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/***************************************************************************
* Copyright (C) 2008 by Manuel Schrape *
* manuel.schrape@gmx.de *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
***************************************************************************/
#include <QFileDialog>
#include <QSettings>
#include "wdg_Settings.h"
#include "../Classes/ToolBox.h"
wdg_Settings::wdg_Settings(QWidget *parent) : QWidget(parent)
{
setupUi(this);
listWidget->setCurrentRow(0);
#ifndef _BETA_
#endif
connect(pb_Load, SIGNAL(clicked()), this, SLOT(slot_LoadParameter()));
connect(pb_Save, SIGNAL(clicked()), this, SLOT(slot_SaveParameter()));
// Settings - Looping-Pfeile
connect(tb_9_6, SIGNAL(clicked()), this, SLOT(slot_tbUp()));
connect(tb_9_7, SIGNAL(clicked()), this, SLOT(slot_tbDown()));
connect(tb_9_8, SIGNAL(clicked()), this, SLOT(slot_tbLeft()));
connect(tb_9_9, SIGNAL(clicked()), this, SLOT(slot_tbRight()));
// Settings - LED's J16
connect(J16_0, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_1, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_2, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_3, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_4, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_5, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_6, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J16_7, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
// Settings - LED's J17
connect(J17_0, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_1, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_2, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_3, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_4, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_5, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_6, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(J17_7, SIGNAL(clicked()), this, SLOT(slot_LEDtoValue()));
connect(sb_11_1, SIGNAL(valueChanged(int)), this, SLOT(slot_ValuetoLED16(int)));
connect(sb_11_3, SIGNAL(valueChanged(int)), this, SLOT(slot_ValuetoLED17(int)));
}
void wdg_Settings::set_Config(cSettings *pConfig)
{
Config = pConfig;
}
void wdg_Settings::set_LED(QToolButton *ToolButton, bool On)
{
if (ToolButton->text() == QString("0") && On)
{
ToolButton->setIcon(ToolBox::Icon(0));
ToolButton->setText("1");
}
else if (ToolButton->text() == QString("1") && !On)
{
ToolButton->setIcon(ToolBox::Icon(4));
ToolButton->setText("0");
}
else if (ToolButton->text() == QString("00") && On)
{
ToolButton->setIcon(ToolBox::Icon(0));
ToolButton->setText("11");
}
else if (ToolButton->text() == QString("11") && !On)
{
ToolButton->setIcon(ToolBox::Icon(4));
ToolButton->setText("00");
}
}
void wdg_Settings::slot_LEDtoValue()
{
QToolButton *ToolButton = (QToolButton*)sender();
if (ToolButton->text() == QString("0"))
{
set_LED(ToolButton, true);
sb_11_1->setValue(sb_11_1->value() + ToolButton->toolTip().toInt());
}
else if (ToolButton->text() == QString("1"))
{
set_LED(ToolButton);
sb_11_1->setValue(sb_11_1->value() - ToolButton->toolTip().toInt());
}
else if (ToolButton->text() == QString("00"))
{
set_LED(ToolButton, true);
sb_11_3->setValue(sb_11_3->value() + ToolButton->toolTip().toInt());
}
else if (ToolButton->text() == QString("11"))
{
set_LED(ToolButton);
sb_11_3->setValue(sb_11_3->value() - ToolButton->toolTip().toInt());
}
}
void wdg_Settings::slot_ValuetoLED16(int Wert)
{
set_LED(J16_0);
set_LED(J16_1);
set_LED(J16_2);
set_LED(J16_3);
set_LED(J16_4);
set_LED(J16_5);
set_LED(J16_6);
set_LED(J16_7);
for (int a = 0; a < 8; a++)
{
if (Wert > 127)
{
set_LED(J16_0, true);
Wert = Wert - 128;
}
if (Wert > 63)
{
set_LED(J16_1, true);
Wert = Wert - 64;
}
if (Wert > 31)
