From 0e6dceb0c3ae46170607d3362d485e07f5eacf93 Mon Sep 17 00:00:00 2001 From: Alejandro Date: Fri, 11 Mar 2011 14:44:39 -0600 Subject: [PATCH] Change slugs_messages to common_messages --- src/uas/SlugsMAV.cc | 258 +- src/uas/SlugsMAV.h | 62 +- src/uas/UAS.cc | 8 +- src/ui/MapWidget.cc | 16 +- src/ui/MapWidget.h | 2 +- src/ui/QGCRemoteControlView.cc | 2 +- src/ui/SlugsDataSensorView.cc | 93 +- src/ui/SlugsDataSensorView.h | 421 +-- src/ui/SlugsDataSensorView.ui | 5881 ++++++++++++++++-------------- src/ui/SlugsPadCameraControl.cpp | 2 +- src/ui/SlugsPadCameraControl.ui | 2 +- 11 files changed, 3585 insertions(+), 3162 deletions(-) diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc index c77d99f34..84fff57c0 100644 --- a/src/uas/SlugsMAV.cc +++ b/src/uas/SlugsMAV.cc @@ -3,46 +3,39 @@ #include SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) : - UAS(mavlink, id)//, - // Place other initializers here + UAS(mavlink, id) { - widgetTimer = new QTimer (this); - widgetTimer->setInterval(200);//SLUGS_UPDATE_RATE); - qDebug() << "SLUGS_UPDATE_RATE: " << SLUGS_UPDATE_RATE; - - connect (widgetTimer, SIGNAL(timeout()), - this, SLOT(emitSignals())); - - widgetTimer->start(); - - // clear all the state structures - memset(&mlRawImuData ,0, sizeof(mavlink_raw_imu_t)); - -#ifdef MAVLINK_ENABLED_SLUGS - - - memset(&mlGpsData, 0, sizeof(mavlink_gps_raw_t)); - memset(&mlCpuLoadData, 0, sizeof(mavlink_cpu_load_t)); - memset(&mlAirData, 0, sizeof(mavlink_air_data_t)); - memset(&mlSensorBiasData, 0, sizeof(mavlink_sensor_bias_t)); - memset(&mlDiagnosticData, 0, sizeof(mavlink_diagnostic_t)); - memset(&mlBoot ,0, sizeof(mavlink_boot_t)); - memset(&mlGpsDateTime ,0, sizeof(mavlink_gps_date_time_t)); - memset(&mlApMode ,0, sizeof(mavlink_set_mode_t)); - memset(&mlNavigation ,0, sizeof(mavlink_slugs_navigation_t)); - memset(&mlDataLog ,0, sizeof(mavlink_data_log_t)); - memset(&mlPassthrough ,0, sizeof(mavlink_ctrl_srfc_pt_t)); - memset(&mlActionAck,0, sizeof(mavlink_action_ack_t)); - memset(&mlAction ,0, sizeof(mavlink_slugs_action_t)); - - - updateRoundRobin = 0; - - - - uasId = id; - - #endif + widgetTimer = new QTimer (this); + widgetTimer->setInterval(SLUGS_UPDATE_RATE); + + connect (widgetTimer, SIGNAL(timeout()), this, SLOT(emitSignals())); + widgetTimer->start(); + memset(&mlRawImuData ,0, sizeof(mavlink_raw_imu_t));// clear all the state structures + + #ifdef MAVLINK_ENABLED_SLUGS + + + memset(&mlGpsData, 0, sizeof(mavlink_gps_raw_t)); + memset(&mlCpuLoadData, 0, sizeof(mavlink_cpu_load_t)); + memset(&mlAirData, 0, sizeof(mavlink_air_data_t)); + memset(&mlSensorBiasData, 0, sizeof(mavlink_sensor_bias_t)); + memset(&mlDiagnosticData, 0, sizeof(mavlink_diagnostic_t)); + memset(&mlBoot ,0, sizeof(mavlink_boot_t)); + memset(&mlGpsDateTime ,0, sizeof(mavlink_gps_date_time_t)); + memset(&mlApMode ,0, sizeof(mavlink_set_mode_t)); + memset(&mlNavigation ,0, sizeof(mavlink_slugs_navigation_t)); + memset(&mlDataLog ,0, sizeof(mavlink_data_log_t)); + memset(&mlPassthrough ,0, sizeof(mavlink_ctrl_srfc_pt_t)); + memset(&mlActionAck,0, sizeof(mavlink_action_ack_t)); + memset(&mlAction ,0, sizeof(mavlink_slugs_action_t)); + + memset(&mlScaled ,0, sizeof(mavlink_scaled_imu_t)); + memset(&mlServo ,0, sizeof(mavlink_servo_output_raw_t)); + memset(&mlChannels ,0, sizeof(mavlink_rc_channels_raw_t)); + + updateRoundRobin = 0; + uasId = id; + #endif } /** @@ -55,98 +48,110 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) : */ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) { - // Let UAS handle the default message set - UAS::receiveMessage(link, message); + UAS::receiveMessage(link, message);// Let UAS handle the default message set if (message.sysid == uasId) { -#ifdef MAVLINK_ENABLED_SLUGS - // Handle your special messages mavlink_message_t* msg = &message; - switch (message.msgid) - { - - - - case MAVLINK_MSG_ID_RAW_IMU: - //mavlink_raw_imu_t t; - mavlink_msg_raw_imu_decode(&message, &mlRawImuData); - break; - - case MAVLINK_MSG_ID_BOOT: - mavlink_msg_boot_decode(&message,&mlBoot); - emit slugsBootMsg(uasId, mlBoot); - break; - - case MAVLINK_MSG_ID_ATTITUDE: - mavlink_msg_attitude_decode(&message, &mlAttitude); - break; - - case MAVLINK_MSG_ID_GPS_RAW: - mavlink_msg_gps_raw_decode(&message, &mlGpsData); - break; - - case MAVLINK_MSG_ID_CPU_LOAD: //170 - mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData); - break; - - case MAVLINK_MSG_ID_AIR_DATA: //171 - mavlink_msg_air_data_decode(&message,&mlAirData); - break; - - case MAVLINK_MSG_ID_SENSOR_BIAS: //172 - mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData); - break; - - case MAVLINK_MSG_ID_DIAGNOSTIC: //173 - mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData); - break; - - case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176 - mavlink_msg_slugs_navigation_decode(&message,&mlNavigation); - break; - - case MAVLINK_MSG_ID_DATA_LOG: //177 - mavlink_msg_data_log_decode(&message,&mlDataLog); - break; - - case MAVLINK_MSG_ID_GPS_DATE_TIME: //179 - mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime); - break; - - case MAVLINK_MSG_ID_MID_LVL_CMDS: //180 - mavlink_msg_mid_lvl_cmds_decode(&message, &mlMidLevelCommands); - break; - - case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181 - mavlink_msg_ctrl_srfc_pt_decode(&message, &mlPassthrough); - break; - - case MAVLINK_MSG_ID_SLUGS_ACTION: //183 - mavlink_msg_slugs_action_decode(&message, &mlAction); - - switch (mlAction.actionId){ - case SLUGS_ACTION_EEPROM: - if (mlAction.actionVal == SLUGS_ACTION_FAIL){ + #ifdef MAVLINK_ENABLED_SLUGS// Handle your special messages mavlink_message_t* msg = &message; + + switch (message.msgid) + { + case MAVLINK_MSG_ID_RAW_IMU: + mavlink_msg_raw_imu_decode(&message, &mlRawImuData); + break; + + case MAVLINK_MSG_ID_BOOT: + mavlink_msg_boot_decode(&message,&mlBoot); + emit slugsBootMsg(uasId, mlBoot); + break; + + case MAVLINK_MSG_ID_ATTITUDE: + mavlink_msg_attitude_decode(&message, &mlAttitude); + break; + + case MAVLINK_MSG_ID_GPS_RAW: + mavlink_msg_gps_raw_decode(&message, &mlGpsData); + break; + + case MAVLINK_MSG_ID_CPU_LOAD: //170 + mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData); + break; + + case MAVLINK_MSG_ID_AIR_DATA: //171 + mavlink_msg_air_data_decode(&message,&mlAirData); + break; + + case MAVLINK_MSG_ID_SENSOR_BIAS: //172 + mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData); + break; + + case MAVLINK_MSG_ID_DIAGNOSTIC: //173 + mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData); + break; + + case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176 + mavlink_msg_slugs_navigation_decode(&message,&mlNavigation); + break; + + case MAVLINK_MSG_ID_DATA_LOG: //177 + mavlink_msg_data_log_decode(&message,&mlDataLog); + break; + + case MAVLINK_MSG_ID_GPS_DATE_TIME: //179 + mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime); + break; + + case MAVLINK_MSG_ID_MID_LVL_CMDS: //180 + mavlink_msg_mid_lvl_cmds_decode(&message, &mlMidLevelCommands); + break; + + case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181 + mavlink_msg_ctrl_srfc_pt_decode(&message, &mlPassthrough); + break; + + case MAVLINK_MSG_ID_SLUGS_ACTION: //183 + mavlink_msg_slugs_action_decode(&message, &mlAction); + break; + + case MAVLINK_MSG_ID_SCALED_IMU: + mavlink_msg_scaled_imu_decode(&message, &mlScaled); + break; + + case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: + mavlink_msg_servo_output_raw_decode(&message, &mlServo); + break; + + case MAVLINK_MSG_ID_RC_CHANNELS_RAW: + mavlink_msg_rc_channels_raw_decode(&message, &mlChannels); + break; + + switch (mlAction.actionId) + { + case SLUGS_ACTION_EEPROM: + if (mlAction.actionVal == SLUGS_ACTION_FAIL) + { emit textMessageReceived(message.sysid, message.compid, 255, "EEPROM Write Fail, Data was not saved in Memory!"); - } - break; + } + break; - case SLUGS_ACTION_PT_CHANGE: - if (mlAction.actionVal == SLUGS_ACTION_SUCCESS){ - emit textMessageReceived(message.sysid, message.compid, 0, "Passthrough Succesfully Changed"); + case SLUGS_ACTION_PT_CHANGE: + if (mlAction.actionVal == SLUGS_ACTION_SUCCESS) + { + emit textMessageReceived(message.sysid, message.compid, 0, "Passthrough Succesfully Changed"); } - break; + break; - case SLUGS_ACTION_MLC_CHANGE: - if (mlAction.actionVal == SLUGS_ACTION_SUCCESS){ - emit textMessageReceived(message.sysid, message.compid, 0, "Mid-level Commands Succesfully Changed"); + case SLUGS_ACTION_MLC_CHANGE: + if (mlAction.actionVal == SLUGS_ACTION_SUCCESS) + { + emit textMessageReceived(message.sysid, message.compid, 0, "Mid-level Commands Succesfully Changed"); } - break; - }// switch actionId + break; + } - break; + //break; - default: + default: // qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid; break; } @@ -156,8 +161,9 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) -void SlugsMAV::emitSignals (void){ -#ifdef MAVLINK_ENABLED_SLUGS +void SlugsMAV::emitSignals (void) +{ + #ifdef MAVLINK_ENABLED_SLUGS switch(updateRoundRobin){ case 1: emit slugsCPULoad(uasId, mlCpuLoadData); @@ -183,6 +189,12 @@ void SlugsMAV::emitSignals (void){ case 5: emit slugsActionAck(uasId,mlActionAck); emit emitGpsSignals(); + break; + + case 6: + emit slugsChannels(uasId, mlChannels); + emit slugsServo(uasId, mlServo); + emit slugsScaled(uasId, mlScaled); break; } diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h index 86886b718..1fbe14516 100644 --- a/src/uas/SlugsMAV.h +++ b/src/uas/SlugsMAV.h @@ -28,7 +28,7 @@ This file is part of the QGROUNDCONTROL project #include "mavlink.h" #include -#define SLUGS_UPDATE_RATE 100 // in ms +#define SLUGS_UPDATE_RATE 200 // in ms class SlugsMAV : public UAS { Q_OBJECT @@ -82,41 +82,39 @@ signals: void slugsBootMsg(int uasId, mavlink_boot_t& boot); void slugsAttitude(int uasId, mavlink_attitude_t& attitude); - - - + void slugsScaled(int uasId, const mavlink_scaled_imu_t& scaled); + void slugsServo(int uasId, const mavlink_servo_output_raw_t& servo); + void slugsChannels(int uasId, const mavlink_rc_channels_raw_t& channels); #endif protected: - - - unsigned char updateRoundRobin; - QTimer* widgetTimer; - - - mavlink_raw_imu_t mlRawImuData; - -#ifdef MAVLINK_ENABLED_SLUGS - mavlink_gps_raw_t mlGpsData; - mavlink_attitude_t mlAttitude; - mavlink_cpu_load_t mlCpuLoadData; - mavlink_air_data_t mlAirData; - mavlink_sensor_bias_t mlSensorBiasData; - mavlink_diagnostic_t mlDiagnosticData; - mavlink_boot_t mlBoot; - mavlink_gps_date_time_t mlGpsDateTime; - mavlink_mid_lvl_cmds_t mlMidLevelCommands; - mavlink_set_mode_t mlApMode; - - mavlink_slugs_navigation_t mlNavigation; - mavlink_data_log_t mlDataLog; - mavlink_ctrl_srfc_pt_t mlPassthrough; - mavlink_action_ack_t mlActionAck; - - mavlink_slugs_action_t mlAction; - - + unsigned char