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MultiWiiConf.pde
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MultiWiiConf.pde
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import processing.serial.Serial; // serial library
import controlP5.*; // controlP5 library
import processing.opengl.*;
import java.lang.StringBuffer; // for efficient String concatemation
import javax.swing.SwingUtilities; // required for swing and EDT
import javax.swing.JFileChooser; // Saving dialogue
import javax.swing.filechooser.FileFilter; // for our configuration file filter "*.mwi"
import javax.swing.JOptionPane; // for message dialogue
//Added For Processing 2.0.x compabillity
import java.util.*;
import java.io.*;
//****************************
// TODO add new msp : pid description with bound and scale
PrintWriter output;
BufferedReader reader;
String portnameFile="SerialPort.txt"; // Name of file for Autoconnect.
int GUI_BaudRate = 115200; // Default.
int SerialPort;
Serial g_serial;
ControlP5 controlP5;
Textlabel txtlblWhichcom,TxtInfoMotors1;
Textlabel txtlblRates,txtlblRev,TxtLeftW,TxtRightW,TxtRevW,TxtRevR,TxtRates,TxtRev,
TxtMids,TxtMin,TxtMax,TxtSLeft,TxtSNick,TxtSRight,TxtInfo,TxtInfo1,TxtInfo2,
TxtInfo3,TxtInfo4,TxtAux,Links;
ListBox commListbox,baudListbox;
static int CHECKBOXITEMS=0;
static int PIDITEMS=10;
int commListMax;
int tabHeight=20; // Extra height needed for Tabs
int Centerlimits[] = {1200,1800}; // Endpoints of ServoCenterSliders
cGraph g_graph;
int windowsX = 1000; int windowsY = 550+tabHeight;
int xGraph = 10; int yGraph = 325+tabHeight;
int xObj = 520; int yObj = 293+tabHeight;
int xCompass = 920; int yCompass = 341+tabHeight;
int xLevelObj = 920; int yLevelObj = 80+tabHeight;
int xParam = 120; int yParam = 5+tabHeight;
int xRC = 690; int yRC = 10+tabHeight;
int xMot = 690; int yMot = 155+tabHeight;
int xButton = 845; int yButton = 231+tabHeight;
int xBox = 415; int yBox = 10+tabHeight;
int xGPS = 853; int yGPS = 438+tabHeight;
int xServ = 350; int yServ = 20+tabHeight;
int i, j; // enummerators
int byteRC_RATE,byteRC_EXPO, byteRollPitchRate,byteYawRate,
byteDynThrPID,byteThrottle_EXPO, byteThrottle_MID, byteSelectSetting,
cycleTime, i2cError,
version, versionMisMatch,horizonInstrSize,
GPS_distanceToHome, GPS_directionToHome,
GPS_numSat, GPS_fix, GPS_update, GPS_altitude, GPS_speed,
GPS_latitude, GPS_longitude,
init_com, graph_on, pMeterSum, intPowerTrigger, bytevbat, amperage, rssi ;
int multiCapability = 0; // Bitflags stating what capabilities are/are not present in the compiled code.
int byteMP[] = new int[8]; // Motor Pins. Varies by multiType and Arduino model (pro Mini, Mega, etc).
int MConf[] = new int[10]; // Min/Maxthro etc
int byteP[] = new int[PIDITEMS], byteI[] = new int[PIDITEMS], byteD[] = new int[PIDITEMS];
int activation[];
int ServoMID[] = new int[8]; // Plane,ppm/pwm conv,heli
int servoRATE[] = new int[8];
int servoDirection[] = new int[8];
int ServoMIN[] = new int[8];
int ServoMAX[] = new int[8];
int wingDir[] = new int[8]; // Flying wing
int wingPos[] = new int[8];
int In[] = new int[8];
Textlabel TxtMIX[] = new Textlabel[6];
int multiType; // 1 for tricopter, 2 for quad+, 3 for quadX, ...
// Alias for multiTypes
int TRI =1;
int QUADP =2;
int QUADX =3;
int BI =4;
int GIMBAL =5;
int Y6 =6;
int HEX6 =7;
int FLYING_WING =8;
int Y4 =9;
int HEX6X =10;
int OCTOX8 =11;
int OCTOFLATX =12;
int OCTOFLATP =13;
int AIRPLANE =14;
int HELI_120_CCPM =15;
int HELI_90_DEG =16;
int VTAIL4 =17;
int HEX6H =18;
int PPM_TO_SERVO =19;
int DUALCOPTER =20;
int SINGLECOPTER =21;
float gx, gy, gz, ax, ay, az, magx, magy, magz, alt, head, angx, angy,
debug1, debug2, debug3, debug4,
angyLevelControl, angCalc,
pVersion;
float mot[] = new float[8],
servo[] = new float[8],
RCChan[] = new float[16];
private static final int ROLL = 0, PITCH = 1, YAW = 2, ALT = 3, VEL = 4, LEVEL = 5, MAG = 6;
boolean axGraph =true,ayGraph=true,azGraph=true,gxGraph=true,gyGraph=true,gzGraph=true,altGraph=true,headGraph=true, magxGraph =true,magyGraph=true,magzGraph=true,
debug1Graph = false,debug2Graph = false,debug3Graph = false,debug4Graph = false,hideDraw=false,GraphicsInited=false,gimbalConfig=false,flapperons=false,
flaps=false,InitServos=true;
boolean toggleServo=false,toggleWriteServo=false,toggleWing=false,toggleWriteWing=false,toggleLive=false,toggleWriteServoLive=false,toggleWriteWingLive=false,
toggleSaveHeli=false,toggleWaitHeli=false,toggleGimbal=false,
graphEnabled = false,Mag_=false,gimbal=false, servoStretch=false,camTrigger=false,ExportServo=false,
toggleTrigger=false,ServosActive=false;
static int RCThro = 3, RCRoll = 0, RCPitch =1, RCYaw =2, RCAUX1=4, RCAUX2=5, RCAUX3=6, RCAUX4=7;
cDataArray accPITCH = new cDataArray(200), accROLL = new cDataArray(200), accYAW = new cDataArray(200),
gyroPITCH = new cDataArray(200), gyroROLL = new cDataArray(200), gyroYAW = new cDataArray(200),
magxData = new cDataArray(200), magyData = new cDataArray(200), magzData = new cDataArray(200),
altData = new cDataArray(200), headData = new cDataArray(200),
debug1Data = new cDataArray(200), debug2Data = new cDataArray(200), debug3Data = new cDataArray(200),
debug4Data = new cDataArray(200);
Numberbox confP[] = new Numberbox[PIDITEMS],
confI[] = new Numberbox[PIDITEMS],
confD[] = new Numberbox[PIDITEMS],
confINF[] = new Numberbox[7],
VBat[] = new Numberbox[6]
;
Numberbox confRC_RATE, confRC_EXPO, rollPitchRate, yawRate, dynamic_THR_PID, throttle_EXPO, throttle_MID,
confPowerTrigger, confSetting, confSelectSetting;
Slider axSlider, aySlider, azSlider, gxSlider, gySlider, gzSlider, magxSlider, magySlider,
magzSlider, altSlider, headSlider, debug1Slider, debug2Slider, debug3Slider, debug4Slider,scaleSlider,motorControlSlider;
Slider servoSliderH[] = new Slider[8],
servoSliderV[] = new Slider[8],
motSlider[] = new Slider[8],
TX_StickSlider[] = new Slider[8],
GimbalSlider[] = new Slider[12],
ServoSliderC[] = new Slider[8],
ServoSliderMAX[] = new Slider[8],
ServoSliderMIN[] = new Slider[8];
Button buttonIMPORT, buttonSAVE, buttonREAD, buttonRESET, buttonWRITE, buttonCALIBRATE_ACC, buttonCALIBRATE_MAG, buttonSTART, buttonSTOP, buttonSETTING,
buttonAcc, buttonBaro, buttonMag, buttonGPS, buttonSonar, buttonOptic, buttonRXbind, btnQConnect,buttonExport,
btMagDecl,btMWiiHome,btDownloads;
Button SaveSERVO,buttonSERVO,buttonWing,SaveWing,buttonLIVE,buttonCCPM,buttonGimbal,btnTrigger;
Toggle tACC_ROLL, tACC_PITCH, tACC_Z, tGYRO_ROLL, tGYRO_PITCH, tGYRO_YAW, tBARO,tHEAD, tMAGX, tMAGY, tMAGZ,
tDEBUG1, tDEBUG2, tDEBUG3, tDEBUG4;
// Motors Toggles
Toggle motToggle[] = new Toggle[8];
// Colors
