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Valentin Platzgummer
qgroundcontrol
Commits
00f04678
Commit
00f04678
authored
Jan 02, 2018
by
Jacob Walser
Browse files
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Plain Diff
Add USB GPS support for GCS position
parent
df6054f0
Changes
8
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8 changed files
with
154 additions
and
7 deletions
+154
-7
PositionManager.cpp
src/PositionManager/PositionManager.cpp
+16
-2
PositionManager.h
src/PositionManager/PositionManager.h
+7
-2
AutoConnect.SettingsGroup.json
src/Settings/AutoConnect.SettingsGroup.json
+14
-0
AutoConnectSettings.cc
src/Settings/AutoConnectSettings.cc
+22
-0
AutoConnectSettings.h
src/Settings/AutoConnectSettings.h
+8
-0
LinkManager.cc
src/comm/LinkManager.cc
+26
-2
LinkManager.h
src/comm/LinkManager.h
+5
-0
GeneralSettings.qml
src/ui/preferences/GeneralSettings.qml
+56
-1
No files found.
src/PositionManager/PositionManager.cpp
View file @
00f04678
...
...
@@ -22,6 +22,7 @@ QGCPositionManager::QGCPositionManager(QGCApplication* app, QGCToolbox* toolbox)
QGCPositionManager
::~
QGCPositionManager
()
{
delete
(
_simulatedSource
);
delete
(
_nmeaSource
);
}
void
QGCPositionManager
::
setToolbox
(
QGCToolbox
*
toolbox
)
...
...
@@ -41,7 +42,17 @@ void QGCPositionManager::setToolbox(QGCToolbox *toolbox)
// _defaultSource = _simulatedSource;
// }
setPositionSource
(
QGCPositionSource
::
GPS
);
setPositionSource
(
QGCPositionSource
::
InternalGPS
);
}
void
QGCPositionManager
::
setNmeaSourceDevice
(
QIODevice
*
device
)
{
if
(
_nmeaSource
)
{
delete
_nmeaSource
;
}
_nmeaSource
=
new
QNmeaPositionInfoSource
(
QNmeaPositionInfoSource
::
RealTimeMode
,
this
);
_nmeaSource
->
setDevice
(
device
);
setPositionSource
(
QGCPositionManager
::
NmeaGPS
);
}
void
QGCPositionManager
::
_positionUpdated
(
const
QGeoPositionInfo
&
update
)
...
...
@@ -73,7 +84,10 @@ void QGCPositionManager::setPositionSource(QGCPositionManager::QGCPositionSource
case
QGCPositionManager
:
:
Simulated
:
_currentSource
=
_simulatedSource
;
break
;
case
QGCPositionManager
:
:
GPS
:
case
QGCPositionManager
:
:
NmeaGPS
:
_currentSource
=
_nmeaSource
;
break
;
case
QGCPositionManager
:
:
InternalGPS
:
default:
_currentSource
=
_defaultSource
;
break
;
...
...
src/PositionManager/PositionManager.h
View file @
00f04678
...
...
@@ -10,6 +10,7 @@
#pragma once
#include <QGeoPositionInfoSource>
#include <QNmeaPositionInfoSource>
#include <QVariant>
...
...
@@ -26,8 +27,9 @@ public:
enum
QGCPositionSource
{
Simulated
,
GPS
,
Log
InternalGPS
,
Log
,
NmeaGPS
};
void
setPositionSource
(
QGCPositionSource
source
);
...
...
@@ -36,6 +38,8 @@ public:
void
setToolbox
(
QGCToolbox
*
toolbox
);
void
setNmeaSourceDevice
(
QIODevice
*
device
);
private
slots
:
void
_positionUpdated
(
const
QGeoPositionInfo
&
update
);
void
_error
(
QGeoPositionInfoSource
::
Error
positioningError
);
...
...
@@ -48,5 +52,6 @@ private:
int
_updateInterval
;
QGeoPositionInfoSource
*
_currentSource
;
QGeoPositionInfoSource
*
_defaultSource
;
QNmeaPositionInfoSource
*
_nmeaSource
;
QGeoPositionInfoSource
*
_simulatedSource
;
};
src/Settings/AutoConnect.SettingsGroup.json
View file @
00f04678
...
...
