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Commit 47d59fa9 authored by Lorenz Meier's avatar Lorenz Meier
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Firmware upgrade app, XPlane link improvements, better RC calibration

parent 16f28ff7
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Inline Side-by-side
Showing with 447 additions and 245 deletions
src/PX4FirmwareUpgradeWorker.cc
View file @ 47d59fa9
#include <QJsonDocument>
#include <QFile>
#include "PX4FirmwareUpgradeWorker.h"
#include <SerialLink.h>
......@@ -49,21 +52,28 @@ PX4FirmwareUpgradeWorker* PX4FirmwareUpgradeWorker::putWorkerInThread(QObject *p
// Starts an event loop, and emits workerThread->started()
workerThread->start();
return worker;
}
bool PX4FirmwareUpgradeWorker::startContinousScan()
void PX4FirmwareUpgradeWorker::startContinousScan()
{
while (true) {
if (detect()) {
break;
}
exitThread = false;
while (!exitThread) {
// if (detect()) {
// break;
// }
QGC::SLEEP::msleep(20);
}
return true;
if (exitThread) {
link->disconnect();
delete link;
exit(0);
}
}
bool PX4FirmwareUpgradeWorker::detect()
void PX4FirmwareUpgradeWorker::detect()
{
if (!link)
{
......@@ -80,7 +90,7 @@ bool PX4FirmwareUpgradeWorker::detect()
// Ignore known wrong link names
if (ports->at(i).contains("Bluetooth")) {
continue;
//continue;
}
link->setPortName(ports->at(i));
......@@ -101,12 +111,6 @@ bool PX4FirmwareUpgradeWorker::detect()
break;
}
if (insync) {
return true;
} else {
return false;
}
//ui.portName->setCurrentIndex(ui.baudRate->findText(QString("%1").arg(this->link->getPortName())));
// Set port
......@@ -119,11 +123,15 @@ void PX4FirmwareUpgradeWorker::receiveBytes(LinkInterface* link, QByteArray b)
{
for (int position = 0; position < b.size(); position++) {
qDebug() << "BYTES";
qDebug() << std::hex << (char)(b[position]);
qDebug() << (char)(b[position]);
if (((const char)b[position]) == INSYNC)
{
qDebug() << "SYNC";
insync = true;
}
if (insync && ((const char)b[position]) == OK)
{
emit detectionStatusChanged("Found PX4 board");
}
}
......@@ -131,7 +139,31 @@ void PX4FirmwareUpgradeWorker::receiveBytes(LinkInterface* link, QByteArray b)
printf("\n");
}
bool PX4FirmwareUpgradeWorker::upgrade(const QString &filename)
void PX4FirmwareUpgradeWorker::loadFirmware(const QString &filename)
{
qDebug() << __FILE__ << __LINE__ << "LOADING FW";
QFile f(filename);
if (f.open(QIODevice::ReadOnly))
{
QByteArray buf = f.readAll();
f.close();
firmware = QJsonDocument::fromBinaryData(buf);
if (firmware.isNull()) {
emit upgradeStatusChanged(tr("Failed decoding file %1").arg(filename));
} else {
emit upgradeStatusChanged(tr("Ready to flash %1").arg(filename));
}
} else {
emit upgradeStatusChanged(tr("Failed opening file %1").arg(filename));
}
}
void PX4FirmwareUpgradeWorker::upgrade()
{
emit upgradeStatusChanged(tr("Starting firmware upgrade.."));
}
void PX4FirmwareUpgradeWorker::abort()
{
exitThread = true;
}
src/PX4FirmwareUpgradeWorker.h
View file @ 47d59fa9
......@@ -2,6 +2,7 @@
#define PX4FIRMWAREUPGRADEWORKER_H
#include <QObject>
#include <QJsonDocument>
#include <SerialLink.h>
......@@ -24,7 +25,7 @@ public slots:
* @brief Continously scan for bootloaders
* @return
*/
bool startContinousScan();
void startContinousScan();
/**
* @brief Detect connected PX4 bootloaders
......@@ -34,14 +35,19 @@ public slots:
*
* @return true if found on one link, false else
*/
bool detect();
void detect();
/**
* @brief Upgrade the firmware using the currently connected link
* @param filename file name / path of the firmware file
* @return true if upgrade succeeds, false else
*/
bool upgrade(const QString &filename);
void upgrade();
/**
* @brief Load firmware from disk into memory
* @param filename
*/
void loadFirmware(const QString &filename);
/**
* @brief Receive bytes from a link
......@@ -50,9 +56,18 @@ public slots:
*/
void receiveBytes(LinkInterface* link, QByteArray b);
/**
* @brief Abort upgrade worker
*/
void abort();
protected:
bool exitThread;
private:
SerialLink *link;
bool insync;
QJsonDocument firmware;
};
#endif // PX4FIRMWAREUPGRADEWORKER_H
src/apps/qupgrade/QUpgradeApp.cc
View file @ 47d59fa9
......@@ -72,13 +72,21 @@ QUpgradeApp::QUpgradeApp(int &argc, char* argv[]) : QApplication(argc, argv)
// Create main window
QUpgradeMainWindow* window = new QUpgradeMainWindow();
PX4FirmwareUpgrader *upgrader = new PX4FirmwareUpgrader(window);
window->setCentralWidget(upgrader);