color yellow_ = color(200, 200, 20), green_ = color(30, 120, 30), red_ = color(120, 30, 30), blue_ = color(50, 50, 100),
grey_ = color(30, 30, 30),black_ = color(0, 0, 0),orange_ =color(200,128,0);
PFont font8, font9, font12, font15;
CheckBox checkbox[], checkboxRev[];
CheckBox Bbox, Wbox, Mbox;
Button buttonCheckbox[], BtServo[], BtAUX[];
Numberbox RateSlider[];
// TODO New part
void create_GimbalGraphics(){
if(gimbal){
gimbalConfig = true;
int sMin=1020;int sMax=2000;
if(servoStretch) {sMin=500; sMax=2500;}
int Step=yServ-10;
GimbalSlider[0] = controlP5.addSlider("Tilt_Min" ,sMin,1500,0,xServ+10,Step+80,60,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[1] = controlP5.addSlider("Tilt_Max" ,1500,sMax,0,xServ+150 ,Step+80,60,10).setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[2] = controlP5.addSlider("Channel " ,1200,1700,0,xServ+100,Step+60,90,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[3] = controlP5.addSlider("Tilt_Prop",-125,125,0,xServ+100,Step+100, 60,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
Step+=90;
GimbalSlider[4] = controlP5.addSlider("Roll_Min" ,sMin,1500,0,xServ+10,Step+80,60,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[5] = controlP5.addSlider("Roll_Max" ,1500,sMax,0,xServ+150 ,Step+80,60,10).setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[6] = controlP5.addSlider("Channel" ,1200,1700,0,xServ+100,Step+60,90,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[7] = controlP5.addSlider("Roll_Prop",-125,125,0,xServ+100,Step+100, 60,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[8] = controlP5.addSlider("Trig_LO" ,500,2000,0,xServ+10,Step+80,60,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[9] = controlP5.addSlider("Trig_HI" ,1000,sMax,0,xServ+150 ,Step+80,60,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[10] = controlP5.addSlider("Trigger" ,0,30000,0,xServ+100,Step+60,90,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings");
GimbalSlider[11] = controlP5.addSlider("Trig_Rev",-0,1,0,xServ+100,Step+100, 40,10) .setDecimalPrecision(0).hide().moveTo("ServoSettings") .setNumberOfTickMarks(2).setColorTickMark(0);
buttonGimbal.show();
if(camTrigger)btnTrigger.show();
controlP5.getTab("ServoSettings").show();
}
}
void create_ServoGraphics(){
BtServo = new Button[8];
BtAUX = new Button[5];
checkboxRev = new CheckBox[8];
RateSlider = new Numberbox[8];
GraphicsInited=true;
Bbox = controlP5.addCheckBox("Bbox").setPosition(xServ+40,yServ+40).setColorForeground(color(120))
.setColorActive(color(255)).setColorLabel(color(255)).setSize(20, 10).setColorBackground(color(140))
.setItemsPerRow(1).setSpacingColumn(30).setSpacingRow(10)
.addItem("0", 254).addItem("1", 254).addItem("2", 254)
.addItem("3", 254).addItem("4", 254).addItem("5", 254)
.addItem("6", 254).addItem("7", 254)
.hide().hideLabels().moveTo("ServoSettings")
;
//Create Common ServoSliders
int Step =0;
int sMin=1020;int sMax=2000;
if(servoStretch) {sMin=500; sMax=2500;}
for (i=0;i<8;i++) {
ServoSliderC[i] = controlP5.addSlider("Servo "+i,Centerlimits[0],Centerlimits[1],0,xServ+180,yServ+40+Step,110,12).setDecimalPrecision(0).hide().setLabel("").moveTo("ServoSettings");
ServoSliderMIN[i] = controlP5.addSlider("MIN "+i,sMin,1500,0,xServ+80,yServ+40+Step,40,12).setDecimalPrecision(0).setLabel("").hide().moveTo("ServoSettings");
ServoSliderMAX[i] = controlP5.addSlider("MAX "+i,1500,sMax,0,xServ+125,yServ+40+Step,40,12).setDecimalPrecision(0).setLabel("").hide().moveTo("ServoSettings");
Step+=20; }
// ServoGraphics For AirPlane SC & DC
if(multiType == PPM_TO_SERVO || multiType == AIRPLANE ){
controlP5.getTab("ServoSettings").show();
TxtRates = controlP5.addTextlabel("label","Servo Rates in %").setPosition(xServ+75,yServ+20).hide().moveTo("ServoSettings");
TxtMids = controlP5.addTextlabel("Mlabel","Offset for servos").setPosition(xServ+190,yServ+20).hide().moveTo("ServoSettings");
TxtAux = controlP5.addTextlabel("Alabel","Channel for Flaps").setPosition(xServ-120,yServ+20).hide().moveTo("ServoSettings");
TxtRev = controlP5.addTextlabel("txtlblRev","Norm/Rev").setPosition(xServ+10,yServ+20).hide().moveTo("ServoSettings");
//****************** End of AirPlane ********************
}
if(multiType == FLYING_WING || multiType == TRI || multiType == BI || multiType == DUALCOPTER || multiType == SINGLECOPTER){ //ServoGraphics For FlyingWng & TRI & BI || multiType == DUALCOPTER
controlP5.getTab("ServoSettings").show();
int LabelPos=100;
if(multiType == FLYING_WING){
Wbox = controlP5.addCheckBox("Wbox").setColorForeground(color(120)).setColorBackground(color(140)).setColorActive(color(255)).setColorLabel(color(255)).setSize(20, 10)
.setItemsPerRow(2).setSpacingColumn(50).setSpacingRow(10).setPosition(xServ-160 ,yServ+50)
.addItem("L Roll", 254).addItem("R Roll", 254).addItem("L NICK", 254).addItem("R NICK", 254).moveTo("ServoSettings") ;
TxtLeftW = controlP5.addTextlabel("Label","Left Wing" ).setPosition(xServ+110,yServ+40).hide().moveTo("ServoSettings");
TxtRightW = controlP5.addTextlabel("Rlabel","Right Wing").setPosition(xServ+110,yServ+130).hide().moveTo("ServoSettings");
}
if(multiType == TRI){
Wbox = controlP5.addCheckBox("Wbox").setColorForeground(color(120)).setColorBackground(color(140)).setColorActive(color(255)).setColorLabel(color(255)).setSize(20, 10)
.setItemsPerRow(1).setSpacingColumn(50).setSpacingRow(10).setPosition(xServ-160 ,yServ+50)
.addItem("YAW", 254).moveTo("ServoSettings") ;
TxtLeftW = controlP5.addTextlabel("Label","Yaw Servo" ).setPosition(xServ+110,yServ+40).hide().moveTo("ServoSettings");
TxtRightW = controlP5.addTextlabel("Rlabel"," ").setPosition(xServ+110,yServ+140).hide().moveTo("ServoSettings");
}
if(multiType == BI){
Wbox = controlP5.addCheckBox("Wbox").setColorForeground(color(120)).setColorBackground(color(140)).setColorActive(color(255)).setColorLabel(color(255)).setSize(20, 10)
.setItemsPerRow(2).setSpacingColumn(50).setSpacingRow(10).setPosition(xServ-160 ,yServ+50)
.addItem("L Yaw", 254).addItem("R Yaw", 254).addItem("L NICK", 254).addItem("R NICK", 254).moveTo("ServoSettings") ;
TxtLeftW = controlP5.addTextlabel("Label","Left Servo" ).setPosition(xServ+110,yServ+40).hide().moveTo("ServoSettings");
TxtRightW = controlP5.addTextlabel("Rlabel","Right Servo").setPosition(xServ+110,yServ+140).hide().moveTo("ServoSettings");
}
if(multiType == DUALCOPTER){
Wbox = controlP5.addCheckBox("Wbox").setColorForeground(color(120)).setColorBackground(color(140)).setColorActive(color(255)).setColorLabel(color(255)).setSize(20, 10)
.setItemsPerRow(2).setSpacingColumn(70).setSpacingRow(10).setPosition(xServ-160 ,yServ+50)
.addItem("Pitch ", 254).addItem("Roll ", 254).moveTo("ServoSettings").hide();