{
set_LED(J16_2, true);
Wert = Wert - 32;
}
if (Wert > 15)
{
set_LED(J16_3, true);
Wert = Wert - 16;
}
if (Wert > 7)
{
set_LED(J16_4, true);
Wert = Wert - 8;
}
if (Wert > 3)
{
set_LED(J16_5, true);
Wert = Wert - 4;
}
if (Wert > 1)
{
set_LED(J16_6, true);
Wert = Wert - 2;
}
if (Wert > 0)
{
set_LED(J16_7, true);
Wert = Wert - 1;
}
}
}
void wdg_Settings::slot_ValuetoLED17(int Wert)
{
set_LED(J17_0);
set_LED(J17_1);
set_LED(J17_2);
set_LED(J17_3);
set_LED(J17_4);
set_LED(J17_5);
set_LED(J17_6);
set_LED(J17_7);
for (int a = 0; a < 8; a++)
{
if (Wert > 127)
{
set_LED(J17_0, true);
Wert = Wert - 128;
}
if (Wert > 63)
{
set_LED(J17_1, true);
Wert = Wert - 64;
}
if (Wert > 31)
{
set_LED(J17_2, true);
Wert = Wert - 32;
}
if (Wert > 15)
{
set_LED(J17_3, true);
Wert = Wert - 16;
}
if (Wert > 7)
{
set_LED(J17_4, true);
Wert = Wert - 8;
}
if (Wert > 3)
{
set_LED(J17_5, true);
Wert = Wert - 4;
}
if (Wert > 1)
{
set_LED(J17_6, true);
Wert = Wert - 2;
}
if (Wert > 0)
{
set_LED(J17_7, true);
Wert = Wert - 1;
}
}
}
void wdg_Settings::slot_tbUp()
{
if (tb_9_6->text() == QString("0"))
{
tb_9_6->setText("1");
}
else
{
tb_9_6->setText("0");
}
}
void wdg_Settings::slot_tbDown()
{
if (tb_9_7->text() == QString("0"))
{
tb_9_7->setText("1");
}
else
{
tb_9_7->setText("0");
}
}
void wdg_Settings::slot_tbLeft()
{
if (tb_9_8->text() == QString("0"))
{
tb_9_8->setText("1");
}
else
{
tb_9_8->setText("0");
}
}
void wdg_Settings::slot_tbRight()
{
if (tb_9_9->text() == QString("0"))
{
tb_9_9->setText("1");
}
else
{
tb_9_9->setText("0");
}
}
void wdg_Settings::slot_LoadParameter() // DONE 0.71g
{
QString Filename = QFileDialog::getOpenFileName(this, "Mikrokopter Parameter laden", Config->DIR.Parameter + "", "Mikrokopter Parameter(*.mkp);;Alle Dateien (*)");
if (!Filename.isEmpty())
{
int Set = sb_Set->value();
QSettings Setting(Filename, QSettings::IniFormat);
Setting.beginGroup("Setup");
QString Name = Setting.value("Name", QString("--noname--")).toString();
char *CName = Name.toLatin1().data();
int a;
for (a=0; a < Name.length(); a++)
{
ParameterSet[Set][P_NAME+a] = CName[a];
}
while (a < 12)
{
ParameterSet[Set][P_NAME+a] = 0;
a++;
}
ParameterSet[Set][P_GLOBAL_CONF] = Setting.value("GlobalConfig", 0).toInt();
Setting.endGroup();
Setting.beginGroup("Channels");
ParameterSet[Set][P_KANAL_NICK] = Setting.value("Nick", 1).toInt();
ParameterSet[Set][P_KANAL_ROLL] = Setting.value("Roll", 2).toInt();
ParameterSet[Set][P_KANAL_GAS] = Setting.value("Gas", 3).toInt();
ParameterSet[Set][P_KANAL_GIER] = Setting.value("Gier", 4).toInt();
ParameterSet[Set][P_KANAL_POTI1] = Setting.value("Poti_1", 5).toInt();
ParameterSet[Set][P_KANAL_POTI2] = Setting.value("Poti_2", 6).toInt();
ParameterSet[Set][P_KANAL_POTI3] = Setting.value("Poti_3", 7).toInt();
ParameterSet[Set][P_KANAL_POTI4] = Setting.value("Poti_4", 8).toInt();
Setting.endGroup();
Setting.beginGroup("Stick");
ParameterSet[Set][P_STICK_P] = Setting.value("Nick_Roll-P", 4).toInt();
ParameterSet[Set][P_STICK_D] = Setting.value("Nick_Roll-D", 8).toInt();
ParameterSet[Set][P_GIER_P] = Setting.value("Gier-P", 1).toInt();
ParameterSet[Set][P_EXTERNAL] = Setting.value("ExternalControl", 1).toInt();
Setting.endGroup();
Setting.beginGroup("Altitude");
ParameterSet[Set][P_MAXHOEHE] = Setting.value("Setpoint", 251).toInt();
ParameterSet[Set][P_MIN_GAS] = Setting.value("MinGas", 30).toInt();
ParameterSet[Set][P_HOEHE_P] = Setting.value("P", 10).toInt();
ParameterSet[Set][P_DRUCK_D] = Setting.value("Barometric-D", 30).toInt();
ParameterSet[Set][P_HOEHE_ACC] = Setting.value("Z-ACC-Effect", 30).toInt();
ParameterSet[Set][P_HOEHE_GAIN] = Setting.value("Gain", 3).toInt();
Setting.endGroup();
Setting.beginGroup("Gyro");
ParameterSet[Set][P_GYRO_P] = Setting.value("P", 80).toInt();
