diff --git a/pycrocart/ControlTab.py b/pycrocart/ControlTab.py
index 8d012bb007e3c040577b599a09a3d7c3cf916348..0c6bb3e6b68659eef0676bda97adfbd2e132b63a 100644
--- a/pycrocart/ControlTab.py
+++ b/pycrocart/ControlTab.py
@@ -41,7 +41,7 @@ class ControlTab(QWidget):
self.plotting_window = PlottingWindow()
self.setpoint_menu = SetpointMenu(setpoint_handler, joystick)
- self.logging_menu = LoggingSelectionMenu()
+ self.logging_menu = LoggingSelectionMenu(self.external_press_pause)
win2 = QWidget()
win2.setLayout(left_side_vertical_layout)
@@ -91,6 +91,11 @@ class ControlTab(QWidget):
except queue.Empty: # done emptying logging queue
not_empty = False
+ def external_press_pause(self):
+ """ Made so the logging selection menu can press the pause button
+ programatically whenever configurations change. """
+ self.play_or_pause_logging_button.click()
+
def play_pause_button_callback(self):
""" This function handles getting the logging to stop or to continue
graphing. Called when button is clicked. """
diff --git a/pycrocart/CrazyflieProtoConnection.py b/pycrocart/CrazyflieProtoConnection.py
index 9b59948bc5016ca8171b1c1e70bab90ec7b6be46..b2a0ed79e8ec13e37bcb832206f0b8122dbba8ab 100644
--- a/pycrocart/CrazyflieProtoConnection.py
+++ b/pycrocart/CrazyflieProtoConnection.py
@@ -207,6 +207,7 @@ class CrazyflieProtoConnection:
def disconnect(self):
""" Disconnect from crazyflie. """
+ print("Disconnect quad")
if self.is_connected:
self.scf.close_link()
self.scf = None
diff --git a/pycrocart/GamepadWizardTab.py b/pycrocart/GamepadWizardTab.py
index 3e16ea5987287ce44f213ec5ecb5a073e3dc0efd..c4e981052c29a94552a5d56554f9319839117f36 100644
--- a/pycrocart/GamepadWizardTab.py
+++ b/pycrocart/GamepadWizardTab.py
@@ -369,6 +369,7 @@ class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
QMessageBox.critical(self, caption, message)
def _load_config_from_file(self):
+ print("Loading config")
loaded_map = ConfigManager().get_config(
self.profileCombo.currentText())
if loaded_map:
diff --git a/pycrocart/LoggingSelectionMenu.py b/pycrocart/LoggingSelectionMenu.py
index 4d19a48acca40b8ae5fa738485e35ecb0b2deb28..01e05eb13db1c51d1af016724c153d839623b3f9 100644
--- a/pycrocart/LoggingSelectionMenu.py
+++ b/pycrocart/LoggingSelectionMenu.py
@@ -1,4 +1,5 @@
-from PyQt5.QtWidgets import QWidget, QVBoxLayout, QComboBox
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QComboBox, QLabel
+from PyQt5.QtCore import Qt
class LoggingSelectionMenu(QWidget):
@@ -7,11 +8,14 @@ class LoggingSelectionMenu(QWidget):
valid logging signals through a series of combo boxes.