TxtLeftW = controlP5.addTextlabel("Label","Roll" ).setPosition(xServ+110,yServ+40).hide().moveTo("ServoSettings");
TxtRightW = controlP5.addTextlabel("Rlabel","Nick").setPosition(xServ+110,yServ+130).hide().moveTo("ServoSettings");
}
if(multiType == SINGLECOPTER){
Wbox = controlP5.addCheckBox("Wbox").setColorForeground(color(120)).setColorBackground(color(140)).setColorActive(color(255)).setColorLabel(color(255)).setSize(20, 10)
.setItemsPerRow(2).setSpacingColumn(50).setSpacingRow(10).setPosition(xServ-80 ,yServ+100)
.addItem(" Right ", 254).addItem("R yaw", 254)
.addItem(" Left ", 254) .addItem("L yaw", 254)
.addItem(" Front", 254) .addItem("F yaw", 254)
.addItem(" Rear", 254) .addItem(" yaw", 254)
.moveTo("ServoSettings") ;
LabelPos=60;
TxtMin = controlP5.addTextlabel("Minlabel","MIN").setPosition(xServ+85,yServ+80) .hide().moveTo("ServoSettings");
TxtMax = controlP5.addTextlabel("Maxlabel","MAX").setPosition(xServ+130,yServ+80).hide().moveTo("ServoSettings");
TxtMids = controlP5.addTextlabel("Mlabel","Offset servos").setPosition(xServ+190,yServ+80).hide().moveTo("ServoSettings");
}
TxtRevW = controlP5.addTextlabel("Revlabel","Change Gyro/Acc Direction" ).setPosition(xServ-165,yServ+30).hide().moveTo("ServoSettings");
TxtRevR = controlP5.addTextlabel("Revtx","Change Dir in TX To Match" ).setPosition(xServ-170,yServ+LabelPos).hide().moveTo("ServoSettings");
//****************** End of FlyingWng & TRI ********************
}
// ServoGraphics For Heli 120 && 90
if(multiType == HELI_120_CCPM || multiType == HELI_90_DEG ){
controlP5.getTab("ServoSettings").show();
TxtMin = controlP5.addTextlabel("Minlabel","MIN").setPosition(xServ+85,yServ+20) .hide().moveTo("ServoSettings");
TxtMax = controlP5.addTextlabel("Maxlabel","MAX").setPosition(xServ+130,yServ+20).hide().moveTo("ServoSettings");
TxtMids = controlP5.addTextlabel("Mlabel","Offset servos").setPosition(xServ+190,yServ+20).hide().moveTo("ServoSettings");
TxtRates = controlP5.addTextlabel("label","Not Used").setPosition(xServ+75,yServ+20).hide().moveTo("ServoSettings");
TxtRev = controlP5.addTextlabel("txtlblRev","Servos").setPosition(xServ+10,yServ+20).hide().moveTo("ServoSettings");
// CCPM settings
// Mixer Boxes
int XPos=xServ+40;
int YPos=yServ-0;
Mbox = controlP5.addCheckBox("Wbox").setColorForeground(color(120)).setColorBackground(color(140)).setColorActive(color(255)).setColorLabel(color(255)).setSize(20, 10)
.setItemsPerRow(3).setSpacingColumn(15).setSpacingRow(10).setPosition(XPos-180 ,YPos+50)
.addItem("mix3_4", 254) .addItem("mix3_2", 254).addItem("mix3_1", 254)
.addItem("mix4_4", 254) .addItem("mix4_2", 254).addItem("mix4_1", 254)
.addItem("mix6_4", 254) .addItem("mix6_2", 254).addItem("mix6_1", 254)
.moveTo("ServoSettings").hideLabels().hide();
TxtMIX[0] = controlP5.addTextlabel("mix1","NICK") .setPosition(XPos-220,YPos+50).moveTo("ServoSettings");
TxtMIX[1] = controlP5.addTextlabel("mix2","LEFT") .setPosition(XPos-220,YPos+70).moveTo("ServoSettings");
TxtMIX[2] = controlP5.addTextlabel("mix3","RIGHT").setPosition(XPos-220,YPos+90).moveTo("ServoSettings");
TxtMIX[3] = controlP5.addTextlabel("mix4","COLL") .setPosition(XPos-195,YPos+30).moveTo("ServoSettings");
TxtMIX[4] = controlP5.addTextlabel("mix5","NICK") .setPosition(XPos-155,YPos+30).moveTo("ServoSettings");
TxtMIX[5] = controlP5.addTextlabel("mix6","ROLL") .setPosition(XPos-115,YPos+30).moveTo("ServoSettings");
for (i=0;i<6;i++) { TxtMIX[i].hide();}
//******************End of Heli********************
}
// Common Graphics for servos
Step =0;
for (i=0;i<8;i++) { // TODO Something
BtServo[i] = controlP5.addButton("CHb"+i,1,xServ-30,yServ+40+20*i,60,12).setColorBackground(green_).setLabel("Servo "+i).hide().moveTo("ServoSettings");
checkboxRev[i] = controlP5.addCheckBox("cbR"+i).moveTo("ServoSettings");
checkboxRev[i].setPosition(xServ+70,yServ+40+20*i)
.setColorActive(color(255)).setColorBackground(color(120))
.setItemHeight(10).setItemWidth(20).hide()
.moveTo("ServoSettings")
;
RateSlider[i] = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("Rate"+i,0,xServ+70,yServ+40+i*20,100,14));
RateSlider[i].setColorBackground(yellow_);RateSlider[i].setDirection(Controller.HORIZONTAL);
RateSlider[i].setDecimalPrecision(0);RateSlider[i].setMultiplier(1);RateSlider[i].setMin(0).setMax(125).hide().moveTo("ServoSettings");
}
for (i=0;i<4;i++) BtAUX[i] = controlP5.addButton("Cau"+i,1,xServ-100,yServ+40+20*i,60,12).setColorBackground(red_).setLabel(" AUX "+(i+1)).moveTo("ServoSettings").hide();
BtAUX[4] = controlP5.addButton("Cau4" ,1,xServ-100,yServ+120,60,12).setColorBackground(blue_).setLabel("Disable").moveTo("ServoSettings").hide();
//************************ End of servoGrapics**********************
}
void create_checkboxes(String[] names) {
/* destroy old buttons */
for (int i=0; i<CHECKBOXITEMS; i++) {
buttonCheckbox[i].remove();
checkbox[i].remove();
}
int i=0;
/* create new list entries and buttons */
checkbox = new CheckBox[names.length];
buttonCheckbox = new Button[names.length];
activation = new int[names.length];
for (String name : names) {
if ( name.equals("CAMTRIG")) camTrigger=true;
if ( name.equals("CAMSTAB") || name.equals("CAMTRIG")) gimbal=true;
buttonCheckbox[i] = controlP5.addButton("bcb"+i,1,xBox-30,yBox+20+13*i,68,12).setColorBackground(red_).setLabel(name);
checkbox[i] = controlP5.addCheckBox("cb"+i,xBox+40,yBox+20+13*i).setColorActive(color(255)).setColorBackground(color(120)).
setItemsPerRow(12).setSpacingColumn(10).setLabel("");
for (int j=1; j<=12; j++) checkbox[i].addItem(i + "_cb_" + j, j).hideLabels();
i++;
}
CHECKBOXITEMS = names.length;
}
// coded by Eberhard Rensch
// Truncates a long port name for better (readable) display in the GUI
String shortifyPortName(String portName, int maxlen) {
String shortName = portName;
if(shortName.startsWith("/dev/cu.")) shortName = "";// only collect the corresponding tty. devices
return shortName;
// not compatible currently with reconnect feature
// http://www.multiwii.com/forum/viewtopic.php?f=8&t=4077&p=41692#p41692
/*
if(shortName.startsWith("/dev/")) shortName = shortName.substring(5);
if(shortName.startsWith("tty.")) shortName = shortName.substring(4); // get rid of leading tty. part of device name
if(shortName.length()>maxlen) shortName = shortName.substring(0,(maxlen-1)/2) + "~" +shortName.substring(shortName.length()-(maxlen-(maxlen-1)/2));
if(shortName.startsWith("cu.")) shortName = "";// only collect the corresponding tty. devices
return shortName;
*/
}
controlP5.Controller hideLabel(controlP5.Controller c) {
c.setLabel("");
c.setLabelVisible(false);
return c;
}
void setup() {
// Trying to make both worlds happy..
