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Commit 97c56e47 authored by Don Gagne's avatar Don Gagne
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Re-wrote FlightModeConfig 

Realized that I had configured my APM:Plane incorrectly since
FlightModeConfig was only set up to work with APM:Copter. Changed code
to respect mode switch channel parameter across all APM frame types.
Also a pile of other changes to make this code much more bullet proof
and correct. Implemented simple mode as well. Changed the style of the
code to be more data driven. This allows for adjusting for new param
values without needed to changing any code.
parent 9d42f680
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Showing with 361 additions and 311 deletions
src/ui/configuration/FlightModeConfig.cc
View file @ 97c56e47
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "FlightModeConfig.h"
// We used the _rgModeInfo* arrays to populate the combo box choices. The numeric value
// is the flight mode value that corresponds to the label. We store that value in the
// combo box item data. There is a different set or each vehicle type.
FlightModeConfig::FlightModeConfig(QWidget *parent) : AP2ConfigWidget(parent)
{
ui.setupUi(this);
connect(ui.savePushButton,SIGNAL(clicked()),this,SLOT(saveButtonClicked()));
initConnections();
}
const FlightModeConfig::FlightModeInfo_t FlightModeConfig::_rgModeInfoFixedWing[] = {
{ "Manual", 0 },
{ "Circle", 1 },
{ "Stabilize", 2 },
{ "Training", 3 },
{ "FBW A", 5 },
{ "FBW B", 6 },
{ "Auto", 10 },
{ "RTL", 11 },
{ "Loiter", 12 },
{ "Guided", 15 },
};
FlightModeConfig::~FlightModeConfig()
{
}
void FlightModeConfig::activeUASSet(UASInterface *uas)
{
if (m_uas)
{
disconnect(m_uas,SIGNAL(modeChanged(int,QString,QString)),this,SLOT(modeChanged(int,QString,QString)));
disconnect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
}
AP2ConfigWidget::activeUASSet(uas);
if (!uas) return;
connect(m_uas,SIGNAL(modeChanged(int,QString,QString)),this,SLOT(modeChanged(int,QString,QString)));
connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
QStringList itemlist;
if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
{
itemlist << "Manual";
itemlist << "Circle";
itemlist << "Stabilize";
itemlist << "Training";
itemlist << "FBW A";
itemlist << "FBW B";
itemlist << "Auto";
itemlist << "RTL";
itemlist << "Loiter";
itemlist << "Guided";
const FlightModeConfig::FlightModeInfo_t FlightModeConfig::_rgModeInfoRotor[] = {
{ "Stabilize", 0 },
{ "Acro", 1 },
{ "Alt Hold", 2 },
{ "Auto", 3 },
{ "Guided", 4 },
{ "Loiter", 5 },
{ "RTL", 6 },
{ "Circle", 7 },
{ "Position", 8 },
{ "Land", 9 },
{ "OF_Loiter", 10 },
{ "Toy A", 11 },
{ "Toy M", 12 },
};
planeModeIndexToUiIndex[0] = 0;
planeModeUiIndexToIndex[0] = 0;
const FlightModeConfig::FlightModeInfo_t FlightModeConfig::_rgModeInfoRover[] = {
{ "Manual", 0 },
{ "Learning", 2 },
{ "Steering", 3 },
{ "Hold", 4 },
{ "Auto", 10 },
{ "RTL", 11 },
{ "Guided", 15 },
};
planeModeIndexToUiIndex[1] = 1;
planeModeUiIndexToIndex[1] = 1;
// We use the _rgModeParam* arrays to store the parameter names for each selectable
// flight mode. The order of these corresponds to the combox box order as well. Array
// element 0, is the parameter for mode0ComboBox, array element 1 = mode1ComboBox and
// so on. The number of elements in the array also determines how many combo boxes we
// are going to need. Different vehicle types have different numbers of selectable
// flight modes.
