#include "FailSafeConfig.h" FailSafeConfig::FailSafeConfig(QWidget *parent) : AP2ConfigWidget(parent) { ui.setupUi(this); ui.radio1In->setName("Radio 1"); ui.radio1In->setMin(800); ui.radio1In->setMax(2200); ui.radio1In->setOrientation(Qt::Horizontal); ui.radio2In->setName("Radio 2"); ui.radio2In->setMin(800); ui.radio2In->setMax(2200); ui.radio2In->setOrientation(Qt::Horizontal); ui.radio3In->setName("Radio 3"); ui.radio3In->setMin(800); ui.radio3In->setMax(2200); ui.radio3In->setOrientation(Qt::Horizontal); ui.radio4In->setName("Radio 4"); ui.radio4In->setMin(800); ui.radio4In->setMax(2200); ui.radio4In->setOrientation(Qt::Horizontal); ui.radio5In->setName("Radio 5"); ui.radio5In->setMin(800); ui.radio5In->setMax(2200); ui.radio5In->setOrientation(Qt::Horizontal); ui.radio6In->setName("Radio 6"); ui.radio6In->setMin(800); ui.radio6In->setMax(2200); ui.radio6In->setOrientation(Qt::Horizontal); ui.radio7In->setName("Radio 7"); ui.radio7In->setMin(800); ui.radio7In->setMax(2200); ui.radio7In->setOrientation(Qt::Horizontal); ui.radio8In->setName("Radio 8"); ui.radio8In->setMin(800); ui.radio8In->setMax(2200); ui.radio8In->setOrientation(Qt::Horizontal); ui.radio1Out->setName("Radio 1"); ui.radio1Out->setMin(800); ui.radio1Out->setMax(2200); ui.radio1Out->setOrientation(Qt::Horizontal); ui.radio2Out->setName("Radio 2"); ui.radio2Out->setMin(800); ui.radio2Out->setMax(2200); ui.radio2Out->setOrientation(Qt::Horizontal); ui.radio3Out->setName("Radio 3"); ui.radio3Out->setMin(800); ui.radio3Out->setMax(2200); ui.radio3Out->setOrientation(Qt::Horizontal); ui.radio4Out->setName("Radio 4"); ui.radio4Out->setMin(800); ui.radio4Out->setMax(2200); ui.radio4Out->setOrientation(Qt::Horizontal); ui.radio5Out->setName("Radio 5"); ui.radio5Out->setMin(800); ui.radio5Out->setMax(2200); ui.radio5Out->setOrientation(Qt::Horizontal); ui.radio6Out->setName("Radio 6"); ui.radio6Out->setMin(800); ui.radio6Out->setMax(2200); ui.radio6Out->setOrientation(Qt::Horizontal); ui.radio7Out->setName("Radio 7"); ui.radio7Out->setMin(800); ui.radio7Out->setMax(2200); ui.radio7Out->setOrientation(Qt::Horizontal); ui.radio8Out->setName("Radio 8"); ui.radio8Out->setMin(800); ui.radio8Out->setMax(2200); ui.radio8Out->setOrientation(Qt::Horizontal); ui.throttleFailSafeComboBox->addItem("Disable"); ui.throttleFailSafeComboBox->addItem("Enabled - Always TRL"); ui.throttleFailSafeComboBox->addItem("Enabled - Continue in auto"); connect(ui.batteryFailCheckBox,SIGNAL(clicked(bool)),this,SLOT(batteryFailChecked(bool))); connect(ui.fsLongCheckBox,SIGNAL(clicked(bool)),this,SLOT(fsLongClicked(bool))); connect(ui.fsShortCheckBox,SIGNAL(clicked(bool)),this,SLOT(fsShortClicked(bool))); connect(ui.gcsCheckBox,SIGNAL(clicked(bool)),this,SLOT(gcsChecked(bool))); connect(ui.throttleActionCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleActionChecked(bool))); connect(ui.throttleCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleChecked(bool))); connect(ui.throttlePwmSpinBox,SIGNAL(editingFinished()),this,SLOT(throttlePwmChanged())); connect(ui.throttleFailSafeComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(throttleFailSafeChanged(int))); ui.armedLabel->setText("