if( P3D == OPENGL ) pVersion = 2.0; else pVersion = 1.5;
size(1080,720,OPENGL);
frameRate(20);
font8 = createFont("Arial bold",8,false);
font9 = createFont("Arial bold",9,false);
font12 = createFont("Arial bold",12,false);
font15 = createFont("Arial bold",15,false);
controlP5 = new ControlP5(this); // initialize the GUI controls
//controlP5.setControlFont(font12);
addTabs();
g_graph = new cGraph(xGraph+110,yGraph, 480, 200);
// Baud list items
baudListbox = controlP5.addListBox("baudList",5,95+tabHeight,110,240).moveTo("Config"); // make a listbox with available Baudrates
baudListbox.getCaptionLabel().set("BAUD_RATE");
baudListbox.setColorBackground(red_);
baudListbox.setBarHeight(17);
baudListbox.addItem("9600" ,9600); // addItem(name,value)
baudListbox.addItem("14400" ,14400);
baudListbox.addItem("19200" ,19200);
baudListbox.addItem("28800" ,28800);
baudListbox.addItem("38400" ,38400);
baudListbox.addItem("57600" ,57600);
baudListbox.addItem("115200",115200);
// make a listbox and populate it with the available comm ports
commListbox = controlP5.addListBox("portComList",5,105+tabHeight,110,120);
commListbox.getCaptionLabel().set("PORT COM");
commListbox.setColorBackground(red_);
commListbox.setBarHeight(17);
for( i=0;i<Serial.list().length;i++) {
String pn = shortifyPortName(Serial.list()[i], 13);
//if( pn.startsWith("/dev/ttyUSB") ) {
if (pn.length() >0 ) commListbox.addItem(pn,i); // addItem(name,value)
commListMax = i;
//}
}
commListbox.addItem("Close Comm",++commListMax); // addItem(name,value)
// text label for which comm port selected
txtlblWhichcom = controlP5.addTextlabel("txtlblWhichcom","No Port Selected",5,65+tabHeight); // textlabel(name,text,x,y)
// Information textlabels
TxtInfo = controlP5.addTextlabel("SInf","Remember To Save Changes to Eeprom!!") .setPosition(xServ-30, yServ+210).hide().moveTo("ServoSettings");
TxtInfo1 = controlP5.addTextlabel("xInf","Grey Values Is Set As #define In Config.h!!") .setPosition(xServ+0, yServ+210).moveTo("Config");
TxtInfo2 = controlP5.addTextlabel("gInf","Green Values Can Be Changed Press Write To Save!!") .setPosition(xServ+0, yServ+190).moveTo("Config");
TxtInfo3 = controlP5.addTextlabel("CsInf","Remember To Activate CAMSTAB!!") .setPosition(xServ+10, yServ+20).hide().moveTo("ServoSettings");
TxtInfo4 = controlP5.addTextlabel("CtInf","Remember To Activate CAMTRIG!!") .setPosition(xServ+10, yServ+20).hide().moveTo("ServoSettings");
Links = controlP5.addTextlabel("LinkInf","Some Useful Webpages!!") .setPosition(xServ+100, yServ+20).moveTo("Config");
TxtInfoMotors1 = controlP5.addTextlabel("motInf1","This is a function for Balancing Propellors Dynamicly\n"+
"Select motor(s) and control throttle.").setPosition(xServ-200, yServ+10).moveTo("Motors");
buttonSAVE = controlP5.addButton("bSAVE",1,5,45+tabHeight,40,19).setLabel("SAVE").setColorBackground(red_);
buttonIMPORT = controlP5.addButton("bIMPORT",1,50,45+tabHeight,40,19).setLabel("LOAD").setColorBackground(red_);
btnQConnect = controlP5.addButton("bQCONN",1,xGraph+0,yGraph-105,100,19).setLabel(" ReConnect").setColorBackground(red_);
buttonSTART = controlP5.addButton("bSTART",1,xGraph+110,yGraph-25,45,19).setLabel("START").setColorBackground(red_);
buttonSTOP = controlP5.addButton("bSTOP",1,xGraph+160,yGraph-25,45,19).setLabel("STOP").setColorBackground(red_);
buttonAcc = controlP5.addButton("bACC",1,xButton,yButton,45,15).setColorBackground(red_).setLabel("ACC");
buttonBaro = controlP5.addButton("bBARO",1,xButton+50,yButton,45,15).setColorBackground(red_).setLabel("BARO");
buttonMag = controlP5.addButton("bMAG",1,xButton+100,yButton,45,15).setColorBackground(red_).setLabel("MAG");
buttonGPS = controlP5.addButton("bGPS",1,xButton,yButton+17,45,15).setColorBackground(red_).setLabel("GPS");
buttonSonar = controlP5.addButton("bSonar",1,xButton+50,yButton+17,45,15).setColorBackground(red_).setLabel("SONAR");
buttonOptic = controlP5.addButton("bOptic",1,xButton+100,yButton+17,45,15).setColorBackground(grey_).setLabel("OPTIC");
color c,black;
black = color(0,0,0);
int xo = xGraph-7;
int x = xGraph+40;
int y1= yGraph+10; //ACC
int y2= yGraph+55; //GYRO
int y5= yGraph+100; //MAG
int y3= yGraph+150; //ALT
int y4= yGraph+165; //HEAD
int y7= yGraph+185; //GPS
int y6= yGraph+205; //DEBUG
tACC_ROLL = controlP5.addToggle("ACC_ROLL",true,x,y1+10,20,10).setColorActive(color(255, 0, 0)).setColorBackground(black).setLabel("");
tACC_PITCH = controlP5.addToggle("ACC_PITCH",true,x,y1+20,20,10).setColorActive(color(0, 255, 0)).setColorBackground(black).setLabel("");
tACC_Z = controlP5.addToggle("ACC_Z",true,x,y1+30,20,10).setColorActive(color(0, 0, 255)).setColorBackground(black).setLabel("");
tGYRO_ROLL = controlP5.addToggle("GYRO_ROLL",true,x,y2+10,20,10).setColorActive(color(200, 200, 0)).setColorBackground(black).setLabel("");
tGYRO_PITCH = controlP5.addToggle("GYRO_PITCH",true,x,y2+20,20,10).setColorActive(color(0, 255, 255)).setColorBackground(black).setLabel("");
tGYRO_YAW = controlP5.addToggle("GYRO_YAW",true,x,y2+30,20,10).setColorActive(color(255, 0, 255)).setColorBackground(black).setLabel("");
tBARO = controlP5.addToggle("BARO",true,x,y3 ,20,10).setColorActive(color(125, 125, 125)).setColorBackground(black).setLabel("");
tHEAD = controlP5.addToggle("HEAD",true,x,y4 ,20,10).setColorActive(color(225, 225, 125)).setColorBackground(black).setLabel("");
tMAGX = controlP5.addToggle("MAGX",true,x,y5+10,20,10).setColorActive(color(50, 100, 150)).setColorBackground(black).setLabel("");
tMAGY = controlP5.addToggle("MAGY",true,x,y5+20,20,10).setColorActive(color(100, 50, 150)).setColorBackground(black).setLabel("");
tMAGZ = controlP5.addToggle("MAGZ",true,x,y5+30,20,10).setColorActive(color(150, 100, 50)).setColorBackground(black).setLabel("");
tDEBUG1 = controlP5.addToggle("DEBUG1",true,x+70,y6,20,10) .setColorActive(color(200, 50, 0)).setColorBackground(black).setLabel("").setValue(0);
tDEBUG2 = controlP5.addToggle("DEBUG2",true,x+190,y6,20,10).setColorActive(color(0, 200, 50)).setColorBackground(black).setLabel("").setValue(0);
tDEBUG3 = controlP5.addToggle("DEBUG3",true,x+310,y6,20,10).setColorActive(color(50, 0, 200)).setColorBackground(black).setLabel("").setValue(0);
tDEBUG4 = controlP5.addToggle("DEBUG4",true,x+430,y6,20,10).setColorActive(color(150, 100, 50)).setColorBackground(black).setLabel("").setValue(0);
