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#include "SlugsDataSensorView.h"
#include "ui_SlugsDataSensorView.h"
#include <UASManager.h>
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SlugsDataSensorView::SlugsDataSensorView(QWidget *parent) :
QWidget(parent),
ui(new Ui::SlugsDataSensorView)
{
ui->setupUi(this);
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
activeUAS = NULL;
loadParameters();
this->setVisible(false);
// timer for refresh UI
updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
updateTimer->start(200);
}
void SlugsDataSensorView::loadParameters()
{
//Global Position
Latitude = 0;
Longitude = 0;
Height = 0;
timeGlobalPosition = 0;
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Xpos = 0;
Ypos = 0;
Zpos = 0;
TimeActualPosition = 0;
VXpos = 0;
VYpos = 0;
VZpos = 0;
TimeActualSpeed =0;
roll = 0;
pitch = 0;
yaw = 0;
TimeActualAttitude = 0;
//Sensor Biases
//Acelerometer
Axb = 0;
Ayb = 0;
Azb = 0;
//Gyro
Gxb = 0;
Gyb = 0;
Gzb = 0;
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//Diagnostic Message
diagFl1 = 0;
diagFl2 = 0;
diagFl3 = 0;
diagSh1 = 0;
diagSh2 = 0;
diagSh3 = 0;
timeDiagnostic = 0;
//CPU Load
sensLoad = 0;
ctrlLoad = 0;
batVolt = 0;
timeCpuLoad = 0;
//navigation
u_m = 0;
phi_c = 0;
theta_c = 0;
psiDot_c = 0;
ay_body = 0;
totalDist = 0;
dist2Go = 0;
fromWP = 0;
toWP = 0;
timeNavigation = 0;
// Data Log
Logfl_1 = 0;
Logfl_2 = 0;
Logfl_3 = 0;
Logfl_4 = 0;
Logfl_5 = 0;
Logfl_6 = 0;
timeDataLog = 0;
//pwm commands
dt_c = 0; ///< AutoPilot's throttle command
dla_c = 0; ///< AutoPilot's left aileron command
dra_c = 0; ///< AutoPilot's right aileron command
dr_c = 0; ///< AutoPilot's rudder command
dle_c = 0; ///< AutoPilot's left elevator command
dre_c = 0; ///< AutoPilot's right elevator command
dlf_c = 0; ///< AutoPilot's left flap command
drf_c = 0; ///< AutoPilot's right flap command
aux1 = 0; ///< AutoPilot's aux1 command
aux2 = 0; ///< AutoPilot's aux2 command
timePWMCommand = 0;
//filtered data
aX = 0; ///< Accelerometer X value (m/s^2)
aY = 0; ///< Accelerometer Y value (m/s^2)
aZ = 0; ///< Accelerometer Z value (m/s^2)
gX = 0; ///< Gyro X value (rad/s)
gY = 0; ///< Gyro Y value (rad/s)
gZ = 0; ///< Gyro Z value (rad/s)
mX = 0; ///< Magnetometer X (normalized to 1)
mY = 0; ///< Magnetometer Y (normalized to 1)
mZ = 0; ///< Magnetometer Z (normalized to 1)
timeFiltered = 0;
//gps date and time
year = 0 ; ///< Year reported by Gps
month =0; ///< Month reported by Gps
day = 0; ///< Day reported by Gps
hour = 0; ///< Hour reported by Gps
min = 0; ///< Min reported by Gps
sec = 0; ///< Sec reported by Gps
visSat = 0; ///< Visible sattelites reported by Gps
timeGPSDateTime = 0;
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}
SlugsDataSensorView::~SlugsDataSensorView()
{
delete ui;
}
void SlugsDataSensorView::addUAS(UASInterface* uas)
{
SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
if (slugsMav != NULL)
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{
connect(slugsMav, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugLocalPositionChange(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
//connect slugs especial messages
connect(slugsMav, SIGNAL(slugsSensorBias(int,double,double,double,double,double,double,quint64)), this, SLOT(slugsSensorBiasChanged(int,double,double,double,double,double,double,quint64)));
connect(slugsMav, SIGNAL(slugsDiagnostic(int,double,double,double,int16_t,int16_t,int16_t,quint64)), this, SLOT(slugsDiagnosticMessageChanged(int,double,double,double,int16_t,int16_t,int16_t,quint64)));