updateRoundRobin; + QTimer* widgetTimer; + mavlink_raw_imu_t mlRawImuData; + + #ifdef MAVLINK_ENABLED_SLUGS + mavlink_gps_raw_t mlGpsData; + mavlink_attitude_t mlAttitude; + mavlink_cpu_load_t mlCpuLoadData; + mavlink_air_data_t mlAirData; + mavlink_sensor_bias_t mlSensorBiasData; + mavlink_diagnostic_t mlDiagnosticData; + mavlink_boot_t mlBoot; + mavlink_gps_date_time_t mlGpsDateTime; + mavlink_mid_lvl_cmds_t mlMidLevelCommands; + mavlink_set_mode_t mlApMode; + + mavlink_slugs_navigation_t mlNavigation; + mavlink_data_log_t mlDataLog; + mavlink_ctrl_srfc_pt_t mlPassthrough; + mavlink_action_ack_t mlActionAck; + + mavlink_slugs_action_t mlAction; + + mavlink_scaled_imu_t mlScaled; + mavlink_servo_output_raw_t mlServo; + mavlink_rc_channels_raw_t mlChannels; // Standart messages MAVLINK used by SLUGS diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index f8bde7209..dd0eaaeca 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -351,11 +351,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) //add for development - emit remoteControlRSSIChanged(state.packet_drop/1000.0f); + //emit remoteControlRSSIChanged(state.packet_drop/1000.0f); - float en = state.packet_drop/1000.0f; - emit remoteControlChannelRawChanged(0, en);//MAVLINK_MSG_ID_RC_CHANNELS_RAW - emit remoteControlChannelScaledChanged(0, en/100.0f);//MAVLINK_MSG_ID_RC_CHANNELS_SCALED + //float en = state.packet_drop/1000.0f; + //emit remoteControlChannelRawChanged(0, en);//MAVLINK_MSG_ID_RC_CHANNELS_RAW + //emit remoteControlChannelScaledChanged(0, en/100.0f);//MAVLINK_MSG_ID_RC_CHANNELS_SCALED //qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop; diff --git a/src/ui/MapWidget.cc b/src/ui/MapWidget.cc index 5efc5691f..933be454d 100644 --- a/src/ui/MapWidget.cc +++ b/src/ui/MapWidget.cc @@ -115,6 +115,11 @@ void MapWidget::init() lastZoom = settings.value("LAST_ZOOM", lastZoom).toInt(); settings.endGroup(); + index = 0; + settings.beginGroup("QGC_MAPINDEX"); + index = settings.value("MAP_INDEX", index).toInt(); + settings.endGroup(); + settings.beginGroup("QGC_HOMEPOSITION"); homeCoordinate.setY(settings.value("HOME_LATITUDE", homeCoordinate.y()).toDouble()); homeCoordinate.setX(settings.value("HOME_LONGITUDE", homeCoordinate.x()).toDouble()); @@ -299,20 +304,15 @@ void MapWidget::init() connect(homePosition, SIGNAL(geometryEndDrag(Geometry*, QPointF)), this, SLOT(captureGeometryEndDrag(Geometry*, QPointF))); - this->loadSettingsMap(settings); + this->loadSettingsMap(index); this->createHomePosition(homeCoordinate); qDebug() << "CHECK END"; } } -void MapWidget::loadSettingsMap(QSettings &settings) +void MapWidget::loadSettingsMap(int8_t index) { - index = 0; - settings.beginGroup("QGC_MAPINDEX"); - index = settings.value("MAP_INDEX", index).toInt(); - settings.endGroup(); - switch(index) { case 0: @@ -1289,7 +1289,7 @@ void MapWidget::createHomePositionClick(bool click) static_cast(homeCoordinate.x()), 0); - qDebug()<<"Set home position "<0) { - rssiBar->setValue(rssi*100); + //rssiBar->setValue(rssi);//*100); } updated = false; diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc index 4668b0af4..2acbb9cc4 100644 --- a/src/ui/SlugsDataSensorView.cc +++ b/src/ui/SlugsDataSensorView.cc @@ -56,6 +56,10 @@ void SlugsDataSensorView::addUAS(UASInterface* uas) connect(slugsMav,SIGNAL(slugsAirData(int, const mavlink_air_data_t&)),this,SLOT(slugsAirDataChanged(int, const mavlink_air_data_t&))); + connect(slugsMav, SIGNAL(slugsChannels(int, const mavlink_rc_channels_raw_t&)), this, SLOT(slugsRCRawChannels(int, const mavlink_rc_channels_raw_t&))); + connect(slugsMav, SIGNAL(slugsServo(int, const