controlP5.addTextlabel( "alarmLabel", "Alarm:", xGraph -5, yGraph -32);
controlP5.addTextlabel("acclabel","ACC",xo,y1 -4);
controlP5.addTextlabel("accrolllabel"," ROLL",xo,y1+10).setFont(font9);
controlP5.addTextlabel("accpitchlabel"," PITCH",xo,y1+20).setFont(font9);
controlP5.addTextlabel("acczlabel"," Z",xo,y1+30).setFont(font9);
controlP5.addTextlabel("gyrolabel","GYRO",xo,y2 -4);
controlP5.addTextlabel("gyrorolllabel"," ROLL",xo,y2+10).setFont(font9);
controlP5.addTextlabel("gyropitchlabel"," PITCH",xo,y2+20).setFont(font9);
controlP5.addTextlabel("gyroyawlabel"," YAW",xo,y2+30).setFont(font9);
controlP5.addTextlabel("maglabel","MAG",xo,y5 -4);
controlP5.addTextlabel("magrolllabel"," ROLL",xo,y5+10).setFont(font9);
controlP5.addTextlabel("magpitchlabel"," PITCH",xo,y5+20).setFont(font9);
controlP5.addTextlabel("magyawlabel"," YAW",xo,y5+30).setFont(font9);
controlP5.addTextlabel("altitudelabel","ALT",xo,y3 -4);
controlP5.addTextlabel("headlabel","HEAD",xo,y4 -4);
controlP5.addTextlabel("debug1","debug1",x+90,y6 -2).setFont(font9);
controlP5.addTextlabel("debug2","debug2",x+210,y6 -2).setFont(font9);
controlP5.addTextlabel("debug3","debug3",x+330,y6 -2).setFont(font9);
controlP5.addTextlabel("debug4","debug4",x+450,y6 -2).setFont(font9);
axSlider = controlP5.addSlider("axSlider",-1000,+1000,0,x+20,y1+10,50,10).setDecimalPrecision(0).setLabel("");
aySlider = controlP5.addSlider("aySlider",-1000,+1000,0,x+20,y1+20,50,10).setDecimalPrecision(0).setLabel("");
azSlider = controlP5.addSlider("azSlider",-1000,+1000,0,x+20,y1+30,50,10).setDecimalPrecision(0).setLabel("");
gxSlider = controlP5.addSlider("gxSlider",-5000,+5000,0,x+20,y2+10,50,10).setDecimalPrecision(0).setLabel("");
gySlider = controlP5.addSlider("gySlider",-5000,+5000,0,x+20,y2+20,50,10).setDecimalPrecision(0).setLabel("");
gzSlider = controlP5.addSlider("gzSlider",-5000,+5000,0,x+20,y2+30,50,10).setDecimalPrecision(0).setLabel("");
altSlider = controlP5.addSlider("altSlider",-30000,+30000,0,x+20,y3 ,50,10).setDecimalPrecision(2).setLabel("");
headSlider = controlP5.addSlider("headSlider",-200,+200,0,x+20,y4 ,50,10).setDecimalPrecision(0).setLabel("");
magxSlider = controlP5.addSlider("magxSlider",-5000,+5000,0,x+20,y5+10,50,10).setDecimalPrecision(0).setLabel("");
magySlider = controlP5.addSlider("magySlider",-5000,+5000,0,x+20,y5+20,50,10).setDecimalPrecision(0).setLabel("");
magzSlider = controlP5.addSlider("magzSlider",-5000,+5000,0,x+20,y5+30,50,10).setDecimalPrecision(0).setLabel("");
debug1Slider = controlP5.addSlider("debug1Slider",-32768,+32767,0,x+130,y6,50,10).setDecimalPrecision(0).setLabel("");
debug2Slider = controlP5.addSlider("debug2Slider",-32768,+32767,0,x+250,y6,50,10).setDecimalPrecision(0).setLabel("");
debug3Slider = controlP5.addSlider("debug3Slider",-32768,+32767,0,x+370,y6,50,10).setDecimalPrecision(0).setLabel("");
debug4Slider = controlP5.addSlider("debug4Slider",-32768,+32767,0,x+490,y6,50,10).setDecimalPrecision(0).setLabel("");
for( i=0;i<PIDITEMS;i++) {
confP[i] = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("confP"+i,0,xParam+40,yParam+20+i*17,30,14));
confP[i].setColorBackground(red_).setMin(0).setDirection(Controller.HORIZONTAL).setDecimalPrecision(1).setMultiplier(0.1).setMax(20);
confI[i] = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("confI"+i,0,xParam+75,yParam+20+i*17,40,14));
confI[i].setColorBackground(red_).setMin(0).setDirection(Controller.HORIZONTAL).setDecimalPrecision(3).setMultiplier(0.001).setMax(0.250);
confD[i] = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("confD"+i,0,xParam+120,yParam+20+i*17,30,14));
confD[i].setColorBackground(red_).setMin(0).setDirection(Controller.HORIZONTAL).setDecimalPrecision(0).setMultiplier(1).setMax(100);
}
for( i=0;i<7;i++) {
confINF[i] = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("confINF"+i,0,xParam+10,yParam+10+i*35,60,14));
confINF[i].setColorBackground(green_).setMin(0).setDirection(Controller.HORIZONTAL).setDecimalPrecision(0).setMultiplier(5).setMax(100).moveTo("Config").hide();
}
confINF[0].setLabel("Minthrottle").setMin(1000).setMax(1500).moveTo("Config");
confINF[1].setLabel("MAXhrottle").setMin(1500).setMax(2000).moveTo("Config");
confINF[2].setLabel("Min command").setMin(900).setMax(1200).moveTo("Config");
confINF[3].setLabel("FS Thr").setMin(1200).setMax(2000).moveTo("Config");
confINF[4].setLabel("Armed count").setMin(0).setMax(10000).setColorBackground(red_).moveTo("Config");
confINF[5].setLabel("Acc ArmedTime").setMin(0).setMax(360000).setColorBackground(red_).moveTo("Config");
confINF[6].setLabel("MAG Decl").setMin(-30).setMax(30).setDecimalPrecision(1).setMultiplier(.1).moveTo("Config");
confI[8].hide();confD[8].hide();confD[4].hide();
confP[9].hide();confI[9].hide();confD[9].hide();
//change bounds for POS-4 POSR-5 and NAV-6
confP[4].setDecimalPrecision(2).setMultiplier(0.01).setMax(5);
confI[4].setDecimalPrecision(1).setMultiplier(0.1) .setMax(2.5);
confP[5].setDecimalPrecision(1).setMultiplier(0.1) .setMax(25);
confI[5].setDecimalPrecision(2).setMultiplier(0.01).setMax(2.5);
confD[5].setDecimalPrecision(3).setMultiplier(.001).setMax(.250);
confP[6].setDecimalPrecision(1).setMultiplier(0.1) .setMax(25);
confI[6].setDecimalPrecision(2).setMultiplier(0.01).setMax(2.5);
confD[6].setDecimalPrecision(3).setMultiplier(.001).setMax(.250);
rollPitchRate = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("rollPitchRate",0,xParam+160,yParam+30,30,14)).setDecimalPrecision(2);
rollPitchRate.setDirection(Controller.HORIZONTAL).setMin(0).setMax(1).setColorBackground(red_).setMultiplier(0.01);
yawRate = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("yawRate",0,xParam+160,yParam+54,30,14)).setDecimalPrecision(2);
yawRate.setDirection(Controller.HORIZONTAL).setMin(0).setMax(1).setColorBackground(red_).setMultiplier(0.01);
dynamic_THR_PID = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("dynamic_THR_PID",0,xParam+215,yParam+22,30,14)).setDecimalPrecision(2);
dynamic_THR_PID.setMultiplier(0.01).setDirection(Controller.HORIZONTAL).setMin(0).setMax(1).setColorBackground(red_);
confRC_RATE = controlP5.addNumberbox("RC RATE",1,xParam+40,yParam+220,30,14).setDecimalPrecision(2).setMultiplier(0.01).setLabel("");