"""
- def __init__(self):
+ def __init__(self, config_changed_callback):
super().__init__()
layout = QVBoxLayout()
self.setLayout(layout)
+ self.config_changed_callback = config_changed_callback # whenever
+ # the config changes, send a signal to the controls tab to press the
+ # pause button
self.available_logging_variables = []
@@ -19,11 +23,20 @@ class LoggingSelectionMenu(QWidget):
QComboBox()]
# Default logging variables to Logging Variable 1,2,3,4,5
+ colors = ['red', 'orange', 'purple', 'green', 'blue']
+
for i in range(0, len(self.cbs)):
lst = ["Logging Variable " + str(i+1)]
lst.extend(self.available_logging_variables)
self.cbs[i].addItems(lst)
- layout.addWidget(self.cbs[i], i+1)
+ layout.addWidget(self.cbs[i], 1+2*i)
+
+ color_label = QLabel("Color Label")
+ color_label.setStyleSheet("QLabel {color: " + colors[i] +
+ ";background : " + colors[i] + "}")
+ color_label.setMaximumHeight(5)
+ layout.addWidget(color_label, 1+2*i+1, alignment=Qt.AlignHCenter)
+
# add callback for when new selection happens
self.cbs[i].currentIndexChanged.connect(
self.selection_change_callback)
@@ -34,7 +47,7 @@ class LoggingSelectionMenu(QWidget):
""" Used for determining which signal is which in plotting window. """
for i in range(0, len(self.cbs)):
if signal_name == self.cbs[i].currentText():
- return i+1
+ return i
def update_available_logging_variables(self, variables_list: list):
""" This function is called by the logging config tab upon refreshing
@@ -44,6 +57,7 @@ class LoggingSelectionMenu(QWidget):
for variable in variables_list:
for sub_variable in variable:
self.available_logging_variables.append(sub_variable)
+ self.config_changed_callback()
self.selection_change_callback()
# todo handle variables that used to be in the list and no longer are
@@ -58,7 +72,6 @@ class LoggingSelectionMenu(QWidget):
self.cbs[2].currentText(), self.cbs[3].currentText(),
self.cbs[4].currentText()
]
-
modified_selection_signals = []
# find any signals that are different from before.
diff --git a/pycrocart/PlottingWindow.py b/pycrocart/PlottingWindow.py
index 520c40c8a16fe44ca56c3a0b1070e458526b8e59..1ec44beb7a7c26e862acd3027792dea345bb379c 100644
--- a/pycrocart/PlottingWindow.py
+++ b/pycrocart/PlottingWindow.py
@@ -37,9 +37,10 @@ class PlottingWindow(pg.PlotWidget):
self.plot_data_ys = np.zeros((1000, num_axes))
self.plot_data_xs = np.zeros((1000, num_axes))
+ colors = ['red', 'orange', 'purple', 'green', 'blue']
self.plot_curves = \
[self.plot(self.plot_data_xs[:, i], self.plot_data_ys[:, i],
- pen=pg.mkPen(pg.intColor(i), width=2))
+ pen=pg.mkPen(colors[i], width=2))
for i in range(num_axes)]
def update_plot(self, input_data: float, input_timestamp: float,
diff --git a/pycrocart/PyCroCart.py b/pycrocart/PyCroCart.py
index 04a0f1f42879985aa2d5f25f66479e80963967ea..70fadb3b241efc413ba571dee681a929579dbb15 100644
--- a/pycrocart/PyCroCart.py
+++ b/pycrocart/PyCroCart.py
@@ -9,7 +9,8 @@ groundstation and launches the gui.
import sys
from PyQt5.QtWidgets import QApplication, QMainWindow, QTabWidget, \
- QHBoxLayout, QVBoxLayout, QComboBox, QPushButton, QWidget, QLabel
+ QHBoxLayout, QVBoxLayout, QComboBox, QPushButton, QWidget, QLabel, \
+ QCheckBox, QButtonGroup
import uCartCommander
from CrazyflieProtoConnection import CrazyflieProtoConnection
from ControlTab import ControlTab
@@ -47,12 +48,26 @@ class PyCroCart(QMainWindow):
self.scan.clicked.connect(self.on_scan)
self.scan.setFixedWidth(100)
+ # Some of the gamepad logic needs to different between crazyflie and
+ # flypi drones because otherwise it's very hard to control the flypi,
+ # plus whenever we use a TCP connection for the flypi,
+ # that connection logic will need to be different as well
+ self.crazyflie_checkbutton = QCheckBox("Crazyflie")
+ self.flypi_checkbutton = QCheckBox("FlyPi")
+ self.crazyflie_checkbutton.setChecked(True) # Default to crazyflie
+ self.drone_selection_group = QButtonGroup()