DISARMED

"); ui.modeLabel->setText("

MODE

"); initConnections(); } void FailSafeConfig::gcsChecked(bool checked) { if (!m_uas) { showNullMAVErrorMessageBox(); return; } if (checked) { m_uas->setParameter(1,"FS_GCS_ENABL",1); } else { m_uas->setParameter(1,"FS_GCS_ENABL",0); } } void FailSafeConfig::throttleActionChecked(bool checked) { if (!m_uas) { showNullMAVErrorMessageBox(); return; } if (checked) { m_uas->setParameter(1,"THR_FS_ACTION",1); } else { m_uas->setParameter(1,"THR_FS_ACTION",0); } } void FailSafeConfig::throttleChecked(bool checked) { if (!m_uas) { showNullMAVErrorMessageBox(); return; } if (checked) { m_uas->setParameter(1,"THR_FAILSAFE",1); } else { m_uas->setParameter(1,"THR_FAILSAFE",0); } } void FailSafeConfig::throttlePwmChanged() { if (!m_uas) { showNullMAVErrorMessageBox(); return; } m_uas->setParameter(1,"THR_FS_VALUE",ui.throttlePwmSpinBox->value()); } void FailSafeConfig::throttleFailSafeChanged(int index) { if (!m_uas) { showNullMAVErrorMessageBox(); return; } m_uas->setParameter(1,"FS_THR_ENABLE",index); } void FailSafeConfig::fsLongClicked(bool checked) { if (!m_uas) { showNullMAVErrorMessageBox(); return; } if (checked) { m_uas->setParameter(1,"FS_LONG_ACTN",1); } else { m_uas->setParameter(1,"FS_LONG_ACTN",0); } } void FailSafeConfig::fsShortClicked(bool checked) { if (!m_uas) { showNullMAVErrorMessageBox(); return; } if (checked) { m_uas->setParameter(1,"FS_SHORT_ACTN",1); } else { m_uas->setParameter(1,"FS_SHORT_ACTN",0); } } void FailSafeConfig::batteryFailChecked(bool checked) { if (!m_uas) { showNullMAVErrorMessageBox(); return; } if (checked) { m_uas->setParameter(1,"FS_BATT_ENABLE",1); } else { m_uas->setParameter(1,"FS_BATT_ENABLE",0); } } FailSafeConfig::~FailSafeConfig() { } void FailSafeConfig::activeUASSet(UASInterface *uas) { if (m_uas) { disconnect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float))); disconnect(m_uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float))); disconnect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool))); } AP2ConfigWidget::activeUASSet(uas); if (!uas) { return; } connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float))); connect(m_uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float))); connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool))); connect(m_uas,SIGNAL(gpsLocalizationChanged(UASInterface*,int)),this,SLOT(gpsStatusChanged(UASInterface*,int))); if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING) { ui.batteryFailCheckBox->setVisible(false); ui.throttleFailSafeComboBox->setVisible(false); ui.batteryVoltSpinBox->setVisible(false); ui.label_6->setVisible(false); ui.throttlePwmSpinBox->setVisible(true); //Both ui.throttleCheckBox->setVisible(true); ui.throttleActionCheckBox->setVisible(true); ui.gcsCheckBox->setVisible(true); ui.fsLongCheckBox->setVisible(true); ui.fsShortCheckBox->setVisible(true); } else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR) { ui.batteryFailCheckBox->setVisible(true); ui.throttleFailSafeComboBox->setVisible(true); ui.batteryVoltSpinBox->setVisible(true); ui.label_6->setVisible(true); ui.throttlePwmSpinBox->setVisible(true); //Both ui.throttleCheckBox->setVisible(false); ui.throttleActionCheckBox->setVisible(false); ui.gcsCheckBox->setVisible(false); ui.fsLongCheckBox->setVisible(false); ui.fsShortCheckBox->setVisible(false); } else { //Show all, just in case ui.batteryFailCheckBox->setVisible(true); ui.throttleFailSafeComboBox->setVisible(true); ui.batteryVoltSpinBox->setVisible(true); ui.throttlePwmSpinBox->setVisible(true); //Both ui.throttleCheckBox->setVisible(true); ui.throttleActionCheckBox->setVisible(true); ui.gcsCheckBox->setVisible(true); ui.fsLongCheckBox->setVisible(true); ui.fsShortCheckBox->setVisible(true); } } void FailSafeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) { //Arducopter if (parameterName == "FS_THR_ENABLE") { ui.throttleFailSafeComboBox->setCurrentIndex(value.toInt()); } else if (parameterName == "FS_THR_VALUE") { ui.throttlePwmSpinBox->setValue(value.toFloat()); } else if (parameterName == "FS_BATT_ENABLE") { if (value.toInt() == 0) { ui.batteryFailCheckBox->setChecked(false); } else { ui.batteryFailCheckBox->setChecked(true); } } else if (parameterName == "LOW_VOLT") { ui.batteryVoltSpinBox->setValue(value.toFloat()); } //Arduplane else if (parameterName == "THR_FAILSAFE") { if (value.toInt() == 0) { ui.throttleCheckBox->setChecked(false); } else { ui.throttleCheckBox->setChecked(true); } } else if (parameterName == "THR_FS_VALUE") { ui.throttlePwmSpinBox->setValue(value.toFloat()); } else if (parameterName == "THR_FS_ACTION") { if (value.toInt() == 0) { ui.throttleActionCheckBox->setChecked(false); } else { ui.throttleActionCheckBox->setChecked(true); } } else if (parameterName == "FS_GCS_ENABL") { if (value.toInt() == 0) { ui.gcsCheckBox->setChecked(false); } else { ui.gcsCheckBox->setChecked(true); } } else if (parameterName == "FS_SHORT_ACTN") { if (value.toInt() == 0) { ui.fsShortCheckBox->setChecked(false); } else { ui.fsShortCheckBox->setChecked(true); } } else if (parameterName == "FS_LONG_ACTN") { if (value.toInt() == 0) { ui.fsLongCheckBox->setChecked(false); } else { ui.fsLongCheckBox->setChecked(true); } } } void FailSafeConfig::armingChanged(bool armed) { if (armed) { ui.armedLabel->setText("

