From cbbac43f7935dd777377c4d6b2d7d3fac9227959 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 23 Dec 2012 21:16:17 +0100
Subject: [PATCH] Added flying wing support

---
 src/comm/QGCXPlaneLink.cc | 34 ++++++++++++++++++++++++----------
 src/configuration.h       |  4 ++--
 src/uas/UASInterface.h    |  3 +++
 src/ui/uas/UASView.cc     |  6 +++++-
 4 files changed, 34 insertions(+), 13 deletions(-)

diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index 64c3f1a7c..326a17fe2 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGC.h"
 #include <QHostInfo>
 #include "UAS.h"
+#include "UASInterface.h"
 #include "MainWindow.h"
 
 QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress localHost, quint16 localPort) :
@@ -226,12 +227,8 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
 
 void QGCXPlaneLink::updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
 {
-    // XXX Control this via the onboard system type exclusively
     if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
     // Only update this for multirotors
-//    if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C ||
-//        airframeID == AIRFRAME_QUAD_X_ARDRONE ||
-//        airframeID == AIRFRAME_QUAD_DJI_F450_PWM)
     {
 
         Q_UNUSED(time);
@@ -294,9 +291,9 @@ void QGCXPlaneLink::updateControls(uint64_t time, float rollAilerons, float pitc
 {
     // Do not update this control type for
     // all multirotors
-    if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C ||
-        airframeID == AIRFRAME_QUAD_X_ARDRONE ||
-        airframeID == AIRFRAME_QUAD_DJI_F450_PWM)
+    if (mav->getSystemType() == MAV_TYPE_QUADROTOR ||
+            mav->getSystemType() == MAV_TYPE_HEXAROTOR ||
+            mav->getSystemType() == MAV_TYPE_OCTOROTOR)
     {
         return;
     }
@@ -316,9 +313,26 @@ void QGCXPlaneLink::updateControls(uint64_t time, float rollAilerons, float pitc
     p.b[4] = '\0';
 
     p.index = 12;
-    p.f[0] = -pitchElevator;
-    p.f[1] = rollAilerons;
-    p.f[2] = yawRudder;
+
+    if (mav->getAirframe() == UASInterface::QGC_AIRFRAME_X8 ||
+            mav->getAirframe() == UASInterface::QGC_AIRFRAME_VIPER_2_0 ||
+            mav->getAirframe() == UASInterface::QGC_AIRFRAME_CAMFLYER_Q)
+    {
+        // de-mix delta-mixed inputs
+        // pitch input - mixed roll and pitch channels
+        p.f[0] = 0.5f * (rollAilerons - pitchElevator);
+        // roll input - mixed roll and pitch channels
+        p.f[1] = 0.5f * (rollAilerons + pitchElevator);
+        // yaw
+        p.f[2] = 0.0f;
+    }
+    else
+    {
+        // direct pass-through
+        p.f[0] = -pitchElevator;
+        p.f[1] = rollAilerons;
+        p.f[2] = yawRudder;
+    }
 
     Q_UNUSED(time);
     Q_UNUSED(systemMode);
diff --git a/src/configuration.h b/src/configuration.h
index 8c2639d01..70602a9d5 100644
--- a/src/configuration.h
+++ b/src/configuration.h
@@ -12,14 +12,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.1 (Alpha RC18)"
+#define QGC_APPLICATION_VERSION "v. 1.0.2 (beta)"
 
 namespace QGC
 
 {
 const QString APPNAME = "QGROUNDCONTROL";
 const QString COMPANYNAME = "QGROUNDCONTROL";
-const int APPLICATIONVERSION = 101; // 1.0.1
+const int APPLICATIONVERSION = 102; // 1.0.1
 }
 
 #endif // QGC_CONFIGURATION_H
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 36f4fd5b2..59c5377f7 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -150,6 +150,9 @@ public:
         QGC_AIRFRAME_PTERYX,
         QGC_AIRFRAME_TRICOPTER,
         QGC_AIRFRAME_HEXCOPTER,
+        QGC_AIRFRAME_X8,
+        QGC_AIRFRAME_VIPER_2_0,
+        QGC_AIRFRAME_CAMFLYER_Q,
         QGC_AIRFRAME_END_OF_ENUM
     };
 
diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc
index 068acd288..5d6a83012 100644
--- a/src/ui/uas/UASView.cc
+++ b/src/ui/uas/UASView.cc
@@ -547,7 +547,11 @@ void UASView::selectAirframe()
                 << "Predator"
                 << "Coaxial"
                 << "Pteryx"
-                << "Asctec Firefly";
+                << "Tricopter"
+                << "Asctec Firefly"
+                << "X8 Flying Wing"
+                << "Viper 2.0 Flying Wing"
+                << "Cam Flyer Q Flying Wing";
 
         bool ok;
         QString item = QInputDialog::getItem(this, tr("Select Airframe for %1").arg(uas->getUASName()),
-- 
2.22.0