planeModeIndexToUiIndex[2] = 2;
planeModeUiIndexToIndex[2] = 2;
const char* FlightModeConfig::_rgModeParamFixedWing[_cModes] = { "FLTMODE1", "FLTMODE2", "FLTMODE3", "FLTMODE4", "FLTMODE5", "FLTMODE6" };
planeModeIndexToUiIndex[3] = 3;
planeModeUiIndexToIndex[3] = 3;
const char* FlightModeConfig::_rgModeParamRotor[_cModes] = { "FLTMODE1", "FLTMODE2", "FLTMODE3", "FLTMODE4", "FLTMODE5", "FLTMODE6" };
planeModeIndexToUiIndex[5] = 4;
planeModeUiIndexToIndex[4] = 5;
const char* FlightModeConfig::_rgModeParamRover[_cModes] = { "MODE1", "MODE2", "MODE3", "MODE4", "MODE5", "MODE6" };
planeModeIndexToUiIndex[6] = 5;
planeModeUiIndexToIndex[5] = 6;
// Parameter which contains simple mode bitmask
const char* FlightModeConfig::_simpleModeBitMaskParam = "SIMPLE";
planeModeIndexToUiIndex[10] = 6;
planeModeUiIndexToIndex[6] = 10;
// Parameter which controls which RC channel mode switching is on.
// ArduCopter is hardcoded so no param
const char* FlightModeConfig::_modeSwitchRCChannelParamFixedWing = "FLTMODE_CH";
const char* FlightModeConfig::_modeSwitchRCChannelParamRover = "MODE_CH";
planeModeIndexToUiIndex[11] = 7;
planeModeUiIndexToIndex[7] = 11;
// PWM values which are the boundaries between each mode selection
const int FlightModeConfig::_rgModePWMBoundary[_cModes] = { 1230, 1360, 1490, 1620, 1749, 20000 };
planeModeIndexToUiIndex[12] = 8;
planeModeUiIndexToIndex[8] = 12;
planeModeIndexToUiIndex[15] = 9;
planeModeUiIndexToIndex[9] = 15;
ui.mode6ComboBox->setEnabled(true);
FlightModeConfig::FlightModeConfig(QWidget *parent) :
AP2ConfigWidget(parent),
_rgModeInfo(NULL),
_cModeInfo(0),
_rgModeParam(NULL),
_simpleModeSupported(false),
_modeSwitchRCChannel(_modeSwitchRCChannelInvalid)
{
_ui.setupUi(this);
// Find all the widgets we are going to programmatically control
for (size_t i=0; i<_cModes; i++) {
_rgLabel[i] = findChild<QLabel*>(QString("mode%1Label").arg(i));
_rgCombo[i] = findChild<QComboBox*>(QString("mode%1ComboBox").arg(i));
_rgSimpleModeCheckBox[i] = findChild<QCheckBox*>(QString("mode%1SimpleCheckBox").arg(i));
_rgPWMLabel[i] = findChild<QLabel*>(QString("mode%1PWMLabel").arg(i));
Q_ASSERT(_rgLabel[i]);
Q_ASSERT(_rgCombo[i]);
Q_ASSERT(_rgSimpleModeCheckBox[i]);
Q_ASSERT(_rgPWMLabel[i]);
}
else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
{
itemlist << "Manual";
itemlist << "Learning";
itemlist << "Steering";
itemlist << "Hold";
itemlist << "Auto";
itemlist << "RTL";
itemlist << "Guided";
itemlist << "Initialising";
ui.mode6ComboBox->setEnabled(false);
roverModeIndexToUiIndex[0] = 0;
roverModeUiIndexToIndex[0] = 0;
roverModeIndexToUiIndex[2] = 1;
roverModeUiIndexToIndex[1] = 2;
roverModeIndexToUiIndex[3] = 2;
roverModeUiIndexToIndex[2] = 3;
roverModeIndexToUiIndex[4] = 3;
roverModeUiIndexToIndex[3] = 4;
roverModeIndexToUiIndex[10] = 5;
roverModeUiIndexToIndex[5] = 10;
roverModeIndexToUiIndex[11] = 6;
roverModeUiIndexToIndex[6] = 11;