// Get PX4 upgrade widget and instantiate worker thread
PX4FirmwareUpgradeWorker* worker = PX4FirmwareUpgradeWorker::putWorkerInThread(this);
connect(worker, SIGNAL(detectionStatusChanged(QString)), window->firmwareUpgrader(), SLOT(setDetectionStatusText(QString)));
connect(worker, SIGNAL(upgradeStatusChanged(QString)), window->firmwareUpgrader(), SLOT(setFlashStatusText(QString)));
connect(worker, SIGNAL(upgradeProgressChanged(int)), window->firmwareUpgrader(), SLOT(setFlashProgress(int)));
connect(worker, SIGNAL(validPortFound(QString)), window->firmwareUpgrader(), SLOT(setPortName(QString)));
connect(worker, SIGNAL(detectionStatusChanged(QString)), upgrader, SLOT(setDetectionStatusText(QString)), Qt::QueuedConnection);
connect(worker, SIGNAL(upgradeStatusChanged(QString)), upgrader, SLOT(setFlashStatusText(QString)), Qt::QueuedConnection);
connect(worker, SIGNAL(upgradeProgressChanged(int)), upgrader, SLOT(setFlashProgress(int)), Qt::QueuedConnection);
connect(worker, SIGNAL(validPortFound(QString)), upgrader, SLOT(setPortName(QString)));
connect(upgrader, SIGNAL(firmwareFileNameSet(QString)), worker, SLOT(loadFirmware(QString)), Qt::QueuedConnection);
connect(upgrader, SIGNAL(upgrade()), worker, SLOT(upgrade()), Qt::QueuedConnection);
connect(this, SIGNAL(lastWindowClosed()), worker, SLOT(abort()), Qt::QueuedConnection);
worker->loadFirmware("abc");
window->setWindowTitle(applicationName() + " " + applicationVersion());
window->show();
......
src/apps/qupgrade/QUpgradeMainWindow.cc
View file @ 47d59fa9
......@@ -42,10 +42,6 @@ QUpgradeMainWindow::QUpgradeMainWindow(QWidget *parent) :
ui->setupUi(this);
}
PX4FirmwareUpgrader* QUpgradeMainWindow::firmwareUpgrader() {
return ui->centralwidget;
}
QUpgradeMainWindow::~QUpgradeMainWindow()
{
delete ui;
......
src/apps/qupgrade/QUpgradeMainWindow.h
View file @ 47d59fa9
......@@ -48,8 +48,6 @@ public:
explicit QUpgradeMainWindow(QWidget *parent = 0);
~QUpgradeMainWindow();
PX4FirmwareUpgrader* firmwareUpgrader();
public slots:
protected:
......
src/apps/qupgrade/QUpgradeMainWindow.ui
View file @ 47d59fa9
......@@ -13,7 +13,7 @@
<property name="windowTitle">
<string>MainWindow</string>
</property>
<widget class="PX4FirmwareUpgrader" name="centralwidget">
<widget class="QWidget" name="centralwidget">
<layout class="QGridLayout" name="gridLayout" rowstretch="0"/>
</widget>
<widget class="QMenuBar" name="menubar">
......@@ -28,14 +28,6 @@
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<customwidgets>
<customwidget>
<class>PX4FirmwareUpgrader</class>
<extends>QWidget</extends>
<header location="global">PX4FirmwareUpgrader.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
src/comm/QGCXPlaneLink.cc
View file @ 47d59fa9
......@@ -49,7 +49,10 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
terraSync(NULL),
airframeID(QGCXPlaneLink::AIRFRAME_UNKNOWN),
xPlaneConnected(false),
xPlaneVersion(0)
xPlaneVersion(0),
simUpdateLast(QGC::groundTimeMilliseconds()),
simUpdateLastText(QGC::groundTimeMilliseconds()),
simUpdateHz(0)
{
this->localHost = localHost;
this->localPort = localPort/*+mav->getUASID()*/;
......@@ -374,7 +377,7 @@ void QGCXPlaneLink::readBytes()
// Only emit updates on attitude message
bool emitUpdate = false;
const qint64 maxLength = 65536;
const qint64 maxLength = 1000;
char data[maxLength];
QHostAddress sender;
quint16 senderPort;
......@@ -509,8 +512,18 @@ void QGCXPlaneLink::readBytes()
}
// Send updated state
if (emitUpdate)
if (emitUpdate && (QGC::groundTimeMilliseconds() - simUpdateLast) > 3)
{
simUpdateHz = simUpdateHz * 0.9f + 0.1f * (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
if (QGC::groundTimeMilliseconds() - simUpdateLastText > 2000) {
emit statusMessage(tr("Receiving from XPlane at %1 Hz").arg(static_cast<int>(simUpdateHz)));
// Reset lowpass with current value
simUpdateHz = (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
// Set state
simUpdateLastText = QGC::groundTimeMilliseconds();
}
simUpdateLast = QGC::groundTimeMilliseconds();
emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
pitchspeed, yawspeed, lat*1E7, lon*1E7, alt*1E3,
vx, vy, vz, xacc*1000, yacc*1000, zacc*1000);
......@@ -518,7 +531,7 @@ void QGCXPlaneLink::readBytes()
if (!oldConnectionState && xPlaneConnected)
{
emit statusMessage("Receiving from XPlane.");
emit statusMessage(tr("Receiving from XPlane."));
}
// // Echo data for debugging purposes
......
