HIL and Joystick input

src/comm/QGCFlightGearLink.cc

@@ -503,6 +503,11 @@ QString QGCFlightGearLink::getName()
     return name;
 }
 
+QString QGCFlightGearLink::getRemoteHost()
+{
+    return QString("%1:%2").arg(currentHost.toString(), currentPort);
+}
+
 void QGCFlightGearLink::setName(QString name)
 {
     this->name = name;

src/comm/QGCFlightGearLink.h

@@ -63,6 +63,12 @@ public:
      */
     QString getName();
 
+    /**
+     * @brief Get remote host and port
+     * @return string in format <host>:<port>
+     */
+    QString getRemoteHost();
+
     void run();
 
 public slots:

src/comm/QGCHilLink.h

@@ -19,6 +19,12 @@ public:
      */
     virtual QString getName() = 0;
 
+    /**
+     * @brief Get remote host and port
+     * @return string in format <host>:<port>
+     */
+    virtual QString getRemoteHost() = 0;
+
 public slots:
     virtual void setPort(int port) = 0;
     /** @brief Add a new host to broadcast messages to */

src/comm/QGCXPlaneLink.cc

@@ -51,15 +51,38 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
     this->connectState = false;
     this->name = tr("X-Plane Link (localPort:%1)").arg(localPort);
     setRemoteHost(remoteHost);
+    loadSettings();
 }
 
 QGCXPlaneLink::~QGCXPlaneLink()
 {
+    storeSettings();
 //    if(connectState) {
 //       disconnectSimulation();
 //    }
 }
 
+void QGCXPlaneLink::loadSettings()
+{
+    // Load defaults from settings
+    QSettings settings;
+    settings.sync();
+    settings.beginGroup("QGC_XPLANE_LINK");
+    setRemoteHost(settings.value("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString(), remotePort)).toString());
+    settings.endGroup();
+}
+
+void QGCXPlaneLink::storeSettings()
+{
+    // Store settings
+    QSettings settings;
+    settings.beginGroup("QGC_XPLANE_LINK");
+    settings.setValue("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString(), remotePort));
+    settings.endGroup();
+    settings.sync();
+}
+
+
 /**
  * @brief Runs the thread
  *
@@ -102,62 +125,54 @@ void QGCXPlaneLink::processError(QProcess::ProcessError err)
     }
 }
 
+QString QGCXPlaneLink::getRemoteHost()
+{
+    return QString("%1:%2").arg(remoteHost.toString(), remotePort);
+}
+
 /**
- * @param localHost Hostname in standard formatting, e.g. locallocalHost:14551 or 192.168.1.1:14551
+ * @param newHost Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
  */
-void QGCXPlaneLink::setRemoteHost(const QString& localHost)
+void QGCXPlaneLink::setRemoteHost(const QString& newHost)
 {
-    if (localHost.contains(":"))
+    if (newHost.contains(":"))
     {
-        //qDebug() << "HOST: " << localHost.split(":").first();
-        QHostInfo info = QHostInfo::fromName(localHost.split(":").first());
+        //qDebug() << "HOST: " << newHost.split(":").first();
+        QHostInfo info = QHostInfo::fromName(newHost.split(":").first());
         if (info.error() == QHostInfo::NoError)
         {
-            // Add localHost
-            QList<QHostAddress> localHostAddresses = info.addresses();
+            // Add newHost
+            QList<QHostAddress> newHostAddresses = info.addresses();
             QHostAddress address;
-            for (int i = 0; i < localHostAddresses.size(); i++)
+            for (int i = 0; i < newHostAddresses.size(); i++)
             {
                 // Exclude loopback IPv4 and all IPv6 addresses
-                if (!localHostAddresses.at(i).toString().contains(":"))
+                if (!newHostAddresses.at(i).toString().contains(":"))
                 {
-                    address = localHostAddresses.at(i);
+                    address = newHostAddresses.at(i);
                 }
             }
             remoteHost = address;
             //qDebug() << "Address:" << address.toString();
             // Set localPort according to user input
-            remotePort = localHost.split(":").last().toInt();
+            remotePort = newHost.split(":").last().toInt();
         }
     }
     else
     {
-        QHostInfo info = QHostInfo::fromName(localHost);
+        QHostInfo info = QHostInfo::fromName(newHost);
         if (info.error() == QHostInfo::NoError)
         {
-            // Add localHost
+            // Add newHost
             remoteHost = info.addresses().first();
         }
     }
 