ParameterSet[Set][P_GYRO_I] = Setting.value("I", 120).toInt();
ParameterSet[Set][P_GYRO_D] = Setting.value("D", 0).toInt();
ParameterSet[Set][P_DYNAMIC_STAB] = Setting.value("DynamicStability", 75).toInt();
ParameterSet[Set][P_GYRO_ACC_FAKTOR] = Setting.value("ACC_Gyro-Factor", 30).toInt();
ParameterSet[Set][P_GYRO_ACC_ABGL] = Setting.value("ACC_Gyro-Compensation", 32).toInt();
ParameterSet[Set][P_DRIFT_KOMP] = Setting.value("DriftCompensation", 4).toInt();
ParameterSet[Set][P_FAKTOR_I] = Setting.value("Main-I", 32).toInt();
Setting.endGroup();
Setting.beginGroup("Camera");
ParameterSet[Set][P_SERVO_NICK_CONT] = Setting.value("ServoNickControl", 100).toInt();
ParameterSet[Set][P_SERVO_NICK_COMP] = Setting.value("ServoNickCompensation", 40).toInt();
ParameterSet[Set][P_SERVO_NICK_COMPI] = Setting.value("ServoNickInvert", 0).toInt();
ParameterSet[Set][P_SERVO_NICK_MIN] = Setting.value("ServoNickMin", 50).toInt();
ParameterSet[Set][P_SERVO_NICK_MAX] = Setting.value("ServoNickMax", 150).toInt();
ParameterSet[Set][P_SERVO_NICK_REFR] = Setting.value("ServoNickRefreshRate", 5).toInt();
Setting.endGroup();
Setting.beginGroup("Others");
ParameterSet[Set][P_GAS_MIN] = Setting.value("MinGas", 8).toInt();
ParameterSet[Set][P_GAS_MAX] = Setting.value("MaxGas", 230).toInt();
ParameterSet[Set][P_KOMPASS_WIRKUNG] = Setting.value("Compass-Effect", 128).toInt();
ParameterSet[Set][P_UNTERSPANNUNG] = Setting.value("UnderVoltage", 94).toInt();
ParameterSet[Set][P_NOTGAS] = Setting.value("NotGas", 35).toInt();
ParameterSet[Set][P_NOTGASZEIT] = Setting.value("NotGasTime", 30).toInt();
Setting.endGroup();
Setting.beginGroup("Coupling");
ParameterSet[Set][P_ACHS_KOPPLUNG1] = Setting.value("YawPosFeedback", 90).toInt();
ParameterSet[Set][P_ACHS_KOPPLUNG2] = Setting.value("NickRollFeedback", 90).toInt();
ParameterSet[Set][P_ACHS_GKOPPLUNG] = Setting.value("YawCorrection", 5).toInt();
Setting.endGroup();
Setting.beginGroup("Loop");
ParameterSet[Set][P_LOOP_CONFIG] = Setting.value("Config", 0).toInt();
ParameterSet[Set][P_LOOP_GAS_LIMIT] = Setting.value("GasLimit", 50).toInt();
ParameterSet[Set][P_LOOP_THRESHOLD] = Setting.value("StickThreshold", 90).toInt();
ParameterSet[Set][P_LOOP_HYSTERESE] = Setting.value("LoopHysteresis", 50).toInt();
ParameterSet[Set][P_WINKEL_NICK] = Setting.value("TurnOverNick", 85).toInt();
ParameterSet[Set][P_WINKEL_ROLL] = Setting.value("TurnOverRoll", 85).toInt();
Setting.endGroup();
Setting.beginGroup("User");
ParameterSet[Set][P_USER_1] = Setting.value("Parameter_1", 0).toInt();
ParameterSet[Set][P_USER_2] = Setting.value("Parameter_2", 0).toInt();
ParameterSet[Set][P_USER_3] = Setting.value("Parameter_3", 0).toInt();
ParameterSet[Set][P_USER_4] = Setting.value("Parameter_4", 0).toInt();
ParameterSet[Set][P_USER_5] = Setting.value("Parameter_5", 0).toInt();
ParameterSet[Set][P_USER_6] = Setting.value("Parameter_6", 0).toInt();
ParameterSet[Set][P_USER_7] = Setting.value("Parameter_7", 0).toInt();
ParameterSet[Set][P_USER_8] = Setting.value("Parameter_8", 0).toInt();
Setting.endGroup();
Setting.beginGroup("Output");
ParameterSet[Set][P_J16_BITMASK] = Setting.value("J16_Bitmask", 255).toInt();
ParameterSet[Set][P_J16_TIMING] = Setting.value("J16_Timing", 251).toInt();
ParameterSet[Set][P_J17_BITMASK] = Setting.value("J17_Bitmask", 255).toInt();
ParameterSet[Set][P_J17_TIMING] = Setting.value("J17_Timing", 251).toInt();
Setting.endGroup();
Setting.beginGroup("NaviCtrl");
ParameterSet[Set][P_NAV_GPS_MODE] = Setting.value("GPS_ModeControl", 253).toInt();
ParameterSet[Set][P_NAV_GPS_GAIN] = Setting.value("GPS_Gain", 100).toInt();
ParameterSet[Set][P_NAV_GPS_P] = Setting.value("GPS_P", 90).toInt();
ParameterSet[Set][P_NAV_GPS_I] = Setting.value("GPS_I", 90).toInt();