mavlink_servo_output_raw_t&)), this, SLOT(slugsRCServo(int,const mavlink_servo_output_raw_t&))); + connect(slugsMav, SIGNAL(slugsScaled(int, const mavlink_scaled_imu_t&)), this, SLOT(slugsFilteredDataChanged(int, const mavlink_scaled_imu_t&))); + #endif // MAVLINK_ENABLED_SLUGS // Set this UAS as active if it is the first one if(activeUAS == 0) { @@ -82,6 +86,30 @@ void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t } + +void SlugsDataSensorView::slugsRCRawChannels(int systemId, const mavlink_rc_channels_raw_t &gpsDateTime) +{Q_UNUSED(systemId); + + ui->tbRCThrottle->setText(QString::number(gpsDateTime.chan1_raw)); + ui->tbRCAileron->setText(QString::number(gpsDateTime.chan2_raw)); + ui->tbRCRudder->setText(QString::number(gpsDateTime.chan3_raw)); + ui->tbRCElevator->setText(QString::number(gpsDateTime.chan4_raw)); +} + +void SlugsDataSensorView::slugsRCServo(int systemId, const mavlink_servo_output_raw_t &gpsDateTime) +{Q_UNUSED(systemId); + + ui->m_pwmThro->setText(QString::number(gpsDateTime.servo1_raw)); + ui->m_pwmAile->setText(QString::number(gpsDateTime.servo2_raw)); + ui->m_pwmRudd->setText(QString::number(gpsDateTime.servo3_raw)); + ui->m_pwmElev->setText(QString::number(gpsDateTime.servo4_raw)); + + ui->m_pwmThroTrim->setText(QString::number(gpsDateTime.servo5_raw)); + ui->m_pwmAileTrim->setText(QString::number(gpsDateTime.servo6_raw)); + ui->m_pwmRuddTrim->setText(QString::number(gpsDateTime.servo7_raw)); + ui->m_pwmElevTrim->setText(QString::number(gpsDateTime.servo8_raw)); +} + void SlugsDataSensorView::setActiveUAS(UASInterface* uas){ activeUAS = uas; addUAS(activeUAS); @@ -113,13 +141,10 @@ void SlugsDataSensorView::slugLocalPositionChanged(UASInterface* uas, Q_UNUSED(uas); Q_UNUSED(time); - ui->ed_x->setText(QString::number(x)); ui->ed_y->setText(QString::number(y)); ui->ed_z->setText(QString::number(z)); - //qDebug()<<"Local Position = "<m_logFl6->setText(QString::number(dataLog.fl_6)); } -void SlugsDataSensorView::slugsPWMChanged(int systemId, - const mavlink_pwm_commands_t& pwmCommands){ - Q_UNUSED(systemId); - ui->m_pwmThro->setText(QString::number(pwmCommands.dt_c)); - ui->m_pwmAile->setText(QString::number(pwmCommands.dla_c)); - ui->m_pwmElev->setText(QString::number(pwmCommands.dle_c)); - ui->m_pwmRudd->setText(QString::number(pwmCommands.dr_c)); +//void SlugsDataSensorView::slugsPWMChanged(int systemId, +// const mavlink_servo_output_raw_t& pwmCommands){ +// Q_UNUSED(systemId); +// ui->m_pwmThro->setText(QString::number(pwmCommands.servo1_raw));//.dt_c)); +// ui->m_pwmAile->setText(QString::number(pwmCommands.servo2_raw));//dla_c)); +// ui->m_pwmElev->setText(QString::number(pwmCommands.servo4_raw));//dle_c)); +// ui->m_pwmRudd->setText(QString::number(pwmCommands.servo3_raw));//dr_c)); - ui->m_pwmThroTrim->setText(QString::number(pwmCommands.dre_c)); - ui->m_pwmAileTrim->setText(QString::number(pwmCommands.dlf_c)); - ui->m_pwmElevTrim->setText(QString::number(pwmCommands.drf_c)); - ui->m_pwmRuddTrim->setText(QString::number(pwmCommands.aux1)); +// ui->m_pwmThroTrim->setText(QString::number(pwmCommands.servo5_raw));//dre_c)); +// ui->m_pwmAileTrim->setText(QString::number(pwmCommands.servo6_raw));//dlf_c)); +// ui->m_pwmElevTrim->setText(QString::number(pwmCommands.servo8_raw));//drf_c)); +// ui->m_pwmRuddTrim->setText(QString::number(pwmCommands.servo7_raw));//aux1)); -} +//} void SlugsDataSensorView::slugsFilteredDataChanged(int systemId, - const mavlink_filtered_data_t& filteredData){ - Q_UNUSED(systemId); - ui->m_Axf->setText(QString::number(filteredData.aX)); - ui->m_Ayf->setText(QString::number(filteredData.aY)); - ui->m_Azf->setText(QString::number(filteredData.aZ)); - ui->m_Gxf->setText(QString::number(filteredData.gX)); - ui->m_Gyf->setText(QString::number(filteredData.gY)); - ui->m_Gzf->setText(QString::number(filteredData.gZ)); - ui->m_Mxf->setText(QString::number(filteredData.mX)); - ui->m_Myf->setText(QString::number(filteredData.mY)); - ui->m_Mzf->setText(QString::number(filteredData.mZ)); + const mavlink_scaled_imu_t& filteredData){ + Q_UNUSED(systemId); + ui->m_Axf->setText(QString::number(filteredData.xacc/1000.0f)); + ui->m_Ayf->setText(QString::number(filteredData.yacc/1000.0f)); + ui->m_Azf->setText(QString::number(filteredData.zacc/1000.0f)); + ui->m_Gxf->setText(QString::number(filteredData.xgyro/1000.0f)); + ui->m_Gyf->setText(QString::number(filteredData.ygyro/1000.0f)); + ui->m_Gzf->setText(QString::number(filteredData.zgyro/1000.0f)); + ui->m_Mxf->setText(QString::number(filteredData.xmag/1000.0f)); + ui->m_Myf->setText(QString::number(filteredData.ymag/1000.0f)); + ui->m_Mzf->setText(QString::number(filteredData.zmag/1000.0f)); } void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId, @@ -294,11 +319,6 @@ void SlugsDataSensorView::slugsAirDataChanged(int systemId, const mavlink_air_da ui->ed_dynamic->setText(QString::number(airData.dynamicPressure)); ui->ed_static->setText(QString::number(airData.staticPressure)); ui->ed_temp->setText(QString::number(airData.temperature)); - -// qDebug()<<"Air Data = "<m_GpsCog->setText(QString::number(cog)); ui->m_GpsSog->setText(QString::number(sog)); - } - - - - - #endif // MAVLINK_ENABLED_SLUGS diff --git a/src/ui/SlugsDataSensorView.h b/src/ui/SlugsDataSensorView.h index b1adcca6a..16e78ae41 100644 --- a/src/ui/SlugsDataSensorView.h +++ b/src/ui/SlugsDataSensorView.h @@ -1,209 +1,212 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -This file is part of the QGROUNDCONTROL project - - QGROUNDCONTROL is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - QGROUNDCONTROL is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with QGROUNDCONTROL. If not, see . - -======================================================================*/ - -/** - * @file - * @brief Grpahical presentation of SLUGS generated data - * - * @author Juan F. Robles - * - */ - -#ifndef SLUGSDATASENSORVIEW_H -#define SLUGSDATASENSORVIEW_H - -#include - -#include "UASInterface.h" -#include "SlugsMAV.h" -#include "mavlink.h" - - -namespace Ui { - class SlugsDataSensorView; -} - -class SlugsDataSensorView : public QWidget -{ - Q_OBJECT - -public: - explicit SlugsDataSensorView(QWidget *parent = 0); - ~SlugsDataSensorView(); - -public slots: - /** - * @brief Adds the UAS for data display - * - * Adds the UAS and makes all the correct connections for data display on the Widgets. If - * there is no current UAS active, it sets it as active. - - * @param uas The UAS being added - */ - void addUAS(UASInterface* uas); - - /** - * @brief Sets the UAS as active - * - * @param uas The UAS being set as active - */ - void setActiveUAS(UASInterface* uas); - - - /** - * @brief Updates the Raw Data widget - */ - void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData); - -#ifdef MAVLINK_ENABLED_SLUGS - /** - * @brief Adds the UAS for data display - * - * Adds the UAS and makes all the correct connections for data display on the Widgets - */ - void slugLocalPositionChanged(UASInterface* uas, - double x, - double y, - double z, - quint64 time); - /** - * @brief Adds the UAS for data display - * - * Adds the UAS and makes all the