connect(slugsMav, SIGNAL(slugsCPULoad(int,uint8_t,uint8_t,uint8_t,quint64)), this, SLOT(slugsCpuLoadChanged(int,uint8_t,uint8_t,uint8_t,quint64)));
connect(slugsMav, SIGNAL(slugsNavegation(int,double,double,double,double,double,double,double,uint8_t,uint8_t,quint64)),this,SLOT(slugsNavegationChanged(int,double,double,double,double,double,double,double,uint8_t,uint8_t,quint64)));
connect(slugsMav, SIGNAL(slugsDataLog(int,double,double,double,double,double,double,quint64)), this, SLOT(slugsDataLogChanged(int,double,double,double,double,double,double,quint64)));
connect(slugsMav, SIGNAL(slugsPWM(int,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,quint64)),this,SLOT(slugsPWMChanged(int,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t,quint64)));
connect(slugsMav, SIGNAL(slugsFilteredData(int,double,double,double,double,double,double,double,double,double,quint64)),this,SLOT(slugsFilteredDataChanged(int,double,double,double,double,double,double,double,double,double,quint64)));
connect(slugsMav, SIGNAL(slugsGPSDateTime(int,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,quint64)),this,SLOT(slugsGPSDateTimeChanged(int,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,quint64)));
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// Set this UAS as active if it is the first one
if(activeUAS == 0)
{
activeUAS = uas;
}
}
}
void SlugsDataSensorView::setActiveUAS(UASInterface* uas)
{
activeUAS = uas;
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}
void SlugsDataSensorView::refresh()
{
//refresh Global Position
ui->m_GpsLatitude->setText(QString::number(Latitude, 'f', 4));
ui->m_GpsLongitude->setText(QString::number(Longitude, 'f', 4));
ui->m_Gpsheigth->setText(QString::number(Height, 'f', 4));
//refresh GPS Date and Time
ui->m_GpsDate->setText(QString::number(day)+ "-" + QString::number(month)+ "-" + QString::number(year));
ui->m_GpsTime->setText(QString::number(hour)+ "-" + QString::number(min)+ "-" + QString::number(sec));
ui->m_GpsSat->setText(QString::number(visSat));
ui->m_GpsCog->setText("No Data");
ui->m_GpsSog->setText("No Data");
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//refresh UI position data
ui->ed_x->setPlainText(QString::number(Xpos, 'f', 4));
ui->ed_y->setPlainText(QString::number(Ypos, 'f', 4));
ui->ed_z->setPlainText(QString::number(Zpos, 'f', 4));
//refresh UI speed position data
ui->ed_vx->setPlainText(QString::number(VXpos,'f',4));
ui->ed_vy->setPlainText(QString::number(VYpos,'f',4));
ui->ed_vz->setPlainText(QString::number(VZpos,'f',4));
//refresh UI attitude data
ui->m_SlugAttitudeRoll_plainTextEdit->setPlainText(QString::number(roll,'f',4));
ui->m_SlugAttitudePitch_plainTextEdit->setPlainText(QString::number(pitch,'f',4));
ui->m_SlugAttitudeYaw_plainTextEdit->setPlainText(QString::number(yaw,'f',4));
//refresh UI sensor bias acelerometer data
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ui->m_AxBiases->setText(QString::number(Axb, 'f', 4));
ui->m_AyBiases->setText(QString::number(Ayb, 'f', 4));
ui->m_AzBiases->setText(QString::number(Azb, 'f', 4));
ui->m_GxBiases->setText(QString::number(Gxb, 'f', 4));
ui->m_GyBiases->setText(QString::number(Gyb, 'f', 4));
ui->m_GzBiases->setText(QString::number(Gzb, 'f', 4));
//refresh UI diagnostic data
ui->m_SlugsFl1_textEdit->setText(QString::number(diagFl1, 'f', 4));
ui->m_SlugsFl2_textEdit->setText(QString::number(diagFl2, 'f', 4));