@@ -41,6 +41,20 @@
"type"
:
"bool"
,
"defaultValue"
:
true
},
{
"name"
:
"AutoconnectNmeaPort"
,
"shortDescription"
:
"NMEA GPS device for GCS position"
,
"longDescription"
:
"NMEA GPS device for GCS position"
,
"type"
:
"string"
,
"defaultValue"
:
"disabled"
},
{
"name"
:
"AutoconnectNmeaBaud"
,
"shortDescription"
:
"NMEA GPS Baudrate"
,
"longDescription"
:
"NMEA GPS Baudrate"
,
"type"
:
"uint32"
,
"defaultValue"
:
4800
},
{
"name"
:
"AutoconnectUDPListenPort"
,
"shortDescription"
:
"UDP port for autoconnect"
,
...
...
src/Settings/AutoConnectSettings.cc
View file @
00f04678
...
...
@@ -21,6 +21,8 @@ const char* AutoConnectSettings:: autoConnectSiKRadioSettingsName = "Autocon
const
char
*
AutoConnectSettings
::
autoConnectPX4FlowSettingsName
=
"AutoconnectPX4Flow"
;
const
char
*
AutoConnectSettings
::
autoConnectRTKGPSSettingsName
=
"AutoconnectRTKGPS"
;
const
char
*
AutoConnectSettings
::
autoConnectLibrePilotSettingsName
=
"AutoconnectLibrePilot"
;
const
char
*
AutoConnectSettings
::
autoConnectNmeaPortName
=
"AutoconnectNmeaPort"
;
const
char
*
AutoConnectSettings
::
autoConnectNmeaBaudName
=
"AutoconnectNmeaBaud"
;
const
char
*
AutoConnectSettings
::
udpListenPortName
=
"AutoconnectUDPListenPort"
;
const
char
*
AutoConnectSettings
::
udpTargetHostIPName
=
"AutoconnectUDPTargetHostIP"
;
const
char
*
AutoConnectSettings
::
udpTargetHostPortName
=
"AutoconnectUDPTargetHostPort"
;
...
...
@@ -35,6 +37,8 @@ AutoConnectSettings::AutoConnectSettings(QObject* parent)
,
_autoConnectPX4FlowFact
(
NULL
)
,
_autoConnectRTKGPSFact
(
NULL
)
,
_autoConnectLibrePilotFact
(
NULL
)
,
_autoConnectNmeaPortFact
(
NULL
)
,
_autoConnectNmeaBaudFact
(
NULL
)
,
_udpListenPortFact
(
NULL
)
,
_udpTargetHostIPFact
(
NULL
)
,
_udpTargetHostPortFact
(
NULL
)
...
...
@@ -97,6 +101,24 @@ Fact* AutoConnectSettings::autoConnectLibrePilot(void)
return
_autoConnectLibrePilotFact
;
}
Fact
*
AutoConnectSettings
::
autoConnectNmeaPort
(
void
)
{
if
(
!
_autoConnectNmeaPortFact
)
{
_autoConnectNmeaPortFact
=
_createSettingsFact
(
autoConnectNmeaPortName
);
}
return
_autoConnectNmeaPortFact
;
}
Fact
*
AutoConnectSettings
::
autoConnectNmeaBaud
(
void
)
{
if
(
!
_autoConnectNmeaBaudFact
)
{
_autoConnectNmeaBaudFact
=
_createSettingsFact
(
autoConnectNmeaBaudName
);
}
return
_autoConnectNmeaBaudFact
;
}
Fact
*
AutoConnectSettings
::
udpListenPort
(
void
)
{
if
(
!
_udpListenPortFact
)
{
...
...
src/Settings/AutoConnectSettings.h
View file @
00f04678
...
...
@@ -25,6 +25,8 @@ public:
Q_PROPERTY
(
Fact
*
autoConnectPX4Flow
READ
autoConnectPX4Flow
CONSTANT
)
Q_PROPERTY
(
Fact
*
autoConnectRTKGPS
READ
autoConnectRTKGPS
CONSTANT
)
Q_PROPERTY
(
Fact
*
autoConnectLibrePilot
READ
autoConnectLibrePilot
CONSTANT
)
Q_PROPERTY
(
Fact
*
autoConnectNmeaPort
READ
autoConnectNmeaPort
CONSTANT
)
Q_PROPERTY
(
Fact
*
autoConnectNmeaBaud
READ
autoConnectNmeaBaud
CONSTANT
)
Q_PROPERTY
(
Fact
*
udpListenPort
READ
udpListenPort
CONSTANT
)
///< Port to listen on for UDP autoconnect
Q_PROPERTY
(
Fact
*
udpTargetHostIP
READ
udpTargetHostIP
CONSTANT
)
///< Target host IP for UDP autoconnect, empty string for none
Q_PROPERTY
(
Fact
*
udpTargetHostPort
READ
udpTargetHostPort
CONSTANT
)
///< Target host post for UDP autoconnect
...