src/comm/QGCXPlaneLink.h
View file @ 47d59fa9
......@@ -190,6 +190,9 @@ protected:
enum AIRFRAME airframeID;
bool xPlaneConnected;
unsigned int xPlaneVersion;
quint64 simUpdateLast;
quint64 simUpdateLastText;
float simUpdateHz;
void setName(QString name);
......
src/ui/PX4FirmwareUpgrader.cc
View file @ 47d59fa9
#include <QFileDialog>
#include <QDesktopServices>
#include <QSettings>
#include "PX4FirmwareUpgrader.h"
#include "ui_PX4FirmwareUpgrader.h"
#include <QGC.h>
#include <QDebug>
PX4FirmwareUpgrader::PX4FirmwareUpgrader(QWidget *parent) :
QWidget(parent),
ui(new Ui::PX4FirmwareUpgrader)
......@@ -21,7 +26,16 @@ PX4FirmwareUpgrader::~PX4FirmwareUpgrader()
void PX4FirmwareUpgrader::selectFirmwareFile()
{
QSettings settings;
QString path = settings.value("PX4_FIRMWARE_PATH",
QDesktopServices::storageLocation(QDesktopServices::DesktopLocation)).toString();
const QString widgetFileExtension(".px4");
QString fileName = QFileDialog::getOpenFileName(this, tr("Specify File Name"),
path,
tr("PX4 Firmware (*%1);;").arg(widgetFileExtension));
settings.setValue("PX4_FIRMWARE_PATH", fileName);
qDebug() << "EMITTING SIGNAL";
emit firmwareFileNameSet(fileName);
}
void PX4FirmwareUpgrader::setDetectionStatusText(const QString &text)
......@@ -32,6 +46,7 @@ void PX4FirmwareUpgrader::setDetectionStatusText(const QString &text)
void PX4FirmwareUpgrader::setFlashStatusText(const QString &text)
{
ui->flashProgressLabel->setText(text);
qDebug() << __FILE__ << __LINE__ << "LABEL" << text;
}
void PX4FirmwareUpgrader::setFlashProgress(int percent)
......
src/ui/QGCHilConfiguration.cc
View file @ 47d59fa9
......@@ -30,7 +30,12 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
mav->enableHilFlightGear(false, "");
QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(mav, this);
hfgconf->show();
ui->simulatorConfigurationDockWidget->setWidget(hfgconf);
ui->simulatorConfigurationLayout->addWidget(hfgconf);
QGCFlightGearLink* fg = dynamic_cast<QGCFlightGearLink*>(mav->getHILSimulation());
if (fg)
{
connect(fg, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));
}
}
else if(2 == index || 3 == index)
......@@ -39,13 +44,14 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
mav->enableHilXPlane(false);
QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(mav->getHILSimulation(), this);
hxpconf->show();
ui->simulatorConfigurationDockWidget->setWidget(hxpconf);
ui->simulatorConfigurationLayout->addWidget(hxpconf);
// Select correct version of XPlane
QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(mav->getHILSimulation());
if (xplane)
{
xplane->setVersion((index == 2) ? 10 : 9);
connect(xplane, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));
}
}
}
src/ui/QGCHilConfiguration.ui
View file @ 47d59fa9
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>305</width>
<height>355</height>
<width>366</width>
<height>301</height>
</rect>
</property>
<property name="sizePolicy">
......@@ -19,22 +19,22 @@
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="40,0,0">
<item row="0" column="0">
<widget class="QLabel" name="simLabel">
<layout class="QGridLayout" name="gridLayout" rowstretch="1,100,1" columnstretch="40,0">
<item row="2" column="0">
<widget class="QLabel" name="statusLabel">
<property name="text">
<string>Simulator</string>
<string>Status</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="statusLabel">
<item row="0" column="0">
<widget class="QLabel" name="simLabel">
<property name="text">
<string>Status</string>
<string>Simulator</string>
</property>
</widget>
</item>
<item row="0" column="2">
<item row="0" column="1">
<widget class="QComboBox" name="simComboBox">
<property name="editable">
<bool>true</bool>
......@@ -61,35 +61,12 @@
</item>
</widget>
</item>
<item row="2" column="0" colspan="3">
<widget class="QDockWidget" name="simulatorConfigurationDockWidget">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>20</width>
<height>150</height>
</size>
</property>
<property name="features">
<set>QDockWidget::NoDockWidgetFeatures</set>
<item row="1" column="0" colspan="2">
<layout class="QVBoxLayout" name="simulatorConfigurationLayout">
<property name="spacing">
<number>0</number>
</property>
<property name="windowTitle">
<string>Simulator Options</string>
</property>
<widget class="QWidget" name="dockWidgetContents">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</widget>
</layout>
</item>
</layout>
</widget>
......
