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Commit 5796a5a8 authored by Michael Carpenter's avatar Michael Carpenter
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Implementation of ArduPlanePid configuration write/refresh, and value ranges

parent f7ec7607
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Showing with 137 additions and 20 deletions
src/ui/configuration/ApmSoftwareConfig.cc
View file @ 5796a5a8
......@@ -15,7 +15,7 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
ui.failSafeButton->setVisible(false);
ui.advancedParamButton->setVisible(false);
ui.advParamListButton->setVisible(false);
ui.arduCoperPidButton->setVisible(false);
ui.arduCopterPidButton->setVisible(false);
/*basicPidConfig = new BasicPidConfig(this);
ui.stackedWidget->addWidget(basicPidConfig);
......@@ -47,10 +47,18 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
buttonToConfigWidgetMap[ui.advancedParamButton] = advancedParamConfig;
connect(ui.advancedParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
arduCoperPidConfig = new ArduCopterPidConfig(this);
ui.stackedWidget->addWidget(arduCoperPidConfig);
buttonToConfigWidgetMap[ui.arduCoperPidButton] = arduCoperPidConfig;
connect(ui.arduCoperPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
arduCopterPidConfig = new ArduCopterPidConfig(this);
ui.stackedWidget->addWidget(arduCopterPidConfig);
buttonToConfigWidgetMap[ui.arduCopterPidButton] = arduCopterPidConfig;
connect(ui.arduCopterPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
arduPlanePidConfig = new ArduPlanePidConfig(this);
ui.stackedWidget->addWidget(arduPlanePidConfig);
buttonToConfigWidgetMap[ui.arduPlanePidButton] = arduPlanePidConfig;
connect(ui.arduPlanePidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
if (UASManager::instance()->getActiveUAS())
......@@ -84,7 +92,16 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
ui.advancedParamButton->setVisible(true);
ui.advParamListButton->setVisible(true);
ui.arduCoperPidButton->setVisible(true);
if (uas->getSystemType() == MAV_TYPE_FIXED_WING)
{
ui.arduPlanePidButton->setVisible(true);
ui.arduCopterPidButton->setVisible(false);
}
else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
{
ui.arduCopterPidButton->setVisible(true);
ui.arduPlanePidButton->setVisible(false);
}
QDir autopilotdir(qApp->applicationDirPath() + "/files/" + uas->getAutopilotTypeName().toLower());
......
src/ui/configuration/ApmSoftwareConfig.h
View file @ 5796a5a8
......@@ -10,6 +10,7 @@
#include "FailSafeConfig.h"
#include "AdvancedParamConfig.h"
#include "ArduCopterPidConfig.h"
#include "ArduPlanePidConfig.h"
#include "UASInterface.h"
#include "UASManager.h"
......@@ -32,7 +33,8 @@ private:
GeoFenceConfig *geoFenceConfig;
FailSafeConfig *failSafeConfig;
AdvancedParamConfig *advancedParamConfig;
ArduCopterPidConfig *arduCoperPidConfig;
ArduCopterPidConfig *arduCopterPidConfig;
ArduPlanePidConfig *arduPlanePidConfig;
QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
};
......
src/ui/configuration/ApmSoftwareConfig.ui
View file @ 5796a5a8
......@@ -172,7 +172,7 @@
</widget>
</item>
<item>
<widget class="QPushButton" name="arduCoperPidButton">
<widget class="QPushButton" name="arduCopterPidButton">
<property name="minimumSize">
<size>
<width>0</width>
......@@ -180,13 +180,26 @@
</size>
</property>
<property name="text">
<string>ArduCoper Pids</string>
<string>ArduCopter Pids</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="arduPlanePidButton">
<property name="minimumSize">
<size>
<width>0</width>
<height>35</height>
</size>
</property>
<property name="text">
<string>ArduPlane Pids</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
......
