diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
index a4b1f55c47b4b46387a0a6fd2fb5348b3465c9e1..f690d24e267310340ea0524f2e2dd54d2bf647d3 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
@@ -73,6 +73,7 @@ enum packet_type {
positionType = 7,
attitudeRateType = 8,
attitudeType = 9,
+ mixedAttitudeType = 10,
};
/* ---===== 2 - Decoding functions =====--- */
@@ -431,6 +432,39 @@ static void attitudeDecoder(setpoint_t *setpoint, uint8_t type, const void *data
setpoint->thrust = values->thrust;
}
+
+/*
+ * Custom mixed Attitude decoder, bypasses the normal attitude control path,
+ * packet contains the roll and pitch as attitude angles and the
+ * yaw as an attitude rate in addition to the thrust value
+ */
+struct mixedAttitudePacket_s{
+ float rollAngle; // deg
+ float pitchAngle; // deg
+ float yawAngleRate; // deg/s
+ float thrust; // thrust percentage 0 - 60,000
+} __attribute__((packed));
+static void mixedAttitudeDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen){
+
+ const struct mixedAttitudePacket_s *values = data;
+
+ ASSERT(datalen == sizeof(struct mixedAttitudePacket_s));
+
+ setpoint->mode.x = modeDisable;
+ setpoint->mode.y = modeDisable;
+ setpoint->mode.z = modeDisable;
+
+ setpoint->mode.roll = modeAbs;
+ setpoint->mode.pitch = modeAbs;
+ setpoint->mode.yaw = modeVelocity;
+
+ setpoint->attitude.roll = values->rollAngle;
+ setpoint->attitude.pitch = values->pitchAngle;
+ setpoint->attitudeRate.yaw = values->yawAngleRate;
+
+ setpoint->thrust = values->thrust;
+}
+
/* ---===== 3 - packetDecoders array =====--- */
const static packetDecoder_t packetDecoders[] = {
[stopType] = stopDecoder,
@@ -443,6 +477,7 @@ const static packetDecoder_t packetDecoders[] = {
[positionType] = positionDecoder,
[attitudeRateType] = attitudeRateDecoder,
[attitudeType] = attitudeDecoder,
+ [mixedAttitudeType] = mixedAttitudeDecoder,
};
/* Decoder switch */
diff --git a/groundStation/adapters/crazyflie/src/cf_adapter.c b/groundStation/adapters/crazyflie/src/cf_adapter.c
index 9cc1912ded91d354c4b3a91246393da848d1e6b7..b4a65f9e2e5f1aeca9e0015ff4da25e62f4b3d25 100644
--- a/groundStation/adapters/crazyflie/src/cf_adapter.c
+++ b/groundStation/adapters/crazyflie/src/cf_adapter.c
@@ -271,7 +271,7 @@ size_t getSinglePacket(int fd, uint8_t * packet, int pSize){
}
//get the total packet size
- totalPacketSize = packetSize(*(packet+5)<<8 | (*(packet +6)));
+ totalPacketSize = packetSize(*(packet+6)<<8 | (*(packet +5)));
printf("\t\ttotal packet size %d\n",totalPacketSize);
//check that the total packet size isnt unreasonable TODO is this a valid check?
diff --git a/groundStation/gui/MicroCART/.gitignore b/groundStation/gui/MicroCART/.gitignore
index d5ce34de5297da99798e7d40d2d85f383424787e..019099be5ce29387acb1e9f0b543340c71b1c9b6 100644
--- a/groundStation/gui/MicroCART/.gitignore
+++ b/groundStation/gui/MicroCART/.gitignore
@@ -1,3 +1,6 @@
+#MicroCART GUI executable
+MicroCART
+
# C++ objects and libs
*.slo
*.lo
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index 8894c2c63b265fc749ec2f122a7d885abef96f52..cb241a10c9e6d80736720022c3823d21ca2e74dd 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -26,6 +26,7 @@ void CrazyflieWorker::connectBackend()
} else {
qInfo() << "Attempted to connect crazyflieworker when already connected!";
}
+ isBackendConnected = true;
loadParamIds();
loadLogIds();
QStringList paramGroupList;
@@ -47,6 +48,7 @@ void CrazyflieWorker::disconnectBackend()
if (conn) {
ucart_backendDisconnect(conn);
conn = NULL;
+ isBackendConnected = false;
emit (disconnected());
}
}
@@ -61,6 +63,7 @@ void CrazyflieWorker::setCurrAttSetpoint(float roll, float pitch, float yaw, flo
void CrazyflieWorker::setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttle)
{
+ qInfo() << "set rate";
currAttitudeRateSetpoint.roll = rollRate;
currAttitudeRateSetpoint.pitch = pitchRate;
currAttitudeRateSetpoint.yaw = yawRate;
@@ -70,31 +73,57 @@ void CrazyflieWorker::setCurrAttRateSetpoint(float rollRate, float pitchRate, fl
void CrazyflieWorker::sendAttRateSetpoint()
{
- struct frontend_override_data data;
- data.enable = 2; //attitude rate
- data.time = 0.2; //hold setpoint for 0.2 seconds TODO check if this amount of time is good?