ParameterSet[Set][P_NAV_GPS_D] = Setting.value("GPS_D", 90).toInt();
ParameterSet[Set][P_NAV_GPS_P_LIMIT] = Setting.value("GPS_P_Limit", 75).toInt();
ParameterSet[Set][P_NAV_GPS_I_LIMIT] = Setting.value("GPS_I_Limit", 75).toInt();
ParameterSet[Set][P_NAV_GPS_D_LIMIT] = Setting.value("GPS_D_Limit", 75).toInt();
ParameterSet[Set][P_NAV_GPS_ACC] = Setting.value("GPS_Acc", 0).toInt();
ParameterSet[Set][P_NAV_GPS_MIN] = Setting.value("GPS_MinSat", 6).toInt();
ParameterSet[Set][P_NAV_STICK_THRE] = Setting.value("GPS_StickThreshold", 8).toInt();
ParameterSet[Set][P_NAV_WIND_CORR] = Setting.value("GPS_WindCorrection", 90).toInt();
ParameterSet[Set][P_NAV_SPEED_COMP] = Setting.value("GPS_SpeedCompensation", 30).toInt();
ParameterSet[Set][P_NAV_RADIUS] = Setting.value("GPS_MaxRadius", 100).toInt();
ParameterSet[Set][P_NAV_ANGLE_LIMIT] = Setting.value("GPS_AngleLimit", 60).toInt();
ParameterSet[Set][P_NAV_PH_LOGINTIME] = Setting.value("GPS_PH_Login_Time", 4).toInt();
Setting.endGroup();
show_FCSettings(Set, ParameterSet[Set]);
}
}
int wdg_Settings::get_Value(QComboBox *Combo)
{
if (Combo->currentText() == QString("Poti 1"))
return 251;
if (Combo->currentText() == QString("Poti 2"))
return 252;
if (Combo->currentText() == QString("Poti 3"))
return 253;
if (Combo->currentText() == QString("Poti 4"))
return 254;
return Combo->currentText().toInt();
}
void wdg_Settings::store_ParameterSet(int Set) // DONE 0.71h
{
char *Name = le_SetName->text().toLatin1().data();
int a;
for (a = 0; a < le_SetName->text().length(); a++)
{
ParameterSet[Set][P_NAME+a] = Name[a];
}
while(a < 12)
{
ParameterSet[Set][P_NAME+a] = 0;
a++;
}
// Seite 1
ParameterSet[Set][P_GLOBAL_CONF] = 0;
if (cb_1_1->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x01;
if (cb_1_2->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x02;
if (cb_1_3->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x04;
if (cb_1_4->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x08;
if (cb_1_5->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x10;
if (cb_1_6->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x20;
if (cb_1_7->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x40;
if (cb_1_8->isChecked())
ParameterSet[Set][P_GLOBAL_CONF] = ParameterSet[Set][P_GLOBAL_CONF] | 0x80;
// Seite 2
ParameterSet[Set][P_KANAL_NICK] = sb_2_1->value();
ParameterSet[Set][P_KANAL_ROLL] = sb_2_2->value();
ParameterSet[Set][P_KANAL_GAS] = sb_2_3->value();
ParameterSet[Set][P_KANAL_GIER] = sb_2_4->value();
ParameterSet[Set][P_KANAL_POTI1] = sb_2_5->value();
ParameterSet[Set][P_KANAL_POTI2] = sb_2_6->value();
ParameterSet[Set][P_KANAL_POTI3] = sb_2_7->value();
ParameterSet[Set][P_KANAL_POTI4] = sb_2_8->value();
// Seite 3
ParameterSet[Set][P_STICK_P] = sb_3_1->value();
ParameterSet[Set][P_STICK_D] = sb_3_2->value();
ParameterSet[Set][P_GIER_P] = get_Value(cb_3_3);
ParameterSet[Set][P_EXTERNAL] = get_Value(cb_3_4);
// Seite 4
ParameterSet[Set][P_MAXHOEHE] = get_Value(cb_4_1);
ParameterSet[Set][P_MIN_GAS] = sb_4_2->value();
ParameterSet[Set][P_HOEHE_P] = get_Value(cb_4_3);
ParameterSet[Set][P_DRUCK_D] = get_Value(cb_4_4);
ParameterSet[Set][P_HOEHE_ACC] = get_Value(cb_4_5);
ParameterSet[Set][P_HOEHE_GAIN] = sb_4_6->value();
// Seite 5
ParameterSet[Set][P_GYRO_P] = get_Value(cb_5_1);
ParameterSet[Set][P_GYRO_I] = get_Value(cb_5_2);
ParameterSet[Set][P_GYRO_D] = get_Value(cb_5_8);
ParameterSet[Set][P_DYNAMIC_STAB] = get_Value(cb_5_3);
ParameterSet[Set][P_GYRO_ACC_FAKTOR] = sb_5_4->value();
ParameterSet[Set][P_GYRO_ACC_ABGL] = sb_5_5->value();
ParameterSet[Set][P_FAKTOR_I] = get_Value(cb_5_6);
ParameterSet[Set][P_DRIFT_KOMP] = sb_5_7->value();
// Seite 6
ParameterSet[Set][P_SERVO_NICK_CONT] = get_Value(cb_6_1);
