Multiple altitudes and speeds signals. Simplified PFD

src/uas/UASInterface.h

@@ -51,6 +51,40 @@ This file is part of the QGROUNDCONTROL project
 #endif
 #endif
 
+enum BatteryType
+{
+    NICD = 0,
+    NIMH = 1,
+    LIION = 2,
+    LIPOLY = 3,
+    LIFE = 4,
+    AGZN = 5
+}; ///< The type of battery used
+
+enum SpeedMeasurementSource
+{
+    PRIMARY_SPEED = 0,          // ArduPlane: Measured airspeed or estimated airspeed. ArduCopter: Ground (XY) speed.
+    GROUNDSPEED_BY_UAV = 1,     // Ground speed as reported by UAS
+    GROUNDSPEED_BY_GPS = 2,     // Ground speed as calculated from received GPS velocity data
+    LOCAL_SPEED = 3
+}; ///< For velocity data, the data source
+
+enum AltitudeMeasurementSource
+{
+    PRIMARY_ALTITUDE = 0,                  // ArduPlane: air and ground speed mix. This is the altitude used for navigastion.
+    BAROMETRIC_ALTITUDE = 1,               // Altitude is pressure altitude. Ardupilot reports no altitude purely by barometer,
+                                           // however when ALT_MIX==1, mix-altitude is purely barometric.
+    GPS_ALTITUDE = 2                       // GPS ASL altitude
+}; ///< For altitude data, the data source
+
+// TODO!!! The different frames are probably represented elsewhere. There should really only
+// be one set of frames. We also need to keep track of the home alt. somehow.
+enum AltitudeMeasurementFrame
+{
+    ABSOLUTE = 0,               // Altitude is pressure altitude
+    ABOVE_HOME_POSITION = 1
+}; ///< For altitude data, a reference frame
+
 /**
  * @brief Interface for all robots.
  *
@@ -477,7 +511,7 @@ signals:
     void heartbeat(UASInterface* uas);
     void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
     void attitudeChanged(UASInterface*, int component, double roll, double pitch, double yaw, quint64 usec);
-    void attitudeSpeedChanged(int uas, double rollspeed, double pitchspeed, double yawspeed, quint64 usec);
+    void attitudeRotationRatesChanged(int uas, double rollrate, double pitchrate, double yawrate, quint64 usec);
     void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
     /** @brief The MAV set a new setpoint in the local (not body) NED X, Y, Z frame */
     void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
@@ -486,10 +520,19 @@ 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(int uasid, double altitude);
+    void altitudeChanged(UASInterface*, AltitudeMeasurementSource source, 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);
-    void speedChanged(UASInterface*, double x, double y, double z, quint64 usec);
+
+    // The horizontal speed (a scalar)
+    void speedChanged(UASInterface*, SpeedMeasurementSource source, double speed, quint64 usec);
+    // The vertical speed (a scalar)
+    void climbRateChanged(UASInterface*, AltitudeMeasurementSource source, double speed, 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 navigationControllerErrorsChanged(UASInterface*, double altitudeError, double speedError, double xtrackError);
+
     void imageStarted(int imgid, int width, int height, int depth, int channels);
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
     /** @brief Emit the new system type */

src/uas/senseSoarMAV.cpp

@@ -41,7 +41,7 @@ void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message
 				emit valueChanged(uasId, "rollspeed", "rad/s", this->m_rotVel[0], time);
                 emit valueChanged(uasId, "pitchspeed", "rad/s", this->m_rotVel[1], time);
                 emit valueChanged(uasId, "yawspeed", "rad/s", this->m_rotVel[2], time);
-				emit attitudeSpeedChanged(uasId, this->m_rotVel[0], this->m_rotVel[1], this->m_rotVel[2], time);
+                emit attitudeRotationRatesChanged(uasId, this->m_rotVel[0], this->m_rotVel[1], this->m_rotVel[2], time);
 				break;
 			}
 		case MAVLINK_MSG_ID_LLC_OUT: // low level controller output
@@ -62,7 +62,7 @@ void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message
 				mavlink_obs_air_temp_t airTMsg;
 				mavlink_msg_obs_air_temp_decode(&message,&airTMsg);
 				quint64 time = getUnixTime();
-				emit valueChanged(uasId, "Air Temp", "", airTMsg.airT, time);
+				emit valueChanged(uasId, "Air Temp", "°", airTMsg.airT, time);
 				break;
 			}
 		case MAVLINK_MSG_ID_OBS_AIR_VELOCITY:
@@ -211,4 +211,4 @@ void senseSoarMAV::quat2euler(const double *quat, double &roll, double &pitch, d
 	pitch = std::asin(qMax(-1.0,qMin(1.0,2*(quat[0]*quat[2] - quat[1]*quat[3]))));
 	yaw = std::atan2(2*(quat[1]*quat[2] + quat[0]*quat[3]),quat[0]*quat[0] + quat[1]*quat[1] - quat[2]*quat[2] - quat[3]*quat[3]);
 	return;
-}
\ No newline at end of file
+}

src/ui/PrimaryFlightDisplay.h

@@ -106,8 +106,12 @@ public slots:
     void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
     /** @brief Attitude from one specific component / redundant autopilot */
     void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
-//    void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
-    void updateSpeed(UASInterface*,double,double,double,quint64);
+
+    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);
+    /** @brief Set the currently monitored UAS */
+    virtual void setActiveUAS(UASInterface* uas);
 
 protected:
     enum Layout {
@@ -136,23 +140,34 @@ protected:
     // dongfang: We have no context menu. Viewonly.
     // void contextMenuEvent (QContextMenuEvent* event);
 