correct connections for data display on the Widgets - */ - void slugSpeedLocalPositionChanged(UASInterface* uas, - double vx, - double vy, - double vz, - quint64 time); - /** - * @brief Adds the UAS for data display - * - * Adds the UAS and makes all the correct connections for data display on the Widgets - */ - void slugAttitudeChanged(UASInterface* uas, - double slugroll, - double slugpitch, - double slugyaw, - quint64 time); - - /** - * @brief Adds the UAS for data display - * - * Adds the UAS and makes all the correct connections for data display on the Widgets - */ - void slugsGlobalPositionChanged(UASInterface* uas, - double lat, - double lon, - double alt, - quint64 time); - - /** - * @brief set COG and SOG values - * - * COG and SOG GPS display on the Widgets - */ - void slugsGPSCogSog(int systemId, - double cog, - double sog); - - - - /** - * @brief Updates the CPU load widget - 170 - */ - void slugsCpuLoadChanged(int systemId, - const mavlink_cpu_load_t& cpuLoad); - - /** - * @brief Updates the air data widget - 171 - */ - void slugsAirDataChanged(int systemId, - const mavlink_air_data_t& airData); - - /** - * @brief Updates the sensor bias widget - 172 - */ - void slugsSensorBiasChanged(int systemId, - const mavlink_sensor_bias_t& sensorBias); - - /** - * @brief Updates the diagnostic widget - 173 - */ - void slugsDiagnosticMessageChanged(int systemId, - const mavlink_diagnostic_t& diagnostic); - - - /** - * @brief Updates the Navigation widget - 176 - */ - void slugsNavegationChanged(int systemId, - const mavlink_slugs_navigation_t& slugsNavigation); - - /** - * @brief Updates the Data Log widget - 177 - */ - void slugsDataLogChanged(int systemId, - const mavlink_data_log_t& dataLog); - - /** - * @brief Updates the PWM Commands widget - 175 - */ - void slugsPWMChanged(int systemId, - const mavlink_pwm_commands_t& pwmCommands); - - /** - * @brief Updates the filtered sensor measurements widget - 178 - */ - void slugsFilteredDataChanged(int systemId, - const mavlink_filtered_data_t& filteredData); - - - /** - * @brief Updates the gps Date Time widget - 179 - */ - void slugsGPSDateTimeChanged(int systemId, - const mavlink_gps_date_time_t& gpsDateTime); - - - - - - -#endif // MAVLINK_ENABLED_SLUGS - -protected: - UASInterface* activeUAS; - -private: - Ui::SlugsDataSensorView *ui; - - - - - - - -}; - -#endif // SLUGSDATASENSORVIEW_H +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + +======================================================================*/ + +/** + * @file + * @brief Grpahical presentation of SLUGS generated data + * + * @author Juan F. Robles + * + */ + +#ifndef SLUGSDATASENSORVIEW_H +#define SLUGSDATASENSORVIEW_H + +#include + +#include "UASInterface.h" +#include "SlugsMAV.h" +#include "mavlink.h" + + +namespace Ui { + class SlugsDataSensorView; +} + +class SlugsDataSensorView : public QWidget +{ + Q_OBJECT + +public: + explicit SlugsDataSensorView(QWidget *parent = 0); + ~SlugsDataSensorView(); + +public slots: + /** + * @brief Adds the UAS for data display + * + * Adds the UAS and makes all the correct connections for data display on the Widgets. If + * there is no current UAS active, it sets it as active. + + * @param uas The UAS being added + */ + void addUAS(UASInterface* uas); + + /** + * @brief Sets the UAS as active + * + * @param uas The UAS being set as active + */ + void setActiveUAS(UASInterface* uas); + + + /** + * @brief Updates the Raw Data widget + */ + void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData); + +#ifdef MAVLINK_ENABLED_SLUGS + /** + * @brief Adds