confRC_RATE.setDirection(Controller.HORIZONTAL).setMin(0).setMax(2.5).setColorBackground(red_);
confRC_EXPO = controlP5.addNumberbox("RC EXPO",0,xParam+40,yParam+237,30,14).setDecimalPrecision(2).setMultiplier(0.01).setLabel("");
confRC_EXPO.setDirection(Controller.HORIZONTAL).setMin(0).setMax(1).setColorBackground(red_);
confSetting = controlP5.addNumberbox("_SETTING",0,xParam+2,yParam+2,30,14).setDecimalPrecision(0).setMultiplier(1).setLabel("")
.setDirection(Controller.HORIZONTAL).setMin(0).setMax(2).setColorBackground(red_);//.hide();
confSelectSetting = controlP5.addNumberbox("S_SETTING",0,xParam+520,yParam+260,30,14).setDecimalPrecision(0).setMultiplier(1).setLabel("")
.setDirection(Controller.HORIZONTAL).setMin(0).setMax(2).setColorBackground(red_);//.hide();
throttle_MID = controlP5.addNumberbox("T MID",0.5,xParam+40,yParam+180,30,14).setDecimalPrecision(2).setMultiplier(0.01).setLabel("")
.setDirection(Controller.HORIZONTAL).setMin(0).setMax(1).setColorBackground(red_);
throttle_EXPO = controlP5.addNumberbox("T EXPO",0,xParam+40,yParam+197,30,14).setDecimalPrecision(2).setMultiplier(0.01).setLabel("")
.setDirection(Controller.HORIZONTAL).setMin(0).setMax(1).setColorBackground(red_);
buttonREAD = controlP5.addButton("READ" , 1, xParam+5, yParam+260, 50, 16) .setColorBackground(red_);
buttonRESET = controlP5.addButton("RESET", 1, xParam+60, yParam+260, 60, 16) .setColorBackground(red_);
buttonWRITE = controlP5.addButton("WRITE", 1, xParam+290, yParam+260, 50, 16) .setColorBackground(red_);
buttonSERVO = controlP5.addButton("SERVO", 1, xParam+5, yParam+220, 55, 16) .setColorBackground(red_).hide().moveTo("ServoSettings");
buttonWing = controlP5.addButton("WING" , 1, xParam+5, yParam+220, 55, 16) .setColorBackground(red_).hide().moveTo("ServoSettings");
buttonExport= controlP5.addButton("Eport_Servo",1, xParam+5, yParam+10, 100,19) .setLabel("Export to file").setColorBackground(green_).moveTo("ServoSettings").hide();
SaveSERVO = controlP5.addButton("SAVE_Servo", 1 , xParam+290, yParam+260, 55, 16).setColorBackground(green_).hide().setLabel(" Save").moveTo("ServoSettings");
SaveWing = controlP5.addButton("SAVE_WING", 1 , xParam+290, yParam+260, 55, 16).setColorBackground(green_).hide().setLabel(" Save").moveTo("ServoSettings");
buttonLIVE= controlP5.addButton("LIVE_SERVO", 1 , xParam+65, yParam+220, 75, 16).setColorBackground(red_).setLabel("Go Live").hide().moveTo("ServoSettings");
buttonCALIBRATE_ACC = controlP5.addButton("CALIB_ACC", 1, xParam+210, yParam+260, 70, 16).setColorBackground(red_);
buttonCALIBRATE_MAG = controlP5.addButton("CALIB_MAG", 1, xParam+130, yParam+260, 73, 16).setColorBackground(red_);
buttonSETTING = controlP5.addButton("SETTING" , 1, xParam+410, yParam+260, 105, 16) .setColorBackground(red_).setLabel("SELECT SETTING");//.hide();
buttonGimbal = controlP5.addButton("GIMBAL" , 1, xParam+5, yParam+200,55,16).setColorBackground(green_).hide().moveTo("ServoSettings");
btnTrigger = controlP5.addButton("TRIGGER" , 1, xParam+65, yParam+200,75,16).setColorBackground(green_).hide().moveTo("ServoSettings");
btMagDecl = controlP5.addButton("MagDecl" , 1, xParam+350, yParam+100, 180, 16).setColorBackground(grey_).moveTo("Config").setLabel("magnetic-declination.com");
btMWiiHome = controlP5.addButton("MWiiHome" , 1, xParam+350, yParam+60, 180, 16).setColorBackground(grey_).moveTo("Config").setLabel("MUltiWii Forum");
btDownloads = controlP5.addButton("MWiiGet" , 1, xParam+350, yParam+80, 180, 16).setColorBackground(grey_).moveTo("Config").setLabel("MUltiWii Downloads");
// Sliders for Transmitter
TX_StickSlider[RCRoll ] = controlP5.addSlider("Roll", 900,2100,1500,xRC,yRC+15,100,10) .setDecimalPrecision(0);
TX_StickSlider[RCPitch] = controlP5.addSlider("Pitch",900,2100,1500,xRC,yRC+30,100,10) .setDecimalPrecision(0);
TX_StickSlider[RCThro ] = controlP5.addSlider("Throt",900,2100,1500,xRC,yRC,100,10) .setDecimalPrecision(0);
TX_StickSlider[RCYaw ] = controlP5.addSlider("Yaw", 900,2100,1500,xRC,yRC+45,100,10) .setDecimalPrecision(0);
TX_StickSlider[RCAUX1] = controlP5.addSlider("AUX1", 1000,2000,1500,xRC,yRC+60,100,10) .setDecimalPrecision(0);
TX_StickSlider[RCAUX2] = controlP5.addSlider("AUX2", 1000,2000,1500,xRC,yRC+75,100,10) .setDecimalPrecision(0);
TX_StickSlider[RCAUX3] = controlP5.addSlider("AUX3", 1000,2000,1500,xRC,yRC+90,100,10) .setDecimalPrecision(0);
TX_StickSlider[RCAUX4] = controlP5.addSlider("AUX4", 1000,2000,1500,xRC,yRC+105,100,10).setDecimalPrecision(0);
motorControlSlider = controlP5.addSlider("Motors",1000,2000,1500,xParam+410, yParam,90,30) .setDecimalPrecision(0).hide();
for( i=0;i<8;i++) {
motToggle[i] = controlP5.addToggle("M"+i,false,xMot-100,yMot+15,20,15).moveTo("Motors").hide();
motSlider[i] = controlP5.addSlider("motSlider"+i,900,2000,1500,0,0,10,100).setDecimalPrecision(0).hide();
servoSliderH[i] = controlP5.addSlider("ServoH"+i,1000,2000,1500,0,0,100,10).setDecimalPrecision(0).hide();
servoSliderV[i] = controlP5.addSlider("ServoV"+i,1000,2000,1500,0,0,10,100).setDecimalPrecision(0).hide();
}
for( i=0;i<6;i++) {
VBat[i] = (controlP5.Numberbox) hideLabel(controlP5.addNumberbox("VBat"+i,0,xParam+120,yParam+20+i*35,60,14));
VBat[i].setColorBackground(red_).setMin(0).setMax(20).setDirection(Controller.HORIZONTAL).setDecimalPrecision(1).setMultiplier(1).moveTo("Config").hide();
}
VBat[0].setCaptionLabel("VBatscale").setDecimalPrecision(0).setMin(0).setMax(200);
VBat[1].setCaptionLabel("Warning 1").setMultiplier(0.1);
VBat[2].setCaptionLabel("Warning 2").setMultiplier(0.1);
VBat[3].setCaptionLabel("Critical").setMultiplier(0.1);
VBat[4].setCaptionLabel("Volt").setColorBackground(red_).setDecimalPrecision(2);
VBat[5].setCaptionLabel("RSSI").setColorBackground(red_).setDecimalPrecision(0).setMin(0).setMax(1023);
scaleSlider = controlP5.addSlider("SCALE",0,10,1,xGraph+515,yGraph,75,20).setLabel("");// GraphScaler
confPowerTrigger = controlP5.addNumberbox("",0,xGraph+50,yGraph-29,40,14).setDecimalPrecision(0).setMultiplier(10)
.setDirection(Controller.HORIZONTAL).setMin(0).setMax(65535).setColorBackground(red_);
Tooltips();
} /************* End of setup() *************/
/******************************* Multiwii Serial Protocol **********************/