- data.throttle = currAttitudeRateSetpoint.throttle;
- data.roll = currAttitudeRateSetpoint.roll;
- data.pitch = currAttitudeRateSetpoint.pitch;
- data.yaw = currAttitudeRateSetpoint.yaw;
-
- //send setpoint
- frontend_setoutputoverride(conn, &data);
+ qInfo() << " send att rate" << currAttitudeRateSetpoint.throttle << " " << currAttitudeRateSetpoint.roll;
+
+ if(isBackendConnected){
+ struct frontend_override_data data;
+ data.enable = 2; //attitude rate
+ data.time = 0;
+ data.throttle = currAttitudeRateSetpoint.throttle;
+ data.roll = currAttitudeRateSetpoint.roll;
+ data.pitch = currAttitudeRateSetpoint.pitch;
+ data.yaw = currAttitudeRateSetpoint.yaw;
+
+ //send setpoint
+ frontend_setoutputoverride(conn, &data);
+ }
}
void CrazyflieWorker::sendAttSetpoint()
{
- struct frontend_override_data data;
- data.enable = 1; //attitude
- data.time = 0.2; //hold setpoint for 0.2 seconds TODO
- data.throttle = currAttitudeSetpoint.throttle;
- data.roll = currAttitudeSetpoint.roll;
- data.pitch = currAttitudeSetpoint.pitch;
- data.yaw = currAttitudeSetpoint.yaw;
-
- //send setpoint
- frontend_setoutputoverride(conn, &data);
+ qInfo() << " send att" << currAttitudeSetpoint.throttle;
+
+ if(isBackendConnected){
+ struct frontend_override_data data;
+ data.enable = 1; //attitude
+ data.time = 0;
+ data.throttle = currAttitudeSetpoint.throttle;
+ data.roll = currAttitudeSetpoint.roll;
+ data.pitch = currAttitudeSetpoint.pitch;
+ data.yaw = currAttitudeSetpoint.yaw;
+
+ //send setpoint
+ frontend_setoutputoverride(conn, &data);
+ }
+}
+
+void CrazyflieWorker::sendMixedAttSetpoint(){
+
+ qInfo() << "send mixed setpoint";
+
+ if(isBackendConnected){
+ struct frontend_override_data data;
+ data.enable = 3; //roll and pitch are attitude, yaw is attitude angle
+ data.time = 0;
+ data.throttle = currAttitudeSetpoint.throttle;
+ data.roll = currAttitudeSetpoint.roll;
+ data.pitch = currAttitudeSetpoint.pitch;
+ data.yaw = currAttitudeRateSetpoint.yaw;
+
+ //send setpoint
+ frontend_setoutputoverride(conn, &data);
+ }
}
void CrazyflieWorker::getParamValue(QString paramName){
diff --git a/groundStation/gui/MicroCART/crazyflieworker.h b/groundStation/gui/MicroCART/crazyflieworker.h
index 104d37b86b3659fecdf0bcd248a438ade64060a8..43d37fc4955d23b4a245edf254aba96823017d7d 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.h
+++ b/groundStation/gui/MicroCART/crazyflieworker.h
@@ -52,6 +52,7 @@ public slots:
void disconnectBackend();
void sendAttSetpoint();
void sendAttRateSetpoint();
+ void sendMixedAttSetpoint();
void getParamValue(QString paramName);
void setCurrAttSetpoint(float roll, float pitch, float yaw, float throttle);
void setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttleRate);
@@ -62,8 +63,6 @@ private:
struct backend_conn * conn;
Setpoint currAttitudeSetpoint;
Setpoint currAttitudeRateSetpoint;
- void sendAttitudeSetpoint();
- void sendAttitudeRateSetpoint();
std::string getLogFile(int type);
void loadParamIds();
void loadLogIds();
@@ -74,6 +73,7 @@ private:
QMap<QString, struct toc_info> logIds;
std::vector<struct toc_group> paramGroups;
std::vector<struct toc_group> logGroups;
+ bool isBackendConnected = false;
};
#endif // CRAZYFLIEWORKER_H
diff --git a/groundStation/gui/MicroCART/gamepadmonitor.cpp b/groundStation/gui/MicroCART/gamepadmonitor.cpp
index 09f936fc56062f8b9f92e4c24f58974d87256312..486e2d929dbfd1c60d33ec0e31bb79b48b99bccb 100644
--- a/groundStation/gui/MicroCART/gamepadmonitor.cpp
