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Commit 1bf17999 authored by pixhawk's avatar pixhawk
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deactivated waypoint management

parent 6dc9b706
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src/uas/UAS.cc
View file @ 1bf17999
......@@ -356,17 +356,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
break;
case MAVLINK_MSG_ID_WAYPOINT:
{
mavlink_waypoint_t wp;
mavlink_msg_waypoint_decode(&message, &wp);
// FIXME
emit waypointUpdated(uasId, wp.id, wp.x, wp.y, wp.z, wp.yaw, wp.autocontinue, wp.active);
// mavlink_waypoint_t wp;
// mavlink_msg_waypoint_decode(&message, &wp);
// emit waypointUpdated(uasId, wp.id, wp.x, wp.y, wp.z, wp.yaw, wp.autocontinue, wp.active);
}
break;
case MAVLINK_MSG_ID_WAYPOINT_REACHED:
{
mavlink_waypoint_reached_t wp;
mavlink_msg_waypoint_reached_decode(&message, &wp);
emit waypointReached(this, wp.id);
// mavlink_waypoint_reached_t wp;
// mavlink_msg_waypoint_reached_decode(&message, &wp);
// emit waypointReached(this, wp.id);
}
break;
case MAVLINK_MSG_ID_STATUSTEXT:
......@@ -556,15 +555,6 @@ int UAS::getCommunicationStatus() const
return commStatus;
}
void UAS::requestWaypoints()
{
mavlink_message_t msg;
mavlink_msg_waypoint_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 25);
// Send message twice to increase chance of reception
sendMessage(msg);
qDebug() << "UAS Request WPs";
}
void UAS::requestParameters()
{
mavlink_message_t msg;
......@@ -916,41 +906,63 @@ void UAS::receiveButton(int buttonIndex)
}
void UAS::requestWaypoints()
{
// mavlink_message_t msg;
// mavlink_msg_waypoint_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 25);
// // Send message twice to increase chance of reception
// sendMessage(msg);
// qDebug() << "UAS Request WPs";
}
void UAS::setWaypoint(Waypoint* wp)
{
mavlink_message_t msg;
mavlink_waypoint_set_t set;
set.id = wp->id;
//QString name = wp->name;
// FIXME Check if this works properly
//name.truncate(MAVLINK_MSG_WAYPOINT_SET_FIELD_NAME_LEN);
//strcpy((char*)set.name, name.toStdString().c_str());
set.autocontinue = wp->autocontinue;
set.target_component = 25; // FIXME
set.target_system = uasId;
set.active = wp->current;
set.x = wp->x;
set.y = wp->y;
set.z = wp->z;
set.yaw = wp->yaw;
mavlink_msg_waypoint_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &set);
// Send message twice to increase chance of reception
sendMessage(msg);
// mavlink_message_t msg;
// mavlink_waypoint_set_t set;
// set.id = wp->id;
// //QString name = wp->name;
// // FIXME Check if this works properly
// //name.truncate(MAVLINK_MSG_WAYPOINT_SET_FIELD_NAME_LEN);
// //strcpy((char*)set.name, name.toStdString().c_str());
// set.autocontinue = wp->autocontinue;
// set.target_component = 25; // FIXME
// set.target_system = uasId;
// set.active = wp->current;
// set.x = wp->x;
// set.y = wp->y;
// set.z = wp->z;
// set.yaw = wp->yaw;
// mavlink_msg_waypoint_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &set);
// // Send message twice to increase chance of reception
// sendMessage(msg);
}
void UAS::setWaypointActive(int id)
{
mavlink_message_t msg;
mavlink_waypoint_set_active_t active;
active.id = id;
active.target_system = uasId;
active.target_component = 25; // FIXME
mavlink_msg_waypoint_set_active_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &active);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
// TODO This should be not directly emitted, but rather being fed back from the UAS
emit waypointSelected(getUASID(), id);
// mavlink_message_t msg;
// mavlink_waypoint_set_active_t active;
// active.id = id;
// active.target_system = uasId;
// active.target_component = 25; // FIXME
// mavlink_msg_waypoint_set_active_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &active);
// // Send message twice to increase chance of reception
// sendMessage(msg);
// sendMessage(msg);
// // TODO This should be not directly emitted, but rather being fed back from the UAS
// emit waypointSelected(getUASID(), id);
}
void UAS::clearWaypointList()
{
// mavlink_message_t msg;
// // FIXME
// mavlink_waypoint_clear_list_t clist;
// clist.target_system = uasId;
// clist.target_component = 25; // FIXME
// mavlink_msg_waypoint_clear_list_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &clist);
// sendMessage(msg);
// qDebug() << "UAS clears Waypoints!";
}
......@@ -1174,15 +1186,3 @@ void UAS::stopLowBattAlarm()
lowBattAlarm = false;
}
}
void UAS::clearWaypointList()
{
mavlink_message_t msg;
// FIXME
mavlink_waypoint_clear_list_t clist;
clist.target_system = uasId;
clist.target_component = 25; // FIXME
mavlink_msg_waypoint_clear_list_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &clist);
sendMessage(msg);
qDebug() << "UAS clears Waypoints!";
}
src/ui/WaypointList.cc
View file @ 1bf17999
......@@ -99,15 +99,16 @@ void WaypointList::setUAS(UASInterface* uas)
void WaypointList::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
{
transmitDelay->start(1000);
QString string = "New waypoint";
if (waypointNames.contains(id))
{
string = waypointNames.value(id);
}
if (uasId == this->uas->getUASID())
{
transmitDelay->start(1000);
QString string = "New waypoint";
if (waypointNames.contains(id))
{
string = waypointNames.value(id);
}
Waypoint* wp = new Waypoint(string, id, x, y, z, yaw, autocontinue, current);
addWaypoint(wp);
}
......@@ -152,7 +153,6 @@ void WaypointList::transmit()
m_ui->transmitButton->setEnabled(false);
emit clearWaypointList();
waypointNames.clear();
emit
for(int i = 0; i < waypoints.size(); i++)
{
Waypoint* wp = waypoints[i];
......@@ -186,7 +186,13 @@ void WaypointList::add()
void WaypointList::addWaypoint(Waypoint* wp)
{
if (waypoints.contains(wp))
{
removeWaypoint(wp);
}
waypoints.insert(wp->id, wp);
if (!wpViews.contains(wp))
{
WaypointView* wpview = new WaypointView(wp, this);
......
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