src/ui/configuration/ArduPlanePidConfig.cc
View file @ 5796a5a8
......@@ -4,15 +4,91 @@
ArduPlanePidConfig::ArduPlanePidConfig(QWidget *parent) : AP2ConfigWidget(parent)
{
ui.setupUi(this);
nameToBoxMap["RLL2SRV_P"] = ui.servoRollPSpinBox;
nameToBoxMap["RLL2SRV_I"] = ui.servoRollISpinBox;
nameToBoxMap["RLL2SRV_D"] = ui.servoRollDSpinBox;
nameToBoxMap["RLL2SRV_IMAX"] = ui.servoRollIMAXSpinBox;
nameToBoxMap["PTCH2SRV_P"] = ui.servoPitchPSpinBox;
nameToBoxMap["PTCH2SRV_I"] = ui.servoPitchISpinBox;
nameToBoxMap["PTCH2SRV_D"] = ui.servoPitchDSpinBox;
nameToBoxMap["PTCH2SRV_IMAX"] = ui.servoPitchIMAXSpinBox;
nameToBoxMap["YW2SRV_P"] = ui.servoYawPSpinBox;
nameToBoxMap["YW2SRV_I"] = ui.servoYawISpinBox;
nameToBoxMap["YW2SRV_D"] = ui.servoYawDSpinBox;
nameToBoxMap["YW2SRV_IMAX"] = ui.servoYawIMAXSpinBox;
nameToBoxMap["ALT2PTCH_P"] = ui.navAltPSpinBox;
nameToBoxMap["ALT2PTCH_I"] = ui.navAltISpinBox;
nameToBoxMap["ALT2PTCH_D"] = ui.navAltDSpinBox;
nameToBoxMap["ALT2PTCH_IMAX"] = ui.navAltIMAXSpinBox;
nameToBoxMap["ARSP2PTCH_P"] = ui.navASPSpinBox;
nameToBoxMap["ARSP2PTCH_I"] = ui.navASISpinBox;
nameToBoxMap["ARSP2PTCH_D"] = ui.navASDSpinBox;
nameToBoxMap["ARSP2PTCH_IMAX"] = ui.navASIMAXSpinBox;
nameToBoxMap["ENRGY2THR_P"] = ui.energyPSpinBox;
nameToBoxMap["ENRGY2THR_I"] = ui.energyISpinBox;
nameToBoxMap["ENRGY2THR_D"] = ui.energyDSpinBox;
nameToBoxMap["ENRGY2THR_IMAX"] = ui.energyIMAXSpinBox;
nameToBoxMap["KFF_PTCH2THR"] = ui.otherPitchCompSpinBox;
nameToBoxMap["KFF_PTCHCOMP"] = ui.otherPtTSpinBox;
nameToBoxMap["KFF_RDDRMIX"] = ui.otherRudderMixSpinBox;
nameToBoxMap["TRIM_THROTTLE"] = ui.throttleCruiseSpinBox;
nameToBoxMap["THR_FS_VALUE"] = ui.throttleFSSpinBox;
nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
nameToBoxMap["TRIM_ARSPD_CM"] = ui.airspeedCruiseSpinBox;
nameToBoxMap["ARSPD_FBW_MAX"] = ui.airspeedFBWMaxSpinBox;
nameToBoxMap["ARSPD_FBW_MIN"] = ui.airspeedFBWMinSpinBox;
nameToBoxMap["ARSPD_RATIO"] = ui.airspeedRatioSpinBox;
nameToBoxMap["NAVL1_DAMPING"] = ui.l1DampingSpinBox;
nameToBoxMap["NAVL1_PERIOD"] = ui.l1PeriodSpinBox;
nameToBoxMap["LIM_ROLL_CD"] = ui.navBankMaxSpinBox;
nameToBoxMap["LIM_PITCH_MAX"] = ui.navPitchMaxSpinBox;
nameToBoxMap["LIM_PITCH_MIN"] = ui.navPitchMinSpinBox;
}
ArduPlanePidConfig::~ArduPlanePidConfig()
{
}
void ArduPlanePidconfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
void ArduPlanePidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
if (parameterName == "")
if (nameToBoxMap.contains(parameterName))
{
nameToBoxMap[parameterName]->setValue(value.toDouble());
}
}
void ArduPlanePidConfig::writeButtonClicked()
{
if (!m_uas)
{
return;
}
for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
{
m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
}
}
void ArduPlanePidConfig::refreshButtonClicked()
{
if (!m_uas)
{
return;
}
for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
{
m_uas->getParamManager()->requestParameterUpdate(1,i.key());
}
}
src/ui/configuration/ArduPlanePidConfig.h
View file @ 5796a5a8
......@@ -14,7 +14,10 @@ public:
~ArduPlanePidConfig();
private slots:
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
void writeButtonClicked();
void refreshButtonClicked();
private:
QMap<QString,QDoubleSpinBox*> nameToBoxMap;
Ui::ArduPlanePidConfig ui;
};
......
src/ui/configuration/ArduPlanePidConfig.ui
View file @ 5796a5a8
......@@ -164,9 +164,9 @@
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="servoIMAXSpinBox">
<widget class="QDoubleSpinBox" name="servoRollIMAXSpinBox">
<property name="maximum">
<double>100.000000000000000</double>
<double>10000.000000000000000</double>
</property>
</widget>
</item>
......@@ -252,7 +252,7 @@
<item>
<widget class="QDoubleSpinBox" name="navAltIMAXSpinBox">
<property name="maximum">
<double>100.000000000000000</double>
<double>10000.000000000000000</double>
</property>
</widget>
</item>
......@@ -338,7 +338,7 @@
<item>
<widget class="QDoubleSpinBox" name="navASIMAXSpinBox">
<property name="maximum">
<double>100.000000000000000</double>
<double>10000.000000000000000</double>
</property>
</widget>
</item>
......@@ -424,7 +424,7 @@
<item>
<widget class="QDoubleSpinBox" name="servoYawIMAXSpinBox">
<property name="maximum">
<double>100.000000000000000</double>
<double>10000.000000000000000</double>
</property>
</widget>
</item>
......@@ -510,7 +510,7 @@
<item>
<widget class="QDoubleSpinBox" name="throttleFSSpinBox">
<property name="maximum">
<double>100.000000000000000</double>
<double>10000.000000000000000</double>
</property>
</widget>
</item>
......@@ -596,7 +596,7 @@
<item>
<widget class="QDoubleSpinBox" name="servoPitchIMAXSpinBox">
<property name="maximum">
<double>100.000000000000000</double>
<double>10000.000000000000000</double>
</property>
</widget>
</item>
......@@ -815,8 +815,11 @@
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
<double>10000.000000000000000</double>
</property>
</widget>
</item>
......@@ -826,7 +829,10 @@
<number>3</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
<double>10000.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
......
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