+++ b/groundStation/gui/MicroCART/gamepadmonitor.cpp
@@ -5,10 +5,10 @@ GamepadMonitor::GamepadMonitor(QObject *parent) : QObject(parent)
{
m_gamepadManager = QGamepadManager::instance();
- rollScale = 20; //-20 to 20 deg/s
- pitchScale = 20;
- yawScale = 30;
- thrustScale = 30000; //0 to 60,000 thrust
+ rollScale = DEFAULT_ROLL_SCALE;
+ pitchScale = DEFAULT_PITCH_SCALE;
+ yawScale = DEFAULT_YAW_SCALE;
+ thrustScale = DEFAULT_THRUST_SCALE;
connect(m_gamepadManager, SIGNAL(gamepadConnected(int)), this, SLOT(gamepadConnectedHandler(int)));
connect(m_gamepadManager, SIGNAL(gamepadDisconnected(int)), this, SLOT(gamepadDisconnectedHandler(int)));
@@ -41,6 +41,12 @@ bool GamepadMonitor::isGamepadConnected(){
void GamepadMonitor::resetConfig(){
qInfo() << "gamepad config reset";
+
+ rollScale = DEFAULT_ROLL_SCALE;
+ pitchScale = DEFAULT_PITCH_SCALE;
+ yawScale = DEFAULT_YAW_SCALE;
+ thrustScale = DEFAULT_THRUST_SCALE;
+
m_gamepadManager->resetConfiguration(m_gamepad->deviceId());
}
@@ -73,7 +79,40 @@ float GamepadMonitor::getPitch(){
}
float GamepadMonitor::getThrust(){
- return (float) (m_gamepad->axisLeftY() + 1) * thrustScale;
+ //first scale range (-1, 1) to (-scale/2 , scale/2)
+ //then shift range to (0, scale)
+ //multiplying by range first allows for inverting input
+ return (float) (m_gamepad->axisLeftY() * thrustScale/2 ) + (std::abs(thrustScale)/2) ;
+}
+
+void GamepadMonitor::setRollScale(float scale){
+ rollScale = scale;
+}
+
+void GamepadMonitor::setYawScale(float scale){
+ yawScale = scale;
+}
+
+void GamepadMonitor::setPitchScale(float scale){
+ pitchScale = scale;
+}
+
+void GamepadMonitor::setThrustScale(float scale){
+ thrustScale = scale;
+}
+
+
+float GamepadMonitor::getRollScale(){
+ return rollScale;
+}
+float GamepadMonitor::getPitchScale(){
+ return pitchScale;
+}
+float GamepadMonitor::getYawScale(){
+ return yawScale;
+}
+float GamepadMonitor::getThrustScale(){
+ return thrustScale;
}
GamepadMonitor::~GamepadMonitor(){
diff --git a/groundStation/gui/MicroCART/gamepadmonitor.h b/groundStation/gui/MicroCART/gamepadmonitor.h
index 5b3ef05cd76daef5ce874c70d814876876aaa3fc..dfb25f101283ff1f37be38697ecb24ee3985c7d9 100644
--- a/groundStation/gui/MicroCART/gamepadmonitor.h
+++ b/groundStation/gui/MicroCART/gamepadmonitor.h
@@ -5,6 +5,12 @@
#include <QtGamepad/QGamepad>
+#define DEFAULT_ROLL_SCALE 30 //deg
+#define DEFAULT_PITCH_SCALE 30 //deg
+#define DEFAULT_YAW_SCALE 45 //deg / s
+#define DEFAULT_THRUST_SCALE 60000
+
+
class GamepadMonitor : public QObject
{
Q_OBJECT
@@ -21,6 +27,16 @@ public:
void configureAxis(QString axisName);
void resetConfig();
+ void setRollScale(float scale);
+ void setPitchScale(float scale);
+ void setYawScale(float scale);
+ void setThrustScale(float scale);
+
+ float getRollScale();
+ float getPitchScale();
+ float getYawScale();
+ float getThrustScale();
+
private:
QGamepad *m_gamepad;
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 26cd4162ec2ee856c5a9d92e39b0c4cd4db7268c..7835d8577024d76db089e0e87d9bbf5cbf415ec6 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -103,17 +103,21 @@ MainWindow::MainWindow(QWidget *parent) :
crazyflieWorker->moveToThread(cfThread);
/* connect signals for crazyflie worker */
- connect(this, SIGNAL (rateSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttSetpoint(float, float, float, float)));
- connect(this, SIGNAL (angleSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttRateSetpoint(float, float, float, float)));
