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Commit 0c45b7f0 authored by Michael Carpenter's avatar Michael Carpenter
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Initial implementation of FailSafe configuration

parent 3e383c01
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src/ui/configuration/FailSafeConfig.cc
View file @ 0c45b7f0
#include "FailSafeConfig.h"
FailSafeConfig::FailSafeConfig(QWidget *parent) : QWidget(parent)
FailSafeConfig::FailSafeConfig(QWidget *parent) : AP2ConfigWidget(parent)
{
ui.setupUi(this);
ui.radio1In->setName("Radio 1");
ui.radio1In->setMin(800);
ui.radio1In->setMax(2200);
ui.radio1In->setOrientation(Qt::Horizontal);
ui.radio2In->setName("Radio 2");
ui.radio2In->setMin(800);
ui.radio2In->setMax(2200);
ui.radio2In->setOrientation(Qt::Horizontal);
ui.radio3In->setName("Radio 3");
ui.radio3In->setMin(800);
ui.radio3In->setMax(2200);
ui.radio3In->setOrientation(Qt::Horizontal);
ui.radio4In->setName("Radio 4");
ui.radio4In->setMin(800);
ui.radio4In->setMax(2200);
ui.radio4In->setOrientation(Qt::Horizontal);
ui.radio5In->setName("Radio 5");
ui.radio5In->setMin(800);
ui.radio5In->setMax(2200);
ui.radio5In->setOrientation(Qt::Horizontal);
ui.radio6In->setName("Radio 6");
ui.radio6In->setMin(800);
ui.radio6In->setMax(2200);
ui.radio6In->setOrientation(Qt::Horizontal);
ui.radio7In->setName("Radio 7");
ui.radio7In->setMin(800);
ui.radio7In->setMax(2200);
ui.radio7In->setOrientation(Qt::Horizontal);
ui.radio8In->setName("Radio 8");
ui.radio8In->setMin(800);
ui.radio8In->setMax(2200);
ui.radio8In->setOrientation(Qt::Horizontal);
ui.radio1Out->setName("Radio 1");
ui.radio1Out->setMin(800);
ui.radio1Out->setMax(2200);
ui.radio1Out->setOrientation(Qt::Horizontal);
ui.radio2Out->setName("Radio 2");
ui.radio2Out->setMin(800);
ui.radio2Out->setMax(2200);
ui.radio2Out->setOrientation(Qt::Horizontal);
ui.radio3Out->setName("Radio 3");
ui.radio3Out->setMin(800);
ui.radio3Out->setMax(2200);
ui.radio3Out->setOrientation(Qt::Horizontal);
ui.radio4Out->setName("Radio 4");
ui.radio4Out->setMin(800);
ui.radio4Out->setMax(2200);
ui.radio4Out->setOrientation(Qt::Horizontal);
ui.radio5Out->setName("Radio 5");
ui.radio5Out->setMin(800);
ui.radio5Out->setMax(2200);
ui.radio5Out->setOrientation(Qt::Horizontal);
ui.radio6Out->setName("Radio 6");
ui.radio6Out->setMin(800);
ui.radio6Out->setMax(2200);
ui.radio6Out->setOrientation(Qt::Horizontal);
ui.radio7Out->setName("Radio 7");
ui.radio7Out->setMin(800);
ui.radio7Out->setMax(2200);
ui.radio7Out->setOrientation(Qt::Horizontal);
ui.radio8Out->setName("Radio 8");
ui.radio8Out->setMin(800);
ui.radio8Out->setMax(2200);
ui.radio8Out->setOrientation(Qt::Horizontal);
ui.throttleFailSafeComboBox->addItem("Disable");
ui.throttleFailSafeComboBox->addItem("Enabled - Always TRL");
ui.throttleFailSafeComboBox->addItem("Enabled - Continue in auto");
}
FailSafeConfig::~FailSafeConfig()
{
}
void FailSafeConfig::activeUASSet(UASInterface *uas)
{
AP2ConfigWidget::activeUASSet(uas);
connect(uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
connect(uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
connect(uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
}
void FailSafeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
//Arducopter
if (parameterName == "FS_THR_ENABLE")
{
ui.throttleFailSafeComboBox->setCurrentIndex(value.toInt());
}
else if (parameterName == "FS_THR_VALUE")
{
ui.throttlePwmSpinBox->setValue(value.toFloat());
}
else if (parameterName == "FS_BATT_ENABLE")
{
if (value.toInt() == 0)
{
ui.batteryFailCheckBox->setChecked(false);
}
else
{
ui.batteryFailCheckBox->setChecked(true);
}
}
else if (parameterName == "LOW_VOLT")
{
ui.batteryVoltSpinBox->setValue(value.toFloat());
}
//Arduplane
else if (parameterName == "THR_FAILSAFE")
{
if (value.toInt() == 0)
{
ui.throttleCheckBox->setChecked(false);
}
else
{
ui.throttleCheckBox->setChecked(true);
}
}
else if (parameterName == "THR_FS_VALUE")
{
ui.throttlePwmSpinBox->setValue(value.toFloat());
}
else if (parameterName == "THR_FS_ACTION")
{
if (value.toInt() == 0)
{
ui.throttleActionCheckBox->setChecked(false);
}
else
{
ui.throttleActionCheckBox->setChecked(true);
}
}
else if (parameterName == "FS_GCS_ENABL")
{
if (value.toInt() == 0)
{
ui.gcsCheckBox->setChecked(false);
}
else
{
ui.gcsCheckBox->setChecked(true);
}
}
else if (parameterName == "FS_SHORT_ACTN")
{
if (value.toInt() == 0)
{
ui.fsShortCheckBox->setChecked(false);
}
else
{
ui.fsShortCheckBox->setChecked(true);
}
}
else if (parameterName == "FS_LONG_ACTN")
{
if (value.toInt() == 0)
{
ui.fsLongCheckBox->setChecked(false);
}
else
{
ui.fsLongCheckBox->setChecked(true);
}
}
}
void FailSafeConfig::armingChanged(bool armed)
{
if (armed)
{
ui.armedLabel->setText("<h1>ARMED</h1>");
}
else
{
ui.armedLabel->setText("<h1>DISARMED</h1>");
}
}
void FailSafeConfig::remoteControlChannelRawChanges(int chan,float value)
{
if (chan == 0)
{
ui.radio1In->setValue(value);
}
else if (chan == 1)
{
ui.radio2In->setValue(value);
}
else if (chan == 2)
{
ui.radio3In->setValue(value);