ParameterSet[Set][P_SERVO_NICK_COMP] = sb_6_2->value();
ParameterSet[Set][P_SERVO_NICK_MIN] = sb_6_3->value();
ParameterSet[Set][P_SERVO_NICK_MAX] = sb_6_4->value();
ParameterSet[Set][P_SERVO_NICK_REFR] = sb_6_5->value();
ParameterSet[Set][P_SERVO_NICK_COMPI] = cb_6_6->isChecked();
// Seite 7
ParameterSet[Set][P_GAS_MIN] = sb_7_1->value();
ParameterSet[Set][P_GAS_MAX] = sb_7_2->value();
ParameterSet[Set][P_KOMPASS_WIRKUNG] = get_Value(cb_7_3);
ParameterSet[Set][P_UNTERSPANNUNG] = sb_7_4->value();
ParameterSet[Set][P_NOTGASZEIT] = sb_7_5->value();
ParameterSet[Set][P_NOTGAS] = sb_7_6->value();
// Seite 8
ParameterSet[Set][P_ACHS_KOPPLUNG1] = get_Value(cb_8_1);
ParameterSet[Set][P_ACHS_KOPPLUNG2] = get_Value(cb_8_2);
ParameterSet[Set][P_ACHS_GKOPPLUNG] = get_Value(cb_8_3);
// Seite 9
ParameterSet[Set][P_LOOP_CONFIG] = 0;
if (tb_9_6->text() == QString("1"))
ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x01;
if (tb_9_7->text() == QString("1"))
ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x02;
if (tb_9_8->text() == QString("1"))
ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x04;
if (tb_9_9->text() == QString("1"))
ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x08;
// if (cb_4_7->isChecked())
// ParameterSet[Set][P_LOOP_CONFIG] = ParameterSet[Set][P_LOOP_CONFIG] | 0x10;
ParameterSet[Set][P_LOOP_GAS_LIMIT] = get_Value(cb_9_1);
ParameterSet[Set][P_LOOP_THRESHOLD] = sb_9_2->value();
ParameterSet[Set][P_WINKEL_NICK] = sb_9_3->value();
ParameterSet[Set][P_LOOP_HYSTERESE] = sb_9_4->value();
ParameterSet[Set][P_WINKEL_ROLL] = sb_9_5->value();
// Seite 10
ParameterSet[Set][P_USER_1] = get_Value(cb_10_1);
ParameterSet[Set][P_USER_2] = get_Value(cb_10_2);
ParameterSet[Set][P_USER_3] = get_Value(cb_10_3);
ParameterSet[Set][P_USER_4] = get_Value(cb_10_4);
ParameterSet[Set][P_USER_5] = get_Value(cb_10_5);
ParameterSet[Set][P_USER_6] = get_Value(cb_10_6);
ParameterSet[Set][P_USER_7] = get_Value(cb_10_7);
ParameterSet[Set][P_USER_8] = get_Value(cb_10_8);
// Seite 11
ParameterSet[Set][P_J16_BITMASK] = sb_11_1->value();
ParameterSet[Set][P_J16_TIMING] = get_Value(cb_11_2);
ParameterSet[Set][P_J17_BITMASK] = sb_11_3->value();
ParameterSet[Set][P_J17_TIMING] = get_Value(cb_11_4);
// Seite 12
ParameterSet[Set][P_NAV_GPS_MODE] = get_Value(cb_12_1);
ParameterSet[Set][P_NAV_GPS_GAIN] = get_Value(cb_12_2);
ParameterSet[Set][P_NAV_STICK_THRE] = sb_12_3->value();
ParameterSet[Set][P_NAV_GPS_MIN] = sb_12_4->value();
ParameterSet[Set][P_NAV_GPS_P] = get_Value(cb_12_5);
ParameterSet[Set][P_NAV_GPS_I] = get_Value(cb_12_6);
ParameterSet[Set][P_NAV_GPS_D] = get_Value(cb_12_7);
ParameterSet[Set][P_NAV_GPS_ACC] = get_Value(cb_12_8);
ParameterSet[Set][P_NAV_GPS_P_LIMIT] = get_Value(cb_12_9);
ParameterSet[Set][P_NAV_GPS_I_LIMIT] = get_Value(cb_12_10);
ParameterSet[Set][P_NAV_GPS_D_LIMIT] = get_Value(cb_12_11);
//Seite 13
ParameterSet[Set][P_NAV_WIND_CORR] = get_Value(cb_13_1);
ParameterSet[Set][P_NAV_SPEED_COMP] = get_Value(cb_13_2);
ParameterSet[Set][P_NAV_RADIUS] = get_Value(cb_13_3);
ParameterSet[Set][P_NAV_ANGLE_LIMIT] = get_Value(cb_13_4);
ParameterSet[Set][P_NAV_PH_LOGINTIME] = sb_13_5->value();
}
void wdg_Settings::slot_SaveParameter() // DONE 0.71g
{
int Set = sb_Set->value() + 5;
QString Filename = QFileDialog::getSaveFileName(this, "Mikrokopter Parameter speichern", Config->DIR.Parameter + "" + le_SetName->text(), "Mikrokopter Parameter(*.mkp);;Alle Dateien (*)");
if (!Filename.isEmpty())
{
if (!(Filename.endsWith(".mkp", Qt::CaseInsensitive)))
{
Filename = Filename + QString(".mkp");
}
store_ParameterSet(Set);
QSettings Setting(Filename, QSettings::IniFormat);
Setting.beginGroup("Setup");
Setting.setValue("Name", le_SetName->text());