ui->m_SlugsFl3_textEdit->setText(QString::number(diagFl3, 'f', 4));
ui->m_SlugsSh1_textEdit->setText(QString::number(diagSh1, 'f', 4));
ui->m_SlugsSh2_textEdit->setText(QString::number(diagSh2, 'f', 4));
ui->m_SlugsSh3_textEdit->setText(QString::number(diagSh3, 'f', 4));
//refresh UI navegation data
ui->m_SlugsUm_textEdit->setText(QString::number(u_m, 'f', 4));
ui->m_SlugsPitchC_textEdit->setText(QString::number(pitch, 'f', 4));
ui->m_SlugsPsidC_textEdit->setText(QString::number(psiDot_c, 'f', 4));
ui->m_SlugsPhiC_textEdit->setText(QString::number(phi_c, 'f', 4));
ui->m_SlugsAyBody_textEdit->setText(QString::number(ay_body, 'f', 4));
ui->m_SlugsFromWP_textEdit->setText(QString::number(fromWP, 'f', 4));
ui->m_SlugsToWP_textEdit->setText(QString::number(toWP, 'f', 4));
ui->m_SlugsTotRun_textEdit->setText(QString::number(totalDist, 'f', 4));
ui->m_SlugsDistToGround_textEdit->setText(QString::number(dist2Go, 'f', 4));
//refresh UI Data Log
ui->m_logFl1_textEdit->setText(QString::number(Logfl_1, 'f', 4));
ui->m_logFl2_textEdit->setText(QString::number(Logfl_2, 'f', 4));
ui->m_logFl3_textEdit->setText(QString::number(Logfl_3, 'f', 4));
ui->m_logFl4_textEdit->setText(QString::number(Logfl_4, 'f', 4));
ui->m_logFl5_textEdit->setText(QString::number(Logfl_5, 'f', 4));
ui->m_logFl6_textEdit->setText(QString::number(Logfl_6, 'f', 4));
//refresh UI PWM Commands
ui->m_pwmThro->setText(QString::number(dt_c, 'f', 4));
ui->m_pwmThroTrim->setText(QString::number(dre_c, 'f', 4));
ui->m_pwmAile->setText(QString::number(dla_c, 'f', 4));
ui->m_pwmAileTrim->setText(QString::number(dlf_c, 'f', 4));
ui->m_pwmElev->setText(QString::number(dle_c, 'f', 4));
ui->m_pwmElevTrim->setText(QString::number(drf_c, 'f', 4));
ui->m_pwmRudd->setText(QString::number(dr_c, 'f', 4));
ui->m_pwmRuddTrim->setText(QString::number(aux1, 'f', 4));
ui->m_pwmFailSafe->setText(QString::number(dre_c, 'f', 4));
ui->m_pwmAvailable->setText("No Data");
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}
void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
double lat,
double lon,
double alt,
quint64 time)
{
Q_UNUSED( uas);
Latitude = lat;
Longitude = lon;
Height = alt;
timeGlobalPosition = time;
}
void SlugsDataSensorView::slugLocalPositionChanged(UASInterface* uas,
double x,
double y,
double z,
quint64 time)
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{
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Xpos = x;
Ypos = y;
Zpos = z;
TimeActualPosition = time;
}
void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
double vx,
double vy,
double vz,
quint64 time)
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{
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VXpos = vx;
VYpos = vy;
VZpos = vz;
TimeActualSpeed = time;
}
void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
double slugroll,
double slugpitch,
double slugyaw,
quint64 time)
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{
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roll = slugroll;
pitch = slugpitch;
yaw = slugyaw;
TimeActualAttitude = time;
}
void SlugsDataSensorView::slugsSensorBiasChanged(int systemId,
double axb,
double ayb,
double azb,
double gxb,
double gyb,
double gzb,
quint64 time)
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{
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Axb = axb;
Ayb = ayb;
Azb = azb;
Gxb = gxb;
Gyb = gyb;
Gzb = gzb;
TimeActualBias = time;
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}
void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId,