roverModeIndexToUiIndex[15] = 7;
roverModeUiIndexToIndex[7] = 15;
roverModeIndexToUiIndex[16] = 8;
roverModeUiIndexToIndex[8] = 16;
// Start disabled until we get a UAS
setEnabled(false);
connect(_ui.savePushButton, SIGNAL(clicked()), this, SLOT(saveButtonClicked()));
initConnections();
}
void FlightModeConfig::activeUASSet(UASInterface *uas)
{
// Clear the highlighting on PWM labels
for (size_t i=0; i<_cModes; i++) {
_rgPWMLabel[i]->setStyleSheet(QString(""));
}
else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
// Disconnect from old UAS
if (m_uas)
{
itemlist << "Stabilize";
itemlist << "Acro";
itemlist << "Alt Hold";
itemlist << "Auto";
itemlist << "Guided";
itemlist << "Loiter";
itemlist << "RTL";
itemlist << "Circle";
itemlist << "Pos Hold";
itemlist << "Land";
itemlist << "OF_LOITER";
itemlist << "Toy";
ui.mode6ComboBox->setEnabled(true);
disconnect(m_uas, SIGNAL(remoteControlChannelRawChanged(int, float)), this, SLOT(remoteControlChannelRawChanged(int, float)));
}
ui.mode1ComboBox->addItems(itemlist);
ui.mode2ComboBox->addItems(itemlist);
ui.mode3ComboBox->addItems(itemlist);
ui.mode4ComboBox->addItems(itemlist);
ui.mode5ComboBox->addItems(itemlist);
ui.mode6ComboBox->addItems(itemlist);
}
void FlightModeConfig::modeChanged(int sysId, QString status, QString description)
{
//Unused?
}
void FlightModeConfig::saveButtonClicked()
{
if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
{
m_uas->getParamManager()->setParameter(1,"FLTMODE1",(char)planeModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"FLTMODE2",(char)planeModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"FLTMODE3",(char)planeModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"FLTMODE4",(char)planeModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"FLTMODE5",(char)planeModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"FLTMODE6",(char)planeModeUiIndexToIndex[ui.mode6ComboBox->currentIndex()]);
// Connect to new UAS (if any)
AP2ConfigWidget::activeUASSet(uas);
if (!uas) {
setEnabled(false);
return;
}
else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
{
m_uas->getParamManager()->setParameter(1,"MODE1",(char)roverModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"MODE2",(char)roverModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"MODE3",(char)roverModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"MODE4",(char)roverModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
m_uas->getParamManager()->setParameter(1,"MODE5",(char)roverModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
connect(m_uas, SIGNAL(remoteControlChannelRawChanged(int, float)), this, SLOT(remoteControlChannelRawChanged(int, float)));
setEnabled(true);
// Select the correct set of Flight Modes and Flight Mode Parameters. If the rc channel
// associated with the mode switch is settable through a param, it is invalid until
// we get that param through.
