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Commit a0d526bf authored by lm's avatar lm
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Cleaned up compile environment

parent 49d61d9e
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src/comm/MAVLinkXMLParser.cc
View file @ a0d526bf
......@@ -73,6 +73,8 @@ bool MAVLinkXMLParser::generate()
QList< QPair<QString, QString> > cFiles;
QString lcmStructDefs = "";
QString pureFileName;
// Run through root children
while(!n.isNull())
{
......@@ -103,6 +105,7 @@ bool MAVLinkXMLParser::generate()
{
QFileInfo rInfo(this->fileName);
fileName = rInfo.absoluteDir().canonicalPath() + "/" + fileName;
pureFileName = rInfo.baseName().split(".").first();
}
QFile file(fileName);
......@@ -365,6 +368,7 @@ bool MAVLinkXMLParser::generate()
// Mark all code as C code
mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
mainHeader += "\n#include \"protocol.h\"\n";
mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n";
QString includeLine = "#include \"%1\"\n";
QString mainHeaderName = "mavlink.h";
QString messagesDirName = "generated";
......
src/uas/PxQuadMAV.cc
View file @ a0d526bf
......@@ -20,93 +20,123 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
UAS::receiveMessage(link, message);
mavlink_message_t* msg = &message;
//qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
//qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
// Only compile this portion if matching MAVLink packets have been compiled
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
// Handle your special messages
switch (msg->msgid)
if (message.sysid == uasId)
{
case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
QString uasState;
QString stateDescription;
QString patternPath;
switch (message.msgid)
{
mavlink_watchdog_heartbeat_t payload;
mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
emit watchdogReceived(this->uasId, payload.watchdog_id, payload.process_count);
}
break;
case MAVLINK_MSG_ID_RAW_AUX:
{
mavlink_raw_aux_t raw;
mavlink_msg_raw_aux_decode(&message, &raw);
quint64 time = getUnixTime(0);
emit valueChanged(uasId, "Pressure", raw.baro, time);
emit valueChanged(uasId, "Temperature", raw.temp, time);
}
break;
case MAVLINK_MSG_ID_PATTERN_DETECTED:
{
QByteArray b;
b.resize(256);
mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
b.append('\0');
QString path = QString(b);
bool detected (mavlink_msg_pattern_detected_get_detected(&message) == 1 ? true : false );
emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected);
}
break;
case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
{
mavlink_watchdog_heartbeat_t payload;
mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
emit watchdogReceived(this->uasId, payload.watchdog_id, payload.process_count);
}
break;
case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
{
mavlink_watchdog_process_info_t payload;
mavlink_msg_watchdog_process_info_decode(msg, &payload);
emit processReceived(this->uasId, payload.watchdog_id, payload.process_id, QString((const char*)payload.name), QString((const char*)payload.arguments), payload.timeout);
}
break;
{
mavlink_watchdog_process_info_t payload;
mavlink_msg_watchdog_process_info_decode(msg, &payload);
emit processReceived(this->uasId, payload.watchdog_id, payload.process_id, QString((const char*)payload.name), QString((const char*)payload.arguments), payload.timeout);
}
break;
case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
{
mavlink_watchdog_process_status_t payload;
mavlink_msg_watchdog_process_status_decode(msg, &payload);
emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
}
break;
{
mavlink_watchdog_process_status_t payload;
mavlink_msg_watchdog_process_status_decode(msg, &payload);
emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
}
break;
case MAVLINK_MSG_ID_DEBUG_VECT:
{
mavlink_debug_vect_t vect;
mavlink_msg_debug_vect_decode(msg, &vect);
QString str((const char*)vect.name);
emit valueChanged(uasId, str+".x", vect.x, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, str+".y", vect.y, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, str+".z", vect.z, MG::TIME::getGroundTimeNow());
}
break;
{
mavlink_debug_vect_t vect;
mavlink_msg_debug_vect_decode(msg, &vect);
QString str((const char*)vect.name);
emit valueChanged(uasId, str+".x", vect.x, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, str+".y", vect.y, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, str+".z", vect.z, MG::TIME::getGroundTimeNow());
}
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vis. roll", pos.roll, time);
emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
emit valueChanged(uasId, "vis. x", pos.x, time);
emit valueChanged(uasId, "vis. y", pos.y, time);
emit valueChanged(uasId, "vis. z", pos.z, time);
emit valueChanged(uasId, "vis. vx", pos.vx, time);
emit valueChanged(uasId, "vis. vy", pos.vy, time);
emit valueChanged(uasId, "vis. vz", pos.vz, time);
emit valueChanged(uasId, "vis. vyaw", pos.vyaw, time);
// Set internal state
if (!positionLock)
{
// If position was not locked before, notify positive
GAudioOutput::instance()->notifyPositive();
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vis. roll", pos.roll, time);
emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
emit valueChanged(uasId, "vis. x", pos.x, time);
emit valueChanged(uasId, "vis. y", pos.y, time);
emit valueChanged(uasId, "vis. z", pos.z, time);
