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Commit c6a96bf7 authored by dongfang's avatar dongfang
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Impl. Lorenz suggestions wrt one velocityChanged, altitudeChanged,... 

Impl. Lorenz suggestions wrt one velocityChanged, altitudeChanged, speedChanged signal per reference frame. Impl. CDI on compass disk.
parent 10840b7c
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src/uas/UAS.cc
View file @ c6a96bf7
......@@ -711,14 +711,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
}
// dongfang: For APM, this altitude is the mix altitude[m]
emit altitudeChanged(this, PRIMARY_ALTITUDE, hud.alt, time);
// The primary altitude is the one that the UAV uses for navigation.
// We assume! that the HUD message reports that as altitude.
emit primaryAltitudeChanged(this, hud.alt, time);
// This makes the lateral velocity zero when it might really not be, problematic.
// emit speedChanged(this, PRIMARY_SPEED, hud.airspeed, 0.0f, hud.climb, time);
emit speedChanged(this, PRIMARY_SPEED, hud.airspeed, time);
emit speedChanged(this, GROUNDSPEED_BY_UAV, hud.groundspeed, time);
emit climbRateChanged(this, BAROMETRIC_ALTITUDE, hud.groundspeed, time);
emit primarySpeedChanged(this, hud.airspeed, time);
emit gpsSpeedChanged(this, hud.groundspeed, time);
emit climbRateChanged(this, hud.climb, time);
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
......@@ -739,9 +738,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
localZ = pos.z;
// Emit
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
emit velocityChanged(this, MAV_FRAME_LOCAL_NED, pos.vx, pos.vy, pos.vz, time);
emit velocityChanged_NED(this, pos.vx, pos.vy, pos.vz, time);
// Set internal state
if (!positionLock) {
......@@ -786,12 +784,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
// dongfang: The altitude is GPS altitude. Bugger. It needs to be changed to primary.
emit altitudeChanged(this, GPS_ALTITUDE, getAltitude(), time);
emit gpsAltitudeChanged(this, getAltitude(), time);
// We had some frame mess here, global and local axes were mixed.
emit velocityChanged(this, MAV_FRAME_GLOBAL, speedX, speedY, speedZ, time);
emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
double groundspeed = qSqrt(speedX*speedX+speedY*speedY);
emit speedChanged(this, GROUNDSPEED_BY_GPS, groundspeed, time);
emit gpsSpeedChanged(this, groundspeed, time);
// Set internal state
if (!positionLock)
......@@ -838,7 +836,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
setLongitude(longitude_gps);
setAltitude(altitude_gps);
emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
emit altitudeChanged(this, GPS_ALTITUDE, getAltitude(), time);
emit gpsAltitudeChanged(this, getAltitude(), time);
}
positionLock = true;
......@@ -853,7 +851,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
if ((vel < 1000000) && !isnan(vel) && !isinf(vel))
{
// TODO: Other sources also? Actually this condition does not quite belong here.
emit speedChanged(this, GROUNDSPEED_BY_GPS, vel, time);
emit gpsSpeedChanged(this, vel, time);
}
else
{
......
src/uas/UAS.h
View file @ c6a96bf7
......@@ -852,10 +852,9 @@ signals:
void distToWaypointChanged(double val,QString name);
void bearingToWaypointChanged(double val,QString name);
void altitudeChanged(UASInterface*, AltitudeMeasurementSource source, double altitude, quint64 usec);
//void speedChanged(UASInterface*, SpeedMeasurementSource source, double speed, quint64 usec);
//void climbRateChanged(UASInterface*, AltitudeMeasurementSource source, double speed, quint64 usec);
void velocityChanged(UASInterface*, MAV_FRAME, double vx, double vy, double vz, quint64 usec);
//void primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);
//void gpsAltitudeChanged(UASInterface*, double altitude, quint64 usec);
//void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
protected:
/** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
quint64 getUnixTime(quint64 time=0);
......
src/uas/UASInterface.h
View file @ c6a96bf7
......@@ -61,6 +61,7 @@ enum BatteryType
AGZN = 5
}; ///< The type of battery used
/*
enum SpeedMeasurementSource
{
PRIMARY_SPEED = 0, // ArduPlane: Measured airspeed or estimated airspeed. ArduCopter: Ground (XY) speed.
