diff --git a/groundStation/gui/MicroCART/gamepadmonitor.cpp b/groundStation/gui/MicroCART/gamepadmonitor.cpp
index 78156dcd66c69e5d8f2267c2bcd9c13b64a58403..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 = 90; //-20 to 20 deg/s
- pitchScale = -90;
- yawScale = 40;
- 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 773e7291fa0f825d79f8892c01d2ada7d83b5250..7835d8577024d76db089e0e87d9bbf5cbf415ec6 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -198,6 +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/");
@@ -800,12 +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);
@@ -813,17 +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(){
@@ -855,6 +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()
@@ -926,3 +966,30 @@ void MainWindow::trigger_send_setpoint(){
}
}
}
+
+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 1a706bab06e5b036acc064881b78fcee0f517b58..becd6e3f5fd15b3c483179d270324619c860f251 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -138,6 +138,14 @@ private slots:
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 b360c4e7365c6292de26246c5fc2e74080b1d96a..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="wordWrap">
+ <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="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">