Implementation of ArduRover pid configuration screen

qgroundcontrol.pro

@@ -260,7 +260,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/configuration/ApmPlaneLevel.ui \
     src/ui/configuration/ParamWidget.ui \
     src/ui/configuration/ArduPlanePidConfig.ui \
-    src/ui/configuration/AdvParameterList.ui
+    src/ui/configuration/AdvParameterList.ui \
+    src/ui/configuration/ArduRoverPidConfig.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -445,7 +446,8 @@ HEADERS += src/MG.h \
     src/ui/configuration/ApmPlaneLevel.h \
     src/ui/configuration/ParamWidget.h \
     src/ui/configuration/ArduPlanePidConfig.h \
-    src/ui/configuration/AdvParameterList.h
+    src/ui/configuration/AdvParameterList.h \
+    src/ui/configuration/ArduRoverPidConfig.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -648,7 +650,8 @@ SOURCES += src/main.cc \
     src/ui/configuration/ApmPlaneLevel.cc \
     src/ui/configuration/ParamWidget.cc \
     src/ui/configuration/ArduPlanePidConfig.cc \
-    src/ui/configuration/AdvParameterList.cc
+    src/ui/configuration/AdvParameterList.cc \
+    src/ui/configuration/ArduRoverPidConfig.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/configuration/ApmSoftwareConfig.cc

@@ -16,6 +16,8 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
     ui.advancedParamButton->setVisible(false);
     ui.advParamListButton->setVisible(false);
     ui.arduCopterPidButton->setVisible(false);
+    ui.arduRoverPidButton->setVisible(false);
+    ui.arduPlanePidButton->setVisible(false);
 
     /*basicPidConfig = new BasicPidConfig(this);
     ui.stackedWidget->addWidget(basicPidConfig);
@@ -57,12 +59,18 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
     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()));
 
+    arduRoverPidConfig = new ArduRoverPidConfig(this);
+    ui.stackedWidget->addWidget(arduRoverPidConfig);
+    buttonToConfigWidgetMap[ui.arduRoverPidButton] = arduRoverPidConfig;
+    connect(ui.arduRoverPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+
+
 
 
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
@@ -101,11 +109,19 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
     {
         ui.arduPlanePidButton->setVisible(true);
         ui.arduCopterPidButton->setVisible(false);
+        ui.arduRoverPidButton->setVisible(false);
     }
     else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
     {
         ui.arduCopterPidButton->setVisible(true);
         ui.arduPlanePidButton->setVisible(false);
+        ui.arduRoverPidButton->setVisible(false);
+    }
+    else if (uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
+    {
+        ui.arduRoverPidButton->setVisible(true);
+        ui.arduCopterPidButton->setVisible(false);
+        ui.arduPlanePidButton->setVisible(false);
     }
 
 

src/ui/configuration/ApmSoftwareConfig.h

@@ -11,6 +11,7 @@
 #include "AdvancedParamConfig.h"
 #include "ArduCopterPidConfig.h"
 #include "ArduPlanePidConfig.h"
+#include "ArduRoverPidConfig.h"
 #include "AdvParameterList.h"
 #include "UASInterface.h"
 #include "UASManager.h"
@@ -35,6 +36,7 @@ private:
     AdvancedParamConfig *advancedParamConfig;
     ArduCopterPidConfig *arduCopterPidConfig;
     ArduPlanePidConfig *arduPlanePidConfig;
+    ArduRoverPidConfig *arduRoverPidConfig;
     AdvParameterList *advParameterList;
     QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
 };

src/ui/configuration/ApmSoftwareConfig.ui

@@ -200,6 +200,19 @@
            </property>
           </widget>
          </item>
+         <item>
+          <widget class="QPushButton" name="arduRoverPidButton">
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>35</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>ArduRover Pids</string>
+           </property>
+          </widget>
+         </item>
          <item>
           <spacer name="verticalSpacer">
            <property name="orientation">