......@@ -84,6 +85,7 @@ enum AltitudeMeasurementFrame
ABSOLUTE = 0, // Altitude is pressure altitude
ABOVE_HOME_POSITION = 1
}; ///< For altitude data, a reference frame
*/
/**
* @brief Interface for all robots.
......@@ -520,16 +522,18 @@ signals:
void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
void localPositionChanged(UASInterface*, int component, double x, double y, double z, quint64 usec);
void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
void altitudeChanged(UASInterface*, AltitudeMeasurementSource source, double altitude, quint64 usec);
void primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);
void gpsAltitudeChanged(UASInterface*, double altitude, quint64 usec);
/** @brief Update the status of one satellite used for localization */
void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
// The horizontal speed (a scalar)
void speedChanged(UASInterface*, SpeedMeasurementSource source, double speed, quint64 usec);
void primarySpeedChanged(UASInterface*, double speed, quint64 usec);
void gpsSpeedChanged(UASInterface*, double speed, quint64 usec);
// The vertical speed (a scalar)
void climbRateChanged(UASInterface*, AltitudeMeasurementSource source, double speed, quint64 usec);
void climbRateChanged(UASInterface*, double climb, quint64 usec);
// Consider adding a MAV_FRAME parameter to this; could help specifying what the 3 scalars are.
void velocityChanged(UASInterface*, MAV_FRAME frame, double vx, double vy, double vz, quint64 usec);
void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
void navigationControllerErrorsChanged(UASInterface*, double altitudeError, double speedError, double xtrackError);
......
src/ui/HSIDisplay.cc
View file @ c6a96bf7
......@@ -867,7 +867,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
disconnect(this->uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
disconnect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
disconnect(this->uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
......@@ -898,7 +898,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
......
src/ui/HUD.cc
View file @ c6a96bf7
......@@ -270,7 +270,7 @@ void HUD::setActiveUAS(UASInterface* uas)
disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(velocityChanged_NEDspeedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
// Try to disconnect the image link
......@@ -293,7 +293,7 @@ void HUD::setActiveUAS(UASInterface* uas)
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
// Try to connect the image link
......
src/ui/PrimaryFlightDisplay.cpp
View file @ c6a96bf7
......@@ -58,6 +58,9 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
font("Bitstream Vera Sans"),
refreshTimer(new QTimer(this)),
navigationCrosstrackError(INFINITY),
navigationTargetBearing(UNKNOWN_ATTITUDE),
layout(COMPASS_INTEGRATED),
style(OVERLAY_HSI),
......@@ -172,6 +175,13 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
// Disconnect any previously connected active MAV
disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
disconnect(this->uas, SIGNAL(primarySpeedChanged(UASInterface*, double, quint64)), this, SLOT(updatePrimarySpeed(UASInterface*,double,quint64)));
disconnect(this->uas, SIGNAL(gpsSpeedChanged(UASInterface*, double, quint64)), this, SLOT(updateGPSSpeed(UASInterface*,double,quint64)));
disconnect(this->uas, SIGNAL(climbRateChanged(UASInterface*, double, quint64)), this, SLOT(updateClimbRate(UASInterface*, AltitudeMeasurementSource, double, quint64)));