-    //    // Send request to send correct data
-    //#pragma pack(push, 1)
-    //    struct payload {
-    //        char b[5];
-    //        int index;
-    //        float f[8];
-    //    } p;
-    //#pragma pack(pop)
-
-    //    p.b[0] = 'D';
-    //    p.b[1] = 'A';
-    //    p.b[2] = 'T';
-    //    p.b[3] = 'A';
-    //    p.b[4] = '\0';
-
-    //    p.f[0]
-
-    //    writeBytes((const char*)&p, sizeof(p));
+    if (isConnected())
+    {
+        disconnectSimulation();
+        connectSimulation();
+    }
 }
 
 void QGCXPlaneLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)

src/comm/QGCXPlaneLink.h

@@ -52,6 +52,16 @@ public:
     QGCXPlaneLink(UASInterface* mav, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress localHost = QHostAddress::Any, quint16 localPort = 49005);
     ~QGCXPlaneLink();
 
+    /**
+     * @brief Load X-Plane HIL settings
+     */
+    void loadSettings();
+
+    /**
+     * @brief Store X-Plane HIL settings
+     */
+    void storeSettings();
+
     bool isConnected();
     qint64 bytesAvailable();
     int getPort() const {
@@ -65,6 +75,12 @@ public:
 
     void run();
 
+    /**
+     * @brief Get remote host and port
+     * @return string in format <host>:<port>
+     */
+    QString getRemoteHost();
+
 public slots:
 //    void setAddress(QString address);
     void setPort(int port);

src/input/JoystickInput.cc

@@ -18,6 +18,7 @@
 #include "UASManager.h"
 #include "QGC.h"
 #include <QMutexLocker>
+#include <QSettings>
 
 /**
  * The coordinate frame of the joystick axis is the aeronautical frame like shown on this image:
@@ -34,8 +35,13 @@ JoystickInput::JoystickInput() :
         xAxis(0),
         yAxis(1),
         yawAxis(3),
+        autoButtonMapping(-1),
+        manualButtonMapping(-1),
+        stabilizeButtonMapping(-1),
         joystickName(tr("Unitinialized"))
 {
+    loadSettings();
+
     for (int i = 0; i < 10; i++) {
         calibrationPositive[i] = sdlJoystickMax;
         calibrationNegative[i] = sdlJoystickMin;
@@ -49,9 +55,40 @@ JoystickInput::JoystickInput() :
 
 JoystickInput::~JoystickInput()
 {
+    storeSettings();
     done = true;
-    QGC::SLEEP::usleep(50000);
-    this->deleteLater();
+}
+
+void JoystickInput::loadSettings()
+{
+    // Load defaults from settings
+    QSettings settings;
+    settings.sync();
+    settings.beginGroup("QGC_JOYSTICK_INPUT");
+    xAxis = (settings.value("X_AXIS_MAPPING", xAxis).toInt());
+    yAxis = (settings.value("Y_AXIS_MAPPING", yAxis).toInt());
+    thrustAxis = (settings.value("THRUST_AXIS_MAPPING", thrustAxis).toInt());
+    yawAxis = (settings.value("YAW_AXIS_MAPPING", yawAxis).toInt());
+    autoButtonMapping = (settings.value("AUTO_BUTTON_MAPPING", autoButtonMapping).toInt());
+    stabilizeButtonMapping = (settings.value("STABILIZE_BUTTON_MAPPING", stabilizeButtonMapping).toInt());
+    manualButtonMapping = (settings.value("MANUAL_BUTTON_MAPPING", manualButtonMapping).toInt());
+    settings.endGroup();
+}
+
+void JoystickInput::storeSettings()
+{
+    // Store settings
+    QSettings settings;
+    settings.beginGroup("QGC_JOYSTICK_INPUT");
+    settings.setValue("X_AXIS_MAPPING", xAxis);
+    settings.setValue("Y_AXIS_MAPPING", yAxis);
+    settings.setValue("THRUST_AXIS_MAPPING", thrustAxis);
+    settings.setValue("YAW_AXIS_MAPPING", yawAxis);
+    settings.setValue("AUTO_BUTTON_MAPPING", autoButtonMapping);
+    settings.setValue("STABILIZE_BUTTON_MAPPING", stabilizeButtonMapping);
+    settings.setValue("MANUAL_BUTTON_MAPPING", manualButtonMapping);
+    settings.endGroup();
+    settings.sync();
 }
 
