Row
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
// Left side column
Column {
id: leftColumn
spacing: ScreenTools.defaultFontPixelHeight
// Attitude Controls
Column {
width: parent.width
spacing: 5
QGCLabel { text: qsTr("Attitude Controls") }
Item {
width: parent.width
height: defaultTextHeight * 2
QGCLabel {
id: rollLabel
width: _attitudeLabelWidth
text: activeVehicle.sub ? qsTr("Lateral") : qsTr("Roll")
}
Loader {
id: rollLoader
anchors.left: rollLabel.right
anchors.right: parent.right
height: ScreenTools.defaultFontPixelHeight
width: 100
sourceComponent: axisMonitorDisplayComponent
property bool mapped: controller.rollAxisMapped
property bool reversed: controller.rollAxisReversed
}
Connections {
target: _activeJoystick
onManualControl: rollLoader.item.axisValue = roll*32768.0
}
}
Item {
width: parent.width
height: defaultTextHeight * 2
QGCLabel {
id: pitchLabel
width: _attitudeLabelWidth
text: activeVehicle.sub ? qsTr("Forward") : qsTr("Pitch")
}
Loader {
id: pitchLoader
anchors.left: pitchLabel.right
anchors.right: parent.right
height: ScreenTools.defaultFontPixelHeight
width: 100
sourceComponent: axisMonitorDisplayComponent
property bool mapped: controller.pitchAxisMapped
property bool reversed: controller.pitchAxisReversed
}
Connections {
target: _activeJoystick
onManualControl: pitchLoader.item.axisValue = pitch*32768.0
}
}
Item {
width: parent.width
height: defaultTextHeight * 2
QGCLabel {
id: yawLabel
width: _attitudeLabelWidth
text: qsTr("Yaw")
}
Loader {
id: yawLoader
anchors.left: yawLabel.right
anchors.right: parent.right
height: ScreenTools.defaultFontPixelHeight
width: 100
sourceComponent: axisMonitorDisplayComponent
property bool mapped: controller.yawAxisMapped
property bool reversed: controller.yawAxisReversed
}
Connections {
target: _activeJoystick
onManualControl: yawLoader.item.axisValue = yaw*32768.0
}
}
Item {
width: parent.width
height: defaultTextHeight * 2
QGCLabel {
id: throttleLabel
width: _attitudeLabelWidth
text: qsTr("Throttle")
}
Loader {
id: throttleLoader
anchors.left: throttleLabel.right
anchors.right: parent.right
height: ScreenTools.defaultFontPixelHeight
width: 100
sourceComponent: axisMonitorDisplayComponent
property bool mapped: controller.throttleAxisMapped
property bool reversed: controller.throttleAxisReversed
}
Connections {
target: _activeJoystick
onManualControl: throttleLoader.item.axisValue = _activeJoystick.negativeThrust ? -throttle*32768.0 : (-2*throttle+1)*32768.0
}
}
Item {
width: parent.width
height: controller.hasGimbal ? defaultTextHeight * 2 : 0
visible: controller.hasGimbal
QGCLabel {
id: gimbalPitchLabel
width: _attitudeLabelWidth
text: qsTr("Gimbal Pitch")
}
Loader {
id: gimbalPitchLoader
anchors.left: gimbalPitchLabel.right
anchors.right: parent.right
height: ScreenTools.defaultFontPixelHeight
width: 100
sourceComponent: axisMonitorDisplayComponent
property bool mapped: controller.gimbalPitchAxisMapped
property bool reversed: controller.gimbalPitchAxisReversed
}
Connections {
target: _activeJoystick
onManualControl: gimbalPitchLoader.item.axisValue = gimbalPitch * 32768.0
}
}
Item {
width: parent.width
height: controller.hasGimbal ? defaultTextHeight * 2 : 0
visible: controller.hasGimbal
QGCLabel {
id: gimbalYawLabel
width: _attitudeLabelWidth
text: qsTr("Gimbal Yaw")
}
Loader {
id: gimbalYawLoader
anchors.left: gimbalYawLabel.right
anchors.right: parent.right
height: ScreenTools.defaultFontPixelHeight
width: 100
sourceComponent: axisMonitorDisplayComponent
property bool mapped: controller.gimbalYawAxisMapped
property bool reversed: controller.gimbalYawAxisReversed
}
Connections {
target: _activeJoystick
onManualControl: gimbalYawLoader.item.axisValue = gimbalYaw * 32768.0
}
}
} // Column - Attitude Control labels
// Command Buttons
Row {
spacing: 10
visible: _activeJoystick.requiresCalibration
anchors.horizontalCenter: parent.horizontalCenter
QGCButton {
id: skipButton
text: qsTr("Skip")
width: ScreenTools.defaultFontPixelWidth * 10
onClicked: controller.skipButtonClicked()
}
QGCButton {
id: cancelButton
text: qsTr("Cancel")
width: ScreenTools.defaultFontPixelWidth * 10
onClicked: controller.cancelButtonClicked()
}
QGCButton {
id: nextButton
primary: true
text: qsTr("Calibrate")
width: ScreenTools.defaultFontPixelWidth * 10
onClicked: controller.nextButtonClicked()
}
}
// Status Text
QGCLabel {
text: controller.statusText
width: parent.width
wrapMode: Text.WordWrap
visible: text !== ""
}
//-- Separator
Rectangle {
width: parent.width
height: 1
border.color: qgcPal.text
border.width: 1
}
// Settings
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
// Left column settings
Column {
width: parent.width * 0.5
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel { text: qsTr("Additional Joystick settings:") }
Column {
width: parent.width
spacing: ScreenTools.defaultFontPixelHeight
Column {
spacing: ScreenTools.defaultFontPixelHeight / 3
visible: activeVehicle.supportsThrottleModeCenterZero
QGCRadioButton {
text: qsTr("Center stick is zero throttle")
checked: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
onClicked: _activeJoystick.throttleMode = 0
}
Row {
x: 20
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
QGCCheckBox {
id: accumulator
checked: _activeJoystick ? _activeJoystick.accumulator : false
text: qsTr("Spring loaded throttle smoothing")
onClicked: _activeJoystick.accumulator = checked
}
}
QGCRadioButton {
text: qsTr("Full down stick is zero throttle")
checked: _activeJoystick ? _activeJoystick.throttleMode === 1 : false
onClicked: _activeJoystick.throttleMode = 1
}
QGCCheckBox {
visible: activeVehicle.supportsNegativeThrust
id: negativeThrust
text: qsTr("Allow negative Thrust")
enabled: _activeJoystick.negativeThrust = activeVehicle.supportsNegativeThrust
checked: _activeJoystick ? _activeJoystick.negativeThrust : false
onClicked: _activeJoystick.negativeThrust = checked
}
}
Column {
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
id: expoSliderLabel
text: qsTr("Exponential:")
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCSlider {
id: expoSlider
width: ScreenTools.defaultFontPixelWidth * 14
minimumValue: 0
maximumValue: 0.75
Component.onCompleted: value = -_activeJoystick.exponential
onValueChanged: _activeJoystick.exponential = -value
}
QGCLabel {
id: expoSliderIndicator
text: expoSlider.value.toFixed(2)
}
}
}
QGCCheckBox {
id: advancedSettings
checked: activeVehicle.joystickMode !== 0
text: qsTr("Advanced settings (careful!)")
