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Commit a6f871ba authored by Michael Carpenter's avatar Michael Carpenter
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Additional functionality for Flight Mode config, including highlighting of... 

Additional functionality for Flight Mode config, including highlighting of current PWM value on channel 5
parent ea3e1614
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Showing with 139 additions and 48 deletions
src/ui/configuration/FlightModeConfig.cc
View file @ a6f871ba
......@@ -4,9 +4,8 @@
FlightModeConfig::FlightModeConfig(QWidget *parent) : QWidget(parent)
{
ui.setupUi(this);
connect(ui.savePushButton,SIGNAL(clicked()),this,SLOT(saveButtonClicked()));
connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(setActiveUAS(UASInterface*)));
}
FlightModeConfig::~FlightModeConfig()
......@@ -37,15 +36,35 @@ void FlightModeConfig::setActiveUAS(UASInterface *uas)
itemlist << "Guided";
planeModeIndexToUiIndex[0] = 0;
planeModeUiIndexToIndex[0] = 0;
planeModeIndexToUiIndex[1] = 1;
planeModeUiIndexToIndex[1] = 1;
planeModeIndexToUiIndex[2] = 2;
planeModeUiIndexToIndex[2] = 2;
planeModeIndexToUiIndex[3] = 3;
planeModeUiIndexToIndex[3] = 3;
planeModeIndexToUiIndex[5] = 4;
planeModeUiIndexToIndex[4] = 5;
planeModeIndexToUiIndex[6] = 5;
planeModeUiIndexToIndex[5] = 6;
planeModeIndexToUiIndex[10] = 6;
planeModeUiIndexToIndex[6] = 10;
planeModeIndexToUiIndex[11] = 7;
planeModeUiIndexToIndex[7] = 11;
planeModeIndexToUiIndex[12] = 8;
planeModeUiIndexToIndex[8] = 12;
planeModeIndexToUiIndex[15] = 9;
planeModeUiIndexToIndex[9] = 15;
ui.mode6ComboBox->setEnabled(true);
}
else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
......@@ -60,13 +79,29 @@ void FlightModeConfig::setActiveUAS(UASInterface *uas)
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;
}
else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
......@@ -96,65 +131,95 @@ void FlightModeConfig::modeChanged(int sysId, QString status, QString descriptio
{
//Unused?
}
void FlightModeConfig::saveButtonClicked()
{
if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
{
m_uas->setParameter(0,"FLTMODE1",(char)planeModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
m_uas->setParameter(0,"FLTMODE2",(char)planeModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
m_uas->setParameter(0,"FLTMODE3",(char)planeModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
m_uas->setParameter(0,"FLTMODE4",(char)planeModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
m_uas->setParameter(0,"FLTMODE5",(char)planeModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
m_uas->setParameter(0,"FLTMODE6",(char)planeModeUiIndexToIndex[ui.mode6ComboBox->currentIndex()]);
}
else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
{
m_uas->setParameter(0,"MODE1",(char)roverModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
m_uas->setParameter(0,"MODE2",(char)roverModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
m_uas->setParameter(0,"MODE3",(char)roverModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
m_uas->setParameter(0,"MODE4",(char)roverModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
m_uas->setParameter(0,"MODE5",(char)roverModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
}
else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
{
m_uas->setParameter(0,"FLTMODE1",(char)ui.mode1ComboBox->currentIndex()+1);
m_uas->setParameter(0,"FLTMODE2",(char)ui.mode2ComboBox->currentIndex()+1);
m_uas->setParameter(0,"FLTMODE3",(char)ui.mode3ComboBox->currentIndex()+1);
m_uas->setParameter(0,"FLTMODE4",(char)ui.mode4ComboBox->currentIndex()+1);
m_uas->setParameter(0,"FLTMODE5",(char)ui.mode5ComboBox->currentIndex()+1);
m_uas->setParameter(0,"FLTMODE6",(char)ui.mode6ComboBox->currentIndex()+1);
}
}
void FlightModeConfig::remoteControlChannelRawChanged(int chan,float val)
{
if (chan == 5)
if (chan == 4)
{
//Channel 5 is the mode switch.
//Channel 5 (0 array) is the mode switch.
///TODO: Make this configurable
if (val <= 1230)
{
ui.mode1ComboBox->setBackgroundRole(QPalette::Highlight);
ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
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.mode1ComboBox->setBackgroundRole(QPalette::Background);
ui.mode2ComboBox->setBackgroundRole(QPalette::Highlight);
ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
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.mode1ComboBox->setBackgroundRole(QPalette::Background);
ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
ui.mode3ComboBox->setBackgroundRole(QPalette::Highlight);
ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
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.mode1ComboBox->setBackgroundRole(QPalette::Background);
ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
ui.mode4ComboBox->setBackgroundRole(QPalette::Highlight);
ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
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.mode1ComboBox->setBackgroundRole(QPalette::Background);
ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
ui.mode5ComboBox->setBackgroundRole(QPalette::Highlight);
ui.mode6ComboBox->setBackgroundRole(QPalette::Background);
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.mode1ComboBox->setBackgroundRole(QPalette::Background);
ui.mode2ComboBox->setBackgroundRole(QPalette::Background);
ui.mode3ComboBox->setBackgroundRole(QPalette::Background);
ui.mode4ComboBox->setBackgroundRole(QPalette::Background);
ui.mode5ComboBox->setBackgroundRole(QPalette::Background);
ui.mode6ComboBox->setBackgroundRole(QPalette::Highlight);
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);");
}
}
}
......
src/ui/configuration/FlightModeConfig.h
View file @ a6f871ba
......@@ -15,12 +15,15 @@ public:
~FlightModeConfig();
private slots:
void setActiveUAS(UASInterface *uas);
void saveButtonClicked();
void modeChanged(int sysId, QString status, QString description);
void remoteControlChannelRawChanged(int chan,float val);
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
private:
QMap<int,int> roverModeIndexToUiIndex;
QMap<int,int> planeModeIndexToUiIndex;
QMap<int,int> roverModeUiIndexToIndex;
QMap<int,int> planeModeUiIndexToIndex;
Ui::FlightModeConfig ui;
UASInterface *m_uas;
};
......
src/ui/configuration/FlightModeConfig.ui
View file @ a6f871ba
......@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>608</width>
<width>818</width>
<height>359</height>
</rect>
</property>
......@@ -119,7 +119,11 @@
</widget>
</item>
<item>
<widget class="QComboBox" name="mode2ComboBox"/>
<widget class="QComboBox" name="mode2ComboBox">
<property name="styleSheet">
<string notr="true"/>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="mode3ComboBox"/>
......@@ -190,42 +194,48 @@
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="label_6">
<widget class="QLabel" name="mode1Label">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>PWM 0 - 1230</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_4">
<widget class="QLabel" name="mode2Label">
<property name="text">
<string>PWM 1231 - 1360</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<widget class="QLabel" name="mode3Label">
<property name="text">
<string>PWM 1361 - 1490</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_10">
<widget class="QLabel" name="mode4Label">
<property name="text">
<string>PWM 1491 - 1620</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_8">
<widget class="QLabel" name="mode5Label">
<property name="text">
<string>PWM 1621 - 1749</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_12">
<widget class="QLabel" name="mode6Label">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>PWM 1750 +</string>
</property>
......@@ -235,6 +245,19 @@
</item>
</layout>
</widget>
<widget class="QPushButton" name="savePushButton">
<property name="geometry">
<rect>
<x>50</x>
<y>290</y>
<width>75</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
</widget>
<resources/>
<connections/>
......
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