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Commit 966cad30 authored by pixhawk's avatar pixhawk
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Merge branch 'master' of git@pixhawk.ethz.ch:groundcontrol

parents 6a5e0f49 7d25a85a
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qgroundcontrol.pri
View file @ 966cad30
......@@ -97,6 +97,7 @@ linux-g++ {
DESTDIR = $$BASEDIR
}
INCLUDEPATH += /usr/include \
/usr/include/qt4/phonon
# $$BASEDIR/lib/flite/include \
# $$BASEDIR/lib/flite/lang
......
src/GAudioOutput.h
View file @ 966cad30
......@@ -40,10 +40,12 @@ This file is part of the PIXHAWK project
#endif
#ifdef Q_OS_LINUX
//#include <flite/flite.h>
#include <phonon>
#include <Phonon/MediaObject>
#include <Phonon/AudioOutput>
#endif
#ifdef Q_OS_WIN
#include <Phonon>
#include <Phonon/MediaObject>
#include <Phonon/AudioOutput>
#endif
/* For Snow leopard and later
......
src/uas/UAS.cc
View file @ 966cad30
......@@ -49,6 +49,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) :
commStatus(COMM_DISCONNECTED),
name(""),
links(new QList<LinkInterface*>()),
unknownPackets(),
thrustSum(0),
thrustMax(10),
startVoltage(0),
......@@ -67,7 +68,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) :
manualThrust(0),
receiveDropRate(0),
sendDropRate(0),
unknownPackets(),
lowBattAlarm(false)
{
setBattery(LIPOLY, 3);
......@@ -313,15 +313,21 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_DEBUG:
emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
break;
/*
case MAVLINK_MSG_ID_WP:
emit waypointUpdated(this->getUASID(), mavlink_msg_emitwaypoint_get_id(message.payload), mavlink_msg_emitwaypoint_get_x(message.payload), mavlink_msg_emitwaypoint_get_y(message.payload), mavlink_msg_emitwaypoint_get_z(message.payload), mavlink_msg_emitwaypoint_get_yaw(message.payload), (message_emitwaypoint_get_autocontinue(message.payload) == 1 ? true : false), (message_emitwaypoint_get_active(message.payload) == 1 ? true : false));
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, true);
}
break;
case MAVLINK_MSG_ID_WP_REACHED:
qDebug() << "WAYPOINT REACHED";
emit waypointReached(this, mavlink_msg_wp_reached_get_id(message.payload));
case MAVLINK_MSG_ID_WAYPOINT_REACHED:
{
mavlink_waypoint_reached_t wp;
mavlink_msg_waypoint_reached_decode(&message, &wp);
emit waypointReached(this, wp.id);
}
break;
*/
case MAVLINK_MSG_ID_STATUSTEXT:
{
QByteArray b;
......@@ -386,7 +392,7 @@ quint64 UAS::getUnixTime(quint64 time)
// THIS CALCULATION IS EXPANDED BY THE PREPROCESSOR/COMPILER ONE-TIME,
// NO NEED TO MULTIPLY MANUALLY!
else if (time < 40 * 365 * 24 * 60 * 60 * 1000 * 1000)
else if (time < (quint64)(40 * 365 * 24 * 60 * 60 * 1000 * 1000))
{
if (onboardTimeOffset == 0)
{
......@@ -513,9 +519,11 @@ int UAS::getCommunicationStatus() const
void UAS::requestWaypoints()
{
mavlink_message_t message;
mavlink_message_t msg;
//messagePackGetWaypoints(MG::SYSTEM::ID, &message); FIXME
sendMessage(message);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
qDebug() << "UAS Request WPs";
}
......@@ -523,6 +531,8 @@ void UAS::requestParameters()
{
mavlink_message_t msg;
mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -536,10 +546,10 @@ void UAS::enableAllDataTransmission(bool enabled)
{
// Buffers to write data to
mavlink_message_t msg;
mavlink_request_stream_t stream;
mavlink_request_data_stream_t stream;
// Select the message to request from now on
// 0 is a magic ID and will enable/disable the standard message set except for heartbeat
stream.req_message_id = 0;
stream.req_stream_id = 0;
// Select the update rate in Hz the message should be send
// All messages will be send with their default rate
stream.req_message_rate = 0;
......@@ -550,7 +560,9 @@ void UAS::enableAllDataTransmission(bool enabled)
// The component / subsystem which should take this command
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -558,9 +570,9 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
{
// Buffers to write data to
mavlink_message_t msg;
mavlink_request_stream_t stream;
mavlink_request_data_stream_t stream;
// Select the message to request from now on
stream.req_message_id = MAVLINK_MSG_ID_RAW_IMU;
stream.req_stream_id = 1;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
// Start / stop the message
......@@ -570,32 +582,98 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
// The component / subsystem which should take this command
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::enableExtendedSystemStatusTransmission(bool enabled)
{
// FIXME
qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
// Buffers to write data to
mavlink_message_t msg;
mavlink_request_data_stream_t stream;
// Select the message to request from now on
stream.req_stream_id = 2;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 10;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::enableRCChannelDataTransmission(bool enabled)
{
// FIXME
qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
// Buffers to write data to
mavlink_message_t msg;
mavlink_request_data_stream_t stream;
// Select the message to request from now on
stream.req_stream_id = 3;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::enableRawControllerDataTransmission(bool enabled)
{
// FIXME
qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
// Buffers to write data to
mavlink_message_t msg;
mavlink_request_data_stream_t stream;
// Select the message to request from now on
stream.req_stream_id = 4;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::enableRawSensorFusionTransmission(bool enabled)
{
// FIXME
qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
// Buffers to write data to
mavlink_message_t msg;
mavlink_request_data_stream_t stream;
// Select the message to request from now on