onClicked: {
if (!checked) {
activeVehicle.joystickMode = 0
}
}
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: advancedSettings.checked
QGCLabel {
id: joystickModeLabel
anchors.baseline: joystickModeCombo.baseline
text: qsTr("Joystick mode:")
}
QGCComboBox {
id: joystickModeCombo
currentIndex: activeVehicle.joystickMode
width: ScreenTools.defaultFontPixelWidth * 20
model: activeVehicle.joystickModes
onActivated: activeVehicle.joystickMode = index
}
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: advancedSettings.checked
QGCLabel {
text: qsTr("Message frequency (Hz):")
anchors.verticalCenter: parent.verticalCenter
}
QGCTextField {
text: _activeJoystick.frequency
validator: DoubleValidator { bottom: 0.25; top: 100.0; }
inputMethodHints: Qt.ImhFormattedNumbersOnly
onEditingFinished: {
_activeJoystick.frequency = parseFloat(text)
}
}
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: advancedSettings.checked
QGCCheckBox {
id: joystickCircleCorrection
checked: activeVehicle.joystickMode !== 0
text: qsTr("Enable circle correction")
Component.onCompleted: checked = _activeJoystick.circleCorrection
onClicked: {
_activeJoystick.circleCorrection = checked
}
}
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: advancedSettings.checked
QGCCheckBox {
id: deadband
checked: controller.deadbandToggle
text: qsTr("Deadbands")
onClicked: controller.deadbandToggle = checked
}
}
Row{
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: advancedSettings.checked
QGCLabel{
width: parent.width * 0.85
font.pointSize: ScreenTools.smallFontPointSize
wrapMode: Text.WordWrap
text: qsTr("Deadband can be set during the first ") +
qsTr("step of calibration by gently wiggling each axis. ") +
qsTr("Deadband can also be adjusted by clicking and ") +
qsTr("dragging vertically on the corresponding axis monitor.")
visible: controller.deadbandToggle
}
}
}
} // Column - left column
// Right column settings
Column {
width: parent.width / 2
spacing: ScreenTools.defaultFontPixelHeight
Connections {
target: _activeJoystick
onRawButtonPressedChanged: {
if (buttonActionRepeater.itemAt(index)) {
buttonActionRepeater.itemAt(index).pressed = pressed
}
if (jsButtonActionRepeater.itemAt(index)) {
jsButtonActionRepeater.itemAt(index).pressed = pressed
}
}
}
//-- AP_JSButton Buttons (ArduSub)
QGCLabel { text: qsTr("Button actions:"); visible: activeVehicle.supportsJSButton; }
Column {
width: parent.width
visible: activeVehicle.supportsJSButton
spacing: ScreenTools.defaultFontPixelHeight / 3
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
horizontalAlignment: Text.AlignHCenter
width: ScreenTools.defaultFontPixelHeight * 1.5
text: qsTr("#")
}
QGCLabel {
width: ScreenTools.defaultFontPixelWidth * 15
text: qsTr("Function: ")
}
QGCLabel {
width: ScreenTools.defaultFontPixelWidth * 15
text: qsTr("Shift Function: ")
}
} // Row
Repeater {
id: jsButtonActionRepeater
model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : 0
Row {
spacing: ScreenTools.defaultFontPixelWidth
visible: activeVehicle.supportsJSButton
property bool pressed
Rectangle {
anchors.verticalCenter: parent.verticalCenter
width: ScreenTools.defaultFontPixelHeight * 1.5
height: width
border.width: 1
border.color: qgcPal.text
color: pressed ? qgcPal.buttonHighlight : qgcPal.button
QGCLabel {
anchors.fill: parent
color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: modelData
}
}
FactComboBox {
id: mainJSButtonActionCombo
width: ScreenTools.defaultFontPixelWidth * 15
fact: controller.parameterExists(-1, "BTN"+index+"_FUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_FUNCTION") : null;
indexModel: false
}
FactComboBox {
id: shiftJSButtonActionCombo
width: ScreenTools.defaultFontPixelWidth * 15
fact: controller.parameterExists(-1, "BTN"+index+"_SFUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_SFUNCTION") : null;
indexModel: false
}
} // Row
} // Repeater
} // Column
} // Column - right setting column
} // Row - Settings
} // Column - Left Main Column
// Right side column
Column {
width: Math.min(ScreenTools.defaultFontPixelWidth * 35, availableWidth * 0.4)
spacing: ScreenTools.defaultFontPixelHeight
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
text: "TX Mode:"
anchors.verticalCenter: parent.verticalCenter
}
QGCRadioButton {
text: "1"
checked: controller.transmitterMode == 1
enabled: !controller.calibrating
onClicked: controller.transmitterMode = 1
anchors.verticalCenter: parent.verticalCenter
}
QGCRadioButton {
text: "2"
checked: controller.transmitterMode == 2
enabled: !controller.calibrating
onClicked: controller.transmitterMode = 2
anchors.verticalCenter: parent.verticalCenter
}
QGCRadioButton {
text: "3"
checked: controller.transmitterMode == 3
enabled: !controller.calibrating
onClicked: controller.transmitterMode = 3
anchors.verticalCenter: parent.verticalCenter
}
QGCRadioButton {
text: "4"
checked: controller.transmitterMode == 4
enabled: !controller.calibrating
onClicked: controller.transmitterMode = 4
anchors.verticalCenter: parent.verticalCenter
}
}
//-------------------------------------------------------------
//-- Joystick Icon
Rectangle {
width: Math.round(parent.width * 0.9)
height: Math.round(width * 0.5)
radius: ScreenTools.defaultFontPixelWidth * 2
color: qgcPal.window
border.color: qgcPal.text
border.width: ScreenTools.defaultFontPixelWidth * 0.25
anchors.horizontalCenter: parent.horizontalCenter
property bool hasStickPositions: controller.stickPositions.length === 4
Connections {
target: controller
onStickPositionsChanged: {
console.log(controller.stickPositions[0] + ' ' + controller.stickPositions[1] + ' ' + controller.stickPositions[2] + ' ' + controller.stickPositions[3])
}
}
//---------------------------------------------------------
//-- Left Stick
Rectangle {
width: parent.width * 0.25
height: width
radius: width * 0.5
color: qgcPal.window
border.color: qgcPal.text
border.width: ScreenTools.defaultFontPixelWidth * 0.125
x: (parent.width * 0.25) - (width * 0.5)
y: (parent.height * 0.5) - (height * 0.5)
}
Rectangle {
color: qgcPal.colorGreen
width: parent.width * 0.035
height: width
radius: width * 0.5
visible: parent.hasStickPositions
x: (parent.width * controller.stickPositions[0]) - (width * 0.5)
y: (parent.height * controller.stickPositions[1]) - (height * 0.5)
}
//---------------------------------------------------------
//-- Right Stick
Rectangle {
width: parent.width * 0.25
height: width
radius: width * 0.5
color: qgcPal.window
border.color: qgcPal.text
