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Valentin Platzgummer
qgroundcontrol
Commits
75851a36
Commit
75851a36
authored
Jul 11, 2013
by
Michael Carpenter
Browse files
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Plain Diff
Implementation of ArduRover pid configuration screen
parent
9e10b726
Changes
7
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Showing
7 changed files
with
868 additions
and
4 deletions
+868
-4
qgroundcontrol.pro
qgroundcontrol.pro
+6
-3
ApmSoftwareConfig.cc
src/ui/configuration/ApmSoftwareConfig.cc
+17
-1
ApmSoftwareConfig.h
src/ui/configuration/ApmSoftwareConfig.h
+2
-0
ApmSoftwareConfig.ui
src/ui/configuration/ApmSoftwareConfig.ui
+13
-0
ArduRoverPidConfig.cc
src/ui/configuration/ArduRoverPidConfig.cc
+75
-0
ArduRoverPidConfig.h
src/ui/configuration/ArduRoverPidConfig.h
+23
-0
ArduRoverPidConfig.ui
src/ui/configuration/ArduRoverPidConfig.ui
+732
-0
No files found.
qgroundcontrol.pro
View file @
75851a36
...
...
@@ -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
View file @
75851a36
...
...
@@ -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
View file @
75851a36
...
...
@@ -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
View file @
75851a36
...
...
@@ -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
0 → 100644
View file @
75851a36
#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
0 → 100644
View file @
75851a36
#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
src/ui/configuration/ArduRoverPidConfig.ui
0 → 100644
View file @
75851a36
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