the UAS for data display + * + * Adds the UAS and makes all the correct connections for data display on the Widgets + */ + void slugLocalPositionChanged(UASInterface* uas, + double x, + double y, + double z, + quint64 time); + /** + * @brief Adds the UAS for data display + * + * Adds the UAS and makes all the correct connections for data display on the Widgets + */ + void slugSpeedLocalPositionChanged(UASInterface* uas, + double vx, + double vy, + double vz, + quint64 time); + /** + * @brief Adds the UAS for data display + * + * Adds the UAS and makes all the correct connections for data display on the Widgets + */ + void slugAttitudeChanged(UASInterface* uas, + double slugroll, + double slugpitch, + double slugyaw, + quint64 time); + + /** + * @brief Adds the UAS for data display + * + * Adds the UAS and makes all the correct connections for data display on the Widgets + */ + void slugsGlobalPositionChanged(UASInterface* uas, + double lat, + double lon, + double alt, + quint64 time); + + /** + * @brief set COG and SOG values + * + * COG and SOG GPS display on the Widgets + */ + void slugsGPSCogSog(int systemId, + double cog, + double sog); + + + + /** + * @brief Updates the CPU load widget - 170 + */ + void slugsCpuLoadChanged(int systemId, + const mavlink_cpu_load_t& cpuLoad); + + /** + * @brief Updates the air data widget - 171 + */ + void slugsAirDataChanged(int systemId, + const mavlink_air_data_t& airData); + + /** + * @brief Updates the sensor bias widget - 172 + */ + void slugsSensorBiasChanged(int systemId, + const mavlink_sensor_bias_t& sensorBias); + + /** + * @brief Updates the diagnostic widget - 173 + */ + void slugsDiagnosticMessageChanged(int systemId, + const mavlink_diagnostic_t& diagnostic); + + + /** + * @brief Updates the Navigation widget - 176 + */ + void slugsNavegationChanged(int systemId, + const mavlink_slugs_navigation_t& slugsNavigation); + + /** + * @brief Updates the Data Log widget - 177 + */ + void slugsDataLogChanged(int systemId, + const mavlink_data_log_t& dataLog); + +// /** +// * @brief Updates the PWM Commands widget - 175 +// */ +// void slugsPWMChanged(int systemId, +// const mavlink_servo_output_raw_t& pwmCommands); + + /** + * @brief Updates the filtered sensor measurements widget - 178 + */ + void slugsFilteredDataChanged(int systemId, + const mavlink_scaled_imu_t& filteredData); + + + /** + * @brief Updates the gps Date Time widget - 179 + */ + void slugsGPSDateTimeChanged(int systemId, + const mavlink_gps_date_time_t& gpsDateTime); + + + void slugsRCRawChannels(int systemId, + const mavlink_rc_channels_raw_t& gpsDateTime); + + void slugsRCServo(int systemId, + const mavlink_servo_output_raw_t& gpsDateTime); + + +#endif // MAVLINK_ENABLED_SLUGS + +protected: + UASInterface* activeUAS; + +private: + Ui::SlugsDataSensorView *ui; + + + + + + + +}; + +#endif // SLUGSDATASENSORVIEW_H diff --git a/src/ui/SlugsDataSensorView.ui b/src/ui/SlugsDataSensorView.ui index 2edcd28b5..fbe5309c4 100644 --- a/src/ui/SlugsDataSensorView.ui +++ b/src/ui/SlugsDataSensorView.ui @@ -1,2741 +1,3140 @@ - - - SlugsDataSensorView - - - - 0 - 0 - 495 - 768 - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - Form - - - - - - 0 - - - - Attitude - - - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - - 10 - 50 - false - - - - Position - - - - - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - - 10 - 75 - true - - - - QFrame::NoFrame - - - X - - - - - - - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - - 10 - 75 - true - - - - Y 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