}
else if (chan == 3)
{
ui.radio4In->setValue(value);
}
else if (chan == 4)
{
ui.radio5In->setValue(value);
}
else if (chan == 5)
{
ui.radio6In->setValue(value);
}
else if (chan == 6)
{
ui.radio7In->setValue(value);
}
else if (chan == 7)
{
ui.radio8In->setValue(value);
}
}
void FailSafeConfig::hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
{
ui.radio1Out->setValue(act1);
ui.radio2Out->setValue(act2);
ui.radio3Out->setValue(act3);
ui.radio4Out->setValue(act4);
ui.radio5Out->setValue(act5);
ui.radio6Out->setValue(act6);
ui.radio7Out->setValue(act7);
ui.radio8Out->setValue(act8);
}
src/ui/configuration/FailSafeConfig.h
View file @ 0c45b7f0
......@@ -3,15 +3,20 @@
#include <QWidget>
#include "ui_FailSafeConfig.h"
class FailSafeConfig : public QWidget
#include "AP2ConfigWidget.h"
class FailSafeConfig : public AP2ConfigWidget
{
Q_OBJECT
public:
explicit FailSafeConfig(QWidget *parent = 0);
~FailSafeConfig();
private slots:
void activeUASSet(UASInterface *uas);
void remoteControlChannelRawChanges(int chan,float value);
void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
void armingChanged(bool armed);
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
private:
Ui::FailSafeConfig ui;
};
......
src/ui/configuration/FailSafeConfig.ui
View file @ 0c45b7f0
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
<width>822</width>
<height>536</height>
</rect>
</property>
<property name="windowTitle">
......@@ -26,7 +26,427 @@
<string>&lt;h2&gt;Fail Safe&lt;/h2&gt;</string>
</property>
</widget>
<widget class="QWidget" name="verticalLayoutWidget">
<property name="geometry">
<rect>
<x>20</x>
<y>70</y>
<width>252</width>
<height>441</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QGCRadioChannelDisplay" name="radio1In" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio2In" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio3In" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio4In" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio5In" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio6In" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio7In" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio8In" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="verticalLayoutWidget_2">
<property name="geometry">
<rect>
<x>300</x>
<y>70</y>
<width>252</width>
<height>441</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QGCRadioChannelDisplay" name="radio1Out" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio2Out" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio3Out" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio4Out" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio5Out" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio6Out" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio7Out" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio8Out" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBox">
<property name="geometry">
<rect>
<x>570</x>
<y>60</y>
<width>181</width>
<height>181</height>
</rect>
</property>
<property name="title">
<string>Status</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="modeLabel">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="armedLabel">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="gpsLabel">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBox_2">
<property name="geometry">
<rect>
<x>570</x>
<y>250</y>
<width>161</width>
<height>261</height>
</rect>
</property>
<property name="title">
<string>Failsafe Options</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QCheckBox" name="throttleCheckBox">
<property name="text">
<string>Throttle FailSafe</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="throttleFailSafeComboBox"/>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>FS Pwm</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="throttlePwmSpinBox">
<property name="maximum">
<number>3000</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QCheckBox" name="throttleActionCheckBox">
<property name="text">
<string>Throttle FailSafe Action</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="gcsCheckBox">
<property name="text">
<string>GCS FailSafe</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="fsShortCheckBox">
<property name="text">
<string>FailSafe Short (1 sec)</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="fsLongCheckBox">
<property name="text">
<string>FailSafe Long (20 sec)</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="batteryFailCheckBox">
<property name="text">
<string>Battery Failsafe</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>Low Battery</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="batteryVoltSpinBox">
<property name="maximum">
<double>100.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<customwidgets>
<customwidget>
<class>QGCRadioChannelDisplay</class>
<extends>QWidget</extends>
<header>ui/designer/QGCRadioChannelDisplay.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
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