border.width: ScreenTools.defaultFontPixelWidth * 0.125
x: (parent.width * 0.75) - (width * 0.5)
y: (parent.height * 0.5) - (height * 0.5)
}
Rectangle {
color: qgcPal.colorGreen
width: parent.width * 0.035
height: width
radius: width * 0.5
visible: parent.hasStickPositions
x: (parent.width * controller.stickPositions[2]) - (width * 0.5)
y: (parent.height * controller.stickPositions[3]) - (height * 0.5)
}
//---------------------------------------------------------
//-- Gimbal Pitch
Rectangle {
width: ScreenTools.defaultFontPixelWidth * 0.125
height: parent.height * 0.2
color: qgcPal.text
visible: controller.hasGimbal
x: (parent.width * 0.5) - (width * 0.5)
y: (parent.height * 0.5) - (height * 0.5)
}
Rectangle {
color: qgcPal.colorGreen
width: parent.width * 0.035
height: width
radius: width * 0.5
visible: controller.hasGimbal
x: (parent.width * controller.gimbalPositions[0]) - (width * 0.5)
y: (parent.height * controller.gimbalPositions[1]) - (height * 0.5)
}
//---------------------------------------------------------
//-- Gimbal Yaw
Rectangle {
width: parent.width * 0.2
height: ScreenTools.defaultFontPixelWidth * 0.125
color: qgcPal.text
visible: controller.hasGimbal
x: (parent.width * 0.5) - (width * 0.5)
y: (parent.height * 0.3) - (height * 0.5)
}
Rectangle {
color: qgcPal.colorGreen
width: parent.width * 0.035
height: width
radius: width * 0.5
visible: controller.hasGimbal
x: (parent.width * controller.gimbalPositions[2]) - (width * 0.5)
y: (parent.height * controller.gimbalPositions[3]) - (height * 0.5)
}
}
// Axis monitor
Column {
width: parent.width
spacing: 5
QGCLabel {
text: qsTr("Axis Monitor")
anchors.horizontalCenter: parent.horizontalCenter
}
Connections {
target: controller
onAxisValueChanged: {
if (axisMonitorRepeater.itemAt(axis)) {
axisMonitorRepeater.itemAt(axis).loader.item.axisValue = value
}
}
onAxisDeadbandChanged: {
if (axisMonitorRepeater.itemAt(axis)) {
axisMonitorRepeater.itemAt(axis).loader.item.deadbandValue = value
}
}
}
Repeater {
id: axisMonitorRepeater
model: _activeJoystick ? _activeJoystick.axisCount : 0
width: parent.width
Row {
spacing: 5
anchors.horizontalCenter: parent.horizontalCenter
// Need this to get to loader from Connections above
property Item loader: theLoader
QGCLabel {
id: axisLabel
text: modelData
}
Loader {
id: theLoader
anchors.verticalCenter: axisLabel.verticalCenter
height: ScreenTools.defaultFontPixelHeight
width: 200
sourceComponent: axisMonitorDisplayComponent
Component.onCompleted: item.narrowIndicator = true
property bool mapped: true
readonly property bool reversed: false
MouseArea {
id: deadbandMouseArea
anchors.fill: parent.item
enabled: controller.deadbandToggle
preventStealing: true
property real startX
property real direction
onPressed: {
startX = mouseX
direction = startX > width/2 ? 1 : -1
parent.item.deadbandColor = "#3C6315"
}
onPositionChanged: {
var mouseToDeadband = 32768/(width/2) // Factor to have deadband follow the mouse movement
var newValue = parent.item.deadbandValue + direction*(mouseX - startX)*mouseToDeadband
if ((newValue > 0) && (newValue <32768)){parent.item.deadbandValue=newValue;}
startX = mouseX
}
onReleased: {
controller.setDeadbandValue(modelData,parent.item.deadbandValue)
parent.item.deadbandColor = "#8c161a"
}
}
}
}
}
} // Column - Axis Monitor
// Button monitor
Column {
width: parent.width
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
text: qsTr("Button Monitor")
anchors.horizontalCenter: parent.horizontalCenter
}
Connections {
target: _activeJoystick
onRawButtonPressedChanged: {
if (buttonMonitorRepeater.itemAt(index)) {
buttonMonitorRepeater.itemAt(index).pressed = pressed
}
}
}
Flow {
width: parent.width * 0.9
spacing: -1
anchors.horizontalCenter: parent.horizontalCenter
Repeater {
id: buttonMonitorRepeater
model: _activeJoystick ? _activeJoystick.totalButtonCount : 0
Rectangle {
width: ScreenTools.defaultFontPixelHeight * 1.5
height: width
border.width: 1
border.color: qgcPal.text
color: pressed ? qgcPal.buttonHighlight : qgcPal.windowShade
property bool pressed
QGCLabel {
anchors.fill: parent
color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: modelData
}
}
} // Repeater
} // Row
} // Column - Axis Monitor
} // Column - Right Column
} // Main Row
//-- Separator
Rectangle {
width: parent.width
height: 1
border.color: qgcPal.text
border.width: 1
TabButton {
text: qsTr("Calibration")
}
//-- Button Actions
QGCLabel { text: qsTr("Button actions:"); visible: !activeVehicle.supportsJSButton; }
Flow {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: !activeVehicle.supportsJSButton
Repeater {
id: buttonActionRepeater
model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : []
Row {
spacing: ScreenTools.defaultFontPixelWidth
visible: !activeVehicle.supportsJSButton
property bool pressed
QGCCheckBox {
anchors.verticalCenter: parent.verticalCenter
checked: _activeJoystick ? _activeJoystick.buttonActions[modelData] !== "" : false
onClicked: _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.textAt(buttonActionCombo.currentIndex) : "")
}
Rectangle {
anchors.verticalCenter: parent.verticalCenter
width: ScreenTools.defaultFontPixelHeight * 1.5
height: width
border.width: 1
border.color: qgcPal.text
color: pressed ? qgcPal.buttonHighlight : qgcPal.button
QGCLabel {
anchors.fill: parent
color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: modelData
}
}
QGCComboBox {
id: buttonActionCombo
width: ScreenTools.defaultFontPixelWidth * 20
model: _activeJoystick ? _activeJoystick.actions : 0
onActivated: _activeJoystick.setButtonAction(modelData, textAt(index))
Component.onCompleted: currentIndex = find(_activeJoystick.buttonActions[modelData])
}
}
}
TabButton {
text: qsTr("Advanced")
}
}
// Live axis monitor control component
Component {
id: axisMonitorDisplayComponent
Item {
property int axisValue: 0
property int deadbandValue: 0
property bool narrowIndicator: false
property color deadbandColor: "#8c161a"
property color __barColor: qgcPal.windowShade
property var pages: ["JoystickConfigGeneral.qml", "JoystickConfigButtons.qml", "JoystickConfigCalibration.qml", "JoystickConfigAdvanced.qml"]
// Bar
Rectangle {
id: bar
anchors.verticalCenter: parent.verticalCenter
width: parent.width
height: parent.height / 2
color: __barColor
}
// Deadband
Rectangle {
id: deadbandBar
anchors.verticalCenter: parent.verticalCenter
x: _deadbandPosition
width: _deadbandWidth
height: parent.height / 2
color: deadbandColor
visible: controller.deadbandToggle
property real _percentDeadband: ((2 * deadbandValue) / (32768.0 * 2))