+ self.drone_selection_group.addButton(self.crazyflie_checkbutton, 1)
+ self.drone_selection_group.addButton(self.flypi_checkbutton, 2)
+ self.drone_selection_group.setExclusive(True)
+
self.error_label = QLabel("")
button_layout = QHBoxLayout()
button_layout.addWidget(self.crazyflie_selection_box)
button_layout.addWidget(self.connect)
button_layout.addWidget(self.scan)
+ button_layout.addWidget(self.crazyflie_checkbutton)
+ button_layout.addWidget(self.flypi_checkbutton)
button_layout.addWidget(self.error_label)
button_layout.addStretch(1)
@@ -109,6 +124,9 @@ class PyCroCart(QMainWindow):
def on_connect(self):
# check that a crazyflie is selected
+ self.crazyflie_checkbutton.setEnabled(False)
+ self.flypi_checkbutton.setEnabled(False)
+
uri = self.crazyflie_selection_box.currentText() + "/E7E7E7E7E7"
# return an error to the user if otherwise
@@ -137,6 +155,15 @@ class PyCroCart(QMainWindow):
# refresh the logging page so that it displays the toc
# refresh the parameter page so that it displays the correct information
self.setpoint_handler.setCommander(self.cf.scf.cf.commander)
+
+ # enable restricting the gamepad input for the flypi to be more
+ # stable or not
+ # TODO enable more granular gamepad configuration in gamepad config menu
+ if self.flypi_checkbutton.isChecked():
+ self.control_tab.setpoint_menu.enable_flypi_mode()
+ else:
+ self.control_tab.setpoint_menu.disable_flypi_mode()
+
self.logging_config_tab.on_connect()
self.parameter_tab.on_connect()
@@ -145,6 +172,9 @@ class PyCroCart(QMainWindow):
# terminate the link in crazyflieprotoconnection
self.cf.disconnect()
+ self.crazyflie_checkbutton.setEnabled(True)
+ self.flypi_checkbutton.setEnabled(True)
+
error_text = ""
self.error_label.setText(
"<span style='color: green;'>" + error_text + "</span>")
@@ -161,6 +191,8 @@ class PyCroCart(QMainWindow):
self.parameter_tab.on_disconnect()
+
+
# Start the application
if __name__ == '__main__':
diff --git a/pycrocart/SetpointHandler.py b/pycrocart/SetpointHandler.py
index 4e37777a2ae01e0ddeb3189c438b7c4256ae6f5a..d8f7e56de9b0267d5d64964ae7c54f6448c6a070 100644
--- a/pycrocart/SetpointHandler.py
+++ b/pycrocart/SetpointHandler.py
@@ -144,7 +144,7 @@ class SetpointHandler:
if self._flight_mode == FlightMode.ATTITUDE_TYPE:
# scales thrust from 100 for slider control.
- thrust = self.setpoint.thrust * 65000 / 100
+ thrust = self.setpoint.thrust * 60000 / 100
print(f"Set attitude: {self.setpoint.yaw}, {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {thrust}")
@@ -154,7 +154,7 @@ class SetpointHandler:
elif self._flight_mode == FlightMode.ATTITUDE_RATE_TYPE:
- thrust = self.setpoint.thrust * 65000 / 100
+ thrust = self.setpoint.thrust * 60000 / 100
print(f"Set attitude rate: {self.setpoint.yaw},"
f" {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {thrust}")
@@ -166,7 +166,7 @@ class SetpointHandler:
elif self._flight_mode == FlightMode.MIXED_ATTITUDE_TYPE:
# scales thrust from 1000 for more fine-grained gamepad control.
- thrust = self.setpoint.thrust * 65000 / 1000
+ thrust = self.setpoint.thrust * 60000 / 1000
print(f"Set mixed attitude: {self.setpoint.yaw},"
f" {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {thrust}")
@@ -184,7 +184,7 @@ class SetpointHandler:
if self.commander:
if self._flight_mode == FlightMode.ATTITUDE_TYPE:
# scales thrust from 100 for slider control.
- thrust = self.setpoint.thrust * 65000 / 100
+ thrust = self.setpoint.thrust * 60000 / 100
print(f"Set attitude: {self.setpoint.yaw}, {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {self.setpoint.thrust}")
@@ -194,7 +194,7 @@ class SetpointHandler:
elif self._flight_mode == FlightMode.ATTITUDE_RATE_TYPE:
- thrust = self.setpoint.thrust * 65000 / 100
+ thrust = self.setpoint.thrust * 60000 / 100
print(f"Set attitude rate: {self.setpoint.yaw},"
f" {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {thrust}")
@@ -205,7 +205,7 @@ class SetpointHandler:
elif self._flight_mode == FlightMode.MIXED_ATTITUDE_TYPE:
# scales thrust from 1000 for more fine-grained gamepad control.
- thrust = self.setpoint.thrust * 65000 / 1000
+ thrust = self.setpoint.thrust * 60000 / 1000
print(f"Set mixed attitude: {self.setpoint.yaw},"
f" {self.setpoint.pitch}, "
f"{self.setpoint.roll}, {thrust}")
diff --git a/pycrocart/SetpointMenu.py b/pycrocart/SetpointMenu.py
index 1a14ee2eb7d9093fcd7ae09ddae628269f800b87..775709d5a8fc1ece0218279b398219a8e47a2e2b 100644
--- a/pycrocart/SetpointMenu.py
+++ b/pycrocart/SetpointMenu.py
@@ -26,9 +26,10 @@ class SetpointMenu(QWidget):
self.setpoint_handler = setpoint_handler
self.joystick = joystick
-
self.joystick_reader = DeviceReader(self.joystick)
+ self.flypi_mode = False
+
layout = QVBoxLayout()
grid_widget = QWidget()
@@ -97,7 +98,7 @@ class SetpointMenu(QWidget):
self.b2 = QCheckBox("Rate Mode")
self.b2.setChecked(True) # Default to rate mode.
self.b1.toggled.connect(self.toggle_flight_mode_while_running)
- self.b1.toggled.connect(self.toggle_flight_mode_while_running)
+ self.b2.toggled.connect(self.toggle_flight_mode_while_running)
self.attitude_or_rate = QButtonGroup()
self.attitude_or_rate.addButton(self.b1, 1)
@@ -119,6 +120,12 @@ class SetpointMenu(QWidget):
layout.addWidget(self.send_setpoint_button, 3)
layout.addWidget(self.stop_flying_button, 4)
+ def enable_flypi_mode(self):
+ self.flypi_mode = True
+
+ def disable_flypi_mode(self):
+ self.flypi_mode = False
+
@staticmethod
def cap_max_value(input_value: float, max_value: float,
min_value: float):
@@ -174,18 +181,19 @@ class SetpointMenu(QWidget):
else:
self.setpoint_handler.setRateMode()
- if self.gamepad_button.isChecked():
+ if self.gamepad_button.isChecked() and self.flypi_mode:
yaw = self.cap_max_value(-yaw, 90, -90)
pitch = self.cap_max_value(-pitch, 5, -5)
roll = self.cap_max_value(-roll, 5, -5)
# If you are a flypi do this
+ # todo enable more granular gamepad configuration in gamepad
+ # menu
thrust = thrust + 270
thrust = self.cap_max_value(thrust, 370, 270)
- print("thrust")
- print(thrust)
-
- # otherwise don't..... but I'm not changing that rn
+ elif self.gamepad_button.isChecked():
+ # crazyflie shouldn't be so restricted
+ thrust = thrust*10
self.setpoint_handler.setSetpoint(yaw, pitch, roll, thrust)
@@ -216,7 +224,7 @@ class SetpointMenu(QWidget):
self.setpoint.yaw = data.yaw
self.setpoint.pitch = data.pitch
self.setpoint.roll = data.roll
- self.setpoint.thrust = data.thrust
+ self.setpoint.thrust = data.thrust*1.25 # max thrust comes in at 80
self.setpoint_semaphore.release()
@@ -269,6 +277,20 @@ class SetpointMenu(QWidget):
self.timer.timeout.disconnect(self.sendGamepadSetpoint)
self.timer.stop()
+ self.setpoint_semaphore.acquire()
+
+ self.setpoint.yaw = 0
+ self.setpoint.roll = 0
+ self.setpoint.pitch = 0
+ self.setpoint.thrust = 0
+
+ self.yaw_box.setText(str(round(self.setpoint.yaw, 2)))
+ self.roll_box.setText(str(round(self.setpoint.roll, 2)))
+ self.pitch_box.setText(str(round(self.setpoint.pitch, 2)))
+ self.thrust_slider.setValue(int(round(self.setpoint.thrust, 2)))
+
+ self.setpoint_semaphore.release()
+
self.stop_flying()
def sendGamepadSetpoint(self):