src/ui/configuration/ArduRoverPidConfig.cc

+#include "ArduRoverPidConfig.h"
+
+
+ArduRoverPidConfig::ArduRoverPidConfig(QWidget *parent) : AP2ConfigWidget(parent)
+{
+    ui.setupUi(this);
+    nameToBoxMap["STEER2SRV_P"] = ui.steer2ServoPSpinBox;
+    nameToBoxMap["STEER2SRV_I"] = ui.steer2ServoISpinBox;
+    nameToBoxMap["STEER2SRV_D"] = ui.steer2ServoDSpinBox;
+    nameToBoxMap["STEER2SRV_IMAX"] = ui.steer2ServoIMAXSpinBox;
+
+    nameToBoxMap["XTRK_ANGLE_CD"] = ui.xtrackEntryAngleSpinBox;
+    nameToBoxMap["XTRK_GAIN_SC"] = ui.xtrackGainSpinBox;
+
+    nameToBoxMap["CRUISE_THROTTLE"] = ui.throttleCruiseSpinBox;
+    nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
+    nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
+    nameToBoxMap["FS_THR_VALUE"] = ui.throttleFSSpinBox;
+
+    nameToBoxMap["HDNG2STEER_P"] = ui.heading2SteerPSpinBox;
+    nameToBoxMap["HDNG2STEER_I"] = ui.heading2SteerISpinBox;
+    nameToBoxMap["HDNG2STEER_D"] = ui.heading2SteerDSpinBox;
+    nameToBoxMap["HDNG2STEER_IMAX"] = ui.heading2SteerIMAXSpinBox;
+
+    nameToBoxMap["SPEED2THR_P"] = ui.speed2ThrottlePSpinBox;
+    nameToBoxMap["SPEED2THR_I"] = ui.speed2ThrottleISpinBox;
+    nameToBoxMap["SPEED2THR_D"] = ui.speed2ThrottleDSpinBox;
+    nameToBoxMap["SPEED2THR_IMAX"] = ui.speed2ThrottleIMAXSpinBox;
+
+    nameToBoxMap["CRUISE_SPEED"] = ui.roverCruiseSpinBox;
+    nameToBoxMap["SPEED_TURN_GAIN"] = ui.roverTurnSpeedSpinBox;
+    nameToBoxMap["SPEED_TURN_DIST"] = ui.roverTurnDistSpinBox;
+    nameToBoxMap["WP_RADIUS"] = ui.roverWPRadiusSpinBox;
+
+    nameToBoxMap["SONAR_TRIGGER_CM"] = ui.sonarTriggerSpinBox;
+    nameToBoxMap["SONAR_TURN_ANGLE"] = ui.sonarTurnAngleSpinBox;
+    nameToBoxMap["SONAR_TURN_TIME"] = ui.sonarTurnTimeSpinBox;
+    nameToBoxMap["SONAR_DEBOUNCE"] = ui.sonaeDebounceSpinBox;
+
+}
+
+ArduRoverPidConfig::~ArduRoverPidConfig()
+{
+}
+void ArduRoverPidConfig::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 ArduRoverPidConfig::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());
+    }
+}
+
+void ArduRoverPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (nameToBoxMap.contains(parameterName))
+    {
+        nameToBoxMap[parameterName]->setValue(value.toFloat());
+    }
+}

src/ui/configuration/ArduRoverPidConfig.h

+#ifndef ARDUROVERPIDCONFIG_H
+#define ARDUROVERPIDCONFIG_H
+
+#include <QWidget>
+#include "ui_ArduRoverPidConfig.h"
+#include "AP2ConfigWidget.h"
+class ArduRoverPidConfig : public AP2ConfigWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit ArduRoverPidConfig(QWidget *parent = 0);
+    ~ArduRoverPidConfig();
+private slots:
+    void writeButtonClicked();
+    void refreshButtonClicked();
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+private:
+    QMap<QString,QDoubleSpinBox*> nameToBoxMap;
+    Ui::ArduRoverPidConfig ui;
+};
+
+#endif // ARDUROVERPIDCONFIG_H