- crazyflieTimer->setSingleShot(true);
- connect(crazyflieTimer, SIGNAL(timeout()), this, SLOT (on_stopSetpointButton_clicked()));
+ connect(this, SIGNAL (rateSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttRateSetpoint(float, float, float, float)));
+ connect(this, SIGNAL (angleSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttSetpoint(float, float, float, float)));
+ connect(crazyflieTimer, SIGNAL(timeout()), this, SLOT(trigger_send_setpoint()));
+ connect(this, SIGNAL(triggerAttSetpointSend()), crazyflieWorker, SLOT(sendAttSetpoint()));
+ connect(this, SIGNAL(triggerAttRateSetpointSend()), crazyflieWorker, SLOT(sendAttRateSetpoint()));
+ connect(this, SIGNAL(triggerMixedAttSetpointSend()), crazyflieWorker, SLOT(sendMixedAttSetpoint()));
connect(crazyflieWorker, SIGNAL (gotParamGroups(QStringList)), this, SLOT (setParamGroups(QStringList)));
+
connect(ui->paramGroupComboBox, SIGNAL (currentIndexChanged(int)), this, SLOT (getGroupBoxChange(int)));
connect(ui->paramGroupComboBox_2, SIGNAL (currentIndexChanged(int)), this, SLOT (getGroupBox2Change(int)));
connect(ui->paramEntriesComboBox, SIGNAL (currentIndexChanged(int)), this, SLOT (getEntryBoxChange(int)));
connect(ui->paramEntriesComboBox_2, SIGNAL (currentIndexChanged(int)), this, SLOT (getEntryBoxChange2(int)));
connect(ui->pb_getParam, SIGNAL (clicked()), this, SLOT (on_pb_getParam_click()));
connect(ui->pb_setParam, SIGNAL (clicked()), this, SLOT (on_pb_setParam_click()));
+
connect(crazyflieWorker, SIGNAL (gotGroupEntries(int, QStringList)), this, SLOT (newGroupEntries(int, QStringList)));
connect(this, SIGNAL (getGroupEntries(int, QString)), crazyflieWorker, SLOT (getGroupEntries(int, QString)));
connect(this, SIGNAL (getParamValue(QString)), crazyflieWorker, SLOT (getParamValue(QString)));
@@ -124,9 +128,11 @@ MainWindow::MainWindow(QWidget *parent) :
connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), crazyflieWorker, SLOT (connectBackend()));
+
connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), crazyflieWorker, SLOT (connectBackend()));
+
connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), crazyflieWorker, SLOT (disconnectBackend()));
@@ -158,6 +164,7 @@ MainWindow::MainWindow(QWidget *parent) :
/* Start the things */
trackerTimer->start(100);
+ crazyflieTimer->start(100);
workerThread->start();
cwThread->start();
cfThread->start();
@@ -191,6 +198,13 @@ MainWindow::MainWindow(QWidget *parent) :
connect(pollGamepadTimer, SIGNAL(timeout()), this, SLOT(updateGamepad()));
pollGamepadTimer->start(50);
+ //gamepad configure tab setup
+ ui->gamepadRollScale->setValue((int)gamepadMonitor->getRollScale());
+ ui->gamepadPitchScale->setValue((int)gamepadMonitor->getPitchScale());
+ ui->gamepadYawScale->setValue((int)gamepadMonitor->getYawScale());
+ ui->gamepadThrustScale->setValue((int)gamepadMonitor->getThrustScale());
+
+
/* Populate scripts list */
QDir scriptsDir("scripts/");
@@ -755,8 +769,6 @@ void MainWindow::on_applySetpointButton_clicked()
sp_yaw = ui->yawSetpointBox->text().toFloat();
sp_thrust = ui->tActual -> value();
- crazyflieTimer -> start(10000);
-
if(ui->angleRadioButton->isChecked()) {
//send as angle setpoint
emit(angleSetpointSignal(sp_roll, sp_pitch, sp_yaw, sp_thrust));
@@ -795,12 +807,16 @@ void MainWindow::on_tActual_sliderMoved(int position)
/******** Gamepad handlers ********/