property real _deadbandWidth: parent.width * _percentDeadband
property real _deadbandPosition: (parent.width - _deadbandWidth) / 2
}
// Center point
Rectangle {
anchors.horizontalCenter: parent.horizontalCenter
width: ScreenTools.defaultFontPixelWidth / 2
height: parent.height
color: qgcPal.window
}
// Indicator
Rectangle {
anchors.verticalCenter: parent.verticalCenter
width: parent.narrowIndicator ? height/6 : height
height: parent.height * 0.75
x: (reversed ? (parent.width - _indicatorPosition) : _indicatorPosition) - (width / 2)
radius: width / 2
color: qgcPal.text
visible: mapped
property real _percentAxisValue: ((axisValue + 32768.0) / (32768.0 * 2))
property real _indicatorPosition: parent.width * _percentAxisValue
}
QGCLabel {
anchors.fill: parent
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: qsTr("Not Mapped")
visible: !mapped
}
ColorAnimation {
id: barAnimation
target: bar
property: "color"
from: "yellow"
to: __barColor
duration: 1500
}
// Axis value debugger
/*
QGCLabel {
anchors.fill: parent
text: axisValue
}
*/
}
} // Component - axisMonitorDisplayComponent
} // Item
} // Component - pageComponent
} // SetupPage
Loader {
id: joyLoader
source: pages[bar.currentIndex]
width: parent.width
anchors.top: bar.bottom
}
}
}
}
src/VehicleSetup/JoystickConfigAdvanced.qml 0 → 100644
View file @ 089860de
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.11
import QtQuick.Controls 2.4
import QtQuick.Dialogs 1.3
import QtQuick.Layouts 1.11
import QGroundControl 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
Item {
width: grid.width + (ScreenTools.defaultFontPixelWidth * 2)
height: grid.height + (ScreenTools.defaultFontPixelHeight * 2)
//---------------------------------------------------------------------
GridLayout {
id: grid
columns: 2
columnSpacing: ScreenTools.defaultFontPixelWidth
rowSpacing: ScreenTools.defaultFontPixelHeight
anchors.centerIn: parent
//-------------------------------------------------------------
//-------------------------------------------------------------
QGCRadioButton {
text: qsTr("Full down stick is zero throttle")
checked: _activeJoystick ? _activeJoystick.throttleMode === 1 : false
onClicked: _activeJoystick.throttleMode = 1
Layout.columnSpan: 2
}
QGCRadioButton {
text: qsTr("Center stick is zero throttle")
checked: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
onClicked: _activeJoystick.throttleMode = 0
Layout.columnSpan: 2
}
//-------------------------------------------------------------
QGCLabel {
text: qsTr("Spring loaded throttle smoothing")
visible: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
Layout.alignment: Qt.AlignVCenter
Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 36
}
QGCCheckBox {
checked: _activeJoystick ? _activeJoystick.accumulator : false
visible: _activeJoystick ? _activeJoystick.throttleMode === 0 : false
onClicked: _activeJoystick.accumulator = checked
}
//-------------------------------------------------------------
QGCLabel {
text: qsTr("Allow negative Thrust")
visible: activeVehicle.supportsNegativeThrust
Layout.alignment: Qt.AlignVCenter
}
QGCCheckBox {
visible: activeVehicle.supportsNegativeThrust
enabled: _activeJoystick.negativeThrust = activeVehicle.supportsNegativeThrust
checked: _activeJoystick ? _activeJoystick.negativeThrust : false
onClicked: _activeJoystick.negativeThrust = checked
}
//---------------------------------------------------------------------
QGCLabel {
text: qsTr("Exponential:")
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCSlider {
id: expoSlider
width: ScreenTools.defaultFontPixelWidth * 20
minimumValue: 0
maximumValue: 0.75
Component.onCompleted: value = -_activeJoystick.exponential
onValueChanged: _activeJoystick.exponential = -value
}
QGCLabel {
id: expoSliderIndicator
text: expoSlider.value.toFixed(2)
}
}
//-----------------------------------------------------------------
//-- Enable Advanced Mode
QGCLabel {
text: qsTr("Enable further advanced settings (careful!)")
Layout.alignment: Qt.AlignVCenter
Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 36
}
QGCCheckBox {
id: advancedSettings
checked: activeVehicle.joystickMode !== 0
onClicked: {
if (!checked) {
activeVehicle.joystickMode = 0
}
}
}
//-----------------------------------------------------------------
//-- Mode
QGCLabel {
Layout.alignment: Qt.AlignVCenter
text: qsTr("Joystick mode:")
visible: advancedSettings.checked
}
QGCComboBox {
enabled: advancedSettings.checked
currentIndex: activeVehicle.joystickMode
width: ScreenTools.defaultFontPixelWidth * 20
model: activeVehicle.joystickModes
onActivated: activeVehicle.joystickMode = index
Layout.alignment: Qt.AlignVCenter
visible: advancedSettings.checked
}
//-----------------------------------------------------------------
//-- Message Frequency
QGCLabel {
text: qsTr("Message frequency (Hz):")
Layout.alignment: Qt.AlignVCenter
visible: advancedSettings.checked
}
QGCTextField {
text: _activeJoystick.frequency
enabled: advancedSettings.checked
validator: DoubleValidator { bottom: 0.25; top: 100.0; }
inputMethodHints: Qt.ImhFormattedNumbersOnly
Layout.alignment: Qt.AlignVCenter
onEditingFinished: {
_activeJoystick.frequency = parseFloat(text)
}
visible: advancedSettings.checked
}
//-----------------------------------------------------------------
//-- Enable circle correction
QGCLabel {
text: qsTr("Enable circle correction")
Layout.alignment: Qt.AlignVCenter
visible: advancedSettings.checked
}
QGCCheckBox {
checked: activeVehicle.joystickMode !== 0
enabled: advancedSettings.checked
Component.onCompleted: {
checked = _activeJoystick.circleCorrection
}
onClicked: {
_activeJoystick.circleCorrection = checked
}
visible: advancedSettings.checked
}
//-----------------------------------------------------------------
//-- Deadband
QGCLabel {
text: qsTr("Deadbands")
Layout.alignment: Qt.AlignVCenter
visible: advancedSettings.checked
}
QGCCheckBox {
enabled: advancedSettings.checked
checked: controller.deadbandToggle
onClicked: controller.deadbandToggle = checked
Layout.alignment: Qt.AlignVCenter
visible: advancedSettings.checked
}
QGCLabel{
Layout.fillWidth: true
Layout.columnSpan: 2
font.pointSize: ScreenTools.smallFontPointSize
wrapMode: Text.WordWrap
visible: advancedSettings.checked
text: qsTr("Deadband can be set during the first ") +
qsTr("step of calibration by gently wiggling each axis. ") +
qsTr("Deadband can also be adjusted by clicking and ") +
qsTr("dragging vertically on the corresponding axis monitor.")
