diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index 853dc259d83a11b02a8ec6c7efa13531f20e52d2..cb241a10c9e6d80736720022c3823d21ca2e74dd 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -108,6 +108,24 @@ void CrazyflieWorker::sendAttSetpoint()
}
}
+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){
struct toc_info info = paramNameLookup(paramName);
diff --git a/groundStation/gui/MicroCART/crazyflieworker.h b/groundStation/gui/MicroCART/crazyflieworker.h
index 1ff1ca6792e266f64a65246f6a057ec766d911bb..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();
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 18a70c83812f15667fdf1495fbbe284d2cdd8999..773e7291fa0f825d79f8892c01d2ada7d83b5250 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -108,13 +108,16 @@ MainWindow::MainWindow(QWidget *parent) :
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)));
@@ -125,9 +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()));
@@ -835,7 +840,10 @@ 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));
@@ -874,9 +882,8 @@ void MainWindow::on_pb_configThrust_clicked()
void MainWindow::on_rbManualSetpoint_toggled(bool checked)
{
if(checked) {
- //TODO Fix this, hacky fix becuase the backend gets overloaded with setpoints
- //ideally want to constantly send setpoints
crazyflieWorker->setCurrAttRateSetpoint(0,0,0,0);
+ crazyflieWorker->setCurrAttSetpoint(0,0,0,0);
ui->pitchSetpointBox->setText("0");
ui->rollSetpointBox->setText("0");
ui->yawSetpointBox->setText("0");
@@ -887,26 +894,35 @@ 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->angleRadioButton->isChecked()){
- emit(triggerAttSetpointSend());
+ if(ui->rbGamepadControl->isChecked()){
+ //using gamepad, send mixed attitude setpoint
+ emit(triggerMixedAttSetpointSend());
}else{
- emit(triggerAttRateSetpointSend());
-
+ if(ui->angleRadioButton->isChecked()){
+ emit(triggerAttSetpointSend());
+ }else{
+ emit(triggerAttRateSetpointSend());
+ }
}
}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index f1cfb88af35af0af82cbdbc8eebcdc29293ceb2c..1a706bab06e5b036acc064881b78fcee0f517b58 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -36,6 +36,7 @@ signals:
void getGroupEntries(int box, QString gName);
void triggerAttSetpointSend();
void triggerAttRateSetpointSend();
+ void triggerMixedAttSetpointSend();
private slots:
void on_pbStart_clicked();
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 6e92e077e2d1a7778ad5a3fa72d237ad13855cb5..b360c4e7365c6292de26246c5fc2e74080b1d96a 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -33,7 +33,7 @@
</size>
</property>
<property name="currentIndex">
- <number>0</number>
+ <number>4</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">