switch (m_uas->getSystemType()) {
case MAV_TYPE_FIXED_WING:
_rgModeInfo = &_rgModeInfoFixedWing[0];
_cModeInfo = sizeof(_rgModeInfoFixedWing)/sizeof(_rgModeInfoFixedWing[0]);
_rgModeParam = _rgModeParamFixedWing;
_simpleModeSupported = false;
_modeSwitchRCChannelParam = _modeSwitchRCChannelParamFixedWing;
_modeSwitchRCChannel = _modeSwitchRCChannelInvalid;
break;
case MAV_TYPE_GROUND_ROVER:
_rgModeInfo = &_rgModeInfoRover[0];
_cModeInfo = sizeof(_rgModeInfoRover)/sizeof(_rgModeInfoRover[0]);
_rgModeParam = _rgModeParamRover;
_simpleModeSupported = false;
_modeSwitchRCChannelParam = _modeSwitchRCChannelParamRover;
_modeSwitchRCChannel = _modeSwitchRCChannelInvalid;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_HELICOPTER:
_rgModeInfo = &_rgModeInfoRotor[0];
_cModeInfo = sizeof(_rgModeInfoRotor)/sizeof(_rgModeInfoRotor[0]);
_rgModeParam = _rgModeParamRotor;
_simpleModeSupported = true;
_modeSwitchRCChannelParam = NULL;
_modeSwitchRCChannel = _modeSwitchRCChannelRotor; // Rotor is harcoded
break;
default:
// We've gotten a mav type we can't handle, just disable to whole thing
qDebug() << QString("Unknown System Type %1").arg(m_uas->getSystemType());
setEnabled(false);
return;
}
else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
{
m_uas->getParamManager()->setParameter(1,"FLTMODE1",(char)ui.mode1ComboBox->currentIndex());
m_uas->getParamManager()->setParameter(1,"FLTMODE2",(char)ui.mode2ComboBox->currentIndex());
m_uas->getParamManager()->setParameter(1,"FLTMODE3",(char)ui.mode3ComboBox->currentIndex());
m_uas->getParamManager()->setParameter(1,"FLTMODE4",(char)ui.mode4ComboBox->currentIndex());
m_uas->getParamManager()->setParameter(1,"FLTMODE5",(char)ui.mode5ComboBox->currentIndex());
m_uas->getParamManager()->setParameter(1,"FLTMODE6",(char)ui.mode6ComboBox->currentIndex());
// Set up the combo boxes
for (size_t i=0; i<_cModes; i++) {
// Fill each combo box with the available flight modes
for (size_t j=0; j<_cModeInfo; j++) {
_rgCombo[i]->addItem(_rgModeInfo[j].label, QVariant(QChar((char)_rgModeInfo[j].value)));
}
// Not all vehicle types support simple mode, hide/show as appropriate
_rgSimpleModeCheckBox[i]->setEnabled(_simpleModeSupported);
}
}
void FlightModeConfig::remoteControlChannelRawChanged(int chan,float val)
void FlightModeConfig::saveButtonClicked(void)
{
if (chan == 4)
{
//Channel 5 (0 array) is the mode switch.
///TODO: Make this configurable
if (val <= 1230)
{
ui.mode1Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
ui.mode2Label->setStyleSheet("");
ui.mode3Label->setStyleSheet("");
ui.mode4Label->setStyleSheet("");
ui.mode5Label->setStyleSheet("");
ui.mode6Label->setStyleSheet("");
}
else if (val <= 1360)
{
ui.mode1Label->setStyleSheet("");
ui.mode2Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
ui.mode3Label->setStyleSheet("");
ui.mode4Label->setStyleSheet("");
ui.mode5Label->setStyleSheet("");
ui.mode6Label->setStyleSheet("");
}
else if (val <= 1490)
{
ui.mode1Label->setStyleSheet("");
ui.mode2Label->setStyleSheet("");
ui.mode3Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
ui.mode4Label->setStyleSheet("");
ui.mode5Label->setStyleSheet("");
ui.mode6Label->setStyleSheet("");
}
else if (val <=1620)
{
ui.mode1Label->setStyleSheet("");
ui.mode2Label->setStyleSheet("");
ui.mode3Label->setStyleSheet("");
ui.mode4Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
ui.mode5Label->setStyleSheet("");
ui.mode6Label->setStyleSheet("");
}
else if (val <=1749)
{
ui.mode1Label->setStyleSheet("");
ui.mode2Label->setStyleSheet("");
ui.mode3Label->setStyleSheet("");
ui.mode4Label->setStyleSheet("");
ui.mode5Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
ui.mode6Label->setStyleSheet("");
}
else
{
ui.mode1Label->setStyleSheet("");
ui.mode2Label->setStyleSheet("");
ui.mode3Label->setStyleSheet("");
ui.mode4Label->setStyleSheet("");
ui.mode5Label->setStyleSheet("");
ui.mode6Label->setStyleSheet("background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);");
// Save the current setting for each flight mode slot
for (size_t i=0; i<_cModes; i++) {
m_uas->getParamManager()->setParameter(1, _rgModeParam[i], _rgCombo[i]->itemData(_rgCombo[i]->currentIndex()));
QVariant var =_rgCombo[i]->itemData(_rgCombo[i]->currentIndex());
}
// Save Simple Mode bit mask if supported
if (_simpleModeSupported) {
int bitMask = 0;
for (size_t i=0; i<_cModes; i++) {
if (_rgSimpleModeCheckBox[i]->isChecked()) {
bitMask |= 1 << i;
}
}
m_uas->getParamManager()->setParameter(1, _simpleModeBitMaskParam, QVariant(QChar(bitMask)));
}
}
void FlightModeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
// Higlights the PWM label for currently selected mode according the mode switch
// rc channel value.