}
}
}
src/VehicleSetup/JoystickConfigButtons.qml 0 → 100644
View file @ 089860de
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.11
import QtQuick.Controls 2.4
import QtQuick.Dialogs 1.3
import QtQuick.Layouts 1.11
import QGroundControl 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
Item {
width: availableWidth
height: (activeVehicle.supportsJSButton ? buttonCol.height : buttonFlow.height) + (ScreenTools.defaultFontPixelHeight * 2)
Connections {
target: _activeJoystick
onRawButtonPressedChanged: {
if (buttonActionRepeater.itemAt(index)) {
buttonActionRepeater.itemAt(index).pressed = pressed
}
if (jsButtonActionRepeater.itemAt(index)) {
jsButtonActionRepeater.itemAt(index).pressed = pressed
}
}
}
Flow {
id: buttonFlow
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: !activeVehicle.supportsJSButton
anchors.centerIn: parent
Repeater {
id: buttonActionRepeater
model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : []
Row {
spacing: ScreenTools.defaultFontPixelWidth
property bool pressed
QGCCheckBox {
anchors.verticalCenter: parent.verticalCenter
checked: _activeJoystick ? _activeJoystick.buttonActions[modelData] !== "" : false
onClicked: _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.textAt(buttonActionCombo.currentIndex) : "")
}
Rectangle {
anchors.verticalCenter: parent.verticalCenter
width: ScreenTools.defaultFontPixelHeight * 1.5
height: width
border.width: 1
border.color: qgcPal.text
color: pressed ? qgcPal.buttonHighlight : qgcPal.button
QGCLabel {
anchors.fill: parent
color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: modelData
}
}
QGCComboBox {
id: buttonActionCombo
width: ScreenTools.defaultFontPixelWidth * 20
model: _activeJoystick ? _activeJoystick.actions : 0
onActivated: _activeJoystick.setButtonAction(modelData, textAt(index))
Component.onCompleted: currentIndex = find(_activeJoystick.buttonActions[modelData])
}
}
}
}
Column {
id: buttonCol
width: parent.width
visible: activeVehicle.supportsJSButton
spacing: ScreenTools.defaultFontPixelHeight / 3
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
horizontalAlignment: Text.AlignHCenter
width: ScreenTools.defaultFontPixelHeight * 1.5
text: qsTr("#")
}
QGCLabel {
width: ScreenTools.defaultFontPixelWidth * 15
text: qsTr("Function: ")
}
QGCLabel {
width: ScreenTools.defaultFontPixelWidth * 15
text: qsTr("Shift Function: ")
}
}
Repeater {
id: jsButtonActionRepeater
model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : 0
Row {
spacing: ScreenTools.defaultFontPixelWidth
visible: activeVehicle.supportsJSButton
property bool pressed
Rectangle {
anchors.verticalCenter: parent.verticalCenter
width: ScreenTools.defaultFontPixelHeight * 1.5
height: width
border.width: 1
border.color: qgcPal.text
color: pressed ? qgcPal.buttonHighlight : qgcPal.button
QGCLabel {
anchors.fill: parent
color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: modelData
}
}
FactComboBox {
id: mainJSButtonActionCombo
width: ScreenTools.defaultFontPixelWidth * 15
fact: controller.parameterExists(-1, "BTN"+index+"_FUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_FUNCTION") : null;
indexModel: false
}
FactComboBox {
id: shiftJSButtonActionCombo
width: ScreenTools.defaultFontPixelWidth * 15
fact: controller.parameterExists(-1, "BTN"+index+"_SFUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_SFUNCTION") : null;
indexModel: false
}
}
}
}
}
src/VehicleSetup/JoystickConfigCalibration.qml 0 → 100644
View file @ 089860de
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.11
import QtQuick.Controls 2.4
import QtQuick.Dialogs 1.3
import QtQuick.Layouts 1.11
import QGroundControl 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
Item {
height: calCol.height + ScreenTools.defaultFontPixelHeight * 2
width: calCol.width + ScreenTools.defaultFontPixelWidth * 2
Column {
id: calCol
spacing: ScreenTools.defaultFontPixelHeight
anchors.centerIn: parent
Row {
spacing: ScreenTools.defaultFontPixelWidth * 4
anchors.horizontalCenter: parent.horizontalCenter
//-----------------------------------------------------------------
// Calibration
Column {
spacing: ScreenTools.defaultFontPixelHeight
anchors.verticalCenter: parent.verticalCenter
Rectangle {
width: Math.round(ScreenTools.defaultFontPixelWidth * 45)
height: Math.round(width * 0.5)
radius: ScreenTools.defaultFontPixelWidth * 2
color: qgcPal.window
border.color: qgcPal.text
border.width: ScreenTools.defaultFontPixelWidth * 0.25
anchors.horizontalCenter: parent.horizontalCenter
property bool hasStickPositions: controller.stickPositions.length === 4
//---------------------------------------------------------
//-- Left Stick
Rectangle {
width: parent.width * 0.25
height: width
radius: width * 0.5
color: qgcPal.window
border.color: qgcPal.text
border.width: ScreenTools.defaultFontPixelWidth * 0.125
x: (parent.width * 0.25) - (width * 0.5)
y: (parent.height * 0.5) - (height * 0.5)
}
Rectangle {
color: qgcPal.colorGreen
width: parent.width * 0.035
height: width
radius: width * 0.5
visible: parent.hasStickPositions
x: (parent.width * controller.stickPositions[0]) - (width * 0.5)
y: (parent.height * controller.stickPositions[1]) - (height * 0.5)
}
//---------------------------------------------------------
//-- Right Stick
Rectangle {
width: parent.width * 0.25
height: width
radius: width * 0.5
color: qgcPal.window
border.color: qgcPal.text
border.width: ScreenTools.defaultFontPixelWidth * 0.125
x: (parent.width * 0.75) - (width * 0.5)
y: (parent.height * 0.5) - (height * 0.5)
}
Rectangle {
color: qgcPal.colorGreen
width: parent.width * 0.035
height: width
radius: width * 0.5
visible: parent.hasStickPositions
x: (parent.width * controller.stickPositions[2]) - (width * 0.5)
y: (parent.height * controller.stickPositions[3]) - (height * 0.5)
}
//---------------------------------------------------------
//-- Gimbal Pitch
Rectangle {
width: ScreenTools.defaultFontPixelWidth * 0.125
height: parent.height * 0.2
color: qgcPal.text
visible: controller.hasGimbal
x: (parent.width * 0.5) - (width * 0.5)
y: (parent.height * 0.5) - (height * 0.5)
}
Rectangle {
color: qgcPal.colorGreen
width: parent.width * 0.035
height: width
radius: width * 0.5
visible: controller.hasGimbal
x: (parent.width * controller.gimbalPositions[0]) - (width * 0.5)
y: (parent.height * controller.gimbalPositions[1]) - (height * 0.5)
}
//---------------------------------------------------------
//-- Gimbal Yaw
Rectangle {
width: parent.width * 0.2
height: ScreenTools.defaultFontPixelWidth * 0.125
color: qgcPal.text
visible: controller.hasGimbal
x: (parent.width * 0.5) - (width * 0.5)
y: (parent.height * 0.3) - (height * 0.5)
}
Rectangle {
color: qgcPal.colorGreen
width: parent.width * 0.035
height: width
radius: width * 0.5
visible: controller.hasGimbal
x: (parent.width * controller.gimbalPositions[2]) - (width * 0.5)
y: (parent.height * controller.gimbalPositions[3]) - (height * 0.5)
}
}
}
//---------------------------------------------------------------------
// Monitor
Column {
spacing: ScreenTools.defaultFontPixelHeight * 0.5
anchors.verticalCenter: parent.verticalCenter
QGCLabel {
text: qsTr("Axis Monitor")
anchors.horizontalCenter: parent.horizontalCenter
}
Connections {
target: controller
onAxisValueChanged: {
if (axisMonitorRepeater.itemAt(axis)) {
axisMonitorRepeater.itemAt(axis).axis.axisValue = value
}
}
onAxisDeadbandChanged: {
if (axisMonitorRepeater.itemAt(axis)) {
axisMonitorRepeater.itemAt(axis).axis.deadbandValue = value
}
}
}
Repeater {
id: axisMonitorRepeater
model: _activeJoystick ? _activeJoystick.axisCount : 0
width: parent.width
Row {
spacing: 5
anchors.horizontalCenter: parent.horizontalCenter
// Need this to get to loader from Connections above
property Item axis: theAxis