-protected:
     // dongfang: What is that?
     // dongfang: OK it's for UI interaction. Presently, there is none.
     void createActions();
 
-public slots:
-    /** @brief Set the currently monitored UAS */
-    virtual void setActiveUAS(UASInterface* uas);
-
-protected slots:
-
 signals:
     void visibilityChanged(bool visible);
 
 private:
-    //void prepareTransform(QPainter& painter, qreal width, qreal height);
-    //void transformToGlobalSystem(QPainter& painter, qreal width, qreal height, float roll, float pitch);
+    enum AltimeterMode {
+        PRIMARY_MAIN_GPS_SUB,   // Show the primary alt. on tape and GPS as extra info
+        GPS_MAIN                // Show GPS on tape and no extra info
+    };
+
+    enum AltimeterFrame {
+        ASL,                    // Show ASL altitudes (plane pilots' normal preference)
+        RELATIVE_TO_HOME        // Show relative-to-home altitude (copter pilots)
+    };
+
+    enum SpeedMode {
+        PRIMARY_MAIN_GROUND_SUB,// Show primary speed (often airspeed) on tape and groundspeed as extra
+        GROUND_MAIN             // Show groundspeed on tape and no extra info
+    };
+
+    /*
+     * There are at least these differences between airplane and copter PDF view:
+     * - Airplane show absolute altutude in altimeter, copter shows relative to home
+     */
+    bool isAirplane();
 
     void drawTextCenter(QPainter& painter, QString text, float fontSize, float x, float y);
     void drawTextLeftCenter(QPainter& painter, QString text, float fontSize, float x, float y);
@@ -167,8 +182,8 @@ private:
     void drawAICompassDisk(QPainter& painter, QRectF area, float halfspan);
     void drawSeparateCompassDisk(QPainter& painter, QRectF area);
 
-    void drawAltimeter(QPainter& painter, QRectF area, float altitude, float maxAltitude, float vv);
-    void drawVelocityMeter(QPainter& painter, QRectF area);
+    void drawAltimeter(QPainter& painter, QRectF area, float altitude, float secondaryAltitude, float vv);
+    void drawVelocityMeter(QPainter& painter, QRectF area, float speed, float secondarySpeed);
     void fillInstrumentBackground(QPainter& painter, QRectF edge);
     void fillInstrumentOpagueBackground(QPainter& painter, QRectF edge);
     void drawInstrumentBackground(QPainter& painter, QRectF edge);
@@ -184,21 +199,27 @@ private:
 
     UASInterface* uas;          ///< The uas currently monitored
 
+    AltimeterMode altimeterMode;
+    AltimeterFrame altimeterFrame;
+    SpeedMode speedMode;
+
+    bool didReceivePrimaryAltitude;
+    bool didReceivePrimarySpeed;
+
     float roll;
     float pitch;
     float heading;
 
-    // APM: GPS and baro mix. From the GLOBAL_POSITION_INT or VFR_HUD messages.
-    float aboveASLAltitude;
+    float primaryAltitude;
     float GPSAltitude;
 
     // APM: GPS and baro mix above home (GPS) altitude. This value comes from the GLOBAL_POSITION_INT message.
     // Do !!!NOT!!! ever do altitude calculations at the ground station. There are enough pitfalls already.
-    // The MP "set home altitude" button will not be repeated here if it did that.
+    // If the MP "set home altitude" button is migrated to here, it must set the UAS home altitude, not a GS-local one.
     float aboveHomeAltitude;
 
+    float primarySpeed;
     float groundspeed;
-    float airspeed;
     float verticalVelocity;
 
     Layout layout;      // The display layout.

src/ui/uas/UASQuickView.cc

@@ -73,6 +73,18 @@ UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent)
         uasPropertyToLabelMap["distToWaypoint"] = item;
     }
 
+    {
+        QAction *action = new QAction("bearingToWaypoint",this);
+        action->setCheckable(true);
+        action->setChecked(true);
+        connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
+        this->addAction(action);
+        UASQuickViewItem *item = new UASQuickViewItem(this);
+        item->setTitle("bearingToWaypoint");
+        ui.verticalLayout->addWidget(item);
+        uasPropertyToLabelMap["bearingToWaypoint"] = item;
+    }
+
     updateTimer = new QTimer(this);
     connect(updateTimer,SIGNAL(timeout()),this,SLOT(updateTimerTick()));
     updateTimer->start(1000);