disconnect(this->uas, SIGNAL(primaryAltitudeChanged(UASInterface*, double, quint64)), this, SLOT(updatePrimaryAltitude(UASInterface*, double, quint64)));
disconnect(this->uas, SIGNAL(gpsAltitudeChanged(UASInterface*, double, quint64)), this, SLOT(updateGPSAltitude(UASInterface*, double, quint64)));
disconnect(this->uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
//disconnect(this->uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
//disconnect(this->uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
......@@ -179,14 +189,7 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
//disconnect(this->uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
//disconnect(this->uas, SIGNAL(armingChanged(bool)), this, SLOT(updateArmed(bool)));
//disconnect(this->uas, SIGNAL(satelliteCountChanged(double, QString)), this, SLOT(updateSatelliteCount(double, QString)));
disconnect(this->uas, SIGNAL(localizationChanged(UASInterface* uas, int fix)), this, SLOT(updateGPSFixType(UASInterface*,int)));
//disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
//disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
disconnect(this->uas, SIGNAL(speedChanged(UASInterface*, SpeedMeasurementSource, double, quint64)), this, SLOT(updateSpeed(UASInterface*,SpeedMeasurementSource,double,quint64)));
disconnect(this->uas, SIGNAL(climbRateChanged(UASInterface*, AltitudeMeasurementSource, double, quint64)), this, SLOT(updateClimbRate(UASInterface*, AltitudeMeasurementSource, double, quint64)));
disconnect(this->uas, SIGNAL(altitudeChanged(UASInterface*, AltitudeMeasurementSource, double)), this, SLOT(updateAltitude(UASInterface*, AltitudeMeasurementSource, double, quint64)));
//disconnect(this->uas, SIGNAL(localizationChanged(UASInterface* uas, int fix)), this, SLOT(updateGPSFixType(UASInterface*,int)));
}
if (uas) {
......@@ -205,9 +208,12 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
//connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
//connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
connect(uas, SIGNAL(speedChanged(UASInterface*, SpeedMeasurementSource, double, quint64)), this, SLOT(updateSpeed(UASInterface*,SpeedMeasurementSource,double,quint64)));
connect(uas, SIGNAL(climbRateChanged(UASInterface*, AltitudeMeasurementSource, double, quint64)), this, SLOT(updateClimbRate(UASInterface*, AltitudeMeasurementSource, double, quint64)));
connect(uas, SIGNAL(altitudeChanged(UASInterface*, AltitudeMeasurementSource, double, quint64)), this, SLOT(updateAltitude(UASInterface*, AltitudeMeasurementSource, double, quint64)));
connect(uas, SIGNAL(primarySpeedChanged(UASInterface*, double, quint64)), this, SLOT(updatePrimarySpeed(UASInterface*,double,quint64)));
connect(uas, SIGNAL(gpsSpeedChanged(UASInterface*, double, quint64)), this, SLOT(updateGPSSpeed(UASInterface*,double,quint64)));
connect(uas, SIGNAL(climbRateChanged(UASInterface*, double, quint64)), this, SLOT(updateClimbRate(UASInterface*, AltitudeMeasurementSource, double, quint64)));
connect(uas, SIGNAL(primaryAltitudeChanged(UASInterface*, double, quint64)), this, SLOT(updatePrimaryAltitude(UASInterface*, double, quint64)));
connect(uas, SIGNAL(gpsAltitudeChanged(UASInterface*, double, quint64)), this, SLOT(updateGPSAltitude(UASInterface*, double, quint64)));
connect(uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
// Set new UAS
this->uas = uas;
......@@ -257,40 +263,54 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, int component, doub
* TODO! Examine what data comes with this call, should we consider it airspeed, ground speed or
* should we not consider it at all?