QGCLabel {
id: axisLabel
text: modelData
}
AxisMonitor {
id: theAxis
anchors.verticalCenter: axisLabel.verticalCenter
height: ScreenTools.defaultFontPixelHeight
width: 200
narrowIndicator: true
mapped: true
reversed: false
MouseArea {
id: deadbandMouseArea
anchors.fill: parent.item
enabled: controller.deadbandToggle
preventStealing: true
property real startX
property real direction
onPressed: {
startX = mouseX
direction = startX > width/2 ? 1 : -1
parent.item.deadbandColor = "#3C6315"
}
onPositionChanged: {
var mouseToDeadband = 32768/(width/2) // Factor to have deadband follow the mouse movement
var newValue = parent.item.deadbandValue + direction*(mouseX - startX)*mouseToDeadband
if ((newValue > 0) && (newValue <32768)){parent.item.deadbandValue=newValue;}
startX = mouseX
}
onReleased: {
controller.setDeadbandValue(modelData,parent.item.deadbandValue)
parent.item.deadbandColor = "#8c161a"
}
}
}
}
}
}
}
// Command Buttons
Row {
spacing: ScreenTools.defaultFontPixelWidth * 2
visible: _activeJoystick.requiresCalibration
anchors.horizontalCenter: parent.horizontalCenter
QGCButton {
id: skipButton
text: qsTr("Skip")
enabled: controller.calibrating ? controller.skipEnabled : false
width: ScreenTools.defaultFontPixelWidth * 10
onClicked: controller.skipButtonClicked()
}
QGCButton {
text: qsTr("Cancel")
width: ScreenTools.defaultFontPixelWidth * 10
enabled: controller.calibrating
onClicked: {
if(controller.calibrating)
controller.cancelButtonClicked()
}
}
QGCButton {
id: nextButton
primary: true
enabled: controller.calibrating ? controller.nextEnabled : true
text: controller.calibrating ? qsTr("Next") : qsTr("Start")
width: ScreenTools.defaultFontPixelWidth * 10
onClicked: controller.nextButtonClicked()
}
}
// Status Text
QGCLabel {
text: controller.statusText
width: parent.width * 0.8
wrapMode: Text.WordWrap
horizontalAlignment: Text.AlignHCenter
anchors.horizontalCenter: parent.horizontalCenter
}
}
}
src/VehicleSetup/JoystickConfigController.cc
View file @ 089860de
......@@ -28,21 +28,6 @@ const int JoystickConfigController::_calMinDelta = 1000; ///< Amo
const int JoystickConfigController::_stickDetectSettleMSecs = 500;
const char* JoystickConfigController::_imageFilePrefix = "calibration/joystick/";
const char* JoystickConfigController::_imageFileMode1Dir = "mode1/";
const char* JoystickConfigController::_imageFileMode2Dir = "mode2/";
const char* JoystickConfigController::_imageFileMode3Dir = "mode3/";
const char* JoystickConfigController::_imageFileMode4Dir = "mode4/";
const char* JoystickConfigController::_imageCenter = "joystickCenter.png";
const char* JoystickConfigController::_imageThrottleUp = "joystickThrottleUp.png";
const char* JoystickConfigController::_imageThrottleDown = "joystickThrottleDown.png";
const char* JoystickConfigController::_imageYawLeft = "joystickYawLeft.png";
const char* JoystickConfigController::_imageYawRight = "joystickYawRight.png";
const char* JoystickConfigController::_imageRollLeft = "joystickRollLeft.png";
const char* JoystickConfigController::_imageRollRight = "joystickRollRight.png";
const char* JoystickConfigController::_imagePitchUp = "joystickPitchUp.png";
const char* JoystickConfigController::_imagePitchDown = "joystickPitchDown.png";
static const JoystickConfigController::stateStickPositions stSticksCentered {
0.25, 0.5, 0.75, 0.5
};
......@@ -137,7 +122,7 @@ JoystickConfigController::~JoystickConfigController()
/// @brief Returns the state machine entry for the specified state.
const JoystickConfigController::stateMachineEntry* JoystickConfigController::_getStateMachineEntry(int step)
{
static const char* msgBegin = "Allow all sticks to center as shown in diagram.\n\nClick Next to continue";
static const char* msgBegin = "Allow all sticks to center as shown in diagram.\nClick Next to continue";
static const char* msgThrottleUp = "Move the Throttle stick all the way up and hold it there...";
static const char* msgThrottleDown = "Move the Throttle stick all the way down and hold it there...";
static const char* msgYawLeft = "Move the Yaw stick all the way to the left and hold it there...";
......@@ -151,7 +136,7 @@ const JoystickConfigController::stateMachineEntry* JoystickConfigController::_ge
static const char* msgGimbalPitchUp = "Move the Gimbal Pitch control all the way up and hold it there...";
static const char* msgGimbalYawLeft = "Move the Gimbal Yaw control all the way to the left and hold it there...";
static const char* msgGimbalYawRight = "Move the Gimbal Yaw control all the way to the right and hold it there...";
static const char* msgComplete = "All settings have been captured. Click Next to enable the joystick.";
static const char* msgComplete = "All settings have been captured.\nClick Next to enable the joystick.";
static const stateMachineEntry rgStateMachine[] = {
//Function
......@@ -189,6 +174,24 @@ void JoystickConfigController::_advanceState()
_setupCurrentState();
}
bool JoystickConfigController::nextEnabled()
{
if(_currentStep >= 0) {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
return state->nextFn != nullptr;
}
return false;
}
bool JoystickConfigController::skipEnabled()
{
if(_currentStep >= 0) {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
return state->skipFn != nullptr;
}
return false;
}
/// @brief Sets up the state machine according to the current step from _currentStep.
void JoystickConfigController::_setupCurrentState()
{
......@@ -197,14 +200,14 @@ void JoystickConfigController::_setupCurrentState()
_stickDetectAxis = _axisNoAxis;
_stickDetectSettleStarted = false;
_calSaveCurrentValues();
_nextButton->setEnabled(state->nextFn != nullptr);
_skipButton->setEnabled(state->skipFn != nullptr);
_currentStickPositions.clear();
_currentStickPositions << state->stickPositions.leftX << state->stickPositions.leftY << state->stickPositions.rightX << state->stickPositions.rightY;
_currentGimbalPositions.clear();
_currentGimbalPositions << state->gimbalPositions.leftX << state->gimbalPositions.leftY << state->gimbalPositions.rightX << state->gimbalPositions.rightY;
emit stickPositionsChanged();
emit gimbalPositionsChanged();
emit nextEnabledChanged();
emit skipEnabledChanged();
}
void JoystickConfigController::_axisValueChanged(int axis, int value)
......@@ -300,7 +303,6 @@ void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t fu
if ((abs(value) * 1.1f > _rgAxisInfo[axis].deadband) && (_activeJoystick->deadband())) { //add 10% on top of existing deadband
_axisDeadbandChanged(axis, static_cast<int>(abs(value) * 1.1f));
}
_nextButton->setEnabled(true);
// FIXME: Doesn't wait for center
}
......@@ -588,8 +590,6 @@ void JoystickConfigController::_startCalibration()
{
_activeJoystick->setCalibrationMode(true);
_resetInternalCalibrationValues();
_nextButton->setProperty("text", "Next");
_cancelButton->setEnabled(true);
_currentStep = 0;
_setupCurrentState();
emit calibratingChanged();
......@@ -602,11 +602,13 @@ void JoystickConfigController::_stopCalibration()
_activeJoystick->setCalibrationMode(false);
_setInternalCalibrationValuesFromSettings();
_setStatusText("");
_nextButton->setProperty("text", tr("Calibrate"));
_nextButton->setEnabled(true);
_cancelButton->setEnabled(false);
_skipButton->setEnabled(false);
emit calibratingChanged();
_currentStickPositions.clear();
_currentGimbalPositions.clear();
_currentStickPositions << _sticksCentered.leftX << _sticksCentered.leftY << _sticksCentered.rightX << _sticksCentered.rightY;
_currentGimbalPositions << stGimbalCentered.leftX << stGimbalCentered.leftY << stGimbalCentered.rightX << stGimbalCentered.rightY;
emit stickPositionsChanged();
emit gimbalPositionsChanged();
}
/// @brief Saves the current axis values, so that we can detect when the use moves an input.