private static final String MSP_HEADER = "$M<";
private static final int
MSP_IDENT =100,
MSP_STATUS =101,
MSP_RAW_IMU =102,
MSP_SERVO =103,
MSP_MOTOR =104,
MSP_RC =105,
MSP_RAW_GPS =106,
MSP_COMP_GPS =107,
MSP_ATTITUDE =108,
MSP_ALTITUDE =109,
MSP_ANALOG =110,
MSP_RC_TUNING =111,
MSP_PID =112,
MSP_BOX =113,
MSP_MISC =114,
MSP_MOTOR_PINS =115,
MSP_BOXNAMES =116,
MSP_PIDNAMES =117,
MSP_SERVO_CONF =120,
MSP_SET_RAW_RC =200,
MSP_SET_RAW_GPS =201,
MSP_SET_PID =202,
MSP_SET_BOX =203,
MSP_SET_RC_TUNING =204,
MSP_ACC_CALIBRATION =205,
MSP_MAG_CALIBRATION =206,
MSP_SET_MISC =207,
MSP_RESET_CONF =208,
MSP_SELECT_SETTING =210,
MSP_SET_HEAD =211, // Not used
MSP_SET_SERVO_CONF =212,
MSP_SET_MOTOR =214,
MSP_BIND =241,
MSP_EEPROM_WRITE =250,
MSP_DEBUGMSG =253,
MSP_DEBUG =254
;
public static final int
IDLE = 0,
HEADER_START = 1,
HEADER_M = 2,
HEADER_ARROW = 3,
HEADER_SIZE = 4,
HEADER_CMD = 5,
HEADER_ERR = 6
;
int c_state = IDLE;
boolean err_rcvd = false;
byte checksum=0;
byte cmd;
int offset=0, dataSize=0;
byte[] inBuf = new byte[256];
int p;
int read32() {return (inBuf[p++]&0xff) + ((inBuf[p++]&0xff)<<8) + ((inBuf[p++]&0xff)<<16) + ((inBuf[p++]&0xff)<<24); }
int read16() {return (inBuf[p++]&0xff) + ((inBuf[p++])<<8); }
int read8() {return inBuf[p++]&0xff;}
int mode;
boolean toggleRead = false,toggleReset = false,toggleCalibAcc = false,toggleCalibMag = false,toggleWrite = false,
toggleRXbind = false,toggleSetSetting = false,toggleVbat=true,toggleMotor=false,motorcheck=true;
//send msp without payload
private List<Byte> requestMSP(int msp) {
return requestMSP( msp, null);
}
//send multiple msp without payload
private List<Byte> requestMSP (int[] msps) {
List<Byte> s = new LinkedList<Byte>();
for (int m : msps) {
s.addAll(requestMSP(m, null));
}
return s;
}
//send msp with payload
private List<Byte> requestMSP (int msp, Character[] payload) {
if(msp < 0) {
return null;
}
List<Byte> bf = new LinkedList<Byte>();
for (byte c : MSP_HEADER.getBytes()) {
bf.add( c );
}
byte checksum=0;
byte pl_size = (byte)((payload != null ? int(payload.length) : 0)&0xFF);
bf.add(pl_size);
checksum ^= (pl_size&0xFF);
bf.add((byte)(msp & 0xFF));
checksum ^= (msp&0xFF);
if (payload != null) {
for (char c :payload){
bf.add((byte)(c&0xFF));
checksum ^= (c&0xFF);
}
}
bf.add(checksum);
return (bf);
}
void sendRequestMSP(List<Byte> msp) {
byte[] arr = new byte[msp.size()];
int i = 0;
for (byte b: msp) {
arr[i++] = b;
}
g_serial.write(arr); // send the complete byte sequence in one go
}
public void evaluateCommand(byte cmd, int dataSize) {
int i;
int icmd = (int)(cmd&0xFF);
switch(icmd) {
case MSP_IDENT:
version = read8();
multiType = read8();
read8(); // MSP version
multiCapability = read32();// capability
if ((multiCapability&1)>0) {buttonRXbind = controlP5.addButton("bRXbind",1,10,yGraph+205-10,55,10); buttonRXbind.setColorBackground(blue_);buttonRXbind.setLabel("RX Bind");}
if ((multiCapability&4)>0) controlP5.addTab("Motors").show();
if ((multiCapability&8)>0) flaps=true;
if (!GraphicsInited) create_ServoGraphics();
break;
case MSP_STATUS:
cycleTime = read16();
i2cError = read16();
present = read16();
mode = read32();
if ((present&1) >0) {buttonAcc.setColorBackground(green_);} else {buttonAcc.setColorBackground(red_);tACC_ROLL.setState(false); tACC_PITCH.setState(false); tACC_Z.setState(false);}
if ((present&2) >0) {buttonBaro.setColorBackground(green_);} else {buttonBaro.setColorBackground(red_); tBARO.setState(false); }
if ((present&4) >0) {buttonMag.setColorBackground(green_); Mag_=true;} else {buttonMag.setColorBackground(red_); tMAGX.setState(false); tMAGY.setState(false); tMAGZ.setState(false);}
if ((present&8) >0) {buttonGPS.setColorBackground(green_);} else {buttonGPS.setColorBackground(red_); tHEAD.setState(false);}
if ((present&16)>0) {buttonSonar.setColorBackground(green_);} else {buttonSonar.setColorBackground(red_);}
for(i=0;i<CHECKBOXITEMS;i++) {if ((mode&(1<<i))>0) buttonCheckbox[i].setColorBackground(green_); else buttonCheckbox[i].setColorBackground(red_);}
confSetting.setValue(read8());
confSetting.setColorBackground(green_);
break;
case MSP_RAW_IMU:
ax = read16();ay = read16();az = read16();
if (ActiveTab=="Motors"){ // Show unfilterd values in graph.
gx = read16();gy = read16();gz = read16();
magx = read16();magy = read16();magz = read16();
}else{
gx = read16()/8;gy = read16()/8;gz = read16()/8;
magx = read16()/3;magy = read16()/3;magz = read16()/3;
}break;
case MSP_SERVO:for(i=0;i<8;i++) servo[i] = read16(); break;
case MSP_MOTOR: for(i=0;i<8;i++){ mot[i] = read16();}
if (multiType == SINGLECOPTER)servo[7]=mot[0];
if (multiType == DUALCOPTER){servo[7]=mot[0];servo[6]=mot[1];}
break;
case MSP_RC:
for(i=0;i<8;i++) {
RCChan[i]=read16();
TX_StickSlider[i].setValue(RCChan[i]);
}
break;
case MSP_RAW_GPS:
GPS_fix = read8();
GPS_numSat = read8();
GPS_latitude = read32();
GPS_longitude = read32();
GPS_altitude = read16();
GPS_speed = read16(); break;
case MSP_COMP_GPS:
GPS_distanceToHome = read16();
GPS_directionToHome = read16();
GPS_update = read8(); break;
case MSP_ATTITUDE:
angx = read16()/10;angy = read16()/10;
head = read16(); break;
case MSP_ALTITUDE: alt = read32(); break;
case MSP_ANALOG:
bytevbat = read8();
pMeterSum = read16();
rssi = read16(); if(rssi!=0)VBat[5].setValue(rssi).show(); // rssi
amperage = read16(); // amperage
VBat[4].setValue(bytevbat/10.0); // Volt
break;
case MSP_RC_TUNING:
byteRC_RATE = read8();byteRC_EXPO = read8();byteRollPitchRate = read8();
byteYawRate = read8();byteDynThrPID = read8();
byteThrottle_MID = read8();byteThrottle_EXPO = read8();
confRC_RATE.setValue(byteRC_RATE/100.0);
confRC_EXPO.setValue(byteRC_EXPO/100.0);
rollPitchRate.setValue(byteRollPitchRate/100.0);
yawRate.setValue(byteYawRate/100.0);
dynamic_THR_PID.setValue(byteDynThrPID/100.0);
throttle_MID.setValue(byteThrottle_MID/100.0);
throttle_EXPO.setValue(byteThrottle_EXPO/100.0);
confRC_RATE.setColorBackground(green_);confRC_EXPO.setColorBackground(green_);rollPitchRate.setColorBackground(green_);
yawRate.setColorBackground(green_);dynamic_THR_PID.setColorBackground(green_);
throttle_MID.setColorBackground(green_);throttle_EXPO.setColorBackground(green_);
updateModelMSP_SET_RC_TUNING();
break;
case MSP_ACC_CALIBRATION:break;
case MSP_MAG_CALIBRATION:break;