*/
void PrimaryFlightDisplay::updateSpeed(UASInterface* uas, SpeedMeasurementSource source, double speed, quint64 timestamp)
void PrimaryFlightDisplay::updatePrimarySpeed(UASInterface* uas, double speed, quint64 timestamp)
{
Q_UNUSED(uas);
Q_UNUSED(timestamp);
primarySpeed = speed;
didReceivePrimarySpeed = true;
}
void PrimaryFlightDisplay::updateGPSSpeed(UASInterface* uas, double speed, quint64 timestamp)
{
Q_UNUSED(uas);
Q_UNUSED(timestamp);
if (source == PRIMARY_SPEED) {
groundspeed = speed;
if (!didReceivePrimarySpeed)
primarySpeed = speed;
didReceivePrimarySpeed = true;
} else if (source == GROUNDSPEED_BY_GPS || source == GROUNDSPEED_BY_UAV) {
groundspeed = speed;
if (!didReceivePrimarySpeed)
primarySpeed = speed;
}
}
void PrimaryFlightDisplay::updateClimbRate(UASInterface* uas, AltitudeMeasurementSource source, double climbRate, quint64 timestamp) {
void PrimaryFlightDisplay::updateClimbRate(UASInterface* uas, double climbRate, quint64 timestamp) {
Q_UNUSED(uas);
Q_UNUSED(timestamp);
verticalVelocity = climbRate;
}
void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, AltitudeMeasurementSource source, double altitude, quint64 timestamp) {
void PrimaryFlightDisplay::updatePrimaryAltitude(UASInterface* uas, double altitude, quint64 timestamp) {
Q_UNUSED(uas);
Q_UNUSED(timestamp);
primaryAltitude = altitude;
didReceivePrimaryAltitude = true;
}
void PrimaryFlightDisplay::updateGPSAltitude(UASInterface* uas, double altitude, quint64 timestamp) {
Q_UNUSED(uas);
Q_UNUSED(timestamp);
if (source == PRIMARY_ALTITUDE) {
GPSAltitude = altitude;
if (!didReceivePrimaryAltitude)
primaryAltitude = altitude;
didReceivePrimaryAltitude = true;
} else if (source == GPS_ALTITUDE) {
GPSAltitude = altitude;
if (!didReceivePrimaryAltitude)
primaryAltitude = altitude;
}
}
void PrimaryFlightDisplay::updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError) {
Q_UNUSED(uas);
this->navigationAltitudeError = altitudeError;
this->navigationSpeedError = speedError;
this->navigationCrosstrackError = xtrackError;
}
/*
* Private and such
*/
......@@ -310,6 +330,13 @@ bool PrimaryFlightDisplay::isAirplane() {
}
}
// TODO: Implement. Should return true when navigating.
// That would be (APM) in AUTO and RTL modes.
// This could forward to a virtual on UAS bool isNavigatingAutonomusly() or whatever.
bool PrimaryFlightDisplay::shouldDisplayNavigationData() {
return true;
}
void PrimaryFlightDisplay::drawTextCenter (
QPainter& painter,
QString text,
......@@ -646,7 +673,6 @@ void PrimaryFlightDisplay::drawRollScale(
}
}
void PrimaryFlightDisplay::drawAIAttitudeScales(
QPainter& painter,
QRectF area,
......@@ -769,10 +795,41 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
painter.setPen(pen);
drawTextCenter(painter, s_digitalCompass, largeTextSize, 0, -radius*0.38-digitalCompassUpshift);
}
// TODO: Merge common code above and below this line.....
// dummy
// navigationTargetBearing = 10;
// navigationCrosstrackError = 500;
// The CDI
if (shouldDisplayNavigationData() && navigationTargetBearing != UNKNOWN_ATTITUDE && !isinf(navigationCrosstrackError)) {
painter.resetTransform();
painter.translate(area.center());
// TODO : Sign might be wrong?
// TODO : The case where error exceeds max. Truncate to max. and make that visible somehow.
bool errorBeyondRadius = false;
if (abs(navigationCrosstrackError) > CROSSTRACK_MAX) {
errorBeyondRadius = true;
navigationCrosstrackError = navigationCrosstrackError>0 ? CROSSTRACK_MAX : -CROSSTRACK_MAX;
}
float r = radius * CROSSTRACK_RADIUS;
float x = navigationCrosstrackError / CROSSTRACK_MAX * r;
float y = qSqrt(r*r - x*x); // the positive y, there is also a negative.
float sillyHeading = 0;
float angle = sillyHeading - navigationTargetBearing; // TODO: sign.