void MainWindow::onGamepadDisconnect(){
+
crazyflieWorker->setCurrAttRateSetpoint(0,0,0,0);
+ //navigation tab
ui->pitchSetpointBox->setText("0");
ui->rollSetpointBox->setText("0");
ui->yawSetpointBox->setText("0");
ui->tActual->setValue(0);
+ ui->rbManualSetpoint->setChecked(true);
+ //gamepad tab
ui->noGamepadWarning->show();
ui->rbGamepadControl->setEnabled(false);
ui->pb_configPitch->setEnabled(false);
@@ -808,17 +824,42 @@ void MainWindow::onGamepadDisconnect(){
ui->pb_configYaw->setEnabled(false);
ui->pb_configThrust->setEnabled(false);
ui->pb_resetConfig->setEnabled(false);
- ui->rbManualSetpoint->setChecked(true);
+ ui->gamepadRollScale->setEnabled(false);
+ ui->rollScaleLabel->setEnabled(false);
+ ui->gamepadPitchScale->setEnabled(false);
+ ui->pitchScaleLabel->setEnabled(false);
+ ui->gamepadYawScale->setEnabled(false);
+ ui->yawScaleLabel->setEnabled(false);
+ ui->gamepadThrustScale->setEnabled(false);
+ ui->thrustScaleLabel->setEnabled(false);
+ ui->thrustScaleNote->setEnabled(false);
+
+
+
}
void MainWindow::onGamepadConnect(){
- ui->noGamepadWarning->hide();
+
+ //navigation tab
ui->rbGamepadControl->setEnabled(true);
+
+ //gamepad tab
+ ui->noGamepadWarning->hide();
ui->pb_configPitch->setEnabled(true);
ui->pb_configRoll->setEnabled(true);
ui->pb_configYaw->setEnabled(true);
ui->pb_configThrust->setEnabled(true);
ui->pb_resetConfig->setEnabled(true);
+
+ ui->gamepadRollScale->setEnabled(true);
+ ui->rollScaleLabel->setEnabled(true);
+ ui->gamepadPitchScale->setEnabled(true);
+ ui->pitchScaleLabel->setEnabled(true);
+ ui->gamepadYawScale->setEnabled(true);
+ ui->yawScaleLabel->setEnabled(true);
+ ui->gamepadThrustScale->setEnabled(true);
+ ui->thrustScaleLabel->setEnabled(true);
+ ui->thrustScaleNote->setEnabled(true);
}
void MainWindow::updateGamepad(){
@@ -835,7 +876,10 @@ void MainWindow::updateGamepad(){
float yaw = gamepadMonitor->getYaw();
float thrust = gamepadMonitor->getThrust();
- crazyflieWorker->setCurrAttRateSetpoint(roll, pitch, yaw, thrust);
+ //create mixed setpoint
+ crazyflieWorker->setCurrAttSetpoint(roll, pitch, 0, thrust);
+ crazyflieWorker->setCurrAttRateSetpoint(0, 0, yaw, 0);
+
ui->rollSetpointBox->setText(QString::number(roll));
ui->pitchSetpointBox->setText(QString::number(pitch));
ui->yawSetpointBox->setText(QString::number(yaw));
@@ -847,6 +891,10 @@ void MainWindow::updateGamepad(){
void MainWindow::on_pb_resetConfig_clicked()
{
gamepadMonitor->resetConfig();
+ ui->gamepadRollScale->setValue((int)gamepadMonitor->getRollScale());
+ ui->gamepadPitchScale->setValue((int)gamepadMonitor->getPitchScale());
+ ui->gamepadYawScale->setValue((int)gamepadMonitor->getYawScale());
+ ui->gamepadThrustScale->setValue((int)gamepadMonitor->getThrustScale());
}
void MainWindow::on_pb_configRoll_clicked()
@@ -875,6 +923,7 @@ void MainWindow::on_rbManualSetpoint_toggled(bool checked)
{
if(checked) {
crazyflieWorker->setCurrAttRateSetpoint(0,0,0,0);
+ crazyflieWorker->setCurrAttSetpoint(0,0,0,0);
ui->pitchSetpointBox->setText("0");
ui->rollSetpointBox->setText("0");
ui->yawSetpointBox->setText("0");
@@ -885,16 +934,62 @@ void MainWindow::on_rbManualSetpoint_toggled(bool checked)
ui->tActual-> setEnabled(true);
ui->angleRadioButton-> setEnabled(true);
ui->rateRadioButton-> setEnabled(true);
+ ui->applySetpointButton->setEnabled(true);
+ ui->stopSetpointButton->setEnabled(true);
}
}
void MainWindow::on_rbGamepadControl_toggled(bool checked)
{
- ui->rollSetpointBox-> setEnabled(false);
