ground/gcs/src/plugins/config/configstabilizationwidget.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configstabilizationwidget.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup ConfigPlugin Config Plugin
  10  * @{
  11  * @brief Stabilization configuration panel
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28 #ifndef CONFIGSTABILIZATIONWIDGET_H
  29 #define CONFIGSTABILIZATIONWIDGET_H
  30
  31 #include "../uavobjectwidgetutils/configtaskwidget.h"
  32
  33 #include "uavobject.h"
  34
  35 #include "qwt/src/qwt_plot_curve.h"
  36 #include "qwt/src/qwt_plot_grid.h"
  37
  38 #include <QTimer>
  39 #include <QSignalMapper>
  40
  41 class Ui_StabilizationWidget;
  42
  43 class QWidget;
  44 class QTabBar;
  45
  46 class ConfigStabilizationWidget : public ConfigTaskWidget {
  47     Q_OBJECT
  48
  49 public:
  50     ConfigStabilizationWidget(QWidget *parent = 0);
  51     ~ConfigStabilizationWidget();
  52
  53     bool shouldObjectBeSaved(UAVObject *object);
  54
  55 protected:
  56     QString mapObjectName(const QString objectName);
  57
  58     virtual void refreshWidgetsValuesImpl(UAVObject *obj);
  59     virtual void updateObjectsFromWidgetsImpl();
  60
  61 private:
  62     Ui_StabilizationWidget *ui;
  63     QTimer *realtimeUpdates;
  64     QList<QTabBar *> m_stabTabBars;
  65     QString m_stabilizationObjectsString;
  66
  67     // Milliseconds between automatic 'Instant Updates'
  68     static const int AUTOMATIC_UPDATE_RATE   = 500;
  69
  70     static const int EXPO_CURVE_POINTS_COUNT = 100;
  71     constexpr static const double EXPO_CURVE_CONSTANT = 1.01395948;
  72
  73     int m_stabSettingsBankCount;
  74     int m_currentStabSettingsBank;
  75
  76     QwtPlotCurve m_expoPlotCurveRoll;
  77     QwtPlotCurve m_expoPlotCurvePitch;
  78     QwtPlotCurve m_expoPlotCurveYaw;
  79     QwtPlotGrid m_plotGrid;
  80
  81     QSignalMapper m_bankActionSignalMapper;
  82
  83     UAVObject *getStabBankObject(int bank);
  84
  85     void updateThrottleCurveFromObject();
  86     void updateObjectFromThrottleCurve();
  87     void setupExpoPlot();
  88     void setupStabBanksGUI();
  89     void resetBank(int bank);
  90     void restoreBank(int bank);
  91     void copyBank(int fromBank, int toBank);
  92     void swapBank(int fromBank, int toBank);
  93
  94 private slots:
  95     void enableControlsChanged(bool enable);
  96
  97     void realtimeUpdatesSlot(bool value);
  98     void linkCheckBoxes(bool value);
  99     void processLinkedWidgets(QWidget *);
 100     void stabBankChanged(int index);
 101     void resetThrottleCurveToDefault();
 102     void throttleCurveUpdated();
 103     void replotExpo(int value, QwtPlotCurve &curve);
 104     void replotExpoRoll(int value);
 105     void replotExpoPitch(int value);
 106     void replotExpoYaw(int value);
 107
 108     void bankAction(const QString &mapping);
 109 };
 110 #endif // ConfigStabilizationWidget_H