void FlightModeConfig::remoteControlChannelRawChanged(int chan, float val)
{
if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
{
if (parameterName == "FLTMODE1")
{
ui.mode1ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
}
else if (parameterName == "FLTMODE2")
{
ui.mode2ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
}
else if (parameterName == "FLTMODE3")
{
ui.mode3ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
}
else if (parameterName == "FLTMODE4")
{
ui.mode4ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
}
else if (parameterName == "FLTMODE5")
{
ui.mode5ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
}
else if (parameterName == "FLTMODE6")
{
ui.mode6ComboBox->setCurrentIndex(planeModeIndexToUiIndex[value.toInt()]);
}
}
else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
qDebug() << chan << val << _modeSwitchRCChannel;
// Until we get the _modeSwitchRCChannel value from a parameter it will be set
// to -1, which is an invalid channel thus the labels won't update
if (chan == _modeSwitchRCChannel)
{
if (parameterName == "MODE1")
{
ui.mode1ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
qDebug() << chan << val;
size_t highlightIndex;
for (size_t i=0; i<_cModes; i++) {
if (val < _rgModePWMBoundary[i]) {
highlightIndex = i;
break;
}
}
else if (parameterName == "MODE2")
{
ui.mode2ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
}
else if (parameterName == "MODE3")
{
ui.mode3ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
}
else if (parameterName == "MODE4")
{
ui.mode4ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
}
else if (parameterName == "MODE5")
{
ui.mode5ComboBox->setCurrentIndex(roverModeIndexToUiIndex[value.toInt()]);
for (size_t i=0; i<_cModes; i++) {
QString styleSheet;
if (i == highlightIndex) {
styleSheet = "background-color: rgb(0, 255, 0);color: rgb(0, 0, 0);";
} else {
styleSheet = "";
}
_rgPWMLabel[i]->setStyleSheet(styleSheet);
}
}
else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
{
if (parameterName == "FLTMODE1")
{
ui.mode1ComboBox->setCurrentIndex(value.toInt());
}
else if (parameterName == "FLTMODE2")
{
ui.mode2ComboBox->setCurrentIndex(value.toInt());
}
else if (parameterName == "FLTMODE3")
{
ui.mode3ComboBox->setCurrentIndex(value.toInt());
}
else if (parameterName == "FLTMODE4")
{
ui.mode4ComboBox->setCurrentIndex(value.toInt());
}
else if (parameterName == "FLTMODE5")
{
ui.mode5ComboBox->setCurrentIndex(value.toInt());
}
void FlightModeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
Q_UNUSED(uas);
Q_UNUSED(component);
int iValue = value.toInt();
if (parameterName == _modeSwitchRCChannelParam) {
_modeSwitchRCChannel = iValue - 1; // 1-based in params
} else if (parameterName == _simpleModeBitMaskParam) {
if (_simpleModeSupported) {
for (size_t i=0; i<_cModes; i++) {
_rgSimpleModeCheckBox[i]->setCheckState((iValue & (1 << i)) ? Qt::Checked : Qt::Unchecked);
}
} else {
qDebug() << "Received simple mode parameter on non simple mode vehicle type";
}
else if (parameterName == "FLTMODE6")
{
ui.mode6ComboBox->setCurrentIndex(value.toInt());
} else {
// Loop over the flight mode params looking for a match
for (size_t i=0; i<_cModes; i++) {
if (parameterName == _rgModeParam[i]) {
// We found a match, i is now the index of the combo box which displays that mode slot
// Loop over the mode info till we find the matching value, this tells us which row in the
// combo box to select.