src/ui/QGCVehicleConfig.cc
View file @ 47d59fa9
......@@ -11,6 +11,7 @@
QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
QWidget(parent),
mav(NULL),
chanCount(0),
changed(true),
rc_mode(RC_MODE_2),
rcRoll(0.0f),
......@@ -21,6 +22,7 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
rcAux1(0.0f),
rcAux2(0.0f),
rcAux3(0.0f),
calibrationEnabled(false),
ui(new Ui::QGCVehicleConfig)
{
setObjectName("QGC_VEHICLECONFIG");
......@@ -31,9 +33,31 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);
ui->rcCalibrationButton->setCheckable(true);
connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
connect(ui->storeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));
/* Connect RC mapping assignments */
connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(int)));
// Connect RC reverse assignments
connect(ui->invertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setRollInverted(bool)));
connect(ui->invertCheckBox_2, SIGNAL(clicked(bool)), this, SLOT(setPitchInverted(bool)));
connect(ui->invertCheckBox_3, SIGNAL(clicked(bool)), this, SLOT(setYawInverted(bool)));
connect(ui->invertCheckBox_4, SIGNAL(clicked(bool)), this, SLOT(setThrottleInverted(bool)));
connect(ui->invertCheckBox_5, SIGNAL(clicked(bool)), this, SLOT(setModeInverted(bool)));
connect(ui->invertCheckBox_6, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
connect(ui->invertCheckBox_7, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
connect(ui->invertCheckBox_8, SIGNAL(clicked(bool)), this, SLOT(setAux3Inverted(bool)));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
......@@ -41,7 +65,7 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
for (unsigned int i = 0; i < chanMax; i++)
{
rcValue[i] = 1500;
rcValue[i] = UINT16_MAX;
}
updateTimer.setInterval(150);
......@@ -75,15 +99,35 @@ void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
}
}
void QGCVehicleConfig::setTrimPositions()
{
// Set trim for roll, pitch, yaw, throttle
rcTrim[rcMapping[0]] = rcValue[0]; // roll
rcTrim[rcMapping[1]] = rcValue[1]; // pitch
rcTrim[rcMapping[2]] = rcValue[2]; // yaw
rcTrim[rcMapping[3]] = rcMin[3]; // throttle
rcTrim[rcMapping[4]] = ((rcMax[4] - rcMin[4]) / 2.0f) + rcMin[4]; // mode sw
rcTrim[rcMapping[5]] = ((rcMax[5] - rcMin[5]) / 2.0f) + rcMin[5]; // aux 1
rcTrim[rcMapping[5]] = ((rcMax[6] - rcMin[6]) / 2.0f) + rcMin[6]; // aux 2
rcTrim[rcMapping[5]] = ((rcMax[7] - rcMin[7]) / 2.0f) + rcMin[7]; // aux 3
}
void QGCVehicleConfig::detectChannelInversion()
{
}
void QGCVehicleConfig::startCalibrationRC()
{
ui->rcTypeComboBox->setEnabled(false);
ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
resetCalibrationRC();
calibrationEnabled = true;
}
void QGCVehicleConfig::stopCalibrationRC()
{
calibrationEnabled = false;
ui->rcTypeComboBox->setEnabled(true);
ui->rcCalibrationButton->setText(tr("Start RC Calibration"));
}
......@@ -111,6 +155,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
// Reset current state
resetCalibrationRC();
chanCount = 0;
// Connect new system
mav = active;
connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
......@@ -130,13 +176,18 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
{
toolWidgets.append(tool);
ui->sensorLayout->addWidget(tool);
} else {
delete tool;
}
// Load multirotor attitude pid
tool = new QGCToolWidget("", this);
if (tool->loadSettings(defaultsDir + "px4_mc_attitude_pid_params.qgw", false))
{
toolWidgets.append(tool);
ui->multiRotorAttitudeLayout->addWidget(tool);
} else {
delete tool;
}
// Load multirotor position pid
......@@ -145,6 +196,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
{
toolWidgets.append(tool);
ui->multiRotorPositionLayout->addWidget(tool);
} else {
delete tool;
}
// Load fixed wing attitude pid
......@@ -153,6 +206,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
{
toolWidgets.append(tool);
ui->fixedWingAttitudeLayout->addWidget(tool);
} else {
delete tool;
}
// Load fixed wing position pid
......@@ -161,6 +216,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
{
toolWidgets.append(tool);
ui->fixedWingPositionLayout->addWidget(tool);
} else {
delete tool;
}
updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
......@@ -190,23 +247,36 @@ void QGCVehicleConfig::writeCalibrationRC()
// Do not write the RC type, as these values depend on this
// active onboard parameter
for (unsigned int i = 0; i < chanMax; ++i)
for (unsigned int i = 0; i < chanCount; ++i)
{
qDebug() << "SENDING" << minTpl.arg(i+1) << rcMin[i];
mav->setParameter(0, minTpl.arg(i+1), rcMin[i]);
QGC::SLEEP::usleep(50000);
mav->setParameter(0, trimTpl.arg(i+1), rcTrim[i]);
QGC::SLEEP::usleep(50000);
mav->setParameter(0, maxTpl.arg(i+1), rcMax[i]);
mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1 : 1);
QGC::SLEEP::usleep(50000);
mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1.0f : 1.0f);
QGC::SLEEP::usleep(50000);
}
// Write mappings
mav->setParameter(0, "RC_MAP_ROLL", rcMapping[0]);
mav->setParameter(0, "RC_MAP_PITCH", rcMapping[1]);
mav->setParameter(0, "RC_MAP_THROTTLE", rcMapping[2]);
mav->setParameter(0, "RC_MAP_YAW", rcMapping[3]);
mav->setParameter(0, "RC_MAP_MODE_SW", rcMapping[4]);
mav->setParameter(0, "RC_MAP_AUX1", rcMapping[5]);
mav->setParameter(0, "RC_MAP_AUX2", rcMapping[6]);
mav->setParameter(0, "RC_MAP_AUX3", rcMapping[7]);
mav->setParameter(0, "RC_MAP_ROLL", (int32_t)(rcMapping[0]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_PITCH", (int32_t)(rcMapping[1]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_THROTTLE", (int32_t)(rcMapping[2]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_YAW", (int32_t)(rcMapping[3]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_MODE_SW", (int32_t)(rcMapping[4]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_AUX1", (int32_t)(rcMapping[5]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_AUX2", (int32_t)(rcMapping[6]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_AUX3", (int32_t)(rcMapping[7]+1));
QGC::SLEEP::usleep(50000);
}
void QGCVehicleConfig::requestCalibrationRC()
......@@ -238,126 +308,106 @@ void QGCVehicleConfig::writeParameters()
{
updateStatus(tr("Writing all onboard parameters."));
writeCalibrationRC();
mav->writeParametersToStorage();
}
void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
{
// /* scale around the mid point differently for lower and upper range */
// if (ppm_buffer[i] > _rc.chan[i].mid + _parameters.dz[i]) {
// _rc.chan[i].scaled = ((ppm_buffer[i] - _parameters.trim[i]) / (_parameters.max[i] - _parameters.trim[i]));
// } else if ((ppm_buffer[i] < _rc_chan[i].mid - _parameters.dz[i])) {
// _rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (_parameters.trim[i] - _parameters.min[i]));
// } else {
// /* in the configured dead zone, output zero */
// _rc.chan[i].scaled = 0.0f;
// }
if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax)
// Check if index and values are sane
if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax || val < 500 || val > 2500)
return;
if (val < rcMin[chan])
{
rcMin[chan] = val;
if (chan + 1 > chanCount) {
chanCount = chan+1;
}
// Update calibration data
if (calibrationEnabled) {
if (val < rcMin[chan])
{
rcMin[chan] = val;
}
if (val > rcMax[chan])
{
rcMax[chan] = val;
}
}
if (val > rcMax[chan])
// Normalized value
float normalized;
if (val >= rcTrim[chan])
{
rcMax[chan] = val;
normalized = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
normalized = -(rcTrim[chan] - val)/(rcTrim[chan] - rcMin[chan]);
}
// Bound
normalized = qBound(-1.0f, normalized, 1.0f);
// Invert
normalized = (rcRev[chan]) ? -1.0f*normalized : normalized;
if (chan == rcMapping[0])
{
// ROLL
if (rcRoll >= rcTrim[chan])
{
rcRoll = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcRoll = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcValue[0] = val;
rcRoll = qBound(-1.0f, rcRoll, 1.0f);
rcRoll = normalized;
}
else if (chan == rcMapping[1])
{
// PITCH
if (rcPitch >= rcTrim[chan])
{
rcPitch = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcPitch = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcValue[1] = val;
rcPitch = qBound(-1.0f, rcPitch, 1.0f);
rcPitch = normalized;
}
else if (chan == rcMapping[2])
{
// YAW
if (rcYaw >= rcTrim[chan])
{
rcYaw = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcYaw = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcValue[2] = val;
rcYaw = qBound(-1.0f, rcYaw, 1.0f);
rcYaw = normalized;
}
else if (chan == rcMapping[3])
{
// THROTTLE
if (rcThrottle >= rcTrim[chan])
{
rcThrottle = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcThrottle = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
if (rcRev[chan]) {
rcThrottle = 1.0f + normalized;
} else {
rcThrottle = normalized;
}
rcValue[3] = val;
rcThrottle = qBound(-1.0f, rcThrottle, 1.0f);
rcThrottle = qBound(0.0f, rcThrottle, 1.0f);
}
else if (chan == rcMapping[4])
{
// MODE SWITCH
if (rcMode >= rcTrim[chan])
{
rcMode = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
rcMode = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
}
rcMode = normalized;
rcValue[4] = val;
rcMode = qBound(-1.0f, rcMode, 1.0f);
}
else if (chan == rcMapping[5])
{
// AUX1
rcAux1 = val;
rcAux1 = normalized;
rcValue[5] = val;
}
else if (chan == rcMapping[6])
{
// AUX2
rcAux2 = val;
rcAux2 = normalized;
rcValue[6] = val;
}
else if (chan == rcMapping[7])
{
// AUX3
rcAux3 = val;
rcAux3 = normalized;
rcValue[7] = val;
}
changed = true;
//qDebug() << "RC CHAN:" << chan << "PPM:" << val;
//qDebug() << "RC CHAN:" << chan << "PPM:" << val << "NORMALIZED:" << normalized;
}
void QGCVehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
......@@ -381,7 +431,8 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
if (minTpl.exactMatch(parameterName)) {
bool ok;
unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
if (ok && (index > 0) && (index < chanMax))
qDebug() << "PARAM:" << parameterName << "index:" << index;
if (ok && (index >= 0) && (index < chanMax))
{
rcMin[index] = value.toInt();
}
......@@ -390,7 +441,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
if (maxTpl.exactMatch(parameterName)) {
bool ok;
unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
if (ok && (index > 0) && (index < chanMax))
if (ok && (index >= 0) && (index < chanMax))
{
rcMax[index] = value.toInt();
}
......@@ -399,7 +450,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
if (trimTpl.exactMatch(parameterName)) {
bool ok;
unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
if (ok && (index > 0) && (index < chanMax))
if (ok && (index >= 0) && (index < chanMax))
{
rcTrim[index] = value.toInt();
}
......@@ -408,7 +459,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
if (revTpl.exactMatch(parameterName)) {
bool ok;
unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
if (ok && (index > 0) && (index < chanMax))
if (ok && (index >= 0) && (index < chanMax))
{
rcRev[index] = (value.toInt() == -1) ? true : false;
......@@ -461,77 +512,77 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
// Order is: roll, pitch, yaw, throttle, mode sw, aux 1-3
if (parameterName.contains("RC_MAP_ROLL")) {
rcMapping[0] = value.toInt();
ui->rollSpinBox->setValue(rcMapping[0]);
rcMapping[0] = value.toInt() - 1;
ui->rollSpinBox->setValue(rcMapping[0]+1);
}
if (parameterName.contains("RC_MAP_PITCH")) {
rcMapping[1] = value.toInt();
ui->pitchSpinBox->setValue(rcMapping[1]);
rcMapping[1] = value.toInt() - 1;
ui->pitchSpinBox->setValue(rcMapping[1]+1);
}
if (parameterName.contains("RC_MAP_YAW")) {
rcMapping[2] = value.toInt();
ui->yawSpinBox->setValue(rcMapping[2]);
rcMapping[2] = value.toInt() - 1;
ui->yawSpinBox->setValue(rcMapping[2]+1);
}
if (parameterName.contains("RC_MAP_THROTTLE")) {
rcMapping[3] = value.toInt();
ui->throttleSpinBox->setValue(rcMapping[3]);
rcMapping[3] = value.toInt() - 1;
ui->throttleSpinBox->setValue(rcMapping[3]+1);
}
if (parameterName.contains("RC_MAP_MODE_SW")) {
rcMapping[4] = value.toInt();
ui->modeSpinBox->setValue(rcMapping[4]);
rcMapping[4] = value.toInt() - 1;
ui->modeSpinBox->setValue(rcMapping[4]+1);
}
if (parameterName.contains("RC_MAP_AUX1")) {
rcMapping[5] = value.toInt();
ui->aux1SpinBox->setValue(rcMapping[5]);
rcMapping[5] = value.toInt() - 1;
ui->aux1SpinBox->setValue(rcMapping[5]+1);
}
if (parameterName.contains("RC_MAP_AUX2")) {
rcMapping[6] = value.toInt();
ui->aux1SpinBox->setValue(rcMapping[6]);
rcMapping[6] = value.toInt() - 1;
ui->aux1SpinBox->setValue(rcMapping[6]+1);
}
if (parameterName.contains("RC_MAP_AUX3")) {
rcMapping[7] = value.toInt();
ui->aux1SpinBox->setValue(rcMapping[7]);
rcMapping[7] = value.toInt() - 1;
ui->aux1SpinBox->setValue(rcMapping[7]+1);
}
// Scaling
if (parameterName.contains("RC_SCALE_ROLL")) {
rcScaling[0] = value.toInt();
rcScaling[0] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_PITCH")) {
rcScaling[1] = value.toInt();
rcScaling[1] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_YAW")) {
rcScaling[2] = value.toInt();
rcScaling[2] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_THROTTLE")) {
rcScaling[3] = value.toInt();
rcScaling[3] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_MODE_SW")) {
rcScaling[4] = value.toInt();
rcScaling[4] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_AUX1")) {
rcScaling[5] = value.toInt();
rcScaling[5] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_AUX2")) {
rcScaling[6] = value.toInt();
rcScaling[6] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_AUX3")) {
rcScaling[7] = value.toInt();
rcScaling[7] = value.toFloat();
}
}
......@@ -575,45 +626,62 @@ void QGCVehicleConfig::updateView()
{
if (rc_mode == RC_MODE_1)
{
ui->rollSlider->setValue(rcRoll);
ui->pitchSlider->setValue(rcThrottle);
ui->yawSlider->setValue(rcYaw);
ui->throttleSlider->setValue(rcPitch);
ui->rollSlider->setValue(rcRoll * 50 + 50);
ui->pitchSlider->setValue(rcThrottle * 100);
ui->yawSlider->setValue(rcYaw * 50 + 50);
ui->throttleSlider->setValue(rcPitch * 50 + 50);
}
else if (rc_mode == RC_MODE_2)
{
ui->rollSlider->setValue(rcRoll);
ui->pitchSlider->setValue(rcPitch);
ui->yawSlider->setValue(rcYaw);
ui->throttleSlider->setValue(rcThrottle);
ui->rollSlider->setValue(rcRoll * 50 + 50);
ui->pitchSlider->setValue(rcPitch * 50 + 50);
ui->yawSlider->setValue(rcYaw * 50 + 50);
ui->throttleSlider->setValue(rcThrottle * 100);
}
else if (rc_mode == RC_MODE_3)
{