Setting.setValue("GlobalConfig", ParameterSet[Set][P_GLOBAL_CONF]);
Setting.endGroup();
Setting.beginGroup("Channels");
Setting.setValue("Nick", ParameterSet[Set][P_KANAL_NICK]);
Setting.setValue("Roll", ParameterSet[Set][P_KANAL_ROLL]);
Setting.setValue("Gas", ParameterSet[Set][P_KANAL_GAS]);
Setting.setValue("Gier", ParameterSet[Set][P_KANAL_GIER]);
Setting.setValue("Poti_1", ParameterSet[Set][P_KANAL_POTI1]);
Setting.setValue("Poti_2", ParameterSet[Set][P_KANAL_POTI2]);
Setting.setValue("Poti_3", ParameterSet[Set][P_KANAL_POTI3]);
Setting.setValue("Poti_4", ParameterSet[Set][P_KANAL_POTI4]);
Setting.endGroup();
Setting.beginGroup("Stick");
Setting.setValue("Nick_Roll-P", ParameterSet[Set][P_STICK_P]);
Setting.setValue("Nick_Roll-D", ParameterSet[Set][P_STICK_D]);
Setting.setValue("Gier-P", ParameterSet[Set][P_GIER_P]);
Setting.setValue("ExternalControl", ParameterSet[Set][P_EXTERNAL]);
Setting.endGroup();
Setting.beginGroup("Altitude");
Setting.setValue("Setpoint", ParameterSet[Set][P_MAXHOEHE]);
Setting.setValue("MinGas", ParameterSet[Set][P_MIN_GAS]);
Setting.setValue("P", ParameterSet[Set][P_HOEHE_P]);
Setting.setValue("Barometric-D", ParameterSet[Set][P_DRUCK_D]);
Setting.setValue("Z-ACC-Effect", ParameterSet[Set][P_HOEHE_ACC]);
Setting.setValue("Gain", ParameterSet[Set][P_HOEHE_GAIN]);
Setting.endGroup();
Setting.beginGroup("Gyro");
Setting.setValue("P", ParameterSet[Set][P_GYRO_P]);
Setting.setValue("I", ParameterSet[Set][P_GYRO_I]);
Setting.setValue("DynamicStability", ParameterSet[Set][P_DYNAMIC_STAB]);
Setting.setValue("ACC_Gyro-Factor", ParameterSet[Set][P_GYRO_ACC_FAKTOR]);
Setting.setValue("ACC_Gyro-Compensation", ParameterSet[Set][P_GYRO_ACC_ABGL]);
Setting.setValue("DriftCompensation", ParameterSet[Set][P_DRIFT_KOMP]);
Setting.setValue("Main-I", ParameterSet[Set][P_FAKTOR_I]);
Setting.endGroup();
Setting.beginGroup("Camera");
Setting.setValue("ServoNickControl", ParameterSet[Set][P_SERVO_NICK_CONT]);
Setting.setValue("ServoNickCompensation", ParameterSet[Set][P_SERVO_NICK_COMP]);
Setting.setValue("ServoNickInvert", ParameterSet[Set][P_SERVO_NICK_COMPI]);
Setting.setValue("ServoNickMin", ParameterSet[Set][P_SERVO_NICK_MIN]);
Setting.setValue("ServoNickMax", ParameterSet[Set][P_SERVO_NICK_MAX]);
Setting.setValue("ServoNickRefreshRate", ParameterSet[Set][P_SERVO_NICK_REFR]);
Setting.endGroup();
Setting.beginGroup("Others");
Setting.setValue("MinGas", ParameterSet[Set][P_GAS_MIN]);
Setting.setValue("MaxGas", ParameterSet[Set][P_GAS_MAX]);
Setting.setValue("Compass-Effect", ParameterSet[Set][P_KOMPASS_WIRKUNG]);
Setting.setValue("UnderVoltage", ParameterSet[Set][P_UNTERSPANNUNG]);
Setting.setValue("NotGas", ParameterSet[Set][P_NOTGAS]);
Setting.setValue("NotGasTime", ParameterSet[Set][P_NOTGASZEIT]);
Setting.endGroup();
Setting.beginGroup("Coupling");
Setting.setValue("YawPosFeedback", ParameterSet[Set][P_ACHS_KOPPLUNG1]);
Setting.setValue("YawNegFeedback", ParameterSet[Set][P_ACHS_GKOPPLUNG]);
Setting.endGroup();
Setting.beginGroup("Loop");
Setting.setValue("Config", ParameterSet[Set][P_LOOP_CONFIG]);
Setting.setValue("GasLimit", ParameterSet[Set][P_LOOP_GAS_LIMIT]);
Setting.setValue("StickThreshold", ParameterSet[Set][P_LOOP_THRESHOLD]);
Setting.setValue("LoopHysteresis", ParameterSet[Set][P_LOOP_HYSTERESE]);
Setting.setValue("TurnOverNick", ParameterSet[Set][P_WINKEL_NICK]);
Setting.setValue("TurnOverRoll", ParameterSet[Set][P_WINKEL_ROLL]);
Setting.endGroup();
Setting.beginGroup("User");
Setting.setValue("Parameter_1", ParameterSet[Set][P_USER_1]);
Setting.setValue("Parameter_2", ParameterSet[Set][P_USER_2]);
Setting.setValue("Parameter_3", ParameterSet[Set][P_USER_3]);
Setting.setValue("Parameter_4", ParameterSet[Set][P_USER_4]);
Setting.setValue("Parameter_5", ParameterSet[Set][P_USER_5]);