QComboBox* combo = _rgCombo[i];
for (size_t j=0; j<_cModeInfo; j++) {
if (_rgModeInfo[j].value == iValue) {
combo->setCurrentIndex(j);
return;
}
}
// We should have been able to find the flight mode value. If we didn't, we have been passed a
// flight mode that we don't understand. Possibly a newer firmware version we are not yet up
// to date with. In this case, add a new item to the combo box to represent it.
qDebug() << QString("Unknown flight mode value %1").arg(iValue);
combo->addItem(QString("%1 - Unknown").arg(iValue), QVariant(iValue));
combo->setCurrentIndex(combo->count() - 1);
}
}
}
}
src/ui/configuration/FlightModeConfig.h
View file @ 97c56e47
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef FLIGHTMODECONFIG_H
#define FLIGHTMODECONFIG_H
#include <QWidget>
#include <QComboBox>
#include "ui_FlightModeConfig.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "AP2ConfigWidget.h"
class FlightModeConfig : public AP2ConfigWidget
......@@ -13,19 +35,55 @@ class FlightModeConfig : public AP2ConfigWidget
public:
explicit FlightModeConfig(QWidget *parent = 0);
~FlightModeConfig();
private slots:
void activeUASSet(UASInterface *uas);
void saveButtonClicked();
void modeChanged(int sysId, QString status, QString description);
// Overrides from AP2ConfigWidget
virtual void activeUASSet(UASInterface *uas);
virtual void parameterChanged(int uas, int component, QString parameterName, QVariant value);
// Signalled from UAS
void remoteControlChannelRawChanged(int chan,float val);
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
// Signalled from FlightModeConfig UI
void saveButtonClicked(void);
private:
QMap<int,int> roverModeIndexToUiIndex;
QMap<int,int> planeModeIndexToUiIndex;
QMap<int,int> roverModeUiIndexToIndex;
QMap<int,int> planeModeUiIndexToIndex;
Ui::FlightModeConfig ui;
typedef struct {
const char* label;
int value;
} FlightModeInfo_t;
static const FlightModeInfo_t _rgModeInfoFixedWing[];
static const FlightModeInfo_t _rgModeInfoRotor[];
static const FlightModeInfo_t _rgModeInfoRover[];
const FlightModeInfo_t* _rgModeInfo;
size_t _cModeInfo;
static const size_t _cModes = 6;
static const char* _rgModeParamFixedWing[_cModes];
static const char* _rgModeParamRotor[_cModes];
static const char* _rgModeParamRover[_cModes];
const char** _rgModeParam;
static const int _rgModePWMBoundary[_cModes];
bool _simpleModeSupported;
static const char* _simpleModeBitMaskParam;
static const char* _modeSwitchRCChannelParamFixedWing;
static const char* _modeSwitchRCChannelParamRover;
const char* _modeSwitchRCChannelParam;
static const int _modeSwitchRCChannelRotor = 4; // ArduCopter harcoded to 0-based channel 4
static const int _modeSwitchRCChannelInvalid = -1;
int _modeSwitchRCChannel;
QLabel* _rgLabel[_cModes];
QComboBox* _rgCombo[_cModes];
QCheckBox* _rgSimpleModeCheckBox[_cModes];
QLabel* _rgPWMLabel[_cModes];
Ui::FlightModeConfig _ui;
};
#endif // FLIGHTMODECONFIG_H
src/ui/configuration/FlightModeConfig.ui
View file @ 97c56e47
......@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>818</width>
<height>359</height>
<height>435</height>
</rect>
</property>
<property name="windowTitle">
......@@ -40,15 +40,15 @@
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<layout class="QVBoxLayout" name="labelLayout">
<property name="spacing">
<number>8</number>
<number>-1</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_11">
<widget class="QLabel" name="mode0Label">
<property name="text">
<string>Flight Mode 1</string>
</property>
......@@ -58,7 +58,7 @@
</widget>
</item>
<item>
<widget class="QLabel" name="label_5">
<widget class="QLabel" name="mode1Label">
<property name="text">
<string>Flight Mode 2</string>
</property>
......@@ -68,7 +68,7 @@
</widget>
</item>
<item>
<widget class="QLabel" name="label_9">
<widget class="QLabel" name="mode2Label">
<property name="text">
<string>Flight Mode 3</string>
</property>
......@@ -78,7 +78,7 @@
