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Valentin Platzgummer
qgroundcontrol
Commits
965cd4e6
Commit
965cd4e6
authored
Apr 04, 2013
by
Lorenz Meier
Browse files
Tiny typo fixes in HIL
parent
8df3fa95
Changes
3
Hide whitespace changes
Inline
Side-by-side
src/comm/QGCXPlaneLink.cc
View file @
965cd4e6
...
...
@@ -678,8 +678,8 @@ bool QGCXPlaneLink::disconnectSimulation()
disconnect
(
mav
,
SIGNAL
(
hilControlsChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
uint8_t
,
uint8_t
)),
this
,
SLOT
(
updateControls
(
uint64_t
,
float
,
float
,
float
,
float
,
uint8_t
,
uint8_t
)));
disconnect
(
mav
,
SIGNAL
(
hilActuatorsChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
)),
this
,
SLOT
(
updateActuators
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
)));
disconnect
(
this
,
SIGNAL
(
hilStateChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)),
mav
,
SLOT
(
sendHilState
(
q
uint64
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)));
disconnect
(
this
,
SIGNAL
(
sensorHilGpsChanged
(
quint64
,
double
,
double
,
double
,
int
,
float
,
float
,
float
,
float
,
int
)),
mav
,
SLOT
(
sendHilGps
(
uint64
_t
,
double
,
double
,
double
,
int
,
float
,
float
,
float
,
float
,
int
)));
disconnect
(
this
,
SIGNAL
(
hilStateChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)),
mav
,
SLOT
(
sendHilState
(
uint64
_t
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)));
disconnect
(
this
,
SIGNAL
(
sensorHilGpsChanged
(
quint64
,
double
,
double
,
double
,
int
,
float
,
float
,
float
,
float
,
int
)),
mav
,
SLOT
(
sendHilGps
(
q
uint64
,
double
,
double
,
double
,
int
,
float
,
float
,
float
,
float
,
int
)));
disconnect
(
this
,
SIGNAL
(
sensorHilRawImuChanged
(
quint64
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
quint16
)),
mav
,
SLOT
(
sendHilSensors
(
quint64
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
quint16
)));
UAS
*
uas
=
dynamic_cast
<
UAS
*>
(
mav
);
...
...
@@ -862,8 +862,8 @@ bool QGCXPlaneLink::connectSimulation()
connect
(
mav
,
SIGNAL
(
hilControlsChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
uint8_t
,
uint8_t
)),
this
,
SLOT
(
updateControls
(
uint64_t
,
float
,
float
,
float
,
float
,
uint8_t
,
uint8_t
)));
connect
(
mav
,
SIGNAL
(
hilActuatorsChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
)),
this
,
SLOT
(
updateActuators
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
)));
connect
(
this
,
SIGNAL
(
hilStateChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)),
mav
,
SLOT
(
sendHilState
(
q
uint64
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)));
connect
(
this
,
SIGNAL
(
sensorHilGpsChanged
(
quint64
,
double
,
double
,
double
,
int
,
float
,
float
,
float
,
float
,
int
)),
mav
,
SLOT
(
sendHilGps
(
uint64
_t
,
double
,
double
,
double
,
int
,
float
,
float
,
float
,
float
,
int
)));
connect
(
this
,
SIGNAL
(
hilStateChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)),
mav
,
SLOT
(
sendHilState
(
uint64
_t
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)));
connect
(
this
,
SIGNAL
(
sensorHilGpsChanged
(
quint64
,
double
,
double
,
double
,
int
,
float
,
float
,
float
,
float
,
int
)),
mav
,
SLOT
(
sendHilGps
(
q
uint64
,
double
,
double
,
double
,
int
,
float
,
float
,
float
,
float
,
int
)));
connect
(
this
,
SIGNAL
(
sensorHilRawImuChanged
(
quint64
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
quint16
)),
mav
,
SLOT
(
sendHilSensors
(
quint64
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
quint16
)));
UAS
*
uas
=
dynamic_cast
<
UAS
*>
(
mav
);
...
...
src/uas/UAS.cc
View file @
965cd4e6
...
...