Setting.setValue("Parameter_6", ParameterSet[Set][P_USER_6]);
Setting.setValue("Parameter_7", ParameterSet[Set][P_USER_7]);
Setting.setValue("Parameter_8", ParameterSet[Set][P_USER_8]);
Setting.endGroup();
Setting.beginGroup("Output");
Setting.setValue("J16_Bitmask", ParameterSet[Set][P_J16_BITMASK]);
Setting.setValue("J16_Timing", ParameterSet[Set][P_J16_TIMING]);
Setting.setValue("J17_Bitmask", ParameterSet[Set][P_J17_BITMASK]);
Setting.setValue("J17_Timing", ParameterSet[Set][P_J17_TIMING]);
Setting.endGroup();
Setting.beginGroup("NaviCtrl");
Setting.setValue("GPS_ModeControl", ParameterSet[Set][P_NAV_GPS_MODE]);
Setting.setValue("GPS_Gain", ParameterSet[Set][P_NAV_GPS_GAIN]);
Setting.setValue("GPS_P", ParameterSet[Set][P_NAV_GPS_P]);
Setting.setValue("GPS_I", ParameterSet[Set][P_NAV_GPS_I]);
Setting.setValue("GPS_D", ParameterSet[Set][P_NAV_GPS_D]);
Setting.setValue("GPS_Acc", ParameterSet[Set][P_NAV_GPS_ACC]);
Setting.setValue("GPS_MinSat", ParameterSet[Set][P_NAV_GPS_MIN]);
Setting.setValue("GPS_StickThreshold", ParameterSet[Set][P_NAV_STICK_THRE]);
Setting.setValue("GPS_WindCorrection", ParameterSet[Set][P_NAV_WIND_CORR]);
Setting.setValue("GPS_SpeedCompensation", ParameterSet[Set][P_NAV_SPEED_COMP]);
Setting.setValue("GPS_MaxRadius", ParameterSet[Set][P_NAV_RADIUS]);
Setting.setValue("GPS_AngleLimit", ParameterSet[Set][P_NAV_ANGLE_LIMIT]);
Setting.endGroup();
}
}
char *wdg_Settings::GetFCSettings() // DONE 0.71g
{
store_ParameterSet(sb_Set->value());
char *TX_Data = new char[150];
TX_Data[0] = sb_Set->value();
TX_Data[1] = VERSION_SETTINGS;
for (int a = 0; a < MaxParameter; a++)
{
TX_Data[a + 2] = ParameterSet[sb_Set->value()][a];
}
return TX_Data;
// store_ParameterSet(sb_Set->value());
// send_Data('s', ADDRESS_FC, TX_Data, MaxParameter + 2, false);
}
QComboBox *wdg_Settings::setCombo(QComboBox *Combo, int Set, int Wert)
{
Set = Set;
if (Wert <= 250)
{
Combo->setItemText(4, QString("%1").arg(Wert));
Combo->setCurrentIndex(4);
}
else
{
Combo->setCurrentIndex(Wert - 251);
}
return Combo;
}
void wdg_Settings::show_FCSettings(int Set, int FCSettings[MaxParameter]) // DONE 0.71h
{
memcpy(Settings, FCSettings, sizeof(FCSettings));
memcpy(ParameterSet[Set], FCSettings, sizeof(FCSettings));
sb_Set->setValue(Set);
char Name[12];
for (int a = 0; a < 12; a++)
{
Name[a] = FCSettings[P_NAME+a];
}
le_SetName->setText(QString(Name));
// Seite 1
{
cb_1_1->setChecked(FCSettings[P_GLOBAL_CONF] & 0x01);
cb_1_2->setChecked(FCSettings[P_GLOBAL_CONF] & 0x02);
cb_1_3->setChecked(FCSettings[P_GLOBAL_CONF] & 0x04);
cb_1_4->setChecked(FCSettings[P_GLOBAL_CONF] & 0x08);
cb_1_5->setChecked(FCSettings[P_GLOBAL_CONF] & 0x10);
cb_1_6->setChecked(FCSettings[P_GLOBAL_CONF] & 0x20);
cb_1_7->setChecked(FCSettings[P_GLOBAL_CONF] & 0x40);
cb_1_8->setChecked(FCSettings[P_GLOBAL_CONF] & 0x80);
}
// Seite 2
{
sb_2_1->setValue(FCSettings[P_KANAL_NICK]);
sb_2_2->setValue(FCSettings[P_KANAL_ROLL]);
sb_2_3->setValue(FCSettings[P_KANAL_GAS]);
sb_2_4->setValue(FCSettings[P_KANAL_GIER]);
sb_2_5->setValue(FCSettings[P_KANAL_POTI1]);
sb_2_6->setValue(FCSettings[P_KANAL_POTI2]);
sb_2_7->setValue(FCSettings[P_KANAL_POTI3]);
sb_2_8->setValue(FCSettings[P_KANAL_POTI4]);
}
// Seite 3
{
sb_3_1->setValue(FCSettings[P_STICK_P]);
sb_3_2->setValue(FCSettings[P_STICK_D]);
cb_3_3 = setCombo(cb_3_3, Set, FCSettings[P_GIER_P]);
cb_3_4 = setCombo(cb_3_4, Set, FCSettings[P_EXTERNAL]);
}
// Seite 4
{
cb_4_1 = setCombo(cb_4_1, Set, FCSettings[P_MAXHOEHE]);
sb_4_2->setValue(FCSettings[P_MIN_GAS]);
cb_4_3 = setCombo(cb_4_3, Set, FCSettings[P_HOEHE_P]);
cb_4_4 = setCombo(cb_4_4, Set, FCSettings[P_DRUCK_D]);
cb_4_5 = setCombo(cb_4_5, Set, FCSettings[P_HOEHE_ACC]);
sb_4_6->setValue(FCSettings[P_HOEHE_GAIN]);