 
@@ -95,7 +132,7 @@ void JoystickInput::init()
     // Wait for joysticks if none is connected
     while (numJoysticks == 0)
     {
-        QGC::SLEEP::msleep(800);
+        QGC::SLEEP::msleep(400);
         // INITIALIZE SDL Joystick support
         if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0)
         {

src/input/JoystickInput.h

@@ -58,6 +58,51 @@ public:
 
     const QString& getName();
 
+    /**
+     * @brief Load joystick settings
+     */
+    void loadSettings();
+
+    /**
+     * @brief Store joystick settings
+     */
+    void storeSettings();
+
+    int getMappingThrustAxis()
+    {
+        return thrustAxis;
+    }
+
+    int getMappingXAxis()
+    {
+        return xAxis;
+    }
+
+    int getMappingYAxis()
+    {
+        return yAxis;
+    }
+
+    int getMappingYawAxis()
+    {
+        return yawAxis;
+    }
+
+    int getMappingAutoButton()
+    {
+        return autoButtonMapping;
+    }
+
+    int getMappingManualButton()
+    {
+        return manualButtonMapping;
+    }
+
+    int getMappingStabilizeButton()
+    {
+        return stabilizeButtonMapping;
+    }
+
     const double sdlJoystickMin;
     const double sdlJoystickMax;
 
@@ -76,6 +121,9 @@ protected:
     int xAxis;
     int yAxis;
     int yawAxis;
+    int autoButtonMapping;
+    int manualButtonMapping;
+    int stabilizeButtonMapping;
     SDL_Event event;
     QString joystickName;
 
@@ -149,6 +197,40 @@ signals:
 
 public slots:
     void setActiveUAS(UASInterface* uas);
+    void setMappingThrustAxis(int mapping)
+    {
+        thrustAxis = mapping;
+    }
+
+    void setMappingXAxis(int mapping)
+    {
+        xAxis = mapping;
+    }
+
+    void setMappingYAxis(int mapping)
+    {
+        yAxis = mapping;
+    }
+
+    void setMappingYawAxis(int mapping)
+    {
+        yawAxis = mapping;
+    }
+
+    void setMappingAutoButton(int mapping)
+    {
+        autoButtonMapping = mapping;
+    }
+
+    void setMappingManualButton(int mapping)
+    {
+        manualButtonMapping = mapping;
+    }
+
+    void setMappingStabilizeButton(int mapping)
+    {
+        stabilizeButtonMapping = mapping;
+    }
 };
 
 #endif // _JOYSTICKINPUT_H_

src/uas/UAS.cc

@@ -2393,9 +2393,9 @@ void UAS::disarmSystem()
 void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
 {
     // Scale values
-    double rollPitchScaling = 0.2f;
-    double yawScaling = 0.5f;
-    double thrustScaling = 1.0f;
+    double rollPitchScaling = 0.2f * 1000.0f;
+    double yawScaling = 0.5f * 1000.0f;
+    double thrustScaling = 1.0f * 1000.0f;
 
     manualRollAngle = roll * rollPitchScaling;
     manualPitchAngle = pitch * rollPitchScaling;

src/ui/JoystickWidget.cc

@@ -9,8 +9,19 @@ JoystickWidget::JoystickWidget(JoystickInput* joystick, QWidget *parent) :
     m_ui->setupUi(this);
     this->joystick = joystick;
 
+    m_ui->rollMapSpinBox->setValue(joystick->getMappingXAxis());
+    m_ui->pitchMapSpinBox->setValue(joystick->getMappingYAxis());
+    m_ui->yawMapSpinBox->setValue(joystick->getMappingYawAxis());
+    m_ui->throttleMapSpinBox->setValue(joystick->getMappingThrustAxis());
+    m_ui->autoMapSpinBox->setValue(joystick->getMappingAutoButton());
+
     connect(this->joystick, SIGNAL(joystickChanged(double,double,double,double,int,int)), this, SLOT(updateJoystick(double,double,double,double,int,int)));
     connect(this->joystick, SIGNAL(buttonPressed(int)), this, SLOT(pressKey(int)));
+    connect(m_ui->rollMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingXAxis(int)));
+    connect(m_ui->pitchMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingYAxis(int)));
+    connect(m_ui->yawMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingYawAxis(int)));
+    connect(m_ui->throttleMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingThrustAxis(int)));
+    connect(m_ui->autoMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingAutoButton(int)));
 