ARMED

"); } else { ui.armedLabel->setText("

DISARMED

"); } } void FailSafeConfig::remoteControlChannelRawChanges(int chan,float value) { if (chan == 0) { ui.radio1In->setValue(value); } else if (chan == 1) { ui.radio2In->setValue(value); } else if (chan == 2) { ui.radio3In->setValue(value); } else if (chan == 3) { ui.radio4In->setValue(value); } else if (chan == 4) { ui.radio5In->setValue(value); } else if (chan == 5) { ui.radio6In->setValue(value); } else if (chan == 6) { ui.radio7In->setValue(value); } else if (chan == 7) { ui.radio8In->setValue(value); } } void FailSafeConfig::hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8) { ui.radio1Out->setValue(act1); ui.radio2Out->setValue(act2); ui.radio3Out->setValue(act3); ui.radio4Out->setValue(act4); ui.radio5Out->setValue(act5); ui.radio6Out->setValue(act6); ui.radio7Out->setValue(act7); ui.radio8Out->setValue(act8); } void FailSafeConfig::gpsStatusChanged(UASInterface* uas,int fixtype) { if (fixtype == 0 || fixtype == 1) { ui.gpsLabel->setText("

None

"); } else if (fixtype == 2) { ui.gpsLabel->setText("

2D Fix

"); } else if (fixtype == 3) { ui.gpsLabel->setText("

3D Fix

"); } }