......@@ -618,22 +620,6 @@ void JoystickConfigController::_calSaveCurrentValues()
}
}
/// @brief Set up the Save state of calibration.
void JoystickConfigController::_calSave()
{
_calState = calStateSave;
_setStatusText(tr(
"The current calibration settings are now displayed for each axis on screen.\n\n"
"Click the Next button to upload calibration to board. Click Cancel if you don't want to save these values."));
_nextButton->setEnabled(true);
_skipButton->setEnabled(false);
_cancelButton->setEnabled(true);
// This updates the internal values according to the validation rules. Then _updateView will tick and update ui
// such that the settings that will be written out are displayed.
_validateCalibration();
}
void JoystickConfigController::_setStickPositions()
{
_sticksCentered = stSticksCentered;
......
src/VehicleSetup/JoystickConfigController.h
View file @ 089860de
......@@ -41,10 +41,6 @@ public:
Q_PROPERTY(QString statusText READ statusText NOTIFY statusTextChanged)
Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
Q_PROPERTY(QQuickItem* nextButton MEMBER _nextButton)
Q_PROPERTY(QQuickItem* skipButton MEMBER _skipButton)
Q_PROPERTY(bool rollAxisMapped READ rollAxisMapped NOTIFY rollAxisMappedChanged)
Q_PROPERTY(bool pitchAxisMapped READ pitchAxisMapped NOTIFY pitchAxisMappedChanged)
Q_PROPERTY(bool yawAxisMapped READ yawAxisMapped NOTIFY yawAxisMappedChanged)
......@@ -66,6 +62,8 @@ public:
Q_PROPERTY(int transmitterMode READ transmitterMode WRITE setTransmitterMode NOTIFY transmitterModeChanged)
Q_PROPERTY(bool calibrating READ calibrating NOTIFY calibratingChanged)
Q_PROPERTY(bool nextEnabled READ nextEnabled NOTIFY nextEnabledChanged)
Q_PROPERTY(bool skipEnabled READ skipEnabled NOTIFY skipEnabledChanged)
Q_PROPERTY(QList<qreal> stickPositions READ stickPositions NOTIFY stickPositionsChanged)
Q_PROPERTY(QList<qreal> gimbalPositions READ gimbalPositions NOTIFY gimbalPositionsChanged)
......@@ -103,6 +101,8 @@ public:
void setTransmitterMode (int mode);
bool calibrating () { return _currentStep != -1; }
bool nextEnabled ();
bool skipEnabled ();
QList<qreal> stickPositions () { return _currentStickPositions; }
QList<qreal> gimbalPositions () { return _currentGimbalPositions; }
......@@ -132,6 +132,8 @@ signals:
void deadbandToggled (bool value);
void transmitterModeChanged (int mode);
void calibratingChanged ();
void nextEnabledChanged ();
void skipEnabledChanged ();
void stickPositionsChanged ();
void gimbalPositionsChanged ();
void hasGimbalChanged ();
......@@ -213,7 +215,6 @@ private:
void _startCalibration ();
void _stopCalibration ();
void _calSave ();
void _calSaveCurrentValues ();
......@@ -223,23 +224,6 @@ private:
void _setStatusText (const QString& text);
// Member variables
static const char* _imageFileMode1Dir;
static const char* _imageFileMode2Dir;
static const char* _imageFileMode3Dir;
static const char* _imageFileMode4Dir;
static const char* _imageFilePrefix;
static const char* _imageCenter;
static const char* _imageThrottleUp;
static const char* _imageThrottleDown;
static const char* _imageYawLeft;
static const char* _imageYawRight;
static const char* _imageRollLeft;
static const char* _imageRollRight;
static const char* _imagePitchUp;
static const char* _imagePitchDown;
stateStickPositions _sticksCentered;
stateStickPositions _sticksThrottleUp;
stateStickPositions _sticksThrottleDown;
......@@ -286,14 +270,10 @@ private:
int _stickDetectValue;
bool _stickDetectSettleStarted;
QTime _stickDetectSettleElapsed;
static const int _stickDetectSettleMSecs;
QString _statusText;
static const int _stickDetectSettleMSecs;
QQuickItem* _cancelButton = nullptr;
QQuickItem* _nextButton = nullptr;
QQuickItem* _skipButton = nullptr;
QString _statusText;
JoystickManager* _joystickManager;
};
......
src/VehicleSetup/JoystickConfigGeneral.qml 0 → 100644
View file @ 089860de
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.11
import QtQuick.Controls 2.4
import QtQuick.Dialogs 1.3
import QtQuick.Layouts 1.11
import QGroundControl 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
Item {
width: mainCol.width + (ScreenTools.defaultFontPixelWidth * 2)
height: mainCol.height + (ScreenTools.defaultFontPixelHeight * 2)
readonly property real axisMonitorWidth: ScreenTools.defaultFontPixelWidth * 32
Column {
id: mainCol
anchors.centerIn: parent
spacing: ScreenTools.defaultFontPixelHeight
GridLayout {
columns: 2
columnSpacing: ScreenTools.defaultFontPixelWidth
rowSpacing: ScreenTools.defaultFontPixelHeight
//---------------------------------------------------------------------
//-- Enable Joystick
QGCLabel {
text: _activeJoystick ? _activeJoystick.calibrated ? qsTr("Enable joystick input") : qsTr("Enable not allowed (Calibrate First)") : ""
Layout.alignment: Qt.AlignVCenter
Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 36
}
QGCCheckBox {
id: enabledSwitch
enabled: _activeJoystick ? _activeJoystick.calibrated : false
onClicked: activeVehicle.joystickEnabled = checked
Component.onCompleted: {
checked = activeVehicle.joystickEnabled
}
Connections {
target: activeVehicle
onJoystickEnabledChanged: {
enabledSwitch.checked = activeVehicle.joystickEnabled
}
}
Connections {
target: joystickManager
onActiveJoystickChanged: {
if(_activeJoystick) {
enabledSwitch.checked = Qt.binding(function() { return _activeJoystick.calibrated && activeVehicle.joystickEnabled })
}
}
}
}
//---------------------------------------------------------------------
//-- Joystick Selector
QGCLabel {
text: qsTr("Active joystick:")
Layout.alignment: Qt.AlignVCenter
}
QGCComboBox {
id: joystickCombo
width: ScreenTools.defaultFontPixelWidth * 40
Layout.alignment: Qt.AlignVCenter
model: joystickManager.joystickNames
onActivated: joystickManager.activeJoystickName = textAt(index)
Component.onCompleted: {
var index = joystickCombo.find(joystickManager.activeJoystickName)
if (index === -1) {
console.warn(qsTr("Active joystick name not in combo"), joystickManager.activeJoystickName)
} else {
joystickCombo.currentIndex = index
}
}
Connections {
target: joystickManager
onAvailableJoysticksChanged: {
var index = joystickCombo.find(joystickManager.activeJoystickName)
if (index >= 0) {
joystickCombo.currentIndex = index
}
}
}
}
//---------------------------------------------------------------------
//-- RC Mode
QGCLabel {
text: qsTr("RC Mode:")
Layout.alignment: Qt.AlignVCenter
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCRadioButton {
text: "1"
checked: controller.transmitterMode === 1
enabled: !controller.calibrating
onClicked: controller.transmitterMode = 1
anchors.verticalCenter: parent.verticalCenter
}
QGCRadioButton {
text: "2"
checked: controller.transmitterMode === 2
enabled: !controller.calibrating
onClicked: controller.transmitterMode = 2
anchors.verticalCenter: parent.verticalCenter
}
QGCRadioButton {
text: "3"