     // Display the widget
     this->window()->setWindowTitle(tr("Joystick Settings"));

src/ui/JoystickWidget.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>396</width>
-    <height>323</height>
+    <width>654</width>
+    <height>376</height>
    </rect>
   </property>
   <property name="minimumSize">
@@ -19,13 +19,57 @@
   <property name="windowTitle">
    <string>Dialog</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2">
+  <layout class="QGridLayout" name="gridLayout_2" columnstretch="10,10,1,5">
    <property name="margin">
     <number>8</number>
    </property>
    <property name="spacing">
     <number>8</number>
    </property>
+   <item row="1" column="1" colspan="2">
+    <widget class="QLabel" name="statusLabel">
+     <property name="text">
+      <string>No joystick detecte yet.. waiting</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="maximumSize">
+      <size>
+       <width>60</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Throttle</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <property name="spacing">
+       <number>0</number>
+      </property>
+      <property name="margin">
+       <number>2</number>
+      </property>
+      <item>
+       <widget class="QProgressBar" name="thrust">
+        <property name="minimumSize">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="value">
+         <number>0</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
    <item row="0" column="1">
     <widget class="QGroupBox" name="groupBox_2">
      <property name="title">
@@ -85,6 +129,9 @@
         <property name="text">
          <string>Y</string>
         </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
        </widget>
       </item>
       <item row="4" column="0">
@@ -138,47 +185,6 @@
      </layout>
     </widget>
    </item>
-   <item row="0" column="2">
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="maximumSize">
-      <size>
-       <width>60</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="title">
-      <string>Throttle</string>
-     </property>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <property name="margin">
-       <number>2</number>
-      </property>
-      <item>
-       <widget class="QProgressBar" name="thrust">
-        <property name="minimumSize">
-         <size>
-          <width>40</width>
-          <height>20</height>
-         </size>
-        </property>
-        <property name="value">
-         <number>0</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="1" column="1" colspan="2">
-    <widget class="QLabel" name="statusLabel">
-     <property name="text">
-      <string>No joystick - connect and restart QGroundControl</string>
-     </property>
-    </widget>
-   </item>
    <item row="0" column="0" rowspan="3">
     <widget class="QGroupBox" name="groupBox">
      <property name="maximumSize">
@@ -357,7 +363,7 @@
      </layout>
     </widget>
    </item>
-   <item row="2" column="1" colspan="2">
+   <item row="1" column="3">
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -367,6 +373,98 @@
      </property>
     </widget>
    </item>
+   <item row="0" column="3">
+    <widget class="QGroupBox" name="groupBox_4">
+     <property name="title">
+      <string>Mappings</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3" columnstretch="30,10">
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Throttle</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="0">
+       <widget class="QLabel" name="label_8">
+        <property name="text">
+         <string>Stabilized Button</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>Auto Button</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="0">
+       <widget class="QLabel" name="label_9">
+        <property name="text">
+         <string>Manual Button</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>Pitch Axis</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Yaw Axis</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>Roll Axis</string>
+        </property>
+       </widget>
+      </item>
+      <item row="7" column="0" colspan="2">
+       <spacer name="verticalSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>40</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item row="0" column="1">
+       <widget class="QSpinBox" name="rollMapSpinBox"/>
+      </item>
+      <item row="1" column="1">
+       <widget class="QSpinBox" name="pitchMapSpinBox"/>
+      </item>
+      <item row="2" column="1">
+       <widget class="QSpinBox" name="yawMapSpinBox"/>
+      </item>
+      <item row="3" column="1">
+       <widget class="QSpinBox" name="throttleMapSpinBox"/>
+      </item>
+      <item row="4" column="1">
+       <widget class="QSpinBox" name="autoMapSpinBox"/>
+      </item>
+      <item row="5" column="1">
+       <widget class="QSpinBox" name="stabilizedMapSpinBox"/>
+      </item>
+      <item row="6" column="1">
+       <widget class="QSpinBox" name="manualMapSpinBox"/>
+      </item>
+     </layout>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>