painter.rotate(-angle);
QPen pen;
pen.setWidthF(lineWidth);
pen.setColor(Qt::black);
painter.setPen(pen);
painter.drawLine(QPointF(x, y), QPointF(x, -y));
}
}
/*
void PrimaryFlightDisplay::drawSeparateCompassDisk(QPainter& painter, QRectF area) {
float radius = area.width()/2;
float innerRadius = radius * 0.96;
......@@ -852,7 +909,6 @@ void PrimaryFlightDisplay::drawSeparateCompassDisk(QPainter& painter, QRectF are
// if (heading < 0) heading += 360;
// else if (heading >= 360) heading -= 360;
/* final safeguard for really stupid systems */
int yawCompass = static_cast<int>(heading) % 360;
QString yawAngle;
......@@ -865,6 +921,7 @@ void PrimaryFlightDisplay::drawSeparateCompassDisk(QPainter& painter, QRectF are
drawTextCenter(painter, yawAngle, largeTextSize, 0, radius/4);
}
*/
void PrimaryFlightDisplay::drawAltimeter(
QPainter& painter,
......@@ -1402,9 +1459,9 @@ void PrimaryFlightDisplay::doPaint() {
drawAIAttitudeScales(painter, AIMainArea, compassAIIntrusion);
drawAIAirframeFixedFeatures(painter, AIMainArea);
if(layout ==COMPASS_SEPARATED)
drawSeparateCompassDisk(painter, compassArea);
else
// if(layout ==COMPASS_SEPARATED)
//drawSeparateCompassDisk(painter, compassArea);
// else
drawAICompassDisk(painter, compassArea, compassHalfSpan);
painter.setClipping(hadClip);
......
src/ui/PrimaryFlightDisplay.h
View file @ c6a96bf7
......@@ -58,6 +58,9 @@
#define COMPASS_DISK_MARKERWIDTH 0.2
#define COMPASS_DISK_MARKERHEIGHT 0.133
#define CROSSTRACK_MAX 1000
#define CROSSTRACK_RADIUS 0.6
#define TAPE_GAUGES_TICKWIDTH_MAJOR 0.25
#define TAPE_GAUGES_TICKWIDTH_MINOR 0.15
......@@ -107,9 +110,13 @@ public slots:
/** @brief Attitude from one specific component / redundant autopilot */
void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
void updateSpeed(UASInterface* uas, SpeedMeasurementSource source, double speed, quint64 timstamp);
void updateClimbRate(UASInterface* uas, AltitudeMeasurementSource source, double altitude, quint64 timestamp);
void updateAltitude(UASInterface* uas, AltitudeMeasurementSource source, double altitude, quint64 timestamp);
void updatePrimarySpeed(UASInterface* uas, double speed, quint64 timstamp);
void updateGPSSpeed(UASInterface* uas, double speed, quint64 timstamp);
void updateClimbRate(UASInterface* uas, double altitude, quint64 timestamp);
void updatePrimaryAltitude(UASInterface* uas, double altitude, quint64 timestamp);
void updateGPSAltitude(UASInterface* uas, double altitude, quint64 timestamp);
void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError);
/** @brief Set the currently monitored UAS */
virtual void setActiveUAS(UASInterface* uas);
......@@ -168,6 +175,7 @@ private:
* - Airplane show absolute altutude in altimeter, copter shows relative to home
*/
bool isAirplane();
bool shouldDisplayNavigationData();
void drawTextCenter(QPainter& painter, QString text, float fontSize, float x, float y);
void drawTextLeftCenter(QPainter& painter, QString text, float fontSize, float x, float y);
......@@ -222,6 +230,11 @@ private:
float groundspeed;
float verticalVelocity;
float navigationAltitudeError;
float navigationSpeedError;
float navigationCrosstrackError;
float navigationTargetBearing;
Layout layout; // The display layout.
Style style; // The AI style (tapes translusent or opague)
......
src/ui/SlugsDataSensorView.cc
View file @ c6a96bf7
......@@ -38,7 +38,7 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
//connect standar messages
connect(slugsMav, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugLocalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav,SIGNAL(slugsGPSCogSog(int,double,double)),this,SLOT(slugsGPSCogSog(int,double,double)));
......
src/ui/uas/UASControlParameters.cpp
View file @ c6a96bf7
......@@ -93,7 +93,7 @@ void UASControlParameters::activeUasSet(UASInterface *uas)
{
if(uas) {
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(thrustChanged(UASInterface*,double)), this, SLOT(thrustChanged(UASInterface*,double)) );
......
src/ui/uas/UASView.cc
View file @ c6a96bf7
......@@ -91,7 +91,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
......
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