- ui->pitchSetpointBox-> setEnabled(false);
- ui->yawSetpointBox-> setEnabled(false);
- ui->tActual-> setEnabled(false);
- ui->angleRadioButton-> setEnabled(false);
- ui->rateRadioButton-> setEnabled(false);
- ui->rateRadioButton-> setChecked(true);
+
+ if(checked){
+ ui->rollSetpointBox-> setEnabled(false);
+ ui->pitchSetpointBox-> setEnabled(false);
+ ui->yawSetpointBox-> setEnabled(false);
+ ui->tActual-> setEnabled(false);
+ ui->angleRadioButton-> setEnabled(false);
+ ui->rateRadioButton-> setEnabled(false);
+ ui->applySetpointButton->setEnabled(false);
+ ui->stopSetpointButton->setEnabled(false);
+ }
+}
+
+void MainWindow::trigger_send_setpoint(){
+ if(ui->rbGamepadControl->isChecked()){
+ //using gamepad, send mixed attitude setpoint
+ emit(triggerMixedAttSetpointSend());
+ }else{
+ if(ui->angleRadioButton->isChecked()){
+ emit(triggerAttSetpointSend());
+ }else{
+ emit(triggerAttRateSetpointSend());
+ }
+ }
+}
+
+void MainWindow::on_gamepadYawScale_valueChanged(int arg1)
+{
+ gamepadMonitor->setYawScale(arg1);
+ ui->yawVizBar->setMinimum(std::abs(arg1) * -1);
+ ui->yawVizBar->setMaximum(std::abs(arg1));
+}
+
+void MainWindow::on_gamepadThrustScale_valueChanged(int arg1)
+{
+ gamepadMonitor->setThrustScale(arg1);
+ //Dont need to change the scale of the thrust viz bar because it is always interpreted as 0 to 60,000
+}
+
+void MainWindow::on_gamepadRollScale_valueChanged(int arg1)
+{
+ gamepadMonitor->setRollScale(arg1);
+ ui->rollVizBar->setMinimum(std::abs(arg1) * -1);
+ ui->rollVizBar->setMaximum(std::abs(arg1));
+}
+
+void MainWindow::on_gamepadPitchScale_valueChanged(int arg1)
+{
+ gamepadMonitor->setPitchScale(arg1);
+ ui->pitchVizBar->setMinimum(std::abs(arg1) * -1);
+ ui->pitchVizBar->setMaximum(std::abs(arg1));
}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 725a74d3cc53e878ee86cbf8ef8bd963dcbb620e..becd6e3f5fd15b3c483179d270324619c860f251 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -34,6 +34,9 @@ signals:
void rateSetpointSignal(float roll, float pitch, float yaw, float throttle);
void angleSetpointSignal(float roll, float pitch, float yaw, float throttle);
void getGroupEntries(int box, QString gName);
+ void triggerAttSetpointSend();
+ void triggerAttRateSetpointSend();
+ void triggerMixedAttSetpointSend();
private slots:
void on_pbStart_clicked();
@@ -133,6 +136,16 @@ private slots:
void on_rbManualSetpoint_toggled(bool checked);
+ void trigger_send_setpoint();
+
+ void on_gamepadYawScale_valueChanged(int arg1);
+
+ void on_gamepadThrustScale_valueChanged(int arg1);
+
+ void on_gamepadRollScale_valueChanged(int arg1);
+
+ void on_gamepadPitchScale_valueChanged(int arg1);
+
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 34a29f907a8b4e15df6e2f97b7a952d8c9f41269..c202a2c5c0e52b9881d56f6fc694aa9c90ddab89 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -33,7 +33,7 @@
</size>
</property>
<property name="currentIndex">
- <number>4</number>
+ <number>2</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -355,7 +355,7 @@
</rect>
</property>
<property name="text">
- <string>Configure Roll</string>
+ <string>Bind Roll</string>
</property>
</widget>
<widget class="QSlider" name="rollVizBar">
@@ -371,10 +371,10 @@
</rect>
</property>
<property name="minimum">
- <number>-20</number>
+ <number>-30</number>
</property>
<property name="maximum">
- <number>20</number>
+ <number>30</number>
</property>
<property name="value">