double diagfl1,
double diagfl2,
double diagfl3,
int16_t diagsh1,
int16_t diagsh2,
int16_t diagsh3,
quint64 time)
{
Q_UNUSED(systemId);
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diagFl1 = diagfl1;
diagFl2 = diagfl2;
diagFl3 = diagfl3;
diagSh1 = diagsh1;
diagSh2 = diagsh2;
diagSh3 = diagsh3;
timeDiagnostic = time;
}
void SlugsDataSensorView::slugsCpuLoadChanged(int systemId,
uint8_t sensload,
uint8_t ctrlload,
uint8_t batvolt,
quint64 time)
{
Q_UNUSED(systemId);
sensLoad = sensload;
ctrlLoad = ctrlload;
batVolt = batvolt;
timeCpuLoad = time;
}
void SlugsDataSensorView::slugsNavegationChanged(int systemId,
double navu_m,
double navphi_c,
double navtheta_c,
double navpsiDot_c,
double navay_body,
double navtotalDist,
double navdist2Go,
uint8_t navfromWP,
uint8_t navtoWP,
quint64 time)
{
Q_UNUSED(systemId);
u_m = navu_m;
phi_c = navphi_c;
theta_c = navtheta_c;
psiDot_c = navpsiDot_c;
ay_body = navay_body;
totalDist = navtotalDist;
dist2Go = navdist2Go;
fromWP = navfromWP;
toWP = navtoWP;
timeNavigation = time;
}
void SlugsDataSensorView::slugsDataLogChanged(int systemId,
double logfl_1,
double logfl_2,
double logfl_3,
double logfl_4,
double logfl_5,
double logfl_6,
quint64 time)
{
qDebug()<<"----------------------------------------------------->>>>>>>>>>>>>>> ACTUALIZANDO LOG DATA";
Q_UNUSED(systemId);
Logfl_1 = logfl_1;
Logfl_2 = logfl_2;
Logfl_3 = logfl_3;
Logfl_4 = logfl_4;
Logfl_5 = logfl_5;
Logfl_6 = logfl_6;
timeDataLog = time;
}
void SlugsDataSensorView::slugsPWMChanged(int systemId,
uint16_t vdt_c,
uint16_t vdla_c,
uint16_t vdra_c,
uint16_t vdr_c,
uint16_t vdle_c,
uint16_t vdre_c,
uint16_t vdlf_c,
uint16_t vdrf_c,
uint16_t vda1_c,
uint16_t vda2_c,
quint64 time)
{
Q_UNUSED(systemId);
dt_c = vdt_c; ///< AutoPilot's throttle command
dla_c = vdla_c; ///< AutoPilot's left aileron command
dra_c = vdra_c; ///< AutoPilot's right aileron command
dr_c = vdr_c; ///< AutoPilot's rudder command
dle_c = vdle_c; ///< AutoPilot's left elevator command
dre_c = vdre_c; ///< AutoPilot's right elevator command
dlf_c = vdlf_c; ///< AutoPilot's left flap command
drf_c = vdrf_c; ///< AutoPilot's right flap command
aux1 = vda1_c; ///< AutoPilot's aux1 command
aux2 = vda2_c; ///< AutoPilot's aux2 command
timePWMCommand = time;
}
void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
double filaX,
double filaY,
double filaZ,
double filgX,
double filgY,
double filgZ,
double filmX,
double filmY,
double filmZ,
quint64 time)
{
Q_UNUSED(systemId);
aX = filaX; ///< Accelerometer X value (m/s^2)
aY = filaY; ///< Accelerometer Y value (m/s^2)
aZ = filaZ; ///< Accelerometer Z value (m/s^2)
gX = filgX; ///< Gyro X value (rad/s)
gY = filgY; ///< Gyro Y value (rad/s)
gZ = filgZ; ///< Gyro Z value (rad/s)
mX = filmX; ///< Magnetometer X (normalized to 1)
mY = filmY; ///< Magnetometer Y (normalized to 1)
mZ = filmZ; ///< Magnetometer Z (normalized to 1)
timeFiltered = time;
}
void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId,
uint8_t gpsyear,
uint8_t gpsmonth,
uint8_t gpsday,
uint8_t gpshour,
uint8_t gpsmin,
uint8_t gpssec,
uint8_t gpsvisSat,
quint64 time)
{
Q_UNUSED(systemId);
year = gpsyear ; ///< Year reported by Gps
month = gpsmonth; ///< Month reported by Gps
day = gpsday; ///< Day reported by Gps
hour = gpshour; ///< Hour reported by Gps
min = gpsmin; ///< Min reported by Gps
sec = gpssec; ///< Sec reported by Gps
visSat = gpsvisSat; ///< Visible sattelites reported by Gps
timeGPSDateTime = time;
}