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Commit ee6b85b4 authored by lm's avatar lm
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parents 7ca73ac3 047dc94e
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src/uas/PxQuadMAV.cc
View file @ ee6b85b4
......@@ -120,7 +120,16 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "vicon x", "m", pos.x, time);
emit valueChanged(uasId, "vicon y", "m", pos.y, time);
emit valueChanged(uasId, "vicon z", "m", pos.z, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
//emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
}
break;
case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE: {
mavlink_vision_speed_estimate_t speed;
mavlink_msg_vision_speed_estimate_decode(&message, &speed);
quint64 time = getUnixTime(speed.usec);
emit valueChanged(uasId, "vis. speed x", "m/s", speed.x, time);
emit valueChanged(uasId, "vis. speed y", "m/s", speed.y, time);
emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time);
}
break;
default:
......
src/uas/UAS.cc
View file @ ee6b85b4
......@@ -259,8 +259,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
modechanged = true;
this->mode = static_cast<int>(state.base_mode);
shortModeText = getShortModeTextFor(this->mode);
emit modeChanged(this->getUASID(), shortModeText, "");
......@@ -345,7 +343,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit dropRateChanged(this->getUASID(), state.drop_rate_comm/10000.0f);
}
break;
case MAVLINK_MSG_ID_RAW_IMU:
{
mavlink_raw_imu_t raw;
......@@ -381,8 +378,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
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;
{
mavlink_attitude_t attitude;
mavlink_msg_attitude_decode(&message, &attitude);
......@@ -449,8 +444,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit altitudeChanged(uasId, hud.alt);
//yaw = (hud.heading-180.0f/360.0f)*M_PI;
//emit attitudeChanged(this, roll, pitch, yaw, getUnixTime());
emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, getUnixTime());
emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, time);
}
break;
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
......@@ -833,6 +827,19 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "servo #8", "us", servos.servo8_raw, time);
}
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW:
{
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(&message, &flow);
quint64 time = getUnixTime(flow.time);
emit valueChanged(uasId, QString("opt_flow_%1.x").arg(flow.sensor_id), "Pixel", flow.flow_x, time);
emit valueChanged(uasId, QString("opt_flow_%1.y").arg(flow.sensor_id), "Pixel", flow.flow_y, time);
emit valueChanged(uasId, QString("opt_flow_%1.qual").arg(flow.sensor_id), "0-255", flow.quality, time);
emit valueChanged(uasId, QString("opt_flow_%1.dist").arg(flow.sensor_id), "m", flow.ground_distance, time);
}
break;
case MAVLINK_MSG_ID_STATUSTEXT:
{
QByteArray b;
......@@ -908,6 +915,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, str+".z", "raw", vect.z, time);
}
break;
case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
{
mavlink_object_detection_event_t event;
mavlink_msg_object_detection_event_decode(&message, &event);
QString str(event.name);
emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance);
}
break;
// WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET
// case MAVLINK_MSG_ID_MEMORY_VECT:
// {
......@@ -957,22 +972,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// }
// }
// break;
//#ifdef MAVLINK_ENABLED_PIXHAWK
// case MAVLINK_MSG_ID_POINT_OF_INTEREST:
// {
// mavlink_point_of_interest_t poi;
// mavlink_msg_point_of_interest_decode(&message, &poi);
// emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
// }
// break;
// case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
// {
// mavlink_point_of_interest_connection_t poi;
// mavlink_msg_point_of_interest_connection_decode(&message, &poi);
// emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
// }
// break;
//#endif
#ifdef MAVLINK_ENABLED_UALBERTA
case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
{
......
src/uas/UASInterface.h
View file @ ee6b85b4
......@@ -476,6 +476,9 @@ signals:
/** @brief Core specifications have changed */
void systemSpecsChanged(int uasId);
/** @brief Object detected */
void objectDetected(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
// HOME POSITION / ORIGIN CHANGES
void homePositionChanged(int uas, double lat, double lon, double alt);
......
src/ui/HDDisplay.ui
View file @ ee6b85b4
......@@ -14,6 +14,9 @@
<string>Form</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGraphicsView" name="view"/>
</item>
......
src/ui/HSIDisplay.cc
View file @ ee6b85b4
......@@ -119,8 +119,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
// Add interaction elements
QHBoxLayout* layout = new QHBoxLayout(this);
layout->setMargin(2);
layout->setSpacing(0);
layout->setMargin(0);
layout->setSpacing(12);
QDoubleSpinBox* spinBox = new QDoubleSpinBox(this);
spinBox->setMinimum(0.1);
spinBox->setMaximum(9999);
......@@ -453,6 +453,23 @@ void HSIDisplay::updatePositionZControllerEnabled(bool enabled)
zControlKnown = true;
}
void HSIDisplay::updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance)
{
// FIXME add multi-object support
QPainter painter(this);
QColor color(Qt::yellow);
float radius = vwidth / 20.0f;
QPen pen(color);
pen.setWidthF(refLineWidthToPen(0.4f));
pen.setColor(color);
painter.setPen(pen);
painter.setBrush(Qt::NoBrush);
QPointF in(cos(bearing)-sin(bearing)*distance, sin(bearing)+cos(bearing)*distance);
// Scale from metric to screen reference coordinates
QPointF p = metricBodyToRef(in);
drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter);
}
QPointF HSIDisplay::metricWorldToBody(QPointF world)
{
// First translate to body-centered coordinates
......@@ -554,6 +571,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
disconnect(this->uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
}
connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
......@@ -573,6 +591,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
this->uas = uas;
......
src/ui/HSIDisplay.h
View file @ ee6b85b4
......@@ -65,6 +65,7 @@ public slots:
void updateAttitudeControllerEnabled(bool enabled);
void updatePositionXYControllerEnabled(bool enabled);
void updatePositionZControllerEnabled(bool enabled);
void updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
/** @brief Heading control enabled/disabled */
void updatePositionYawControllerEnabled(bool enabled);
......@@ -132,6 +133,11 @@ protected:
QPointF metricBodyToRef(QPointF &metric);
/** @brief Metric body coordinates to screen coordinates */
QPointF metricBodyToScreen(QPointF metric);
QMap<int, QString> objectNames;
QMap<int, int> objectTypes;
QMap<int, float> objectQualities;
QMap<int, float> objectBearings;
QMap<int, float> objectDistances;
/**
* @brief Private data container class to be used within the HSI widget
......
src/ui/QGCMAVLinkInspector.cc
View file @ ee6b85b4
......@@ -13,7 +13,7 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *par
ui->setupUi(this);
/* Insert system */
//ui->systemComboBox();
ui->systemComboBox->addItem(tr("All Systems"), -1);
mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
......
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