stream.req_stream_id = 5;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::setParameter(int component, QString id, float value)
......@@ -608,15 +686,15 @@ void UAS::setParameter(int component, QString id, float value)
// Copy string into buffer, ensuring not to exceed the buffer size
char* s = (char*)id.toStdString().c_str();
for (int i = 0; i < sizeof(p.param_id); i++)
for (unsigned int i = 0; i < sizeof(p.param_id); i++)
{
// String characters
if (i < id.length() && i < (sizeof(p.param_id) - 1))
if ((int)i < id.length() && i < (sizeof(p.param_id) - 1))
{
p.param_id[i] = s[i];
}
// Null termination at end of string or end of buffer
else if (i == id.length() || i == (sizeof(p.param_id) - 1))
else if ((int)i == id.length() || i == (sizeof(p.param_id) - 1))
{
p.param_id[i] = '\0';
}
......@@ -636,12 +714,12 @@ void UAS::setParameter(int component, QString id, float value)
**/
void UAS::launch()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(),(int)MAV_ACTION_LAUNCH);
sendMessage(message);
qDebug() << "UAS LAUNCHED!";
//emit commandSent(LAUNCH);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(int)MAV_ACTION_LAUNCH);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/**
......@@ -650,10 +728,12 @@ void UAS::launch()
**/
void UAS::enable_motors()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(),(int)MAV_ACTION_MOTORS_START);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(int)MAV_ACTION_MOTORS_START);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/**
......@@ -662,10 +742,12 @@ void UAS::enable_motors()
**/
void UAS::disable_motors()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(),(int)MAV_ACTION_MOTORS_STOP);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(int)MAV_ACTION_MOTORS_STOP);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
......@@ -711,19 +793,37 @@ void UAS::receiveButton(int buttonIndex)
void UAS::setWaypoint(Waypoint* wp)
{
mavlink_message_t message;
// FIXME
//messagePackSetWaypoint(MG::SYSTEM::ID, &message, wp->id, wp->x, wp->y, wp->z, wp->yaw, (wp->autocontinue ? 1 : 0));
sendMessage(message);
qDebug() << "UAS SENT Waypoint " << wp->id;
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 = 0;
set.target_system = uasId;
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);
sendMessage(msg);
}
void UAS::setWaypointActive(int id)
{
mavlink_message_t message;
// FIXME
//messagePackChooseWaypoint(MG::SYSTEM::ID, &message, id);
sendMessage(message);
mavlink_message_t msg;
mavlink_waypoint_set_active_t active;
active.id = id;
active.target_system = uasId;
active.target_component = 0; // 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);
}
......@@ -731,27 +831,33 @@ void UAS::setWaypointActive(int id)
void UAS::halt()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_HALT);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_HALT);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::go()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_CONTINUE);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_CONTINUE);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/** Order the robot to return home / to land on the runway **/
void UAS::home()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_RETURN);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_RETURN);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/**
......@@ -760,9 +866,12 @@ void UAS::home()
*/
void UAS::emergencySTOP()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_EMCY_LAND);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_LAND);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/**
......@@ -788,10 +897,12 @@ bool UAS::emergencyKILL()
if (ret == QMessageBox::Yes)
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_EMCY_KILL);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_KILL);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
result = true;
}
return result;
......@@ -815,10 +926,12 @@ void UAS::shutdown()
if (ret == QMessageBox::Yes)
{
// If the active UAS is set, execute command
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_SHUTDOWN);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_SHUTDOWN);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
result = true;
}
}
......
src/uas/UAS.h
View file @ 966cad30
......@@ -86,6 +86,7 @@ protected:
CommStatus commStatus; ///< Communication status
QString name; ///< Human-friendly name of the vehicle, e.g. bravo
QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
BatteryType batteryType; ///< The battery type
int cells; ///< Number of cells
......@@ -95,7 +96,6 @@ protected:
QList<double> motorValues;
QList<QString> motorNames;
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
double thrustSum; ///< Sum of forward/up thrust of all thrust actuators, in Newtons
double thrustMax; ///< Maximum forward/up thrust of this vehicle, in Newtons
......
src/ui/ParameterInterface.cc
View file @ 966cad30
......@@ -15,6 +15,9 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
m_ui(new Ui::parameterWidget)
{
m_ui->setupUi(this);
// Make sure the combo box is empty
// because else indices get messed up
m_ui->vehicleComboBox->clear();
// Setup UI connections
connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
......@@ -54,7 +57,7 @@ void ParameterInterface::addUAS(UASInterface* uas)
// Set widgets as default
if (curr == -1)
{
m_ui->sensorSettings->setCurrentWidget(param);
m_ui->sensorSettings->setCurrentWidget(sensor);
m_ui->stackedWidget->setCurrentWidget(param);
curr = uas->getUASID();
}
......
src/ui/QGCSensorSettingsWidget.ui
View file @ 966cad30
......@@ -14,6 +14,9 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<property name="margin">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox">
<property name="title">
......
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