...
@@ -35,6 +37,8 @@ public:
Fact
*
autoConnectPX4Flow
(
void
);
Fact
*
autoConnectRTKGPS
(
void
);
Fact
*
autoConnectLibrePilot
(
void
);
Fact
*
autoConnectNmeaPort
(
void
);
Fact
*
autoConnectNmeaBaud
(
void
);
Fact
*
udpListenPort
(
void
);
Fact
*
udpTargetHostIP
(
void
);
Fact
*
udpTargetHostPort
(
void
);
...
...
@@ -47,6 +51,8 @@ public:
static
const
char
*
autoConnectPX4FlowSettingsName
;
static
const
char
*
autoConnectRTKGPSSettingsName
;
static
const
char
*
autoConnectLibrePilotSettingsName
;
static
const
char
*
autoConnectNmeaPortName
;
static
const
char
*
autoConnectNmeaBaudName
;
static
const
char
*
udpListenPortName
;
static
const
char
*
udpTargetHostIPName
;
static
const
char
*
udpTargetHostPortName
;
...
...
@@ -58,6 +64,8 @@ private:
SettingsFact
*
_autoConnectPX4FlowFact
;
SettingsFact
*
_autoConnectRTKGPSFact
;
SettingsFact
*
_autoConnectLibrePilotFact
;
SettingsFact
*
_autoConnectNmeaPortFact
;
SettingsFact
*
_autoConnectNmeaBaudFact
;
SettingsFact
*
_udpListenPortFact
;
SettingsFact
*
_udpTargetHostIPFact
;
SettingsFact
*
_udpTargetHostPortFact
;
...
...
src/comm/LinkManager.cc
View file @
00f04678
...
...
@@ -21,6 +21,7 @@
#include "UDPLink.h"
#include "TCPLink.h"
#include "SettingsManager.h"
#include "PositionManager.h"
#ifdef QGC_ENABLE_BLUETOOTH
#include "BluetoothLink.h"
#endif
...
...
@@ -50,6 +51,7 @@ LinkManager::LinkManager(QGCApplication* app, QGCToolbox* toolbox)
,
_mavlinkChannelsUsedBitMask
(
1
)
// We never use channel 0 to avoid sequence numbering problems
,
_autoConnectSettings
(
NULL
)
,
_mavlinkProtocol
(
NULL
)
,
_nmeaPort
(
NULL
)
{
qmlRegisterUncreatableType
<
LinkManager
>
(
"QGroundControl"
,
1
,
0
,
"LinkManager"
,
"Reference only"
);
qmlRegisterUncreatableType
<
LinkConfiguration
>
(
"QGroundControl"
,
1
,
0
,
"LinkConfiguration"
,
"Reference only"
);
...
...
@@ -64,7 +66,7 @@ LinkManager::LinkManager(QGCApplication* app, QGCToolbox* toolbox)
LinkManager
::~
LinkManager
()
{
delete
_nmeaPort
;
}
void
LinkManager
::
setToolbox
(
QGCToolbox
*
toolbox
)
...
...
@@ -500,8 +502,30 @@ void LinkManager::_updateAutoConnectLinks(void)
QGCSerialPortInfo
::
BoardType_t
boardType
;
QString
boardName
;
if
(
portInfo
.
getBoardInfo
(
boardType
,
boardName
))
{
if
(
portInfo
.
systemLocation
().
trimmed
()
==
_autoConnectSettings
->
autoConnectNmeaPort
()
->
cookedValueString
())
{
if
(
portInfo
.
systemLocation
().
trimmed
()
!=
_nmeaDeviceName
)
{
_nmeaDeviceName
=
portInfo
.
systemLocation
().
trimmed
();
qCDebug
(
LinkManagerLog
)
<<
"Configuring nmea port"
<<
_nmeaDeviceName
;
QSerialPort
*
newPort
=
new
QSerialPort
(
portInfo
);
_nmeaBaud
=
_autoConnectSettings
->
autoConnectNmeaBaud
()
->
cookedValue
().