// cb_4_7->setChecked(FCSettings[P_LOOP_CONFIG] & 0x10);
}
// Seite 5
{
cb_5_1 = setCombo(cb_5_1, Set, FCSettings[P_GYRO_P]);
cb_5_2 = setCombo(cb_5_2, Set, FCSettings[P_GYRO_I]);
cb_5_8 = setCombo(cb_5_8, Set, FCSettings[P_GYRO_D]);
cb_5_3 = setCombo(cb_5_3, Set, FCSettings[P_DYNAMIC_STAB]);
sb_5_4->setValue(FCSettings[P_GYRO_ACC_FAKTOR]);
sb_5_5->setValue(FCSettings[P_GYRO_ACC_ABGL]);
cb_5_6 = setCombo(cb_5_6, Set, FCSettings[P_FAKTOR_I]);
sb_5_7->setValue(FCSettings[P_DRIFT_KOMP]);
}
// Seite 6
{
cb_6_1 = setCombo(cb_6_1, Set, FCSettings[P_SERVO_NICK_CONT]);
sb_6_2->setValue(FCSettings[P_SERVO_NICK_COMP]);
sb_6_3->setValue(FCSettings[P_SERVO_NICK_MIN]);
sb_6_4->setValue(FCSettings[P_SERVO_NICK_MAX]);
sb_6_5->setValue(FCSettings[P_SERVO_NICK_REFR]);
cb_6_6->setChecked(FCSettings[P_SERVO_NICK_COMPI]);
}
// Seite 7
{
sb_7_1->setValue(FCSettings[P_GAS_MIN]);
sb_7_2->setValue(FCSettings[P_GAS_MAX]);
cb_7_3 = setCombo(cb_7_3, Set, FCSettings[P_KOMPASS_WIRKUNG]);
sb_7_4->setValue(FCSettings[P_UNTERSPANNUNG]);
sb_7_5->setValue(FCSettings[P_NOTGASZEIT]);
sb_7_6->setValue(FCSettings[P_NOTGAS]);
}
// Seite 8
{
cb_8_1 = setCombo(cb_8_1, Set, FCSettings[P_ACHS_KOPPLUNG1]);
cb_8_2 = setCombo(cb_8_2, Set, FCSettings[P_ACHS_KOPPLUNG2]);
cb_8_3 = setCombo(cb_8_3, Set, FCSettings[P_ACHS_GKOPPLUNG]);
}
// Seite 9
{
if (FCSettings[P_LOOP_CONFIG] & 0x01)
{
tb_9_6->setText("1");
tb_9_6->setChecked(true);
}
else
{
tb_9_6->setText("0");
tb_9_6->setChecked(false);
}
if (FCSettings[P_LOOP_CONFIG] & 0x02)
{
tb_9_7->setText("1");
}
else
{
tb_9_7->setText("0");
}
if (FCSettings[P_LOOP_CONFIG] & 0x04)
{
tb_9_8->setText("1");
}
else
{
tb_9_8->setText("0");
}
if (FCSettings[P_LOOP_CONFIG] & 0x08)
{
tb_9_9->setText("1");
}
else
{
tb_9_9->setText("0");
}
cb_9_1 = setCombo(cb_9_1, Set, FCSettings[P_LOOP_GAS_LIMIT]);
sb_9_2->setValue(FCSettings[P_LOOP_THRESHOLD]);
sb_9_3->setValue(FCSettings[P_WINKEL_NICK]);
sb_9_4->setValue(FCSettings[P_LOOP_HYSTERESE]);
sb_9_5->setValue(FCSettings[P_WINKEL_ROLL]);
}
// Seite 10
{
cb_10_1 = setCombo(cb_10_1, Set, FCSettings[P_USER_1]);
cb_10_2 = setCombo(cb_10_2, Set, FCSettings[P_USER_2]);
cb_10_3 = setCombo(cb_10_3, Set, FCSettings[P_USER_3]);
cb_10_4 = setCombo(cb_10_4, Set, FCSettings[P_USER_4]);
cb_10_5 = setCombo(cb_10_5, Set, FCSettings[P_USER_5]);
cb_10_6 = setCombo(cb_10_6, Set, FCSettings[P_USER_6]);
cb_10_7 = setCombo(cb_10_7, Set, FCSettings[P_USER_7]);
cb_10_8 = setCombo(cb_10_8, Set, FCSettings[P_USER_8]);
}
// Seite 11
{
sb_11_1->setValue(FCSettings[P_J16_BITMASK]);
cb_11_2 = setCombo(cb_11_2, Set, FCSettings[P_J16_TIMING]);
sb_11_3->setValue(FCSettings[P_J17_BITMASK]);
cb_11_4 = setCombo(cb_11_4, Set, FCSettings[P_J17_TIMING]);
}
// Seite 12
{
cb_12_1 = setCombo(cb_12_1, Set, FCSettings[P_NAV_GPS_MODE]);
cb_12_2 = setCombo(cb_12_2, Set, FCSettings[P_NAV_GPS_GAIN]);
sb_12_3->setValue(FCSettings[P_NAV_STICK_THRE]);
sb_12_4->setValue(FCSettings[P_NAV_GPS_MIN]);
cb_12_5 = setCombo(cb_12_5, Set, FCSettings[P_NAV_GPS_P]);
cb_12_6 = setCombo(cb_12_6, Set, FCSettings[P_NAV_GPS_I]);
cb_12_7 = setCombo(cb_12_7, Set, FCSettings[P_NAV_GPS_D]);
cb_12_8 = setCombo(cb_12_8, Set, FCSettings[P_NAV_GPS_ACC]);
cb_12_9 = setCombo(cb_12_9, Set, FCSettings[P_NAV_GPS_P_LIMIT]);
cb_12_10 = setCombo(cb_12_10, Set, FCSettings[P_NAV_GPS_I_LIMIT]);
cb_12_11 = setCombo(cb_12_11, Set, FCSettings[P_NAV_GPS_D_LIMIT]);
}
// Seite 13
{
cb_13_1 = setCombo(cb_13_1, Set, FCSettings[P_NAV_WIND_CORR]);
cb_13_2 = setCombo(cb_13_2, Set, FCSettings[P_NAV_SPEED_COMP]);
cb_13_3 = setCombo(cb_13_3, Set, FCSettings[P_NAV_RADIUS]);
cb_13_4 = setCombo(cb_13_4, Set, FCSettings[P_NAV_ANGLE_LIMIT]);
sb_13_5->setValue(FCSettings[P_NAV_PH_LOGINTIME]);
}
}
wdg_Settings::~wdg_Settings()
{
}