ui->rollSlider->setValue(rcYaw);
ui->pitchSlider->setValue(rcThrottle);
ui->yawSlider->setValue(rcRoll);
ui->throttleSlider->setValue(rcPitch);
ui->rollSlider->setValue(rcYaw * 50 + 50);
ui->pitchSlider->setValue(rcThrottle * 100);
ui->yawSlider->setValue(rcRoll * 50 + 50);
ui->throttleSlider->setValue(rcPitch * 50 + 50);
}
else if (rc_mode == RC_MODE_4)
{
ui->rollSlider->setValue(rcYaw);
ui->pitchSlider->setValue(rcPitch);
ui->yawSlider->setValue(rcRoll);
ui->throttleSlider->setValue(rcThrottle);
ui->rollSlider->setValue(rcYaw * 50 + 50);
ui->pitchSlider->setValue(rcPitch * 50 + 50);
ui->yawSlider->setValue(rcRoll * 50 + 50);
ui->throttleSlider->setValue(rcThrottle * 100);
}
ui->chanLabel->setText(QString("%1/%2").arg(rcValue[0]).arg(rcRoll, 5, 'f', 2, QChar(' ')));
ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[1]).arg(rcPitch, 5, 'f', 2, QChar(' ')));
ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[2]).arg(rcYaw, 5, 'f', 2, QChar(' ')));
ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[3]).arg(rcThrottle, 5, 'f', 2, QChar(' ')));
ui->modeSwitchSlider->setValue(rcMode * 50 + 50);
ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[4]).arg(rcMode, 5, 'f', 2, QChar(' ')));
if (rcValue[5] != UINT16_MAX) {
ui->aux1Slider->setValue(rcAux1 * 50 + 50);
ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[5]).arg(rcAux1, 5, 'f', 2, QChar(' ')));
} else {
ui->chanLabel_6->setText(tr("---"));
}
if (rcValue[6] != UINT16_MAX) {
ui->aux2Slider->setValue(rcAux2 * 50 + 50);
ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[6]).arg(rcAux2, 5, 'f', 2, QChar(' ')));
} else {
ui->chanLabel_7->setText(tr("---"));
}
if (rcValue[7] != UINT16_MAX) {
ui->aux3Slider->setValue(rcAux3 * 50 + 50);
ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[7]).arg(rcAux3, 5, 'f', 2, QChar(' ')));
} else {
ui->chanLabel_8->setText(tr("---"));
}
ui->chanLabel->setText(QString("%1/%2").arg(rcValue[0]).arg(rcRoll));
ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[1]).arg(rcPitch));
ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[2]).arg(rcYaw));
ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[3]).arg(rcThrottle));
ui->modeSwitchSlider->setValue(rcMode);
ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[4]).arg(rcMode));
ui->aux1Slider->setValue(rcAux1);
ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[5]).arg(rcAux1));
ui->aux2Slider->setValue(rcAux2);
ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[6]).arg(rcAux2));
ui->aux3Slider->setValue(rcAux3);
ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[7]).arg(rcAux3));
changed = false;
}
}
src/ui/QGCVehicleConfig.h
View file @ 47d59fa9
......@@ -37,11 +37,81 @@ public slots:
void stopCalibrationRC();
/** Start/stop the RC calibration routine */
void toggleCalibrationRC(bool enabled);
/** Set trim positions */
void setTrimPositions();
/** Detect which channels need to be inverted */
void detectChannelInversion();
/** Change the mode setting of the control inputs */
void setRCModeIndex(int newRcMode);
/** Render the data updated */
void updateView();
/** Set the RC channel */
void setRollChan(int channel) {
rcMapping[0] = channel - 1;
}
/** Set the RC channel */
void setPitchChan(int channel) {
rcMapping[1] = channel - 1;
}
/** Set the RC channel */
void setYawChan(int channel) {
rcMapping[2] = channel - 1;
}
/** Set the RC channel */
void setThrottleChan(int channel) {
rcMapping[3] = channel - 1;
}
/** Set the RC channel */
void setModeChan(int channel) {
rcMapping[4] = channel - 1;
}
/** Set the RC channel */
void setAux1Chan(int channel) {
rcMapping[5] = channel - 1;
}
/** Set the RC channel */
void setAux2Chan(int channel) {
rcMapping[6] = channel - 1;
}
/** Set the RC channel */
void setAux3Chan(int channel) {
rcMapping[7] = channel - 1;
}
/** Set channel inversion status */
void setRollInverted(bool inverted) {
rcRev[rcMapping[0]] = inverted;
}
/** Set channel inversion status */
void setPitchInverted(bool inverted) {
rcRev[rcMapping[1]] = inverted;
}
/** Set channel inversion status */
void setYawInverted(bool inverted) {
rcRev[rcMapping[2]] = inverted;
}
/** Set channel inversion status */
void setThrottleInverted(bool inverted) {
rcRev[rcMapping[3]] = inverted;
}
/** Set channel inversion status */
void setModeInverted(bool inverted) {
rcRev[rcMapping[4]] = inverted;
}
/** Set channel inversion status */
void setAux1Inverted(bool inverted) {
rcRev[rcMapping[5]] = inverted;
}
/** Set channel inversion status */
void setAux2Inverted(bool inverted) {
rcRev[rcMapping[6]] = inverted;
}
/** Set channel inversion status */
void setAux3Inverted(bool inverted) {
rcRev[rcMapping[7]] = inverted;
}
protected slots:
/** Reset the RC calibration */
void resetCalibrationRC();
......@@ -64,12 +134,13 @@ protected slots:
protected:
UASInterface* mav; ///< The current MAV
static const unsigned int chanMax = 8; ///< Maximum number of channels
unsigned int chanCount; ///< Actual channels
int rcType; ///< Type of the remote control
quint64 rcTypeUpdateRequested; ///< Zero if not requested, non-zero if requested
static const unsigned int rcTypeTimeout = 5000; ///< 5 seconds timeout, in milliseconds
int rcMin[chanMax]; ///< Minimum values
int rcMax[chanMax]; ///< Maximum values
int rcTrim[chanMax]; ///< Zero-position (center for roll/pitch/yaw, 0 throttle for throttle)
float rcMin[chanMax]; ///< Minimum values
float rcMax[chanMax]; ///< Maximum values
float rcTrim[chanMax]; ///< Zero-position (center for roll/pitch/yaw, 0 throttle for throttle)
int rcMapping[chanMax]; ///< PWM to function mappings
float rcScaling[chanMax]; ///< Scaling of channel input to control commands
bool rcRev[chanMax]; ///< Channel reverse
......@@ -87,6 +158,7 @@ protected:
QTimer updateTimer; ///< Controls update intervals
enum RC_MODE rc_mode; ///< Mode of the remote control, according to usual convention
QList<QGCToolWidget*> toolWidgets; ///< Configurable widgets
bool calibrationEnabled; ///< calibration mode on / off
private:
Ui::QGCVehicleConfig *ui;
......
src/ui/QGCVehicleConfig.ui
View file @ 47d59fa9
......@@ -40,7 +40,7 @@
<item row="0" column="0" colspan="2">
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="rcTab">
<attribute name="title">
......@@ -53,10 +53,10 @@
<item row="8" column="1" rowspan="3">
<widget class="QSlider" name="throttleSlider">
<property name="minimum">
<number>-1</number>
<number>0</number>
</property>
<property name="maximum">
<number>1</number>
<number>100</number>
</property>
<property name="value">
<number>0</number>
......@@ -69,10 +69,10 @@
<item row="8" column="4" rowspan="3" colspan="2">
<widget class="QSlider" name="pitchSlider">
<property name="minimum">
<number>-1</number>
<number>0</number>
</property>
<property name="maximum">
<number>1</number>
<number>100</number>
</property>
<property name="value">
<number>0</number>
......@@ -595,10 +595,10 @@
<item row="11" column="0">
<widget class="QSlider" name="yawSlider">
<property name="minimum">
<number>-1</number>
<number>0</number>
</property>
<property name="maximum">
<number>1</number>
<number>100</number>
</property>
<property name="value">
<number>0</number>
......@@ -611,10 +611,10 @@
<item row="11" column="3">
<widget class="QSlider" name="rollSlider">
<property name="minimum">
<number>-1</number>
<number>0</number>
</property>
<property name="maximum">
<number>1</number>
<number>100</number>
</property>
<property name="value">
<number>0</number>
......@@ -650,10 +650,10 @@
<item row="8" column="10" rowspan="3">
<widget class="QSlider" name="aux1Slider">
<property name="minimum">
<number>-1</number>
<number>0</number>
</property>
<property name="maximum">
<number>1</number>
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -663,10 +663,10 @@
<item row="8" column="11" rowspan="3">
<widget class="QSlider" name="aux2Slider">
<property name="minimum">
<number>-1</number>
<number>0</number>
</property>
<property name="maximum">
<number>1</number>
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -676,10 +676,10 @@
<item row="8" column="12" rowspan="3" colspan="2">
<widget class="QSlider" name="aux3Slider">
<property name="minimum">
<number>-1</number>
<number>0</number>
</property>
<property name="maximum">
<number>1</number>
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -689,10 +689,10 @@
<item row="8" column="9" rowspan="3">
<widget class="QSlider" name="modeSwitchSlider">
<property name="minimum">
<number>-1</number>
<number>0</number>
</property>
<property name="maximum">
<number>1</number>
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -712,6 +712,13 @@
</property>
</spacer>
</item>
<item row="11" column="14">
<widget class="QPushButton" name="setTrimButton">
<property name="text">
<string>Set Trim</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="sensorTab">
......@@ -815,8 +822,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>651</width>
<height>203</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
......@@ -852,8 +859,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>651</width>
<height>204</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_4">
......@@ -899,8 +906,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>651</width>
<height>203</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_6">
......@@ -959,8 +966,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>651</width>
<height>204</height>
<width>98</width>
<height>28</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
......
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