case MSP_PID:
for(i=0;i<PIDITEMS;i++) {
byteP[i] = read8();byteI[i] = read8();byteD[i] = read8();
switch (i) {
case 0:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/1000.0);confD[i].setValue(byteD[i]);break;
case 1:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/1000.0);confD[i].setValue(byteD[i]);break;
case 2:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/1000.0);confD[i].setValue(byteD[i]);break;
case 3:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/1000.0);confD[i].setValue(byteD[i]);break;
case 7:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/1000.0);confD[i].setValue(byteD[i]);break;
case 8:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/1000.0);confD[i].setValue(byteD[i]);break;
case 9:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/1000.0);confD[i].setValue(byteD[i]);break;
//Different rates fot POS-4 POSR-5 NAVR-6
case 4:confP[i].setValue(byteP[i]/100.0);confI[i].setValue(byteI[i]/100.0);confD[i].setValue(byteD[i]/1000.0);break;
case 5:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/100.0);confD[i].setValue(byteD[i]/1000.0);break;
case 6:confP[i].setValue(byteP[i]/10.0);confI[i].setValue(byteI[i]/100.0);confD[i].setValue(byteD[i]/1000.0);break;
}
confP[i].setColorBackground(green_);confI[i].setColorBackground(green_);confD[i].setColorBackground(green_);
}
updateModelMSP_SET_PID();
break;
case MSP_BOX:
for( i=0;i<CHECKBOXITEMS;i++) {
activation[i] = read16();
for(int aa=0;aa<12;aa++) {
if ((activation[i]&(1<<aa))>0) {checkbox[i].activate(aa);}else {checkbox[i].deactivate(aa);}}} break;
case MSP_BOXNAMES:
create_checkboxes(new String(inBuf, 0, dataSize).split(";"));break;
case MSP_PIDNAMES:
/* TODO create GUI elements from this message */
//System.out.println("Got PIDNAMES: "+new String(inBuf, 0, dataSize));
break;
case MSP_SERVO_CONF:
Bbox.deactivateAll();
// min:2 / max:2 / middle:2 / rate:1
for( i=0;i<8;i++){
ServoMIN[i] = read16();
ServoMAX[i] = read16();
ServoMID[i] = read16();
servoRATE[i] = read8() ;
}
if (multiType == AIRPLANE ) { // Airplane OK
if(flaps) {
//ServoSliderC[2].setMin(4).setMax(10);
if(ServoMID[2]==4) {Cau0();}else if(ServoMID[2]==5) {Cau1();}else if(ServoMID[2]==6) {Cau2();}else if(ServoMID[2]==7){Cau3();}else{CauClear();}
}
for( i=0;i<8;i++){
ServoSliderMIN[i].setValue(ServoMIN[i]); //Update sliders
ServoSliderMAX[i].setValue(ServoMAX[i]);
ServoSliderC[i].setValue(ServoMID[i]);
if (servoRATE[i]>127){ // Reverse/Rate servos
Bbox.deactivate(i); RateSlider[i].setValue(abs(servoRATE[i]-256));
}else{
Bbox.activate(i); RateSlider[i].setValue(abs(servoRATE[i]));
}
}
} else if (multiType == FLYING_WING || multiType == TRI || multiType == BI || multiType == DUALCOPTER || multiType == SINGLECOPTER) { // FlyingWing & TRI & BI
int nBoxes;
for( i=0;i<8;i++){ //Update sliders
ServoSliderMIN[i].setValue(ServoMIN[i]);
ServoSliderMAX[i].setValue(ServoMAX[i]);
ServoSliderC[i].setValue(ServoMID[i]);
if (servoRATE[i]>127){ // Reverse/Rate servos
wingDir[i]=-1; RateSlider[i].setValue((servoRATE[i]-256));
}else{ wingDir[i]=1; RateSlider[i].setValue(abs(servoRATE[i])); } // Servo Direction
}
if(multiType == FLYING_WING) { //OK
if ((servoRATE[3]&1)<1) {Wbox.deactivate(2);}else{Wbox.activate(2);} //
if ((servoRATE[3]&2)<1) {Wbox.deactivate(0);}else{Wbox.activate(0);} //
if ((servoRATE[4]&1)<1) {Wbox.deactivate(3);}else{Wbox.activate(3);} //
if ((servoRATE[4]&2)<1) {Wbox.deactivate(1);}else{Wbox.activate(1);} //
} else if(multiType == SINGLECOPTER) { //
if ((servoRATE[3]&1)<1) {Wbox.deactivate(0);}else{Wbox.activate(0);} //
if ((servoRATE[3]&2)<1) {Wbox.deactivate(1);}else{Wbox.activate(1);} //
if ((servoRATE[4]&1)<1) {Wbox.deactivate(2);}else{Wbox.activate(2);} //
if ((servoRATE[4]&2)<1) {Wbox.deactivate(3);}else{Wbox.activate(3);} //
if ((servoRATE[5]&1)<1) {Wbox.deactivate(4);}else{Wbox.activate(4);} //
if ((servoRATE[5]&2)<1) {Wbox.deactivate(5);}else{Wbox.activate(5);} //
if ((servoRATE[6]&1)<1) {Wbox.deactivate(6);}else{Wbox.activate(6);} //
if ((servoRATE[6]&2)<1) {Wbox.deactivate(7);}else{Wbox.activate(7);} //
} else if(multiType == DUALCOPTER) { // OK
if ((servoRATE[4]&1)<1) {Wbox.deactivate(0);}else{Wbox.activate(0);}
if ((servoRATE[5]&1)<1) {Wbox.deactivate(1);}else{Wbox.activate(1);}
} else if (multiType == TRI) {// OK
if ((servoRATE[5]&1)<1) {Wbox.deactivate(0);}else{Wbox.activate(0);}
} else if( multiType == BI) {// OK
if ((servoRATE[4]&2)<1) {Wbox.deactivate(0);}else{Wbox.activate(0);} // L
if ((servoRATE[5]&2)<1) {Wbox.deactivate(1);}else{Wbox.activate(1);}
if ((servoRATE[4]&1)<1) {Wbox.deactivate(2);}else{Wbox.activate(2);} // R
if ((servoRATE[5]&1)<1) {Wbox.deactivate(3);}else{Wbox.activate(3);}
}
}else if (multiType == HELI_120_CCPM || multiType == HELI_90_DEG) {
for( i=0;i<8;i++) { //Update sliders
ServoSliderMIN[i].setValue(ServoMIN[i]);
ServoSliderMAX[i].setValue(ServoMAX[i]);
ServoSliderC[i].setValue(ServoMID[i]);
if (servoRATE[i]>127){ // Reverse/Rate servos
Bbox.deactivate(i); RateSlider[i].setValue((servoRATE[i]-256));
}else{ Bbox.activate(i); RateSlider[i].setValue(abs(servoRATE[i]));}
}
if ((servoRATE[5]&1)<1) {Bbox.deactivate(5);}else{Bbox.activate(5);} // YawReverse
if(multiType == HELI_120_CCPM) { //bbb
if ((servoRATE[3]&1)<1) {Mbox.deactivate(2);}else{Mbox.activate(2);} // roll
if ((servoRATE[3]&2)<1) {Mbox.deactivate(1);}else{Mbox.activate(1);} // nick
if ((servoRATE[3]&4)<1) {Mbox.deactivate(0);}else{Mbox.activate(0);} // coll
if ((servoRATE[4]&1)<1) {Mbox.deactivate(5);}else{Mbox.activate(5);} //
if ((servoRATE[4]&2)<1) {Mbox.deactivate(4);}else{Mbox.activate(4);} //
if ((servoRATE[4]&4)<1) {Mbox.deactivate(3);}else{Mbox.activate(3);} //
if ((servoRATE[6]&1)<1) {Mbox.deactivate(8);}else{Mbox.activate(8);} //
if ((servoRATE[6]&2)<1) {Mbox.deactivate(7);}else{Mbox.activate(7);} //
if ((servoRATE[6]&4)<1) {Mbox.deactivate(6);}else{Mbox.activate(6);} //
}
}else if (multiType == PPM_TO_SERVO ) { // PPM_TO_SERVO
for( i=0;i<8;i++){
ServoSliderMIN[i].setValue(ServoMIN[i]); //Update sliders
ServoSliderMAX[i].setValue(ServoMAX[i]);
ServoSliderC[i] .setValue(ServoMID[i]);
// Reverse/Rate servos
if (servoRATE[i]>127){
Bbox.deactivate(i); RateSlider[i].setValue(abs(servoRATE[i]-256));
}else{Bbox.activate(i); RateSlider[i].setValue(abs(servoRATE[i]));}
}