<number>0</number>
@@ -406,7 +406,7 @@
</rect>
</property>
<property name="text">
- <string>Configure Yaw</string>
+ <string>Bind Yaw</string>
</property>
</widget>
<widget class="QSlider" name="yawVizBar">
@@ -422,10 +422,10 @@
</rect>
</property>
<property name="minimum">
- <number>-30</number>
+ <number>-45</number>
</property>
<property name="maximum">
- <number>30</number>
+ <number>45</number>
</property>
<property name="value">
<number>0</number>
@@ -433,6 +433,9 @@
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
+ <property name="tickPosition">
+ <enum>QSlider::NoTicks</enum>
+ </property>
</widget>
<widget class="QSlider" name="thrustVizBar">
<property name="enabled">
@@ -440,7 +443,7 @@
</property>
<property name="geometry">
<rect>
- <x>220</x>
+ <x>223</x>
<y>190</y>
<width>16</width>
<height>160</height>
@@ -462,17 +465,17 @@
</property>
<property name="geometry">
<rect>
- <x>780</x>
+ <x>783</x>
<y>180</y>
<width>16</width>
<height>160</height>
</rect>
</property>
<property name="minimum">
- <number>-20</number>
+ <number>-30</number>
</property>
<property name="maximum">
- <number>20</number>
+ <number>30</number>
</property>
<property name="value">
<number>0</number>
@@ -484,41 +487,43 @@
<widget class="QPushButton" name="pb_configThrust">
<property name="geometry">
<rect>
- <x>250</x>
- <y>260</y>
+ <x>246</x>
+ <y>280</y>
<width>141</width>
<height>25</height>
</rect>
</property>
<property name="text">
- <string>Configure Thrust</string>
+ <string>Bind Thrust</string>
</property>
</widget>
<widget class="QPushButton" name="pb_configPitch">
<property name="geometry">
<rect>
<x>810</x>
- <y>250</y>
+ <y>270</y>
<width>141</width>
<height>25</height>
</rect>
</property>
<property name="text">
- <string>Configure Pitch</string>
+ <string>Bind Pitch</string>
</property>
</widget>
<widget class="QLabel" name="noGamepadWarning">
<property name="geometry">
<rect>
- <x>360</x>
+ <x>381</x>
<y>10</y>
- <width>381</width>
+ <width>311</width>
<height>61</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>20</pointsize>
+ <underline>true</underline>
+ <kerning>true</kerning>
</font>
</property>
<property name="text">
@@ -531,25 +536,261 @@
<set>Qt::AlignCenter</set>
</property>
</widget>
- <widget class="QLabel" name="label_6">
+ <widget class="QLabel" name="yawScaleLabel">
<property name="geometry">
<rect>
- <x>450</x>
- <y>130</y>
- <width>181</width>
- <height>91</height>
+ <x>162</x>
+ <y>113</y>
+ <width>211</width>
+ <height>20</height>
</rect>
</property>
<property name="text">
- <string>Select the input to bind then move the joystick that will control that input</string>
+ <string>Yaw Scale: Deg / s</string>
</property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
+ </widget>
+ <widget class="QSpinBox" name="gamepadYawScale">
+ <property name="geometry">
+ <rect>
+ <x>240</x>
+ <y>110</y>
+ <width>51</width>
+ <height>26</height>
+ </rect>
+ </property>
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ <property name="value">
+ <number>45</number>
+ </property>
+ </widget>
+ <widget class="QWidget" name="horizontalLayoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>160</x>
+ <y>390</y>
+ <width>791</width>
+ <height>151</height>