checked: controller.transmitterMode === 3
enabled: !controller.calibrating
onClicked: controller.transmitterMode = 3
anchors.verticalCenter: parent.verticalCenter
}
QGCRadioButton {
text: "4"
checked: controller.transmitterMode === 4
enabled: !controller.calibrating
onClicked: controller.transmitterMode = 4
anchors.verticalCenter: parent.verticalCenter
}
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
//---------------------------------------------------------------------
//-- Axis Monitors
Rectangle {
id: axisRect
color: Qt.rgba(0,0,0,0)
border.color: qgcPal.text
border.width: 1
radius: ScreenTools.defaultFontPixelWidth * 0.5
width: axisGrid.width + (ScreenTools.defaultFontPixelWidth * 2)
height: axisGrid.height + (ScreenTools.defaultFontPixelHeight * 2)
GridLayout {
id: axisGrid
columns: 2
columnSpacing: ScreenTools.defaultFontPixelWidth
rowSpacing: ScreenTools.defaultFontPixelHeight
anchors.centerIn: parent
QGCLabel {
text: activeVehicle.sub ? qsTr("Lateral") : qsTr("Roll")
}
AxisMonitor {
id: rollAxis
height: ScreenTools.defaultFontPixelHeight
width: axisMonitorWidth
mapped: controller.rollAxisMapped
reversed: controller.rollAxisReversed
Connections {
target: _activeJoystick
onManualControl: rollAxis.axisValue = roll * 32768.0
}
}
QGCLabel {
id: pitchLabel
width: _attitudeLabelWidth
text: activeVehicle.sub ? qsTr("Forward") : qsTr("Pitch")
}
AxisMonitor {
id: pitchAxis
height: ScreenTools.defaultFontPixelHeight
width: axisMonitorWidth
mapped: controller.pitchAxisMapped
reversed: controller.pitchAxisReversed
Connections {
target: _activeJoystick
onManualControl: pitchAxis.axisValue = pitch * 32768.0
}
}
QGCLabel {
id: yawLabel
width: _attitudeLabelWidth
text: qsTr("Yaw")
}
AxisMonitor {
id: yawAxis
height: ScreenTools.defaultFontPixelHeight
width: axisMonitorWidth
mapped: controller.yawAxisMapped
reversed: controller.yawAxisReversed
Connections {
target: _activeJoystick
onManualControl: yawAxis.axisValue = yaw * 32768.0
}
}
QGCLabel {
id: throttleLabel
width: _attitudeLabelWidth
text: qsTr("Throttle")
}
AxisMonitor {
id: throttleAxis
height: ScreenTools.defaultFontPixelHeight
width: axisMonitorWidth
mapped: controller.throttleAxisMapped
reversed: controller.throttleAxisReversed
Connections {
target: _activeJoystick
onManualControl: throttleAxis.axisValue = _activeJoystick.negativeThrust ? throttle * -32768.0 : (-2 * throttle + 1) * 32768.0
}
}
QGCLabel {
id: gimbalPitchLabel
width: _attitudeLabelWidth
text: qsTr("Gimbal Pitch")
visible: controller.hasGimbal
}
AxisMonitor {
id: gimbalPitchAxis
height: ScreenTools.defaultFontPixelHeight
width: axisMonitorWidth
mapped: controller.gimbalPitchAxisMapped
reversed: controller.gimbalPitchAxisReversed
visible: controller.hasGimbal
Connections {
target: _activeJoystick
onManualControl: gimbalPitchAxis.axisValue = gimbalPitch * 32768.0
}
}
QGCLabel {
id: gimbalYawLabel
width: _attitudeLabelWidth
text: qsTr("Gimbal Yaw")
visible: controller.hasGimbal
}
AxisMonitor {
id: gimbalYawAxis
height: ScreenTools.defaultFontPixelHeight
width: axisMonitorWidth
mapped: controller.gimbalYawAxisMapped
reversed: controller.gimbalYawAxisReversed
Connections {
target: _activeJoystick
onManualControl: gimbalYawAxis.axisValue = gimbalYaw * 32768.0
}
}
}
}
Rectangle {
color: Qt.rgba(0,0,0,0)
border.color: qgcPal.text
border.width: 1
radius: ScreenTools.defaultFontPixelWidth * 0.5
width: axisRect.width
height: axisRect.height
Flow {
width: ScreenTools.defaultFontPixelWidth * 30
spacing: -1
anchors.centerIn: parent
Connections {
target: _activeJoystick
onRawButtonPressedChanged: {
if (buttonMonitorRepeater.itemAt(index)) {
buttonMonitorRepeater.itemAt(index).pressed = pressed
}
}
}
Repeater {
id: buttonMonitorRepeater
model: _activeJoystick ? _activeJoystick.totalButtonCount : []
Rectangle {
width: ScreenTools.defaultFontPixelHeight * 1.5
height: width
border.width: 1
border.color: qgcPal.text
color: pressed ? qgcPal.buttonHighlight : qgcPal.windowShade
property bool pressed
QGCLabel {
anchors.fill: parent
color: pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
horizontalAlignment: Text.AlignHCenter
verticalAlignment: Text.AlignVCenter
text: modelData
}
}
}
}
}
}
}
}
src/uas/UAS.cc
View file @ 089860de
......@@ -839,8 +839,12 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
* Set the manual control commands.
* This can only be done if the system has manual inputs enabled and is armed.
*/
void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode)
void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMode)
{
//-- TODO
Q_UNUSED(gimbalPitch);
Q_UNUSED(gimbalYaw);
if (!_vehicle) {
return;
}
......@@ -997,11 +1001,11 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
} else if (joystickMode == Vehicle::JoystickModeRC) {
// Save the new manual control inputs
manualRollAngle = roll;
manualPitchAngle = pitch;
manualYawAngle = yaw;
manualThrust = thrust;
manualButtons = buttons;
manualRollAngle = roll;
manualPitchAngle = pitch;
manualYawAngle = yaw;
manualThrust = thrust;
manualButtons = buttons;
// Store scaling values for all 3 axes
const float axesScaling = 1.0 * 1000.0;
......@@ -1009,19 +1013,22 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
// Calculate the new commands for roll, pitch, yaw, and thrust
const float newRollCommand = roll * axesScaling;
// negate pitch value because pitch is negative for pitching forward but mavlink message argument is positive for forward
const float newPitchCommand = -pitch * axesScaling;
const float newYawCommand = yaw * axesScaling;
const float newPitchCommand = -pitch * axesScaling;
const float newYawCommand = yaw * axesScaling;
const float newThrustCommand = thrust * axesScaling;
//qDebug() << newRollCommand << newPitchCommand << newYawCommand << newThrustCommand;
// Send the MANUAL_COMMAND message
mavlink_msg_manual_control_pack_chan(mavlink->getSystemId(),
mavlink->getComponentId(),
_vehicle->priorityLink()->mavlinkChannel(),
&message,
this->uasId,
newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
mavlink_msg_manual_control_pack_chan(
static_cast<uint8_t>(mavlink->getSystemId()),
static_cast<uint8_t>(mavlink->getComponentId()),
_vehicle->priorityLink()->mavlinkChannel(),
&message,
static_cast<uint8_t>(this->uasId),
static_cast<int16_t>(newPitchCommand),
static_cast<int16_t>(newRollCommand),
static_cast<int16_t>(newThrustCommand),
static_cast<int16_t>(newYawCommand),
buttons);
}
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
......
src/uas/UAS.h
View file @ 089860de
......@@ -263,7 +263,7 @@ public slots:
#endif
/** @brief Set the values for the manual control of the vehicle */
void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMode);
/** @brief Set the values for the 6dof manual control of the vehicle */
#ifndef __mobile__
......
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