finished the connection of signal of the slugs data in SlugsDataSensorView

src/uas/SlugsMAV.cc

@@ -169,11 +169,16 @@ void SlugsMAV::emitSignals (void){
     case 2:
       emit slugsAirData(uasId, mlAirData);
       emit slugsDiagnostic(uasId,mlDiagnosticData);
+
     break;
 
     case 3:
       emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.de- 1000.0f)/1000.0f);
-      emit remoteControlChannelScaledChanged(1,0.75);
+       emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
+        emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
+         emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
+          emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.dt- 1000.0f)/1000.0f);
+
       emit slugsPWM(uasId, mlPwmCommands);
     break;
 
@@ -185,11 +190,13 @@ void SlugsMAV::emitSignals (void){
     case 5:
       emit slugsFilteredData(uasId,mlFilteredData);
       emit slugsGPSDateTime(uasId, mlGpsDateTime);
+
     break;
 
     case 6:
       emit slugsActionAck(uasId,mlActionAck);
       emit emitGpsSignals();
+
     break;
         }
 
@@ -213,20 +220,30 @@ void SlugsMAV::emitSignals (void){
 #ifdef MAVLINK_ENABLED_SLUGS
 void SlugsMAV::emitGpsSignals (void){
 
-  if (mlGpsData.fix_type > 0){
+    qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
+
+
+    //ToDo Uncomment if. it was comment only to test
+
+ // if (mlGpsData.fix_type > 0){
     emit globalPositionChanged(this,
                                mlGpsData.lon,
                                mlGpsData.lat,
                                mlGpsData.alt,
                                0.0);
 
-    // Smaller than threshold and not NaN
-    if (mlGpsData.v < 1000000 && mlGpsData.v == mlGpsData.v){
-      emit speedChanged(this, (double)mlGpsData.v, 0.0, 0.0, 0.0);
-    } else {
-      emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v));
-    }
-    }
+     emit slugsGPSCogSog(uasId,mlGpsData.hdg, mlGpsData.v);
+
+//        // Smaller than threshold and not NaN
+//        if (mlGpsData.v < 1000000 && mlGpsData.v == mlGpsData.v){
+//            // emit speedChanged(this, (double)mlGpsData.v, 0.0, 0.0, 0.0);
+
+//         }
+//         else {
+//              emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v));
+//         }
+  //}
+
 }
 
 void SlugsMAV::emitPidSignal()

src/uas/SlugsMAV.h

@@ -47,6 +47,7 @@ public slots:
 signals:
 
     void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
+    void slugsGPSCogSog(int uasId, double cog, double sog);
 
 #ifdef MAVLINK_ENABLED_SLUGS
 
@@ -67,6 +68,8 @@ signals:
     void slugsBootMsg(int uasId, mavlink_boot_t& boot);
     void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
 
+
+
 #endif
 
 protected:

src/uas/UAS.cc

@@ -328,6 +328,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "Vz", pos.vz, time);
                 emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                 emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
+
+//                qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
+//                qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;
+
                 //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
                 // Set internal state
                 if (!positionLock)

src/uas/UAS.h

@@ -79,16 +79,16 @@ public:
     /** @brief Get the links associated with this robot */
     QList<LinkInterface*>* getLinks();
 
-    double getLocalX() const { return localX; };
-    double getLocalY() const { return localY; };
-    double getLocalZ() const { return localZ; };
-    double getLatitude() const { return latitude; };
-    double getLongitude() const { return longitude; };
-    double getAltitude() const { return altitude; };
-
-    double getRoll() const { return roll; };
-    double getPitch() const { return pitch; };
-    double getYaw() const { return yaw; };
+    double getLocalX() const { return localX; }
+    double getLocalY() const { return localY; }
+    double getLocalZ() const { return localZ; }
+    double getLatitude() const { return latitude; }
+    double getLongitude() const { return longitude; }
+    double getAltitude() const { return altitude; }
+
+    double getRoll() const { return roll; }
+    double getPitch() const { return pitch; }
+    double getYaw() const { return yaw; }
 
 
 friend class UASWaypointManager;

src/ui/SlugsDataSensorView.cc

@@ -41,6 +41,8 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
     connect(slugsMav, SIGNAL(speedChanged(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)));
+
 
 
 
@@ -53,7 +55,8 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
     connect(slugsMav, SIGNAL(slugsPWM(int,const mavlink_pwm_commands_t&)),this,SLOT(slugsPWMChanged(int,const mavlink_pwm_commands_t&)));
     connect(slugsMav, SIGNAL(slugsFilteredData(int,const mavlink_filtered_data_t&)),this,SLOT(slugsFilteredDataChanged(int,const mavlink_filtered_data_t&)));
     connect(slugsMav, SIGNAL(slugsGPSDateTime(int,const mavlink_gps_date_time_t&)),this,SLOT(slugsGPSDateTimeChanged(int,const mavlink_gps_date_time_t&)));
-    connect(slugsMav,SIGNAL(slugsAirData(int,mavlink_air_data_t&)),this,SLOT(slugsAirDataChanged(int,mavlink_air_data_t&)));
+    connect(slugsMav,SIGNAL(slugsAirData(int, const mavlink_air_data_t&)),this,SLOT(slugsAirDataChanged(int, const mavlink_air_data_t&)));
+
 