+ </rect>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>Select the input to bind then move the joystick that will control that input to its maximum values.</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line_2">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>The scale of each input controls the maximum values sent to the Crazyflie with max joystick deflection. </string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line_3">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>Negative scale values can be used to invert a joystick if needed.</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QSpinBox" name="gamepadThrustScale">
+ <property name="geometry">
+ <rect>
+ <x>342</x>
+ <y>228</y>
+ <width>71</width>
+ <height>26</height>
+ </rect>
+ </property>
+ <property name="minimum">
+ <number>-60000</number>
</property>
- <property name="wordWrap">
+ <property name="maximum">
+ <number>60000</number>
+ </property>
+ <property name="value">
+ <number>60000</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="thrustScaleLabel">
+ <property name="geometry">
+ <rect>
+ <x>247</x>
+ <y>230</y>
+ <width>191</width>
+ <height>20</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Thrust Scale: </string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="thrustScaleNote">
+ <property name="geometry">
+ <rect>
+ <x>248</x>
+ <y>256</y>
+ <width>221</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Note: max thrust is 60,000</string>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="gamepadRollScale">
+ <property name="geometry">
+ <rect>
+ <x>798</x>
+ <y>100</y>
+ <width>51</width>
+ <height>26</height>
+ </rect>
+ </property>
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ <property name="value">
+ <number>30</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="rollScaleLabel">
+ <property name="enabled">
<bool>true</bool>
</property>
+ <property name="geometry">
+ <rect>
+ <x>720</x>
+ <y>103</y>
+ <width>211</width>
+ <height>20</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Roll Scale: Deg</string>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="gamepadPitchScale">
+ <property name="geometry">
+ <rect>
+ <x>895</x>
+ <y>239</y>
+ <width>51</width>
+ <height>26</height>
+ </rect>
+ </property>
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ <property name="value">
+ <number>30</number>
+ </property>
</widget>
+ <widget class="QLabel" name="pitchScaleLabel">
+ <property name="geometry">
+ <rect>
+ <x>812</x>
+ <y>242</y>
+ <width>211</width>
+ <height>20</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Pitch Scale: Deg</string>
+ </property>
+ </widget>
+ <zorder>pitchScaleLabel</zorder>
+ <zorder>rollScaleLabel</zorder>
+ <zorder>thrustScaleLabel</zorder>
+ <zorder>yawScaleLabel</zorder>
+ <zorder>pb_configRoll</zorder>
+ <zorder>rollVizBar</zorder>
+ <zorder>pb_resetConfig</zorder>
+ <zorder>pb_configYaw</zorder>
+ <zorder>yawVizBar</zorder>
+ <zorder>thrustVizBar</zorder>
+ <zorder>pitchVizBar</zorder>
+ <zorder>pb_configThrust</zorder>
+ <zorder>pb_configPitch</zorder>
+ <zorder>noGamepadWarning</zorder>
+ <zorder>gamepadYawScale</zorder>
+ <zorder>horizontalLayoutWidget</zorder>
+ <zorder>gamepadThrustScale</zorder>
+ <zorder>thrustScaleNote</zorder>
+ <zorder>gamepadRollScale</zorder>
+ <zorder>gamepadPitchScale</zorder>
</widget>
<widget class="QWidget" name="plots">
<attribute name="title">
@@ -949,7 +1190,7 @@
<resources/>
<connections/>
<buttongroups>
- <buttongroup name="AngleRateButtonGroup"/>
<buttongroup name="buttonGroup_2"/>
+ <buttongroup name="AngleRateButtonGroup"/>
</buttongroups>
</ui>