toUInt
();
newPort
->
setBaudRate
(
_nmeaBaud
);
qCDebug
(
LinkManagerLog
)
<<
"Configuring nmea baudrate"
<<
_nmeaBaud
;
// This will stop polling old device if previously set
_toolbox
->
qgcPositionManager
()
->
setNmeaSourceDevice
(
newPort
);
if
(
_nmeaPort
)
{
delete
_nmeaPort
;
}
_nmeaPort
=
newPort
;
}
else
if
(
_autoConnectSettings
->
autoConnectNmeaBaud
()
->
cookedValue
().
toUInt
()
!=
_nmeaBaud
)
{
_nmeaBaud
=
_autoConnectSettings
->
autoConnectNmeaBaud
()
->
cookedValue
().
toUInt
();
_nmeaPort
->
setBaudRate
(
_nmeaBaud
);
qCDebug
(
LinkManagerLog
)
<<
"Configuring nmea baudrate"
<<
_nmeaBaud
;
}
}
else
if
(
portInfo
.
getBoardInfo
(
boardType
,
boardName
))
{
if
(
portInfo
.
isBootloader
())
{
// Don't connect to bootloader
qCDebug
(
LinkManagerLog
)
<<
"Waiting for bootloader to finish"
<<
portInfo
.
systemLocation
();
...
...
src/comm/LinkManager.h
View file @
00f04678
...
...
@@ -233,6 +233,11 @@ private:
static
const
char
*
_defaultUPDLinkName
;
static
const
int
_autoconnectUpdateTimerMSecs
;
static
const
int
_autoconnectConnectDelayMSecs
;
// NMEA GPS device for GCS position
QString
_nmeaDeviceName
;
QSerialPort
*
_nmeaPort
;
uint32_t
_nmeaBaud
;
};
#endif
src/ui/preferences/GeneralSettings.qml
View file @
00f04678
...
...
@@ -464,7 +464,7 @@ QGCView {
Column
{
id
:
autoConnectCol
spacing
:
ScreenTools
.
defaultFontPixelWidth
spacing
:
ScreenTools
.
defaultFontPixelWidth
*
2
anchors.centerIn
:
parent
Row
{
...
...
@@ -489,6 +489,61 @@ QGCView {
}
}
}
Row
{
width
:
parent
.
width
spacing
:
ScreenTools
.
defaultFontPixelWidth
visible
:
!
ScreenTools
.
isiOS
&&
QGroundControl
.
settingsManager
.
autoConnectSettings
.
autoConnectNmeaPort
.
visible
&&
QGroundControl
.
settingsManager
.
autoConnectSettings
.
autoConnectNmeaBaud
.
visible
QGCLabel
{
anchors.baseline
:
nmeaPortCombo
.
baseline
text
:
qsTr
(
"
NMEA GPS Device:
"
)
}
QGCComboBox
{
id
:
nmeaPortCombo
width
:
parent
.
width
/
3
model
:
ListModel
{
ListElement
{
text
:
"
disabled
"
}
}
onActivated
:
{
if
(
index
!=
-
1
)
{
QGroundControl
.
settingsManager
.
autoConnectSettings
.
autoConnectNmeaPort
.
value
=
textAt
(
index
);
}
}
Component
.
onCompleted
:
{
for
(
var
i
in
QGroundControl
.
linkManager
.
serialPorts
)
{
nmeaPortCombo
.
model
.
append
({
text
:
QGroundControl
.
linkManager
.
serialPorts
[
i
]})
}
var
index
=
nmeaPortCombo
.
find
(
QGroundControl
.
settingsManager
.
autoConnectSettings
.
autoConnectNmeaPort
.
valueString
);
nmeaPortCombo
.
currentIndex
=
index
;
}
}
QGCLabel
{
anchors.baseline
:
nmeaBaudCombo
.
baseline
text
:
qsTr
(
"
NMEA GPS Baudrate:
"
)
}
QGCComboBox
{
id
:
nmeaBaudCombo
width
:
parent
.
width
/
3
model
:
[
4800
,
9600
,
19200
,
38400
,
57600
,
115200
]
onActivated
:
{
if
(
index
!=
-
1
)
{
QGroundControl
.
settingsManager
.
autoConnectSettings
.
autoConnectNmeaBaud
.
value
=
textAt
(
index
);
}
}
Component
.
onCompleted
:
{
var
index
=
nmeaBaudCombo
.
find
(
QGroundControl
.
settingsManager
.
autoConnectSettings
.
autoConnectNmeaBaud
.
valueString
);
nmeaBaudCombo
.
currentIndex
=
index
;
}
}
}
}
}
...
...
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