@@ -1691,10 +1691,22 @@ QList<int> UAS::getComponentIds()
void
UAS
::
setMode
(
int
mode
)
{
//this->mode = mode; //no call assignament, update receive message from UAS
// Strip armed / disarmed call, this is not relevant for setting the mode
uint8_t
newMode
=
mode
;
newMode
&=
(
~
(
uint8_t
)
MAV_MODE_FLAG_SAFETY_ARMED
);
// Now set current state (request no change)
newMode
|=
(
uint8_t
)(
this
->
mode
)
&
(
uint8_t
)(
MAV_MODE_FLAG_SAFETY_ARMED
);
// Strip HIL part, replace it with current system state
newMode
&=
(
~
(
uint8_t
)
MAV_MODE_FLAG_HIL_ENABLED
);
// Now set current state (request no change)
newMode
|=
(
uint8_t
)(
this
->
mode
)
&
(
uint8_t
)(
MAV_MODE_FLAG_HIL_ENABLED
);
mavlink_message_t
msg
;
mavlink_msg_set_mode_pack
(
mavlink
->
getSystemId
(),
mavlink
->
getComponentId
(),
&
msg
,
(
uint8_t
)
uasId
,
(
uint8_t
)
m
ode
,
(
uint16_t
)
navMode
);
mavlink_msg_set_mode_pack
(
mavlink
->
getSystemId
(),
mavlink
->
getComponentId
(),
&
msg
,
(
uint8_t
)
uasId
,
newM
ode
,
(
uint16_t
)
navMode
);
sendMessage
(
msg
);
qDebug
()
<<
"SENDING REQUEST TO SET MODE TO SYSTEM"
<<
uasId
<<
", REQUEST TO SET MODE "
<<
(
uint8_t
)
m
ode
;
qDebug
()
<<
"SENDING REQUEST TO SET MODE TO SYSTEM"
<<
uasId
<<
", REQUEST TO SET MODE "
<<
newM
ode
;
}
/**
...
...
src/ui/uas/UASControlWidget.cc
View file @
965cd4e6
...
...
@@ -51,12 +51,12 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
connect
(
UASManager
::
instance
(),
SIGNAL
(
activeUASSet
(
UASInterface
*
)),
this
,
SLOT
(
setUAS
(
UASInterface
*
)));
ui
.
modeComboBox
->
clear
();
ui
.
modeComboBox
->
insertItem
(
0
,
UAS
::
getShortModeTextFor
(
MAV_MODE_PREFLIGHT
),
MAV_MODE_PREFLIGHT
);
ui
.
modeComboBox
->
insertItem
(
1
,
UAS
::
getShortModeTextFor
((
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
)),
(
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
));
ui
.
modeComboBox
->
insertItem
(
2
,
UAS
::
getShortModeTextFor
(
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
),
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
);
ui
.
modeComboBox
->
insertItem
(
3
,
UAS
::
getShortModeTextFor
((
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_GUIDED_ENABLED
)),
(
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_GUIDED_ENABLED
));
ui
.
modeComboBox
->
insertItem
(
4
,
UAS
::
getShortModeTextFor
((
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_GUIDED_ENABLED
|
MAV_MODE_FLAG_AUTO_ENABLED
)),
(
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_GUIDED_ENABLED
|
MAV_MODE_FLAG_AUTO_ENABLED
));
ui
.
modeComboBox
->
insertItem
(
5
,
UAS
::
getShortModeTextFor
((
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_TEST_ENABLED
)),
(
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_TEST_ENABLED
));
ui
.
modeComboBox
->
insertItem
(
0
,
UAS
::
getShortModeTextFor
(
MAV_MODE_PREFLIGHT
)
.
remove
(
0
,
2
)
,
MAV_MODE_PREFLIGHT
);
ui
.
modeComboBox
->
insertItem
(
1
,
UAS
::
getShortModeTextFor
((
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
))
.
remove
(
0
,
2
)
,
(
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
));
ui
.
modeComboBox
->
insertItem
(
2
,
UAS
::
getShortModeTextFor
(
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
)
.
remove
(
0
,
2
)
,
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
);
ui
.
modeComboBox
->
insertItem
(
3
,
UAS
::
getShortModeTextFor
((
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_GUIDED_ENABLED
))
.
remove
(
0
,
2
)
,
(
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_GUIDED_ENABLED
));
ui
.
modeComboBox
->
insertItem
(
4
,
UAS
::
getShortModeTextFor
((
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_GUIDED_ENABLED
|
MAV_MODE_FLAG_AUTO_ENABLED
))
.
remove
(
0
,
2
)
,
(
MAV_MODE_FLAG_STABILIZE_ENABLED
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_GUIDED_ENABLED
|
MAV_MODE_FLAG_AUTO_ENABLED
));
ui
.
modeComboBox
->
insertItem
(
5
,
UAS
::
getShortModeTextFor
((
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_TEST_ENABLED
))
.
remove
(
0
,
2
)
,
(
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_TEST_ENABLED
));
connect
(
ui
.
modeComboBox
,
SIGNAL
(
activated
(
int
)),
this
,
SLOT
(
setMode
(
int
)));
connect
(
ui
.
setModeButton
,
SIGNAL
(
clicked
()),
this
,
SLOT
(
transmitMode
()));
...
...
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