emit valueChanged(uasId, "vis. vx", pos.vx, time);
emit valueChanged(uasId, "vis. vy", pos.vy, time);
emit valueChanged(uasId, "vis. vz", pos.vz, time);
emit valueChanged(uasId, "vis. vyaw", pos.vyaw, time);
// Set internal state
if (!positionLock)
{
// If position was not locked before, notify positive
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
}
positionLock = true;
}
break;
break;
case MAVLINK_MSG_ID_AUX_STATUS:
{
mavlink_aux_status_t status;
mavlink_msg_aux_status_decode(&message, &status);
emit loadChanged(this, status.load/10.0f);
emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count);
emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count);
emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
emit valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
}
break;
{
mavlink_aux_status_t status;
mavlink_msg_aux_status_decode(&message, &status);
emit loadChanged(this, status.load/10.0f);
emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count);
emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count);
emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
emit valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
}
break;
default:
// Do nothing
break;
// Do nothing
break;
}
}
#endif
}
void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
mavlink_watchdog_command_t payload;
payload.target_system_id = uasId;
payload.watchdog_id = watchdogId;
......@@ -116,4 +146,5 @@ void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int c
mavlink_message_t msg;
mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
sendMessage(msg);
#endif
}
src/uas/UAS.cc
View file @ a0d526bf
......@@ -266,15 +266,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "Mag. Z", raw.zmag, time);
}
break;
case MAVLINK_MSG_ID_RAW_AUX:
{
mavlink_raw_aux_t raw;
mavlink_msg_raw_aux_decode(&message, &raw);
quint64 time = getUnixTime(0);
emit valueChanged(uasId, "Pressure", raw.baro, time);
emit valueChanged(uasId, "Temperature", raw.temp, time);
}
break;
case MAVLINK_MSG_ID_ATTITUDE:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
......@@ -349,7 +340,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
//qDebug() << "GOT GPS STATUS FOR "<< pos.satellites_visible << "SATELLITES";
for(int i = 0; i < (int)pos.satellites_visible; i++)
{
emit gpsSatelliteStatusChanged(uasId, i, pos.satellite_azimuth[i], pos.satellite_direction[i], pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
emit gpsSatelliteStatusChanged(uasId, i, pos.satellite_elevation[i], pos.satellite_azimuth[i], pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
}
}
break;
......@@ -390,17 +381,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit textMessageReceived(uasId, severity, text);
}
break;
case MAVLINK_MSG_ID_PATTERN_DETECTED:
{
QByteArray b;
b.resize(256);
mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
b.append('\0');
QString path = QString(b);
bool detected (mavlink_msg_pattern_detected_get_detected(&message) == 1 ? true : false );
emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected);
}
break;
default:
{
if (!unknownPackets.contains(message.msgid))
......
src/ui/HSIDisplay.cc
View file @ a0d526bf
......@@ -146,7 +146,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
//}
}
void HSIDisplay::updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used)
void HSIDisplay::updateSatellite(int uasid, int satid, float elevation, float azimuth, float snr, bool used)
{
Q_UNUSED(uasid);
//qDebug() << "UPDATED SATELLITE";
......@@ -159,12 +159,12 @@ void HSIDisplay::updateSatellite(int uasid, int satid, float azimuth, float dire
if (gpsSatellites.at(satid) == NULL)
{
gpsSatellites.insert(satid, new GPSSatellite(satid, azimuth, direction, snr, used));
gpsSatellites.insert(satid, new GPSSatellite(satid, elevation, azimuth, snr, used));
}
else
{
// Satellite exists, update it
gpsSatellites.at(satid)->update(satid, azimuth, direction, snr, used);
gpsSatellites.at(satid)->update(satid, elevation, azimuth, snr, used);
}
}
......@@ -230,8 +230,8 @@ void HSIDisplay::drawGPS()
painter.setPen(color);
painter.setBrush(brush);
float xPos = xCenter + sin(sat->direction/180.0f * M_PI) * (sat->azimuth/180.0f * M_PI) * radius;
float yPos = yCenter + cos(sat->direction/180.0f * M_PI) * (sat->azimuth/180.0f * M_PI) * radius;
float xPos = xCenter + sin(((sat->azimuth/255.0f)*360.0f)/180.0f * M_PI) * (sat->elevation/180.0f * M_PI) * radius;
float yPos = yCenter + cos(((sat->azimuth/255.0f)*360.0f)/180.0f * M_PI) * (sat->elevation/180.0f * M_PI) * radius;
drawCircle(xPos, yPos, vwidth*0.02f, 1.0f, color, &painter);
}
......
src/ui/HSIDisplay.h
View file @ a0d526bf
......@@ -68,28 +68,28 @@ protected:
class GPSSatellite
{
public:
GPSSatellite(int id, float azimuth, float direction, float snr, bool used) :
GPSSatellite(int id, float elevation, float azimuth, float snr, bool used) :
id(id),
elevation(elevation),
azimuth(azimuth),
direction(direction),
snr(snr),
used(used)
{
}
void update(int id, float azimuth, float direction, float snr, bool used)
void update(int id, float elevation, float azimuth, float snr, bool used)
{
this->id = id;
this->elevation = elevation;
this->azimuth = azimuth;
this->direction = direction;
this->snr = snr;
this->used = used;
}
int id;
float elevation;
float azimuth;
float direction;
float snr;
bool used;
......
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