</widget>
</item>
<item>
<widget class="QLabel" name="label_2">
<widget class="QLabel" name="mode3Label">
<property name="text">
<string>Flight Mode 4</string>
</property>
......@@ -88,7 +88,7 @@
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<widget class="QLabel" name="mode4Label">
<property name="text">
<string>Flight Mode 5</string>
</property>
......@@ -98,7 +98,7 @@
</widget>
</item>
<item>
<widget class="QLabel" name="label_13">
<widget class="QLabel" name="mode5Label">
<property name="text">
<string>Flight Mode 6</string>
</property>
......@@ -110,21 +110,33 @@
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<layout class="QVBoxLayout" name="comboLayout">
<property name="topMargin">
<number>0</number>
</property>
<item>
<widget class="QComboBox" name="mode1ComboBox">
<widget class="QComboBox" name="mode0ComboBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="frame">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="mode2ComboBox">
<widget class="QComboBox" name="mode1ComboBox">
<property name="styleSheet">
<string notr="true"/>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="mode2ComboBox"/>
</item>
<item>
<widget class="QComboBox" name="mode3ComboBox"/>
</item>
......@@ -134,56 +146,53 @@
<item>
<widget class="QComboBox" name="mode5ComboBox"/>
</item>
<item>
<widget class="QComboBox" name="mode6ComboBox"/>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_3">
<layout class="QVBoxLayout" name="simpleCheckBoxLayout">
<property name="spacing">
<number>8</number>
<number>12</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<item>
<widget class="QCheckBox" name="mode1SimpleCheckBox">
<widget class="QCheckBox" name="mode0SimpleCheckBox">
<property name="text">
<string>Simple Mode</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="mode2SimpleCheckBox">
<widget class="QCheckBox" name="mode1SimpleCheckBox">
<property name="text">
<string>Simple Mode</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="mode3SimpleCheckBox">
<widget class="QCheckBox" name="mode2SimpleCheckBox">
<property name="text">
<string>Simple Mode</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="mode4SimpleCheckBox">
<widget class="QCheckBox" name="mode3SimpleCheckBox">
<property name="text">
<string>Simple Mode</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="mode5SimpleCheckBox">
<widget class="QCheckBox" name="mode4SimpleCheckBox">
<property name="text">
<string>Simple Mode</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="mode6SimpleCheckBox">
<widget class="QCheckBox" name="mode5SimpleCheckBox">
<property name="text">
<string>Simple Mode</string>
</property>
......@@ -192,9 +201,12 @@
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<layout class="QVBoxLayout" name="PWMLabelLayout">
<property name="spacing">
<number>-1</number>
</property>
<item>
<widget class="QLabel" name="mode1Label">
<widget class="QLabel" name="mode0PWMLabel">
<property name="styleSheet">
<string notr="true"/>
</property>
......@@ -204,35 +216,35 @@
</widget>
</item>
<item>
<widget class="QLabel" name="mode2Label">
<widget class="QLabel" name="mode1PWMLabel">
<property name="text">
<string>PWM 1231 - 1360</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="mode3Label">
<widget class="QLabel" name="mode2PWMLabel">
<property name="text">
<string>PWM 1361 - 1490</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="mode4Label">
<widget class="QLabel" name="mode3PWMLabel">
<property name="text">
<string>PWM 1491 - 1620</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="mode5Label">
<widget class="QLabel" name="mode4PWMLabel">
<property name="text">
<string>PWM 1621 - 1749</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="mode6Label">
<widget class="QLabel" name="mode5PWMLabel">
<property name="styleSheet">
<string notr="true"/>
</property>
......
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