     #endif // MAVLINK_ENABLED_SLUGS
         // Set this UAS as active if it is the first one
@@ -70,6 +73,15 @@ void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t
  ui->m_Axr->setText(QString::number(rawData.xacc));
  ui->m_Ayr->setText(QString::number(rawData.yacc));
  ui->m_Azr->setText(QString::number(rawData.zacc));
+
+ ui->m_Mxr->setText(QString::number(rawData.xmag));
+ ui->m_Myr->setText(QString::number(rawData.ymag));
+ ui->m_Mzr->setText(QString::number(rawData.zmag));
+
+ ui->m_Gxr->setText(QString::number(rawData.xgyro));
+ ui->m_Gyr->setText(QString::number(rawData.ygyro));
+ ui->m_Gzr->setText(QString::number(rawData.zgyro));
+
 }
 
 void SlugsDataSensorView::setActiveUAS(UASInterface* uas){
@@ -86,9 +98,13 @@ void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
  Q_UNUSED(uas);
  Q_UNUSED(time);
 
+
+
  ui->m_GpsLatitude->setText(QString::number(lat));
  ui->m_GpsLongitude->setText(QString::number(lon));
  ui->m_GpsHeight->setText(QString::number(alt));
+
+ qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
 }
 
 
@@ -104,6 +120,8 @@ void SlugsDataSensorView::slugLocalPositionChanged(UASInterface* uas,
   ui->ed_y->setPlainText(QString::number(y));
   ui->ed_z->setPlainText(QString::number(z));
 
+  //qDebug()<<"Local Position = "<<x<<" - "<<y<<" - "<<z;
+
 }
 
 void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
@@ -118,6 +136,9 @@ void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
   ui->ed_vy->setPlainText(QString::number(vy));
   ui->ed_vz->setPlainText(QString::number(vz));
 
+  //qDebug()<<"Speed Local Position = "<<vx<<" - "<<vy<<" - "<<vz;
+
+
 }
 
 void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
@@ -133,6 +154,8 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
     ui->m_Pitch->setPlainText(QString::number(slugpitch));
     ui->m_Yaw->setPlainText(QString::number(slugyaw));
 
+     qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
+
 }
 
 
@@ -231,15 +254,37 @@ void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
 void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId,
                                                   const mavlink_gps_date_time_t& gpsDateTime){
     Q_UNUSED(systemId);
-  ui->m_GpsDate->setText(QString::number(gpsDateTime.month) + "/" +
-                         QString::number(gpsDateTime.day) + "/" +
+
+    QString month, day;
+
+    month = QString::number(gpsDateTime.month);
+    day = QString::number(gpsDateTime.day);
+
+    if(gpsDateTime.month < 10) month = "0" + QString::number(gpsDateTime.month);
+    if(gpsDateTime.day < 10) day = "0" + QString::number(gpsDateTime.day);
+
+
+    ui->m_GpsDate->setText(day + "/" +
+                         month + "/" +
                          QString::number(gpsDateTime.year));
 
-  ui->m_GpsTime->setText(QString::number(gpsDateTime.hour) + ":" +
-                         QString::number(gpsDateTime.min) + ":" +
-                         QString::number(gpsDateTime.sec));
+    QString hour, min, sec;
+
+    hour = QString::number(gpsDateTime.hour);
+    min =  QString::number(gpsDateTime.min);
+    sec =  QString::number(gpsDateTime.sec);
+
+    if(gpsDateTime.hour < 10) hour = "0" + QString::number(gpsDateTime.hour);
+    if(gpsDateTime.min < 10) min = "0" + QString::number(gpsDateTime.min);
+    if(gpsDateTime.sec < 10) sec = "0" + QString::number(gpsDateTime.sec);
+
+    ui->m_GpsTime->setText(hour + ":" +
+                           min + ":" +
+                           sec);
 
   ui->m_GpsSat->setText(QString::number(gpsDateTime.visSat));
+
+
 }
 
 /**
@@ -252,8 +297,31 @@ void SlugsDataSensorView::slugsAirDataChanged(int systemId, const mavlink_air_da
      ui->ed_static->setText(QString::number(airData.staticPressure));
      ui->ed_temp->setText(QString::number(airData.temperature));
 
+//     qDebug()<<"Air Data = "<<airData.dynamicPressure<<" - "
+//                            <<airData.staticPressure<<" - "
+//                            <<airData.temperature;
+
 }
 
+/**
+     * @brief set COG and SOG values
+     *
+     * COG and SOG GPS display on the Widgets
+*/
+void SlugsDataSensorView::slugsGPSCogSog(int systemId,
+                                         double cog,
+                                         double sog)
+
+{
+     Q_UNUSED(systemId);
+
+     ui->m_GpsCog->setText(QString::number(cog));
+     ui->m_GpsSog->setText(QString::number(sog));
+
+}
+
+
+
 
 
 

src/ui/SlugsDataSensorView.h

@@ -70,6 +70,9 @@ public slots:
     void setActiveUAS(UASInterface* uas);
 
 
+    /**
+         * @brief Updates the Raw Data widget
+    */
     void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData);
 
 #ifdef MAVLINK_ENABLED_SLUGS
@@ -115,6 +118,16 @@ public slots:
                                     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
@@ -174,6 +187,9 @@ public slots:
 
 
 
+
+
+
 #endif // MAVLINK_ENABLED_SLUGS
 
 protected:

src/ui/SlugsDataSensorView.ui

@@ -35,7 +35,7 @@
    <item row="0" column="0">
     <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
      <property name="currentIndex">
-      <number>2</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="tab">
       <attribute name="title">